CN106963635A - A kind of moxibustion robot for patient's Self-Service - Google Patents
A kind of moxibustion robot for patient's Self-Service Download PDFInfo
- Publication number
- CN106963635A CN106963635A CN201710227805.3A CN201710227805A CN106963635A CN 106963635 A CN106963635 A CN 106963635A CN 201710227805 A CN201710227805 A CN 201710227805A CN 106963635 A CN106963635 A CN 106963635A
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- China
- Prior art keywords
- manipulator
- patient
- arm
- fixed arm
- moxibustion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001467 acupuncture Methods 0.000 abstract description 11
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 235000010894 Artemisia argyi Nutrition 0.000 description 2
- 244000030166 artemisia Species 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008821 health effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000010792 warming Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The invention discloses a kind of moxibustion robot for patient's Self-Service：Including remote control（1）, moxa-moxibustion box（2）, manipulator（3）, telescopic arm（4）, four-bar mechanism（5）, controlled motor（6）, fixed arm（7）, arm outer cover（8）, lifting motor（9）, column（10）And base（11）The system of composition, it is characterised in that：Artificial moxibustion treatment can be simulated using the present invention, realizes that patient carries out moxibustion treatment operation to acupuncture points such as backs by the way that remote control is self-service, the present invention is simple in construction, can mitigate the labor intensity of medical worker, with the obvious advantage.
Description
Technical field
The present invention relates to traditional Chinese medical science moxa-moxibustion health preserving equipment technical field, more particularly to a kind of moxa-moxibustion for patient's Self-Service
Robot.
Background technology
Moxa-moxibustion is a wonderful work in traditional Chinese medicine, is widely used for thousands of years by people, traditional Chinese medical science moxibustion treatment
In, it is necessary to moxa stick is lighted, be placed in above patient's point skin, certain distance kept with skin so that the heat and Chinese mugwort gas of moxa stick
Penetrate into acupuncture point so that by the conduction of channels and collaterals, play warming channel and expelling cold, promoting qi circulation and removing obstruction in the collateral, strengthening vital QI to eliminate pathogenic factors, draw out pus by applying a plaster to the affected part expel the heat-evil, disease-prevention health
Effect so that the purpose for reaching health care, preventing and curing diseases.
In traditional puncture therapeutic process, the corresponding acupuncture point of patient is generally directed at by the moxa stick or moxibustion box of the hand-held burning of medical worker
Moxa-moxibustion or along the several acupuncture points of channels and collaterals moxa-moxibustion for a period of time, medical worker in the case where smoke fire burns will also according to patient to Chinese mugwort
The sensation of bar ignition temperature adjusts distance at any time, while in order to avoid scalding patient medical worker by hand-held moxa stick or moxibustion
Box makees the horizontal circle swing of certain amplitude, and this adds increased the difficulty of moxibustion treatment and labor intensity, this operating process is time-consuming
Arduously, a medical worker can only be very low to patient's therapeutic efficiency；Patient oneself is difficult to realize to acupuncture points such as backs
Carry out moxibustion treatment operation；What kind of therefore, in order to mitigate the labor intensity of medical worker, need to design moxibustion equipment to solve
Certainly looked for the problem of acupuncture point is forbidden during the self-service moxa-moxibustion of patient, and medical worker can be simulated and manually operated, this is also ability
Field technique personnel need the important technological problems solved at present.
The content of the invention
It is an object of the invention to provide a kind of moxibustion robot for patient's Self-Service.
In order to solve the above technical problems, the present invention provides a kind of moxibustion robot for patient's Self-Service：Including distant
Control device 1, moxa-moxibustion box 2, manipulator 3, telescopic arm 4, four-bar mechanism 5, controlled motor 6, fixed arm 7, arm outer cover 8, lifting motor
9th, the system that column 10 and base 11 are constituted, can simulate artificial moxibustion treatment, realize that patient is self-service to back by remote control
Moxibustion treatment operation is carried out Deng acupuncture point.
Preferably, the remote control 1 is controlled by patient.
Preferably, the moxa-moxibustion box 2 is placed in manipulator 3.
Preferably, the manipulator 3 is connected with telescopic arm 4 by ball pivot, and passes through four-bar mechanism 5 and the phase of controlled motor 6
Even.
Preferably, described one end of telescopic arm 4 is connected by ball pivot with manipulator 3, and the other end passes through ball pivot and fixed arm 7
Connection.
Preferably, the four-bar mechanism 5 connection controlled motor 6, fixed arm 7 and manipulator 3, and by the fortune of controlled motor 6
Dynamic to be delivered to manipulator 3, driving mechanical hand 3 does horizontal circle swing.
Preferably, the controlled motor 6 is fixedly mounted on the end of fixed arm 7, and passes through four-bar mechanism 5 and manipulator 3
It is connected.
Preferably, described one end of fixed arm 7 is connected by ball pivot with telescopic arm 4, and the other end is that cylinder type is enclosed on column 10
On, lifting motor 9 is installed on the cylinder, fixed arm 7, telescopic arm can be made by the lifting motor 9 and transmission mechanism
4th, manipulator 3 is along the oscilaltion of column 10.
Preferably, the arm outer cover 8 covers in the outside of telescopic arm 4, four-bar mechanism 5, controlled motor 6 and fixed arm 7.
Preferably, the lifting motor 9 is arranged on the cylinder of fixed arm 7, and drives fixed arm 7 by transmission mechanism
Along the oscilaltion of column 10.
Preferably, the column 10 is cylindrical type, and lower end is placed in ground grading by collar plate shape base 11.
Preferably, the angle between the fixed arm 7 and the column 10 is 60 °;The telescopic arm 4 and the column
Angle between 10 is 30 ° -50 °.
Preferably, the up and down motion of the manipulator 3 controls the band of lifting motor 9 by patient by the remote control 1
The dynamic fixed arm 7, the telescopic arm 4 and the manipulator 3 realize that the up and down motion speed of the manipulator 3 is 10mm/
s。
Preferably, the horizontal circle swing of the manipulator 3 controls the controlled motor by patient by the remote control 1
6 drive the four-bar mechanism 5 and the manipulator 3 to realize successively, and the horizontal circumference swing speed of the manipulator 3 is 20-
40r/min, the horizontal circumference swing diameter at the center of manipulator 3 is 50mm.
Brief description of the drawings
Fig. 1 is a kind of fundamental diagram of moxibustion robot for patient's Self-Service of the invention；Including remote control 1,
Moxa-moxibustion box 2, manipulator 3, telescopic arm 4, four-bar mechanism 5, controlled motor 6, fixed arm 7, arm outer cover 8, lifting motor 9, column
10 and base 11.
Embodiment
The core of the present invention is to provide a kind of moxibustion robot for patient's Self-Service, can be simulated using the present invention
Artificial moxibustion treatment, realizes that patient carries out moxibustion treatment operation by the way that remote control is self-service to acupuncture points such as backs.
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 1 is refer to, Fig. 1 is a kind of moxibustion robot for patient's Self-Service of the invention.
In a specific embodiment, a kind of moxibustion robot for patient's Self-Service provided by the present invention：Including
Remote control 1, moxa-moxibustion box 2, manipulator 3, telescopic arm 4, four-bar mechanism 5, controlled motor 6, fixed arm 7, arm outer cover 8, lifting electricity
The system that machine 9, column 10 and base 11 are constituted, can simulate artificial moxibustion treatment, realize that patient is self-service to the back of the body by remote control
The acupuncture points such as portion carry out moxibustion treatment operation.
Further, the remote control 1 is controlled by patient.
Further, the moxa-moxibustion box 2 is placed in manipulator 3.
Further, the manipulator 3 is connected with telescopic arm 4 by ball pivot, and passes through four-bar mechanism 5 and controlled motor 6
It is connected.
Further, described one end of telescopic arm 4 is connected by ball pivot with manipulator 3, and the other end passes through ball pivot and fixed arm
7 connections.
Further, the four-bar mechanism 5 connection controlled motor 6, fixed arm 7 and manipulator 3, and by controlled motor 6
Motion is delivered to manipulator 3, and driving mechanical hand 3 does horizontal circle swing.
Further, the horizontal circle swing of the manipulator 3 looks for acupuncture point during can overcoming the self-service moxa-moxibustion of patient
Inaccurate defect, while overcoming the moxa-moxibustion box easy defect for scalding patient skin motionless for a long time.
Further, the controlled motor 6 is fixedly mounted on the end of fixed arm 7, and passes through four-bar mechanism 5 and machinery
Hand 3 is connected.
Further, described one end of fixed arm 7 is connected by ball pivot with telescopic arm 4, and the other end is that cylinder type is enclosed on column
On 10, lifting motor 9 is installed on the cylinder, fixed arm 7 can be made by the lifting motor 9 and transmission mechanism, stretched
Arm 4, manipulator 3 are along the oscilaltion of column 10.
Further, the manipulator 3 can be adjusted between moxa-moxibustion box and patient skin along the oscilaltion of column 10
Distance so that patient is under optimal temperature conditions during the self-service moxa-moxibustion all the time.
Further, the arm outer cover 8 covers in the outside of telescopic arm 4, four-bar mechanism 5, controlled motor 6 and fixed arm 7.
Further, the lifting motor 9 is arranged on the cylinder of fixed arm 7, and drives fixed arm by transmission mechanism
7 along the oscilaltion of column 10.
Further, the column 10 is cylindrical type, and lower end is placed in ground grading by collar plate shape base 11.
Further, the angle between the fixed arm 7 and the column 10 is 60 °;The telescopic arm 4 is stood with described
Angle between post 10 is 30 ° -50 °.
Further, the up and down motion of the manipulator 3 controls the lifting motor 9 by patient by the remote control 1
The fixed arm 7, the telescopic arm 4 and the manipulator 3 is driven to realize, the up and down motion speed of the manipulator 3 is
10mm/s。
Further, the horizontal circle swing of the manipulator 3 controls the control electricity by patient by the remote control 1
Machine 6 drives the four-bar mechanism 5 and the manipulator 3 to realize, the horizontal circumference swing speed of the manipulator 3 is 20-40r/
Min, the horizontal circumference swing diameter at the center of manipulator 3 is 50mm.
A kind of moxibustion robot for patient's Self-Service provided by the present invention is simple in construction, can simulate artificial
Moxibustion treatment, realizes that patient carries out moxibustion treatment operation by the way that remote control is self-service to acupuncture points such as backs, mitigates the labor of medical worker
Fatigue resistance, it is with the obvious advantage.
A kind of moxibustion robot for patient's Self-Service provided by the present invention is described in detail above, should
, for those skilled in the art, under the premise without departing from the principles of the invention, can also be to this when pointing out
Invention carries out some improvement and modification, and these are improved and modification is also fallen into the protection domain of the claims in the present invention.
Claims (4)
1. a kind of moxibustion robot for patient's Self-Service：Including remote control（1）, moxa-moxibustion box（2）, manipulator（3）, it is flexible
Arm（4）, four-bar mechanism（5）, controlled motor（6）, fixed arm（7）, arm outer cover（8）, lifting motor（9）, column（10）And bottom
Seat（11）The system of composition, it is characterised in that：The remote control（1）Controlled by patient;The moxa-moxibustion box（2）It is placed in manipulator
（3）In;The manipulator（3）With telescopic arm（4）Connected by ball pivot, and pass through four-bar mechanism（5）With controlled motor（6）Phase
Even;The telescopic arm（4）One end passes through ball pivot and manipulator（3）Connection, the other end passes through ball pivot and fixed arm（7）Connection;
The four-bar mechanism（5）Connect controlled motor（6）, fixed arm（7）And manipulator（3）, and by controlled motor（6）Motion pass
It is delivered to manipulator（3）, driving mechanical hand（3）Do horizontal circle swing;The controlled motor（6）It is fixedly mounted on fixed arm
（7）End, and pass through four-bar mechanism（5）With manipulator（3）It is connected;The fixed arm（7）One end passes through ball pivot and telescopic arm
（4）Connection, the other end is that cylinder type is enclosed on column（10）On, lifting motor is installed on the cylinder（9）, by described
Lifting motor（9）And transmission mechanism can make fixed arm（7）, telescopic arm（4）, manipulator（3）Along column（10）Oscilaltion;Institute
State arm outer cover（8）Cover in telescopic arm（4）, four-bar mechanism（5）, controlled motor（6）And fixed arm（7）Outside;The lifting
Motor 9 is arranged on the cylinder of fixed arm 7, and drives fixed arm 7 along the oscilaltion of column 10 by transmission mechanism;It is described vertical
Post（10）For cylindrical type, lower end passes through collar plate shape base（11）It is placed in ground grading.
2. a kind of moxibustion robot for patient's Self-Service as claimed in claim 1, it is characterised in that：The fixed arm
（7）With the column（10）Between angle be 60 °;The telescopic arm（4）With the column（10）Between angle be 30 °-
50°。
3. a kind of moxibustion robot for patient's Self-Service as claimed in claim 1, it is characterised in that：The manipulator
（3）Up and down motion the remote control is passed through by patient（1）Control the lifting motor（9）Drive the fixed arm（7）, it is described
Telescopic arm（4）With the manipulator（3）Realize, the manipulator（3）Up and down motion speed be 10mm/s.
4. a kind of moxibustion robot for patient's Self-Service as claimed in claim 1, it is characterised in that：The manipulator
（3）Horizontal circle swing the remote control is passed through by patient（1）Control the controlled motor（6）The four bars machine is driven successively
Structure（5）With the manipulator（3）Realize, the manipulator（3）Horizontal circumference swing speed be 20-40r/min, the machine
Tool hand（3）The horizontal circumference swing diameter at center is 50mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227805.3A CN106963635A (en) | 2017-04-10 | 2017-04-10 | A kind of moxibustion robot for patient's Self-Service |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227805.3A CN106963635A (en) | 2017-04-10 | 2017-04-10 | A kind of moxibustion robot for patient's Self-Service |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106963635A true CN106963635A (en) | 2017-07-21 |
Family
ID=59336020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710227805.3A Pending CN106963635A (en) | 2017-04-10 | 2017-04-10 | A kind of moxibustion robot for patient's Self-Service |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106963635A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN110812210A (en) * | 2019-11-29 | 2020-02-21 | 福州大学 | Five-degree-of-freedom series-parallel moxibustion robot |
| CN111098314A (en) * | 2020-01-05 | 2020-05-05 | 天津大学 | Intelligent heat-sensitive moxibustion system based on cooperative robot |
| CN112957253A (en) * | 2021-03-19 | 2021-06-15 | 联仁健康医疗大数据科技股份有限公司 | Isolated cleaning method and system, moxibustion robot and storage medium |
| CN113101200A (en) * | 2021-04-19 | 2021-07-13 | 联仁健康医疗大数据科技股份有限公司 | Curved surface isolation type moxibustion method and system, moxibustion robot and storage medium |
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| CN203507120U (en) * | 2013-10-23 | 2014-04-02 | 陈星达 | Automatic moxibustion frame for stimulating human synesthesia and improving curative effect |
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| CN104490589A (en) * | 2014-11-19 | 2015-04-08 | 深圳市前海安测信息技术有限公司 | Multifunctional automatic moxibustion system based on O2O health physiotherapy and moxibustion method thereof |
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| CN105167972A (en) * | 2015-10-15 | 2015-12-23 | 韩振利 | Mechanical convolute-rubbing massage method, transmission mechanism production method, as well as belly and back massage devices |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN110812210A (en) * | 2019-11-29 | 2020-02-21 | 福州大学 | Five-degree-of-freedom series-parallel moxibustion robot |
| CN111098314A (en) * | 2020-01-05 | 2020-05-05 | 天津大学 | Intelligent heat-sensitive moxibustion system based on cooperative robot |
| CN112957253A (en) * | 2021-03-19 | 2021-06-15 | 联仁健康医疗大数据科技股份有限公司 | Isolated cleaning method and system, moxibustion robot and storage medium |
| CN113101200A (en) * | 2021-04-19 | 2021-07-13 | 联仁健康医疗大数据科技股份有限公司 | Curved surface isolation type moxibustion method and system, moxibustion robot and storage medium |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170721 |