CN108245416A - A kind of intelligence moxibustion device and its control method - Google Patents
A kind of intelligence moxibustion device and its control method Download PDFInfo
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- CN108245416A CN108245416A CN201810216627.9A CN201810216627A CN108245416A CN 108245416 A CN108245416 A CN 108245416A CN 201810216627 A CN201810216627 A CN 201810216627A CN 108245416 A CN108245416 A CN 108245416A
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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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- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
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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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- 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
- A61H2201/5082—Temperature sensors
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Abstract
The present invention provides a kind of intelligent moxibustion device and its control method, intelligent moxibustion device includes feed device, ignition mechanism and multi-spindle machining arm device, feed device is provided with feed mechanism and pushing mechanism, feed mechanism has the feed bin for accommodating multiple mugwort rods, pushing mechanism can control the mugwort rod of lowermost end to move in parallel to the outside of feed mechanism, multi-spindle machining arm device includes pedestal, XY axis walking machine hands and multi-spindle machining hand, multi-spindle machining hand is rotatably connect with XY axis walking machine hands, XY axis walking machine hands can control multi-spindle machining hand to be moved along X-direction or Y direction, multi-spindle machining hand has work head, smoke exhaust mechanism, material fetching mechanism, Dan Hui mechanisms, preposition temperature sensor and acupuncture point identification mechanism.Intelligent moxibustion device reduces human cost, improves therapeutic effect, and energy conservation and environmental protection from mugwort rod is taken all to be automatically completed to a series of actions such as burning, identification positioning, smoking, bullet ash, safe distance protections.
Description
Technical field
The present invention relates to physical therapy technical field, more particularly, to a kind of intelligent moxibustion device and its control method.
Background technology
Moxa-moxibustion at present relies primarily on manual operation implementation：The first step is that personnel manually light the mugwort rod made, and is held
Or it is put into fixed moxa-moxibustion box；Second step is corresponding different acupuncture point according to the different disease of curer, is held
The mugwort rod or moxa-moxibustion box lighted are put into acupuncture point nearby (different according to the distance of the different mugwort rods of disease and acupuncture point)；Third walks
It is that each Moxibustion on Acupoints has the regular hour to require (also different according to disease difference moxibustion time)；4th step is in the mistake of moxa-moxibustion
Mugwort rod can generate smog in journey, and smoking machine is opened manually；With the passage of moxibustion time, the mugwort rod lighted can produce 5th step
Raw cigarette ash, cigarette ash is too thick to have an impact therapeutic effect.
Modern medicine is highly developed, and therapeutic modality is innumerable, under the present situation of medical staff's wretched insufficiency, carries out tradition
Moxibustion difficulty is quite big.Traditional puncture either moxa stick moxibustion or sandwiched moxibustion are required for staff constantly to wait for other straight
Terminate to moxibustion, however usually more than one acupuncture point, moxibustion time also there can be the different time will due to disease difference again for moxibustion
It asks, sandwiched moxibustion but will also differ widely because of the cone number of disease difference moxibustion, and by taking 2 to 3 acupuncture points as an example, whole flow process needs to consume
When at least one hour or more.Moxa-moxibustion box is now widely used.The range of moxa-moxibustion application is acupuncture point or local skin, and moxa-moxibustion box leads to
It is usually used in fire-cureing for local skin, can not realizes the therapeutic effect of traditional puncture.Moxa-moxibustion box has as a drawback that：1st, there can not be needle
Implement the different moxibustion therapy such as selective mild-warm moxibustion, bird-pecking moxibustion to a certain particular acupoint to property；2nd, after falling burning without legal time bullet
Chinese mugwort ash, moxa stick burning after outer layer covers mulberry paper it is very light, easily descend slowly and lightly in strip, but burn after moxa stick be not easy
It is dispersed in and comes off, still in moxa stick shape, just meeting nature comes off more than certain endurance, and the heat effect that moxa-moxibustion plays is exactly to rely on combustion
Chinese mugwort is fire-cureed, therefore gently need to collide with or tap by the timing of artificial external force actively makes Chinese mugwort ash come off, and moxa stick is placed in moxa-moxibustion box
Fixed position, from starting is lighted, to after-flame, all there is no bullet ash process, moxa-moxibustion box is placed and is fire-cureed on skin by of short duration at end eventually
Rapid drop in temperature and successively decrease afterwards, proportional with the burning velocity of moxa stick, i.e. Chinese mugwort ash constantly accumulation is increased, serious that thermal energy is hindered to pass
The effect passed.Although the design of moxa-moxibustion box instead of artificial, solves human side, it scalds skin in order to avoid Chinese mugwort ash,
In moxa-moxibustion box bottom, about 4 centimeters support a wire netting to be used to stop Chinese mugwort ash and come off to cause damage, again in view of moxa-moxibustion box
Place and be not required to artificial constantly regulate height on skin to adapt to the tolerance of patient, thus skin receive be not interruption temperature
Thermostimulation, but the moxa stick burning to decay rapidly and smog hoard the warm sensation in moxa-moxibustion box.
Invention content
In order to realize the first object of the present invention, the present invention provide a kind of human cost bottom, therapeutic effect more preferably, reduce cigarette
Mist and energy-saving and environment-friendly intelligent moxibustion device.
In order to realize the second object of the present invention, the present invention provides a kind of controlling party for above-mentioned intelligent moxibustion device
Method.
In order to realize the first object of the present invention, the present invention provides a kind of intelligent moxibustion device, including feed device, point
Lighter structure and multi-spindle machining arm device, feed device are provided with feed mechanism and pushing mechanism, and feed mechanism is more with accommodating
The feed bin of a mugwort rod, multiple mugwort rods are superimposed in vertical direction and place, and pushing mechanism is located at the side of feed mechanism, and pushing mechanism can
The mugwort rod of control lowermost end is moved in parallel to the outside of feed mechanism, and multi-spindle machining arm device includes pedestal, XY axis walking machines
Hand and multi-spindle machining hand, XY axis walking machines hand be mounted on pedestal on, multi-spindle machining hand rotatably with XY axis walking machines
Hand connects, and XY axis walking machine hands can control multi-spindle machining hand to be moved along X-direction or Y direction, and multi-spindle machining hand has work
Make head, smoke exhaust mechanism, material fetching mechanism, Dan Hui mechanisms, preposition temperature sensor and acupuncture point identification mechanism, material fetching mechanism to move
Ground is arranged in work head, and material fetching mechanism is for gripping mugwort rod, and ignition mechanism is used to light a fire for mugwort rod, and smoke exhaust mechanism is located at work
The front of the outside of head, Dan Hui mechanisms are located at the front end of work head, and preposition temperature sensor is mounted on the front end of work head and prolongs
Work head is stretched out, acupuncture point identification mechanism is located at the side of work head.
It can be seen that intelligent moxibustion device is from mugwort rod is taken to burning, identification positioning, smoking, bullet ash, safe distance protection
A series of actions is waited all to automatically complete, only a staff is needed to carry out confirmation action, greatly reduces human cost, carry
High therapeutic effect.Also, the smoke exhaust mechanism of intelligent moxibustion device begins to work from mugwort rod burning, and smog is siphoned away and passed through
Filtration system is expelled directly out fresh air, effectively improves working environment, reduces injury of the smog to human body, environmental protection and energy saving.
Further scheme is that pushing mechanism has catch bar, and catch bar is connected to the one of mugwort rod with can moving in parallel
On end face.
Further scheme is that acupuncture point identification mechanism has charge coupled cell.
Further scheme is that ignition mechanism is provided with front end inductor.
In order to realize the second object of the present invention, the present invention provides a kind of control method of intelligent moxibustion device, intelligence
Change moxibustion device and include feed device, ignition mechanism and multi-spindle machining arm device, feed device is provided with feed mechanism and pushes away
Motivation structure, feed mechanism have the feed bin for accommodating multiple mugwort rods, and multiple mugwort rods are superimposed in vertical direction and place, and pushing mechanism is located at
The side of feed mechanism, pushing mechanism can control the mugwort rod of lowermost end to move in parallel to the outside of feed mechanism, multi-spindle machining hand
Device includes pedestal, XY axis walking machine hands and multi-spindle machining hand, and XY axis walking machines hand is mounted on pedestal, multi-spindle machining
Hand is rotatably connect with XY axis walking machine hands, and XY axis walking machine hands can control multi-spindle machining hand along X-direction or Y-axis side
To movement, multi-spindle machining hand has work head, smoke exhaust mechanism, material fetching mechanism, Dan Hui mechanisms, preposition temperature sensor and acupuncture point
Identification mechanism, material fetching mechanism are movably disposed in work head, and for gripping mugwort rod, ignition mechanism is used for as Chinese mugwort material fetching mechanism
Stick is lighted a fire, and smoke exhaust mechanism is located at the front of the outside of work head, and Dan Hui mechanisms are located at the front end of work head, preposition temperature sensor
Mounted on the front end of work head and extend work head, acupuncture point identification mechanism is located at the side of work head, and control method includes：Make
Moxa-moxibustion object is in particular state, label is attached on the acupuncture point of moxa-moxibustion object；Control the parallel shifting of mugwort rod of lowermost end in feed bin
It moves to the outside of feed mechanism；Control multi-spindle machining hand along X-direction or Y direction be moved to feed device position and
Control the rotation of multi-spindle machining hand, the material fetching mechanism gripping mugwort rod of multi-spindle machining hand；Multi-spindle machining hand is controlled along X-direction or Y-axis
Direction is moved to the position of ignition mechanism, and ignition mechanism lights a fire to one end of mugwort rod；Control smoke exhaust mechanism work；Control is more
Axis robot is moved to operating position along X-direction or Y direction；The work of acupuncture point identification mechanism is controlled, controls multi-spindle machining hand
Rotation makes the firing tip of mugwort rod be directed at label.
Further scheme is, when mugwort rod firing tip alignment labeling task after a certain period of time, control Dan Hui mechanisms work
Make.
Further scheme is, when the firing tip of mugwort rod is directed at label, preposition temperature sensor to be controlled to work.
Further scheme is, when preposition temperature sensor recognizes the temperature of moxa-moxibustion object higher than setting safe temperature
When, control multi-spindle machining hand is pivoted away from label position.
Description of the drawings
Fig. 1 is the structure chart of intelligent moxibustion device embodiment of the invention.
Fig. 2 is the structure chart of feed device in intelligent moxibustion device embodiment of the invention.
Fig. 3 is the structure chart of multi-spindle machining arm device in intelligent moxibustion device embodiment of the invention.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
Referring to Fig. 1 to Fig. 3, intelligent moxibustion device includes feed device 1, ignition mechanism 2 and multi-spindle machining arm device
3, feed device 1 is provided with feed mechanism 11 and pushing mechanism 13, and feed mechanism 11 has the feed bin 12 for accommodating multiple mugwort rods 5,
Multiple mugwort rods 5 are superimposed in vertical direction and place.Pushing mechanism 13 is located at the side of feed mechanism 11, and pushing mechanism 13 is controllable most
The mugwort rod 5 of bottom end is moved in parallel to the outside of feed mechanism 11, and specifically, pushing mechanism 13 has catch bar 14, catch bar 14
It is connected on the end face of mugwort rod 5 with can moving in parallel.
Multi-spindle machining arm device 3 includes pedestal 31, XY axis walking machines hand 32 and multi-spindle machining hand 33, XY axis vehicle with walking machine
Tool hand 32 is mounted on pedestal 31, and multi-spindle machining hand 33 is rotatably connect with XY axis walking machines hand 32, XY axis walking machines
Hand 32 can control multi-spindle machining hand 33 to be moved along X-direction or Y direction.Multi-spindle machining hand 33 has work head 34, induced-draft fan
Structure 35, material fetching mechanism 36, Dan Hui mechanisms 37, preposition temperature sensor 38 and acupuncture point identification mechanism 39, material fetching mechanism 36 are removable
It is arranged on dynamicly in work head 34, for gripping mugwort rod 5, ignition mechanism 2 is used to light a fire for mugwort rod 5 material fetching mechanism 36.Induced-draft fan
Structure 35 is located at the front of the outside of work head 34, and Dan Hui mechanisms 37 are located at the front end of work head 34, and preposition temperature sensor 38 is pacified
Mounted in the front end of work head 34 and extend work head 34, acupuncture point identification mechanism 39 is located at the side of work head 34, the present embodiment
Acupuncture point identification mechanism 39 has charge coupled cell, i.e. acupuncture point identification mechanism 39 is CCD acupuncture points identification mechanism.
For intelligent moxibustion device during use, operating personnel need to only set parameter on computers, and parameter includes
The time of moxa-moxibustion, the sequence of moxibustion acupuncture point priority, mugwort rod burning time and safe temperature etc., the instant variation of moxa-moxibustion process can
To be monitored in real time by analysis software.Operating personnel arrange moxa-moxibustion object 4 to be sat in particular state, such as moxa-moxibustion object 4
It on fixed position or lies on a bed, then the label of different identification is attached on the acupuncture point of moxa-moxibustion object 4, it is soft in computer
Each acupuncture point is set on part and wants the time of moxa-moxibustion and the sequence of moxibustion acupuncture point priority.Computer software sends out command signal, passes through list
Piece machine receives signal and then intelligent control moxibustion device is started to work, and control method is as follows：
1st, it is that multi-spindle machining hand 33 grips mugwort rod 5 first, specifically, the material fetching mechanism 36 of multi-spindle machining hand 33 passes through servo
Motor driven gear, gear drive universal shaft that material fetching mechanism is gone to fixation and take mugwort rod point, the i.e. position of feed device 1.Multiaxis
33 top inductor of manipulator receives signal, and hand grabs opening, captures mugwort rod 5, it is the rotation with movable eccentric wheel by motor that hand, which is grabbed,
It transfers control finger one and opens a conjunction.Feed device 1 is the mechanism of a cartridge-type, first mugwort rod 5 is placed in feed bin 12, feed bin 12
Interior both sides are equipped with spring, and when the walking of multi-spindle machining hand 33 is to fixed feeding position, inductor sends a signal to microcontroller, single
Piece machine feeds back to signal in the motor of pushing mechanism 13, its catch bar 14 of the motor pushing of pushing mechanism 13 pushes away the translation of mugwort rod 5
Go out, multi-spindle machining hand 33 captures after releasing setpoint distance.
2nd, multi-spindle machining hand 33 is moved to by Serve Motor Control at ignition mechanism 2 after capturing mugwort rod 5, ignition mechanism 2
Front end inductor thoughts and feelings hair after issue instructions to microcontroller, singlechip feedbsck signal is to ignition mechanism 2, before ignition mechanism 2
End both sides respectively fill an electrode, and by signal enabling power supply, electrode generates electric arc, and then lights mugwort rod 5.Before ignition mechanism 2
End inductor sends out signal, and multi-spindle machining hand 33 is moved to designated position, acupuncture point identification mechanism by Serve Motor Control universal shaft
39 start to identify the label on 4 acupuncture point of moxa-moxibustion object, and label can be from 1 to 9 setting or A to W settings, and acupuncture point identification mechanism 39 is not
Disconnected ground capturing pictures are compared with setting program, are simultaneously emitted by signal to control the position of multi-spindle machining hand 33, are confirmed moxa-moxibustion
Sequencing, the position coordinates numerical value of label can pass through the conversion of servo motor pulse turnning circle and obtain.
3rd, smoke exhaust mechanism 35 can smoke automatically, and sensor sends a signal to microcontroller after mugwort rod 5 is lighted successfully, and microcontroller is given
An air inlet pipe is accessed in signal electromagnet valve, solenoid valve one end, and the other end connection of air inlet pipe is there are one tubaeform stainless steel, no
Rust steel is fixed on the top of mugwort rod 5, and solenoid valve starts to act after receiving signal.
4th, Dan Hui mechanisms 37 can appliance for releasing single ash, mugwort rod 5, which is burned to certain time, will generate certain cigarette ash, cigarette ash attachment
It is not easy in mugwort rod 5, and then influences the effect for the treatment of.An eccentric wheel, eccentric wheel are filled at the rear portion of multi-spindle machining hand 33
One end heads on hand and grabs, and the other end is ined succession synchronous pulley, and belt is ined succession motor and synchronous pulley, every burning time set,
Microcontroller will signal to motor, and the bias that motor will take to moves in turn several circles, hand grab will as eccentric wheel moves up and down, from
And reach bullet ash purpose.
5th, in burning, temperature can increase mugwort rod 5 after a certain period of time, and temperature is excessively high to cause human skin certain injury.
Intelligent moxibustion device is by setting safe temperature, and preposition temperature sensor 38 sends out signal when temperature is higher than setting safe temperature
To microcontroller, feedback signal is to servo motor again for microcontroller, and Serve Motor Control multi-spindle machining hand 33 is toward human acupoint phase negative side
To movement, so as to play a protective role.
Above-mentioned action is completed within the time of setting and be used as one acupuncture point course for the treatment of of moxa-moxibustion according to above-mentioned control method
Action.
The present embodiment intelligence moxibustion device keeps traditional moxibustion treatment method, and mugwort rod can profit without special processing
With the effect of ensureing raw material source juice source taste, given full play to mugwort rod.Intelligent moxibustion device is from mugwort rod is taken to burning, identification
The a series of actions such as positioning, smoking, bullet ash, safe distance protection all automatically complete, and a staff are only needed to carry out true
Recognize action, greatly reduce human cost, improve therapeutic effect.Also, the smoke exhaust mechanism of intelligent moxibustion device is fired from mugwort rod
Burning begins to work, and smog is siphoned away and passes through filtration system, fresh air is expelled directly out, effectively improves working environment, subtract
Few injury of the smog to human body, environmental protection and energy saving.
Above example, only preferred embodiments of the invention, be not to limit the scope of the present invention, it is therefore all according to the present invention
The equivalent change or modification that construction, feature and the principle of claim are done, should all be included in present patent application model
In enclosing.
Claims (8)
1. a kind of intelligence moxibustion device, it is characterised in that：
Including feed device, ignition mechanism and multi-spindle machining arm device, the feed device is provided with feed mechanism and promotion
Mechanism, the feed mechanism have the feed bin for accommodating multiple mugwort rods, and multiple mugwort rods are superimposed in vertical direction and place；
The pushing mechanism is located at the side of the feed mechanism, and the pushing mechanism can control the mugwort rod of lowermost end parallel
It is moved to the outside of the feed mechanism；
The multi-spindle machining arm device includes pedestal, XY axis walking machine hands and multi-spindle machining hand, the XY axis walking machine
Hand is mounted on the pedestal, and the multi-spindle machining hand is rotatably connect with the XY axis walking machine hand, the XY axis row
Walking manipulator can control the multi-spindle machining hand to be moved along X-direction or Y direction；
The multi-spindle machining hand has work head, smoke exhaust mechanism, material fetching mechanism, Dan Hui mechanisms, preposition temperature sensor and cave
Position identification mechanism, the material fetching mechanism are movably disposed in the work head, and the material fetching mechanism is used to grip the Chinese mugwort
Stick, the ignition mechanism are used to light a fire for the mugwort rod；
The smoke exhaust mechanism is located at the front of the outside of the work head, and the Dan Hui mechanisms are located at the front end of the work head,
The preposition temperature sensor is mounted on the front end of the work head and extends the work head, the acupuncture point identification mechanism position
In the side of the work head.
2. intelligence moxibustion device according to claim 1, it is characterised in that：
The pushing mechanism has catch bar, and the catch bar is connected on the end face of the mugwort rod in which can move in parallel.
3. intelligence moxibustion device according to claim 1 or 2, it is characterised in that：
The acupuncture point identification mechanism has charge coupled cell.
4. intelligence moxibustion device according to claim 3, it is characterised in that：
The ignition mechanism is provided with front end inductor.
5. the control method of intelligent moxibustion device, it is characterised in that：
The intelligence moxibustion device is the intelligent moxibustion device of the claims 1 to 3, and the control method includes：
Moxa-moxibustion object is made to be in particular state, label is attached on the acupuncture point of the moxa-moxibustion object；
The mugwort rod of lowermost end in the feed bin is controlled to move in parallel to the outside of the feed mechanism；
The multi-spindle machining hand is controlled to be moved to described in position and the control of the feed device along X-direction or Y direction
Multi-spindle machining hand rotates, and the material fetching mechanism of the multi-spindle machining hand grips the mugwort rod；
The multi-spindle machining hand is controlled to be moved to the position of the ignition mechanism, the ignition mechanism along X-direction or Y direction
It lights a fire to one end of the mugwort rod；
The smoke exhaust mechanism is controlled to work；
The multi-spindle machining hand is controlled to be moved to operating position along X-direction or Y direction；
The acupuncture point identification mechanism is controlled to work, the multi-spindle machining hand rotation is controlled to make described in the firing tip alignment of the mugwort rod
Label.
6. control method according to claim 5, it is characterised in that：
When the firing tip of the mugwort rod is directed at the labeling task after a certain period of time, the Dan Hui mechanisms is controlled to work.
7. control method according to claim 6, it is characterised in that：
When the firing tip of the mugwort rod is directed at the label, the control preposition temperature sensor work.
8. control method according to claim 9, it is characterised in that：
When the preposition temperature sensor recognizes the temperature of the moxa-moxibustion object higher than setting safe temperature, control is described more
Axis robot is pivoted away from the label position.
Priority Applications (1)
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| CN108403366A (en) * | 2018-04-02 | 2018-08-17 | 徐州世家康健健康管理咨询有限公司 | A kind of stone needle health preserving bed of intelligent decision human acupoint |
| CN109316347A (en) * | 2018-11-28 | 2019-02-12 | 南昌大学 | A kind of moxibustion instrument end effector |
| CN110575385A (en) * | 2019-08-13 | 2019-12-17 | 珠海市万瑙特健康科技有限公司 | control method of moxibustion manipulator |
| CN110974686A (en) * | 2019-12-12 | 2020-04-10 | 中国科学院重庆绿色智能技术研究院 | Moxibustion robot system and control method of moxibustion robot system |
| CN113696212A (en) * | 2021-09-22 | 2021-11-26 | 通适(北京)技术有限公司 | Operating head of heat-sensitive moxibustion robot |
| CN114246791A (en) * | 2022-02-26 | 2022-03-29 | 徐州百艾电子科技有限公司 | Portable moxa smoke clarifier |
| US20220183928A1 (en) * | 2020-12-16 | 2022-06-16 | Zhi Mei Kang Min (Zhuhai) Health Tech Co., Ltd. | Method, apparatus, and device for controlling moxibustion manipulator |
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