CN107080690A - A kind of Intelligent moxibustion machine people and its operating method - Google Patents
A kind of Intelligent moxibustion machine people and its operating method Download PDFInfo
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- CN107080690A CN107080690A CN201710490787.8A CN201710490787A CN107080690A CN 107080690 A CN107080690 A CN 107080690A CN 201710490787 A CN201710490787 A CN 201710490787A CN 107080690 A CN107080690 A CN 107080690A
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- 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
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- 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
- A61H39/02—Devices for locating such points
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
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- 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
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- 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
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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Abstract
The application is related to a kind of Intelligent moxibustion machine people and its operating method, including controlling organization, fume extractor and moxibustion device, the controlling organization can automatic identification object, and the moxibustion device is turned into destination object automatically；The fume extractor carries out Chinese mugwort cigarette emissions operation to the moxibustion device；The moxibustion device includes detection device and adjusting device, the detection device detected target object, the adjusting device detects the distance of destination object and the state of destination object according to the detection device, destination object is carried out it is automatic one by one or moxa-moxibustion simultaneously is operated.The application can automatically control moxibustion device and carry out moxibustion operation, and acupuncture point, distance-sensor, real-time temperature control are searched automatically by camera, it is ensured that safety carries out moxibustion, makes moxibustion process more intelligent.
Description
Technical field
The application is related to a kind of moxibustion of medical health field, more particularly to a kind of Intelligent moxibustion machine people and its behaviour
Make method.
Background technology
Traditional puncture is that point uses moxa cone, the moxa stick that folium artemisiae argyi is made, and fire-cures the acupuncture point of human body to reach the one of promoting health and curing diseases
Plant naturopathy.Drug effect of the moxa-moxibustion simultaneously containing warm, the physical effect of far infrared and moxa burning volatilization, by exciting
Activity through gas adjusts the biochemical functions of human disorder, so as to reach the green treatment side of one kind for purpose of preventing and curing diseases
Method.
The moxa-moxibustion of conventional method is, it is necessary to which the moxa stick of technician's hand-held combustion of specialty carries out moxibustion to acupuncture point, and a moxa-moxibustion has
Meeting continue more than 2 hours, have during this and gimmick such as determine, peck, revolving, transporting, professional skill and muscle power to technician are all
One kind test.Traditional puncture can produce Chinese mugwort cigarette in moxibustion, long place Chinese mugwort cigarette among, although Chinese mugwort cigarette have certain antibacterial, it is antiviral
With effect of antibechic, but people also have uncomfortable impression that throat itches dry and astringent with eyes.Traditional puncture is nothing simultaneously
, there is certain scald risk in the naked light moxa-moxibustion of protection.
The content of the invention
To solve above-mentioned technical problem：The application proposes a kind of Intelligent moxibustion machine people, including controlling organization, fume extractor
And moxibustion device, the controlling organization can automatic identification object, and the moxibustion device is turned into destination object automatically；Institute
State fume extractor and Chinese mugwort cigarette emissions operation is carried out to the moxibustion device；The moxibustion device includes detection device and adjusting device,
The detection device detected target object, the adjusting device according to the detection device detect destination object distance and
The state of destination object, destination object is carried out it is automatic one by one or moxa-moxibustion simultaneously is operated.
Described Intelligent moxibustion machine people, wherein, the moxibustion device also includes smoke exhaust pipe, Moxibustion strip displacement structure, cover
Body；The detection device includes ccd video camera, distance-sensor, temperature inductor；The adjusting device includes line handspike；
The smoke exhaust pipe, the Moxibustion strip displacement structure, the detection device and adjusting device are arranged on inside the cover body.
Described Intelligent moxibustion machine people, wherein, the cover body includes upper outlet body, lower cover two parts, the upper outlet body
Cross-sectional diameter is less than the lower cover cross-sectional diameter, and the line handspike, smoke exhaust pipe, which are arranged in the upper outlet body, to be run through
Whole upper outlet body, the detection device is arranged in lower cover, close to lower cover bottom；The Moxibustion strip displacement structure is placed on
On the downside of line handspike, it is detachably connected with the line handspike.
Described Intelligent moxibustion machine people, wherein, the cover body includes upper outlet body, lower cover two parts, and Moxibustion strip is fixed
On the Moxibustion strip displacement structure, and it is arranged on the lower cover centre position；The ccd video camera, distance-sensor, temperature
Inductor is spent to set on lower cover madial wall, and on the downside of the lower cover.
Described Intelligent moxibustion machine people, wherein, the controlling organization includes the axle of Cartesian robot three, rectangular co-ordinate
The axle of robot two, the axle of Cartesian robot one, Cartesian robot installation fixing axle, the Cartesian robot three,
2nd, an axle, Cartesian robot, which are installed, includes fume extractor in fixing axle；The control structure is arranged in fixing axle, institute
It is smoke exhaust pipe to state fixing axle.
Described Intelligent moxibustion machine people, wherein, the fixing axle is consolidated including the first fixing axle, the second fixing axle, the 3rd
On dead axle, the 4th fixing axle；First fixing axle, the 3rd fixing axle and second fixing axle are parallel connection, described the
Filter layer is set between one fixing axle and the 3rd fixing axle, and the 3rd fixing axle, the second fixing axle and the 4th fix
Point of intersection between axle sets draft fan.
Described Intelligent moxibustion machine people, wherein, the Chinese mugwort cigarette that the moxa stick burning is produced is divided into indoor filtering according to demand
With in line outdoor two kinds, the interior is filtered through the controlling organization, the first fixing axle, filter layer, the 3rd fixing axle, the 4th
Smoke exhaust pipe in fixing axle is discharged fume, described in line to be arranged by the controlling organization, the second fixing axle, the 4th fixing axle
Cigarette.
Described Intelligent moxibustion machine people, wherein, the moxibustion device can carry out gentle according to default program to acupuncture point
The moxa-moxibustion operation of at least one moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion.
A kind of operating method of Intelligent moxibustion machine people as described above, wherein, comprise the following steps：
（1）Acupuncture point mark is carried out, acupoint plaster is attached on the acupuncture point for needing moxibustion；It is coloured that the acupoint plaster includes annular
Mark；
（2）Detect that after confirming that the acupuncture point is pasted, Intelligent moxibustion machine people runs jointly according to pre-set program groups in acupuncture point
Beginning rectilinear coordinates formula is moved, and first with camera to body scans one time, sweeps to moxibustion plaster position, and carry out color contrast, root
Sequencing is determined according to color difference, moxibustion device is moved to specified location；
（3）Moxibustion operation is carried out, mild-warm moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion, moxibustion are carried out to acupuncture point according to default program
During carry out real-time temp of acupoint detection, when temperature departure preset temperature carry out lifting temperature control；Barrier is run into operation simultaneously
Hinder thing to stop immediately, prevent from encountering object or the people that wounds；
（4）Smoke evacuation removes ash manipulation, after moxibustion, the Chinese mugwort ash of generation is collected by automatic collecting device, moxa stick burning is produced
Chinese mugwort cigarette pass through indoor filtering and in line outdoor two ways is discharged.
The operating method of described Intelligent moxibustion machine people, wherein, in the acupuncture point detection process, found by camera
Acupuncture point, Intelligent moxibustion machine people's rectilinear coordinates formula movement, found by camera, it is ensured that perpendicular alignmnet target acupuncture point, by away from
Test to a distance from skin to adjust moxa stick moxibustion angle from inductor, it is ensured that angle is optimal；In moxibustion operating process, distance perspective
Answer the distance of device monitoring distance human body, it is ensured that safety, while running into barrier in operation can stop immediately, prevent from encountering object
Or the people that wounds.
Automatic-searching and moxibustion acupuncture point is directed at when the application moxa-moxibustion starts, the hand such as then to acupuncture point determine, peck, revolving, transporting
Method moxa-moxibustion, automatic position adjusting function and distance realize temperature intelligent control during moxibustion, while real in moxa stick combustion process
Show automatic collection Chinese mugwort ash, and the Chinese mugwort cigarette produced that burnt to moxa stick is divided into indoor filtering and in line outdoor two kinds according to demand,
Smoke evacuation operation can quickly be carried out.The application can intelligently find acupuncture point, can automatically control moxibustion device and carry out moxibustion operation,
Acupuncture point, distance-sensor, real-time temperature control are searched by camera, it is ensured that safety carries out moxibustion, makes moxibustion process more intelligent,
Running into barrier in operation simultaneously can stop immediately, prevent from encountering object or the people that wounds.
Brief description of the drawings
Fig. 1 is the application Intelligent moxibustion machine people's overall structure diagram.
Fig. 2 is the application Intelligent moxibustion machine people's moxibustion device structural representation.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is pointed out here that, implement in detail below
Mode is served only for that the application is further detailed, it is impossible to be interpreted as the limitation to the application protection domain, the field
Technical staff can make some nonessential modifications and adaptations to the application according to above-mentioned application content.
As shown in figure 1, being the application Intelligent moxibustion machine people's overall structure diagram.Wherein, it is including moxibustion device 1, straight
The axle 2 of angular coordinate robot three, the axle 3 of Cartesian robot two, the axle 4 of Cartesian robot one, Cartesian robot are installed
Fixing axle 5, the first fixing axle 6, the second fixing axle 7, the 3rd fixing axle 11, the 4th fixing axle 10, filter layer 8, draft fan 9；
Wherein, the axle 2 of Cartesian robot three, the axle 3 of Cartesian robot two, the axle 4 of Cartesian robot one, rectangular co-ordinate machine
People is installed in fixing axle 5, the first fixing axle 6, the second fixing axle 7, the 3rd fixing axle 11, the 4th fixing axle 10 comprising smoke evacuation
Pipe.
As shown in Fig. 2 being the application Intelligent moxibustion machine people's moxibustion device structural representation.Wherein, including line handspike
12nd, smoke exhaust pipe 13, Moxibustion strip displacement structure 14, Moxibustion strip 15, ccd video camera 16, distance-sensor 17, temperature inductor 18,
Upper outlet body 19, lower cover 20.
The application proposes a kind of Intelligent moxibustion machine people, including controlling organization, fume extractor, in addition to moxibustion device 1, institute
State controlling organization can automatic identification object, and the moxibustion device is turned into destination object, the fume extractor pair automatically
The moxibustion device carries out Chinese mugwort cigarette emissions operation；The moxibustion device 1 includes detection device, adjusting device, the detection device
Detected target object, the distance and destination object to destination object that the adjusting device is detected according to the detection device
State, destination object is carried out it is automatic one by one or moxa-moxibustion simultaneously is operated.
Described Intelligent moxibustion machine people, wherein, the moxibustion device also include smoke exhaust pipe, Moxibustion strip displacement structure 14,
Cover body；The detection device includes ccd video camera 16, distance-sensor 17, temperature inductor 18；The adjusting device includes straight
Line push rod 12；The smoke exhaust pipe, the Moxibustion strip displacement structure 14, the detection device and adjusting device are arranged on the cover
Internal portion.
The ccd video camera 16 can be detected according to the color of acupoint plaster, and judgement cave is carried out by ccd video camera 16
The position of position, Intelligent moxibustion machine people according to the acupuncture point position of detection, control moxibustion device 1 close to the acupuncture point of the detection,
Moxibustion device 1 and the distance at acupuncture point are sensed by distance-sensor 17 in real time in approach process, so that moxibustion device 1 is accurately aimed at
Acupuncture point, prevents Moxibustion strip from scalding destination object, during moxibustion is carried out, and real time temperature sense is carried out by temperature inductor 18
Survey, carry out real time temperature regulation and control.
Described Intelligent moxibustion machine people, wherein, the cover body include upper outlet body 19, the two parts of lower cover 20, it is described on
The cross-sectional diameter of cover body 19 is less than the cross-sectional diameter of lower cover 20, and the line handspike 14, smoke exhaust pipe are arranged on described
Run through whole upper outlet body in cover body 19, the detection device is arranged in lower cover 20, close to the bottom of lower cover 20；The moxa-moxibustion
Bar displacement structure is placed on the downside of line handspike 12, is detachably connected with the line handspike 12.
Described Intelligent moxibustion machine people, wherein, the cover body includes upper outlet body 19, the two parts of lower cover 20, Moxibustion strip
15 are fixed on the Moxibustion strip displacement structure 14, and are arranged on 20 positions in the lower cover；The ccd video camera 16,
Distance-sensor 17, temperature inductor 18 are set on the madial wall of lower cover 20, and close to the downside of lower cover 20.
Described Intelligent moxibustion machine people, wherein, the controlling organization includes the axle 2 of Cartesian robot three, right angle and sat
The axle 3 of scalar robot two, the axle 4 of Cartesian robot one, Cartesian robot install fixing axle 5, the rectangular co-ordinate machine
The axle of people three, two, one, Cartesian robot, which are installed, includes fume extractor in fixing axle 5；The control structure is arranged on fixing axle
On, the fixing axle is smoke exhaust pipe.
The Cartesian robot, which installs fixing axle 5 and the junction of the axle 4 of Cartesian robot one, can carry out 360
Rotation, the junction of the axle 2 of Cartesian robot three and moxibustion device 1 can also carry out 360 degree of rotations.Pass through above-mentioned two
Locate rotating part and carry out straight line with the axle 2 of Cartesian robot three, the axle 3 of Cartesian robot two, the axle 4 of Cartesian robot one
X-axis, Y-axis, the rotation of the axle of Z axis three, enable moxibustion device to be adjusted for acupuncture point.
Described Intelligent moxibustion machine people, wherein, the fixing axle includes the first fixing axle 6, the second fixing axle the 7, the 3rd
In fixing axle 11, the 4th fixing axle 10；First fixing axle 6, the 3rd fixing axle 11 are to connect parallel with second fixing axle 7
Connect, filter layer 8 is set between first fixing axle 6 and the 3rd fixing axle 7, the 3rd fixing axle 11, second is fixed
Point of intersection between the fixing axle 10 of axle 7 and the 4th sets draft fan 9.
Described Intelligent moxibustion machine people, wherein, the Chinese mugwort cigarette that the moxa stick burning is produced is divided into indoor filtering according to demand
With in line outdoor two kinds, the interior be filtered through the controlling organization, the first fixing axle 6, filter layer 8, the 3rd fixing axle 11,
Smoke exhaust pipe in 4th fixing axle 10 is discharged fume, it is described it is in line pass through the controlling organization, the second fixing axle the 7, the 4th fix
Axle 10 is discharged fume.
Described Intelligent moxibustion machine people, wherein, the moxibustion device can carry out gentle according to default program to acupuncture point
The moxa-moxibustion operation of at least one moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion.
A kind of operating method of Intelligent moxibustion machine people as described above, wherein, comprise the following steps：
（1）Acupuncture point mark is carried out, acupoint plaster is attached on the acupuncture point for needing moxibustion；It is coloured that the acupoint plaster includes annular
Mark；
（2）Detect that after confirming that the acupuncture point is pasted, Intelligent moxibustion machine people runs jointly according to pre-set program groups in acupuncture point
Beginning rectilinear coordinates formula is moved, and first with camera to body scans one time, sweeps to moxibustion plaster position, and carry out color contrast, root
Sequencing is determined according to color difference, moxibustion device is moved to specified location；
（3）Moxibustion operation is carried out, mild-warm moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion, moxibustion are carried out to acupuncture point according to default program
During carry out real-time temp of acupoint detection, when temperature departure preset temperature carry out lifting temperature control；Barrier is run into operation simultaneously
Hinder thing to stop immediately, prevent from encountering object or the people that wounds；
（4）Smoke evacuation removes ash manipulation, after moxibustion, the Chinese mugwort ash of generation is collected by automatic collecting device, moxa stick burning is produced
Chinese mugwort cigarette pass through indoor filtering and in line outdoor two ways is discharged.
The operating method of described Intelligent moxibustion machine people, wherein, in the acupuncture point detection process, found by camera
Acupuncture point, Intelligent moxibustion machine people's rectilinear coordinates formula movement, found by camera, it is ensured that perpendicular alignmnet target acupuncture point, by away from
Test to a distance from skin to adjust moxa stick moxibustion angle from inductor, it is ensured that angle is optimal；In moxibustion operating process, distance perspective
Answer the distance of device monitoring distance human body, it is ensured that safety, while running into barrier in operation can stop immediately, prevent from encountering object
Or the people that wounds.
The application possesses following functions：
1. rectilinear coordinates formula is moved：With the axle 2 of Cartesian robot three, the axle 3 of Cartesian robot two, Cartesian robot
One axle 4 spatially realizes the rotation of X-axis, Y-axis, the movement of Z axis, and X-axis, Y-axis, controlled plus two rotary module compositions
Make the action of five frees degree.Described two rotary modules are as shown in figure 1, on the axle 2 of Cartesian robot three and right angle
It can be rotated in coordinates robot's installation fixing axle 5.
2. camera finds acupuncture point：Acupoint plaster is sticked, the movement of Intelligent moxibustion machine people's rectilinear coordinates formula is sought by camera
Look for, it is ensured that alignment target acupuncture point.
3. real time temperature measurement and temperature control：During moxibustion, temperature inductor senses temp of acupoint in real time, temperature it is too high or
When too low, sendible temperature is adjusted by line handspike control moxa stick lifting.
4. distance-sensor：In the alignment procedures of acupuncture point, moxa stick moxibustion angle is adjusted to skin distance by test, really
Conformal degree is optimal；During moxibustion, the distance of distance-sensor monitoring distance human body, it is ensured that safety.
5. collect Chinese mugwort ash：Moxa stick produced Chinese mugwort ash in combustion, has automatic collecting device to carry out ash disposal and collection,
Not only it is clean to accomplish " waste " recycling again.
6. fume extractor：Produced Chinese mugwort cigarette during moxa-moxibustion, is directly discharged to outdoor, or pass through through smoke discharging pipe by blower fan
Interior is discharged into after filter device filtering, two ways can be with any switching laws.Smoke discharging pipe is flexible pipe, be easy to clean, install and
Change.
7. man-machine collaboration：Barrier is run into operation to be stopped immediately, prevent from encountering object or the people that wounds.
Automatic-searching and moxibustion acupuncture point is directed at when the application moxa-moxibustion starts, the hand such as then to acupuncture point determine, peck, revolving, transporting
Method moxa-moxibustion, automatic position adjusting function and distance realize temperature intelligent control during moxibustion, while real in moxa stick combustion process
Show automatic collection Chinese mugwort ash, and the Chinese mugwort cigarette produced that burnt to moxa stick is divided into indoor filtering and in line outdoor two kinds according to demand,
Smoke evacuation operation can quickly be carried out.The application can intelligently find acupuncture point, can automatically control moxibustion device and carry out moxibustion operation,
Acupuncture point, distance-sensor, real-time temperature control are searched by camera, it is ensured that safety carries out moxibustion, makes moxibustion process more intelligent.
The application is mainly used in the moxibustion of medical health field, only needs to light moxa stick during moxibustion, loads intelligence
Among moxibustion robot, moxibustion acupuncture point sticker, which is attached to, needs moxibustion acupuncture point just to realize fully-automatic intelligent moxa-moxibustion, Intelligent moxibustion
Robot can be automatically moved to the surface for wanting moxibustion acupuncture point, and acupuncture point is implemented and gently determines moxibustion, bird-pecking moxibustion, revolving moxibustion, fortune moxibustion
Etc. a series of moxa-moxibustion gimmicks, intelligent temperature control is realized during moxibustion, moxa stick position and direction are automatically adjusted, while in Chinese mugwort
Automatic collection Chinese mugwort ash is realized in bar combustion process, it is ensured that the effect of moxibustion, the Chinese mugwort cigarette root that moxa stick lights generation needs to be divided into room
It is interior to filter and in line outdoor two kinds, and can be with free switching.The product of the present invention, that is, adhered to the advantage of traditional puncture, again
Liberated practicing engineer, during moxibustion do not need practicing engineer participate in, reduction moxa-moxibustion technician specialty require with moxa-moxibustion into
This, makes moxa-moxibustion simplification, convenient purification, popular.
Claims (10)
1. a kind of Intelligent moxibustion machine people, it is characterised in that：Including controlling organization, fume extractor and moxibustion device, the control
Mechanism can automatic identification object, and the moxibustion device is turned into destination object automatically；The fume extractor is to the Chinese mugwort
Moxibustion device carries out Chinese mugwort cigarette emissions operation；The moxibustion device includes detection device and adjusting device, and the detection device detects mesh
Object is marked, the adjusting device detects the distance of destination object and the state of destination object according to the detection device, right
Destination object carry out it is automatic one by one or the operation of moxa-moxibustion simultaneously.
2. Intelligent moxibustion machine people as claimed in claim 1, it is characterised in that：The moxibustion device also includes smoke exhaust pipe, Chinese mugwort
Moxibustion bar displacement structure, cover body；The detection device includes ccd video camera, distance-sensor, temperature inductor；The regulation and control are set
It is standby to include line handspike；The smoke exhaust pipe, the Moxibustion strip displacement structure, the detection device and adjusting device are arranged on institute
State inside cover body.
3. Intelligent moxibustion machine people as claimed in claim 2, it is characterised in that：The cover body includes upper outlet body, lower cover two
Part, the upper outlet body cross-sectional diameter is less than the lower cover cross-sectional diameter, and the line handspike, smoke exhaust pipe are arranged on institute
State and run through whole upper outlet body in upper outlet body, the detection device is arranged in lower cover, close to lower cover bottom；The Moxibustion strip
Displacement structure is placed on the downside of line handspike, is detachably connected with the line handspike.
4. Intelligent moxibustion machine people as claimed in claim 2, it is characterised in that：The cover body includes upper outlet body, lower cover two
Part, Moxibustion strip is fixed on the Moxibustion strip displacement structure, and is arranged on the lower cover centre position；The CCD shootings
Machine, distance-sensor, temperature inductor are set on lower cover madial wall, and on the downside of the lower cover.
5. Intelligent moxibustion machine people as claimed in claim 1, it is characterised in that：The controlling organization includes rectangular co-ordinate machine
The axle of people three, the axle of Cartesian robot two, the axle of Cartesian robot one, Cartesian robot install fixing axle, described straight
The axle of angular coordinate robot three, two, one, Cartesian robot, which are installed, includes fume extractor in fixing axle；The control structure peace
In fixing axle, the fixing axle is smoke exhaust pipe.
6. Intelligent moxibustion machine people as claimed in claim 5, it is characterised in that：The fixing axle includes the first fixing axle, the
Two fixing axles, the 3rd fixing axle, in the 4th fixing axle；First fixing axle, the 3rd fixing axle are with second fixing axle
Parallel connection, sets filter layer between first fixing axle and the 3rd fixing axle, the 3rd fixing axle, second are fixed
Point of intersection between axle and the 4th fixing axle sets draft fan.
7. Intelligent moxibustion machine people as claimed in claim 6, it is characterised in that：The Chinese mugwort cigarette that the moxa stick burning is produced is according to need
Ask and be divided into indoor filtering and in line outdoor two kinds, the interior be filtered through the controlling organization, the first fixing axle, filter layer,
Smoke exhaust pipe in 3rd fixing axle, the 4th fixing axle is discharged fume, it is described it is in line by the controlling organization, the second fixing axle,
4th fixing axle is discharged fume.
8. Intelligent moxibustion machine people as claimed in claim 1, it is characterised in that：The moxibustion device can be according to default program
The moxa-moxibustion operation of at least one mild-warm moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion is carried out to acupuncture point.
9. the operating method of Intelligent moxibustion machine people as described in claim 1-8 any one a kind of, it is characterised in that including
Following steps：
（1）Acupuncture point mark is carried out, acupoint plaster is attached on the acupuncture point for needing moxibustion；It is coloured that the acupoint plaster includes annular
Mark；
（2）Detect that after confirming that the acupuncture point is pasted, Intelligent moxibustion machine people runs jointly according to pre-set program groups in acupuncture point
Beginning rectilinear coordinates formula is moved, and first with camera to body scans one time, sweeps to moxibustion plaster position, and carry out color contrast, root
Sequencing is determined according to color difference, moxibustion device is moved to specified location；
（3）Moxibustion operation is carried out, mild-warm moxibustion, revolving moxibustion, bird-pecking moxibustion or fortune moxibustion, moxibustion are carried out to acupuncture point according to default program
During carry out real-time temp of acupoint detection, when temperature departure preset temperature carry out lifting temperature control；Barrier is run into operation simultaneously
Hinder thing to stop immediately, prevent from encountering object or the people that wounds；
（4）Smoke evacuation removes ash manipulation, after moxibustion, the Chinese mugwort ash of generation is collected by automatic collecting device, moxa stick burning is produced
Chinese mugwort cigarette pass through indoor filtering and in line outdoor two ways is discharged.
10. the operating method of Intelligent moxibustion machine people as claimed in claim 9, it is characterised in that：The acupuncture point detection process
In, acupuncture point is found by camera, the movement of Intelligent moxibustion machine people's rectilinear coordinates formula is found by camera, it is ensured that vertical right
Quasi- target acupuncture point, adjusts moxa stick moxibustion angle, it is ensured that angle is optimal by distance-sensor test to skin distance；In moxibustion
In operating process, the distance of distance-sensor monitoring distance human body, it is ensured that safety can be immediately while running into barrier in operation
Stop, preventing from encountering object or the people that wounds.
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