CN107260533A - A kind of robot arm device for moxibustion - Google Patents
A kind of robot arm device for moxibustion Download PDFInfo
- Publication number
- CN107260533A CN107260533A CN201710554846.3A CN201710554846A CN107260533A CN 107260533 A CN107260533 A CN 107260533A CN 201710554846 A CN201710554846 A CN 201710554846A CN 107260533 A CN107260533 A CN 107260533A
- Authority
- CN
- China
- Prior art keywords
- moxibustion
- arm body
- mechanical arm
- moxa stick
- robot
- 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
- 108091008695 photoreceptors Proteins 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 235000010894 Artemisia argyi Nutrition 0.000 claims abstract description 5
- 244000030166 artemisia Species 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims abstract description 4
- 239000000779 smoke Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 17
- 238000001467 acupuncture Methods 0.000 abstract description 11
- 201000010099 disease Diseases 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010792 warming Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003517 fume Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/0625—Warming the body, e.g. hyperthermia treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- 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
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
- A61N2005/0659—Radiation therapy using light characterised by the wavelength of light used infrared
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The invention discloses a kind of robot arm device for moxibustion, be connected including mechanical arm body and with mechanical arm body and be used for control machinery arm body motion main frame, the mechanical arm body is tubular, inside is provided with moxa stick, top is provided with cover, for changing moxa stick and cleaning Chinese mugwort ash, the cover is provided with temperature inductor and photoreceptor, and the temperature inductor and photoreceptor are electrically connected with main frame.The present invention can carry out moxibustion to human body, can Automatic-searching acupuncture point simultaneously control moxibustion temperature, so as to improve moxibustion effect, with simple to operate, many advantages, such as easy to use.
Description
Technical field
The invention belongs to medical instruments field, and in particular to a kind of robot arm device for moxibustion.
Background technology
Acupoint moxibustion therapeutic is a kind of very effective therapy of Traditional Chinese Medicine preventing and treating diseases, and moxibustion has warming meridian, mediation gas
Blood, nurses one's health voxel, builds up resistance, with the function of disease preventing and treating, especially cold illness, by the moxibustion of different parts,
It can reach effect notable.
Human body has thousands of acupuncture point, it is known that the acupuncture point related to disease also have as many as up to a hundred, how to make common
People also can carry out disease treatment using these acupuncture points exactly, be to perplex always for a long time and hinder this Traditional Chinese Medicine to promote
The great difficult problem of development.Existing moxibustion usually requires patient and carried out under the guidance of the professionals such as doctor, is otherwise not easy
Accurately find the acupuncture point of moxibustion and accurately control temperature, and for different diseases, the acupuncture point of moxibustion, temperature are all different, cause
Randomness is larger during patient self-treatment, and moxibustion effect is poor.
The content of the invention
Moxibustion can be carried out to human body it is an object of the invention to provide one kind, energy Automatic-searching acupuncture point simultaneously accurately controls moxibustion temperature
Degree, so as to improve the robot arm device of moxibustion effect.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of robot arm device for moxibustion, including mechanical arm body and be connected with mechanical arm body and be used to control
The main frame of mechanical arm body motion, the mechanical arm body is tubular, and inside is provided with moxa stick, and top is provided with cover, for changing
Moxa stick and cleaning Chinese mugwort ash, the cover are provided with temperature inductor and photoreceptor, the temperature inductor and photoreceptor and main frame
Electrical connection.
The robot arm device also includes robot, and the main frame is located in robot, and the mechanical arm body is located at machine
On the arm of device people.
The inside of the mechanical arm body, which is provided with, to be used to control electric rod of the moxa stick along the axial movement of mechanical arm body, institute
Moxa stick is stated to be fixed on electric rod.
The inside of the mechanical arm body, which is provided with, to be used to control electric turntable of the moxa stick along the circular-rotation of mechanical arm body,
The electric rod is fixed on electric turntable.
The inside of the mechanical arm body is additionally provided with flint block, and the flint block is fixed on cover and positioned at the top of moxa stick
End.
The inside of the mechanical arm body is additionally provided with smoke exhaust pipe.
The temperature inductor and photoreceptor that the present invention can be carried out on moxibustion, cover to human body automatically can detect human body skin automatically
The mark that the temperature of skin and doctor do on acupuncture point, so as to automatically adjust moxibustion distance and accurately control moxibustion position, machine
People makes the present invention more convenient to use, is more suitable for larger medical, health institution and uses.Electric rod burns for moxa stick
When regulation moxa stick burning point the distance between with skin, coordinate with temperature inductor, moxibustion temperature can be better controled over.Electric rotating
Disk is used to increase the area of moxibustion, further improves moxibustion effect.Flint block has sensing warming effect and extremely wide infrared spoke
Radio frequency band, can produce the effect of biophysics beneficial to human body, so as to further improve curative effect.The present invention also has operation letter
It is single, many advantages, such as easy to use.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is mechanical arm body of the present invention and its internal structure schematic diagram.
Embodiment
The present invention is described in detail below by embodiment and accompanying drawing.
A kind of robot arm device for moxibustion, its overall structure are as shown in figure 1, the device is by robot 7, the and of main frame 2
Mechanical arm body 1 is constituted.Wherein, the main frame 2 is located at the inside of robot 7 and electrically connected with mechanical arm body 1, for controlling
The motion of mechanical arm body 1；The mechanical arm body 1 is located on the arm 8 of robot 7.The robot 7 can pass through remote control
Automatically walk at one's side and carries out moxibustion to patient to human body, so that instead of moxibustion teacher reduces artificial operation.
Fig. 2 is mechanical arm body 1 and its internal structure schematic diagram, and mechanical arm body 1 is hollow tubular construction, and it is by solid
Determine arm and lever arm composition, the fixed arm and lever arm are hinged, and the mechanical arm body 1 can be any by the control of main frame 2
Activity.
The top of the mechanical arm body 1 is provided with cover 4, for changing the Chinese mugwort inside moxa stick and cleaning machine arm body 1
Ash, inside is sequentially provided with electric turntable 10, electric rod 9, moxa stick 3, flint block 11.The electric turntable 10 is located at and the phase of cover 4
To one end, it can be rotated along the circumferencial direction of mechanical arm body 1；The electric rod 9 is fixed on electric turntable 10,
It can carry out stretching motion along the axial direction of mechanical arm body 1；The moxa stick 3 is along the axially arranged of mechanical arm body 1, moxa stick 3
One end be fixed on electric rod 9, the distance of the other end and cover 4 is 1-5cm；The flint block 11 be fixed on cover 4 and
Positioned at the top of moxa stick 3.
The inside of the mechanical arm body 1 is provided with smoke exhaust pipe 12, is discharged fume when being burnt for moxa stick 3.
It can further be seen from figure 2 that temperature inductor 5 and photoreceptor 6 are additionally provided with the cover 4, the temperature inductor 5
Electrically connected with photoreceptor 6 with main frame 2.Wherein, the temperature of skin surface when the temperature inductor 5 is used to detect moxibustion, and will
Measured temperature passes main frame 2 back, main frame 2 the distance between adjusting mechanical arm body 1 and patient skin again, so as to prevent moxibustion temperature
It is too high or too low.The photoreceptor 6 is for following the trail of the mark or be affixed on skin that doctor is drawn on patient acupuncture point with marking pen
Sensing chip, and signal is passed back main frame 2, control machinery arm body 1 is moved main frame 2 again, so as to carry out essence to the acupuncture point of patient
Quasi- moxibustion.
With the progress of moxibustion, moxa stick 3, which gradually burns, to shorten, and now burning point becomes larger with the distance between skin,
The temperature of moxibustion can also be decreased, and will now be promoted moxa stick 3 to skin end by electric rod 9.Therefore, electric rod 9 with
Temperature inductor 5 plays similar effect, is provided to keep appropriate moxibustion temperature, prevent the too high skin ambustion of temperature or
The too low curative effect of temperature declines, and wherein temperature inductor 5 is used for the distance between control machinery arm body 1 and patient skin, and electric
Lever 9 is used to control the distance between the burning of moxa stick 3 point and patient skin, and the two, which is worked in coordination, can better control over moxibustion temperature
Degree, it is achieved thereby that preferably curative effect.
The effect of electric turntable 10 mainly increases the area of moxibustion, when circumference side of the electric turntable 10 along tool arm body 1
To when rotating, driving electric bar 9 and the moxa stick 3 being fixed on electric rod 9 are also circumferentially rotated, so as to expand burning point
Area on skin, further increases curative effect.
Flint block 11 can be produced beneficial to human body due to having sensing warming effect and extremely wide infra-red radiation frequency band simultaneously
Effect of biophysics, with temperature three-way meridian, the multiple efficacies such as the promoting flow of qi and blood circulation, refreshment and tranquilization, therefore stone acupuncture needle is set on the top of moxa stick 3
Stone 11 can further improve curative effect.
The dress such as involved temperature inductor, photoreceptor, robot, mechanical arm, electric rod, electric turntable in the present invention
It is state of the art to put, and can be easily commercially available by various commercial sources, can also make acquisition by oneself as needed.
Claims (6)
1. a kind of robot arm device for moxibustion, including mechanical arm body (1) and it is connected and is used for mechanical arm body (1)
The main frame (2) of control machinery arm body (1) motion, it is characterised in that：The mechanical arm body (1) is tubular, and inside is provided with Chinese mugwort
Bar (3), top is provided with cover (4), for changing moxa stick and cleaning Chinese mugwort ash, the cover (4) provided with temperature inductor (5) and
Photoreceptor (6), the temperature inductor (5) and photoreceptor (6) are electrically connected with main frame (2).
2. it is used for the robot arm device of moxibustion as claimed in claim 1, it is characterised in that：Also include robot (7), the main frame
(2) it is located in robot (7), the mechanical arm body (1) is located on the arm of robot (7) (8).
3. it is used for the robot arm device of moxibustion as claimed in claim 1, it is characterised in that：The inside of the mechanical arm body (1)
Provided with the electric rod (9) for controlling axial movement of the moxa stick (3) along mechanical arm body (1), the moxa stick (3) is fixed on electronic
On bar (9).
4. it is used for the robot arm device of moxibustion as claimed in claim 1, it is characterised in that：The inside of the mechanical arm body (1)
Provided with the electric turntable (10) for controlling circular-rotation of the moxa stick (3) along mechanical arm body (1), the electric rod (9) is fixed
On electric turntable (10).
5. it is used for the robot arm device of moxibustion as claimed in claim 1, it is characterised in that：The inside of the mechanical arm body is provided with
Flint block (11), the flint block (11) is fixed on cover (4) and positioned at the top of moxa stick (3).
6. it is used for the robot arm device of moxibustion as claimed in claim 1, it is characterised in that：The inside of the mechanical arm body (1)
Provided with smoke exhaust pipe (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554846.3A CN107260533A (en) | 2017-07-10 | 2017-07-10 | A kind of robot arm device for moxibustion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554846.3A CN107260533A (en) | 2017-07-10 | 2017-07-10 | A kind of robot arm device for moxibustion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107260533A true CN107260533A (en) | 2017-10-20 |
Family
ID=60072624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710554846.3A Pending CN107260533A (en) | 2017-07-10 | 2017-07-10 | A kind of robot arm device for moxibustion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107260533A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582087A (en) * | 2018-04-18 | 2018-09-28 | 珠海市万瑙特健康科技有限公司 | Mechanical arm executes the method, apparatus and moxibustion device of operation |
| CN110384614A (en) * | 2018-04-19 | 2019-10-29 | 上海鸿迪信息技术有限公司 | Prostate moxa-moxibustion intelligent robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202113325U (en) * | 2011-06-21 | 2012-01-18 | 陆宏国 | Intelligent moxibustion instrument |
| CN202191471U (en) * | 2011-06-22 | 2012-04-18 | 温宗金 | Collateral activating moxibustion stick made from stone needle |
| CN203564527U (en) * | 2013-11-05 | 2014-04-30 | 成都中医药大学附属医院 | Limb self-moxibustion device |
| CN204521554U (en) * | 2015-03-04 | 2015-08-05 | 翟希亮 | A kind of multifunctional moxibustion apparatus |
| CN106137735A (en) * | 2016-07-31 | 2016-11-23 | 张茗岩 | A kind of moxibustion device of many acupuncture points Automatic Track Finding |
-
2017
- 2017-07-10 CN CN201710554846.3A patent/CN107260533A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202113325U (en) * | 2011-06-21 | 2012-01-18 | 陆宏国 | Intelligent moxibustion instrument |
| CN202191471U (en) * | 2011-06-22 | 2012-04-18 | 温宗金 | Collateral activating moxibustion stick made from stone needle |
| CN203564527U (en) * | 2013-11-05 | 2014-04-30 | 成都中医药大学附属医院 | Limb self-moxibustion device |
| CN204521554U (en) * | 2015-03-04 | 2015-08-05 | 翟希亮 | A kind of multifunctional moxibustion apparatus |
| CN106137735A (en) * | 2016-07-31 | 2016-11-23 | 张茗岩 | A kind of moxibustion device of many acupuncture points Automatic Track Finding |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582087A (en) * | 2018-04-18 | 2018-09-28 | 珠海市万瑙特健康科技有限公司 | Mechanical arm executes the method, apparatus and moxibustion device of operation |
| CN108582087B (en) * | 2018-04-18 | 2020-07-07 | 珠海市万瑙特健康科技有限公司 | Method and device for executing operation by mechanical arm and moxibustion device |
| CN110384614A (en) * | 2018-04-19 | 2019-10-29 | 上海鸿迪信息技术有限公司 | Prostate moxa-moxibustion intelligent robot |
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| PB01 | Publication | ||
| 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 |
Application publication date: 20171020 |
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| WD01 | Invention patent application deemed withdrawn after publication |