CN111604923B - Full-automatic moxibustion operation mechanical arm and operation method thereof - Google Patents
Full-automatic moxibustion operation mechanical arm and operation method thereof Download PDFInfo
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- CN111604923B CN111604923B CN202010648473.8A CN202010648473A CN111604923B CN 111604923 B CN111604923 B CN 111604923B CN 202010648473 A CN202010648473 A CN 202010648473A CN 111604923 B CN111604923 B CN 111604923B
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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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- 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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- 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
- B25J19/04—Viewing devices
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1689—Teleoperation
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- A61H2201/0184—Means for preventing injuries by raising an alarm
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5082—Temperature sensors
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Abstract
The invention discloses a full-automatic moxibustion operation mechanical arm and an operation method thereof, wherein the full-automatic moxibustion operation mechanical arm comprises a rotating part and a working part, the rotating part and the working part are kept connected through a connecting part, the rotating part comprises a base, a rotating seat, a first rotating arm, a second rotating arm and a reinforcing rod, one end of the rotating seat is connected with a base keeping center rotating shaft, the other end of the rotating seat is connected with the first rotating arm through a hinge, the other end of the first rotating arm is connected with the second rotating arm through a hinge, the connecting part is fixedly arranged on the second rotating arm, the working part comprises a rotating part, one end of the working part is rotatably connected onto the connecting part, a rotating disc is fixedly arranged at the other end of the rotating part, a positioning mechanism is fixedly arranged at the center part of the rotating disc, and four working blocks are circumferentially distributed and arranged on the rotating disc. The mechanical arm can be positioned before moxibustion, can aim at human body acupuncture points during moxibustion, and can prevent burning waste residue from falling on a human body during moxibustion to cause scalding.
Description
Technical Field
The invention relates to the field of moxibustion equipment, in particular to a full-automatic moxibustion operation mechanical arm and an operation method thereof.
Background
Moxibustion, a moxibustion method in traditional Chinese medicine acupuncture therapy, is a treatment method which uses Ai Reci generated by moxibustion materials made of mugwort leaves to excite body surface acupoints or specific parts, and adjusts physiological and biochemical functions of human body disorder by exciting menstrual qi activities, thereby achieving the purpose of preventing and curing diseases.
In the process of moxibustion, the moxibustion mainly uses the heat of moxa burning to cause warm stimulation to human body, so that ash after moxa burning can not fall on the surface of human body when moxibustion is performed, and skin is easy to scald.
The invention with the application number of CN201520510822.4 discloses a moxibustion manipulator which is mechanical equipment for replacing hands to perform moxibustion operation and comprises a manipulator which can grasp at least one moxa stick, wherein the manipulator is connected with a supporting rod through a mechanical arm; the mechanical arm can move up and down on the supporting rod; the support rod is arranged on the moving mechanism and can perform plane movement on the moving mechanism.
But this scheme is in the use, and the patient must stand or sit just can guarantee that the ashes after the mugwort leaf fires can not drop on human surface, and because moxa-moxibustion time is longer, standing for a long time or sitting for a long time all have certain influence to patient's health, and a moxa-moxibustion arm that can be used to the treatment of patient's lying down and can prevent ashes after the mugwort leaf fires to drift is urgently needed.
Disclosure of Invention
Therefore, in order to solve the above-mentioned shortcomings, the invention provides a full-automatic moxibustion operation mechanical arm and an operation method thereof, wherein the mechanical arm can prevent the ashes of the mugwort leaves from falling on the surface of a human body to scald the skin when in use, and can also meet the requirement of a patient to lie down for moxibustion.
The invention is realized in such a way, a full-automatic moxibustion operation mechanical arm is constructed, and the mechanical arm comprises a rotating part and a working part; the rotating part is connected with the working part through a connecting part; the rotating part comprises a base, a rotating seat, a first rotating arm, a second rotating arm and a reinforcing rod, one end of the rotating seat is connected with a base maintaining center rotating shaft, the other end of the rotating seat is connected with the first rotating arm through a hinge, the other end of the first rotating arm is connected with the second rotating arm through a hinge, a connecting part is fixedly arranged on the second rotating arm, one end of the reinforcing rod is connected with a hinging part of the first rotating arm and the second rotating arm, and the other end of the reinforcing rod is connected with the second rotating arm through a hinge;
the working part comprises a rotating part, and one end of the rotating part is rotationally connected to the connecting part;
the working part also comprises a rotating disc which is fixedly arranged at the other end of the rotating part;
the working part also comprises a positioning mechanism which is fixedly arranged at the central part of the rotating disc;
the working part also comprises four working blocks which are circumferentially distributed and arranged on the rotating disc.
Further, the connecting part is in a cylinder form, and a driving motor is arranged in the connecting part; the rotating part is a short shaft, one end of the rotating part is inserted into the connecting part and is kept connected with the driving motor, and the other end of the rotating part is fixedly arranged at the center of the rotating disc.
Further, the positioning mechanism is arranged at the center part of the other surface of the rotating disc.
Further, the positioning mechanism comprises a telescopic rod, and one end of the telescopic rod is fixedly arranged at the center of the rotating disc;
comprises a positioning head which is fixedly arranged at the other end of the telescopic rod; the two elastic pieces are arranged between the positioning head and the rotating disc.
Furthermore, the positioning head is in a semicircle shape, the plane center of the positioning head is connected with the telescopic rod, and the two elastic pieces are symmetrically arranged between the positioning head and the rotating disc relative to the telescopic rod.
Further, 4 threaded holes are circumferentially distributed on the surface of the rotating disc, on which the positioning mechanism is mounted, and the working blocks are mounted in the threaded holes.
Further, the working block comprises a placing cylinder which is movably connected in a threaded hole of the rotating disc;
one end of the connecting piece is movably connected with the end part of the placing cylinder;
a slag accumulating part; the other end of the connecting piece is connected with the other end of the connecting piece;
the filter screen is fixedly arranged at the joint of the connecting piece and the slag accumulating piece;
and a igniting part passing through the center of the slag accumulating part and the center of the filter screen and keeping the slag accumulating part and the filter screen fixed.
Further, the slag accumulating part is a hollow hemisphere, and a round hole is formed in the center of the sphere;
the ignition part is a cone-shaped pipe, the small end part is closed, the small end part penetrates through the filter screen and is provided with a fire outlet on the circumferential surface penetrating through the filter screen, and the large end part of the ignition part is arranged in a hole formed in the center of the slag accumulation part and is fixed.
Furthermore, the mechanical arm is also provided with a moxibustion control system; the moxibustion control system is provided with a control unit, a power supply module, a temperature judging unit, a timing module, a Bluetooth module, a warning unit and an output executing unit; the power supply module is connected with the control unit to realize power supply to the moxibustion control system; the output end of the temperature judging unit is connected with the control unit, and the output end of the control unit is respectively connected with the Bluetooth module, the warning unit and the output executing unit; the input end of the temperature judging unit is connected with a temperature sensor arranged in the cylinder, and the temperature sensor detects whether the temperature of the mugwort leaves reaches a set temperature or not when the mugwort leaves burn; the output execution unit is externally connected with and controls a driving motor in the connecting part; the moxibustion control system is also provided with a camera, the output of the camera is connected with the control unit, and the camera is used for shooting the moxibustion part; the Bluetooth module can be used for realizing Bluetooth connection with the mobile phone, and the mechanical arm is controlled by the mobile phone through the platform of the moxibustion control system.
Further, a full-automatic moxibustion operation mechanical arm is implemented in the following manner;
s1, when moxibustion is carried out on a human body, the positions of the acupuncture points of the human body and the working blocks are corresponding through the positioning mechanism, and when positioning is carried out, a worker pulls the positioning head to correspond to the navel of the human body, namely positioning is completed, the positioning head is loosened, and the positioning head is retracted under the action of the elastic piece.
S2, taking out the working block, putting the mugwort leaf into the placement cylinder, connecting the connection piece, aligning the ignition part through an external fire source, and spraying the fire source from a fire outlet through the ignition part to ignite the mugwort leaf on the filter screen; after completion, fix whole working piece on the rolling disc, then rotate the rolling disc through the inside motor of control connecting portion, can carry out the moxa-moxibustion, when burning, the moxa-leaf burns ashes after falling in the sediment spare through the gap between the filter screen, and the upper end is burning the moxa-leaf and drops on the filter screen under gravity, continues to carry out the moxa-moxibustion, until burning the moxa-leaf, accomplish the moxa-moxibustion.
Wherein, the burning mode of the mugwort leaf is as follows; when the mugwort leaf is ignited for the first time, the mugwort leaf is burned for 0.5-1 min and then is kept stand for 1-2 min, meanwhile, the temperature sensor detects the temperature of the mugwort leaf, and the temperature judging unit judges whether the mugwort leaf reaches the set temperature; if the temperature of the mugwort leaves reaches the set temperature, the control unit controls the driving motor in the connecting part to rotate positively and rotate the rotating disc positively through the output execution unit, at the moment, the timing module performs 1 minute timing, and after 1 minute timing, the driving motor is controlled to rotate reversely, so that the rotating disc is rotated reversely, and the rotating disc is controlled to rotate positively and negatively alternately; if the temperature of the mugwort leaf is detected not to reach the set temperature, the mugwort leaf is considered to be ignited for the second time again so as to fully burn the mugwort leaf, and the set temperature is reached.
The invention has the following advantages: the invention provides a full-automatic moxibustion operation mechanical arm and an operation method thereof, wherein the mechanical arm can prevent mugwort leaf ashes from falling on the surface of a human body to scald skin when in use, and can also meet the requirement of a patient lying down for moxibustion. When the moxibustion is carried out on a human body, the positions of the acupuncture points of the human body and the working blocks are corresponding through the positioning mechanism, and when the moxibustion is positioned, a worker pulls the positioning head to correspond to the navel of the human body, namely the positioning is completed, releases the positioning head, and retracts the positioning head under the action of the elastic piece; then take out the working piece, put into placing the drum with the chinese mugwort leaf in, connect the connecting piece after, aim at the portion of igniting through external fire source, the fire source passes the portion of igniting and spouts from the apopore, light the chinese mugwort leaf on the filter screen, after accomplishing, fix whole working piece on the rolling disc, then rotate the rolling disc through the inside motor of control connecting portion, can carry out the moxa-moxibustion, when burning, the chinese mugwort leaf burns to fall in the sediment spare through the gap between the filter screen after ashes, and the chinese mugwort leaf that upper end is burning drops on the filter screen under gravity, continue to carry out the moxa-moxibustion, until the chinese mugwort leaf is burnt, accomplish the moxa-moxibustion.
Compared with the prior art, the moxibustion device can ensure that a patient can lie down for treatment during moxibustion, and can prevent ashes after the burning of the mugwort leaves from falling on the surface of a human body to scald the skin.
In addition, the positioning mechanism is designed reasonably, so that the moxibustion device can be aligned to the acupuncture points of a human body conveniently during moxibustion, and the efficiency is improved.
In addition, the cylinder can be assembled and disassembled through reasonably designing the connection mode of the cylinder in the working block, so that the mugwort leaf can be conveniently assembled.
In addition, through the connection relation of the sediment spare in the reasonable design working piece and placing the drum, the split of can being convenient for, the inside chinese mugwort leaf ashes of sediment spare of convenient clearance.
In addition, can prevent through reasonable design filter screen that the chinese mugwort leaf from directly falling on the long-pending sediment spare, can remove simultaneously when burning chinese mugwort leaf, guarantee that the clearance is the same.
In addition, the shape of the ignition part can be reasonably designed to lead the flame at the outer end into the interior to ignite the mugwort leaf, so that the moxibustion is facilitated.
In addition, the full-automatic moxibustion operation mechanical arm is also provided with a moxibustion control system; the moxibustion control system is provided with a control unit, a power supply module, a temperature judging unit, a timing module, a Bluetooth module, a warning unit and an output executing unit; the power supply module is connected with the control unit to realize power supply to the moxibustion control system; the output end of the temperature judging unit is connected with the control unit, and the output end of the control unit is respectively connected with the Bluetooth module, the warning unit and the output executing unit; the input end of the temperature judging unit is connected with a temperature sensor arranged in the cylinder, and the temperature sensor detects whether the temperature of the mugwort leaves reaches a set temperature or not when the mugwort leaves burn; the output execution unit is externally connected with and controls a driving motor in the connecting part; the moxibustion control system is also provided with a camera, the output of the camera is connected with the control unit, and the camera is used for shooting the moxibustion part; the Bluetooth module can be used for realizing Bluetooth connection with the mobile phone, and the mechanical arm is controlled by the mobile phone through the platform of the moxibustion control system.
The moxibustion control system has the following functions;
(1) The temperature detection of the mugwort leaf can be realized; that is, the input end of the temperature judging unit is connected with a temperature sensor arranged in the cylinder, and the temperature sensor detects whether the temperature of the mugwort leaf reaches the set temperature or not when the mugwort leaf burns.
(2) The output execution unit is externally connected and controls the positive and negative rotation of the driving motor in the connecting part; therefore, the alternating positive and negative rotation of the rotating disc is realized, and the moxibustion effect is enhanced.
(3) The moxibustion control system is also provided with a camera, the output of the camera is connected with the control unit, and the camera is used for shooting the moxibustion part; the mobile phone is provided with a Bluetooth module, the Bluetooth module can be used for realizing Bluetooth connection with the mobile phone, and the mobile phone controls the mechanical arm by means of a platform of a moxibustion control system (the content of camera shooting can be displayed in the corresponding mobile phone); when the temperature of the mugwort leaf is too high or abnormal, the mugwort leaf is warned by the warning unit.
Drawings
Fig. 1 and 2 are schematic structural views corresponding to embodiment 1 of the present invention;
FIG. 3 is a schematic view of the positioning mechanism of the present invention;
FIG. 4 is a schematic diagram of the explosive construction of the work piece of the present invention;
FIG. 5 is a schematic view of the structure of the ignition portion and slag accumulation member in the working block of the present invention;
fig. 6 is a schematic structural diagram of a moxibustion control system according to the present invention;
fig. 7 is a block diagram of a configuration corresponding to embodiment 1 of the present invention.
In the figure: 1, a base; 2, a rotating seat; 3 a first rotating arm; 4, reinforcing rods; 5 a second rotating arm; a connecting part 6; 7, rotating a disc; 8, a rotating part; 9, a working block; 9.1 placing a cylinder; 9.2 connectors; 9.3 a filter screen; 9.4 slag accumulating parts; 9.5 pilot portions; 9.6, a fire outlet; 10 a positioning mechanism; 10.1 positioning head; 10.2 telescoping rod; 10.3 elastic members; 11 a moxibustion control system; 12 a control unit; 13 a power module; 14 a temperature determination unit; 15 a timing module; a 16 bluetooth module; 17 an alarm unit; 18 an output execution unit; a 19 temperature sensor; 20 cameras; 21 drive the motor.
Detailed Description
The following detailed description of the present invention will provide clear and complete description of the technical solutions of the embodiments of the present invention, with reference to fig. 1-7, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1
A full-automatic moxibustion operation mechanical arm, as shown in fig. 1-5; comprises a rotating part and a working part, wherein the rotating part is connected with the working part through a connecting part 6, the rotating part comprises a base 1, a rotating seat 2, a first rotating arm 3, a second rotating arm 5 and a reinforcing rod 4, one end of the rotating seat 2 is connected with the base 1 through a central rotating shaft, the other end of the rotating seat is connected with the first rotating arm 3 through a hinge, the other end of the first rotating arm 3 is connected with the second rotating arm 5 through a hinge, the connecting part 6 is fixedly arranged on the second rotating arm 5, one end of the reinforcing rod 4 is connected with the hinged part of the first rotating arm 3 and the second rotating arm 5, the other end of the reinforcing rod is connected with the second rotating arm 5 through a hinge,
the working part comprises a rotating part 8, and one end of the rotating part is rotatably connected to the connecting part 6;
a rotating disc 7 fixedly installed at the other end of the rotating part 8;
a positioning mechanism 10 fixedly installed at the center of the rotating disc 7;
four working blocks 9 are circumferentially distributed and arranged on the rotating disc 7.
In the present embodiment, the connection portion is in the form of a cylinder, and the driving motor 21 is installed inside thereof.
In this embodiment, the rotating part 8 is a short shaft, one end of which is inserted into the connecting part 6 and is kept connected to the driving motor, and the other end of which is fixedly installed at the center of the rotating disc 7.
In the present embodiment, the positioning mechanism 10 is mounted to the center portion of the other surface of the rotating disk 7.
In this embodiment, the positioning mechanism 10 includes a telescopic rod 10.2, one end of which is fixedly installed at the center of the rotating disc 7;
a positioning head 10.1 fixedly arranged at the other end of the telescopic rod 10.2;
two elastic members 10.3 are mounted between the positioning head 10.1 and the rotating disc 7.
In this embodiment, the positioning head 10.1 is in a semicircle shape, the center of the plane is connected with the telescopic rod 10.2, and the two elastic members 10.3 are symmetrically installed between the positioning head 10.1 and the rotating disc 7 relative to the telescopic rod.
In this embodiment, 4 threaded holes are circumferentially distributed on the surface of the rotating disc 7 on which the positioning mechanism 10 is mounted, and the working blocks 9 are mounted in the threaded holes.
In this embodiment, the working block 9 comprises a placement cylinder 9.1 movably connected in a threaded hole of the rotating disc 7;
one end of a connecting piece 9.2 is movably connected with the end part of the placing cylinder 9.1;
a slag accumulating part 9.4; the other end of the connecting piece 9.2 is connected with the other end of the connecting piece;
the filter screen 9.3 is fixedly arranged at the joint of the connecting piece 9.2 and the slag accumulating piece 9.4;
a igniting part 9.5 passes through the center of the slag accumulating part 9.4 and the center of the filter screen 9.3 and is kept fixed.
In this embodiment, the slag accumulating member 9.4 is a hollow hemisphere, and a round hole is formed in the center of the sphere.
In this embodiment, the ignition portion 9.5 is a cone-shaped tube, the small end portion is closed, the small end portion passes through the filter screen 9.3 and the peripheral surface passing through the filter screen 9.3 is provided with a fire outlet 9.6, and the large end portion of the ignition portion 9.5 is mounted and fixed in a hole formed in the center of the slag accumulating member 9.4.
The implementation principle is as follows: when the moxibustion is performed on a human body, the positions of the acupoints of the human body and the working blocks are corresponding through the positioning mechanism 10, and when the moxibustion is positioned, a worker pulls the positioning head 10.1 to correspond to the navel of the human body, namely positioning is completed, the positioning head 10.1 is loosened, and the positioning head 10.1 is retracted under the action of the elastic piece 10.3.
Then take out working piece 9, put into placing drum 9.1 with the chinese mugwort leaf in, connect connecting piece 9.2 after, aim at the portion of igniting 9.5 through external fire source, the fire source passes portion of igniting 9.5 and spouts from the play fire outlet, ignite chinese mugwort leaf on the filter screen 9.3, after accomplishing, fix whole working piece 9 on rotating disk 7, then through the rotatory rotating disk 7 of the motor of control connecting portion 6 inside, can carry out the moxa-moxibustion, when burning, the chinese mugwort leaf burns ashes after falling in the sediment piece 9.4 through the gap between filter screen 9.3, and the chinese mugwort leaf that upper end is burning drops on filter screen 9.3 under gravity, continue to carry out the moxa-moxibustion, accomplish the moxa-moxibustion.
Embodiment 2
A full-automatic moxibustion operation mechanical arm having all the structures of embodiment 1; namely comprises a rotating part and a working part, wherein the rotating part and the working part are kept connected through a connecting part 6, the rotating part comprises a base 1, a rotating seat 2, a first rotating arm 3, a second rotating arm 5 and a reinforcing rod 4, one end of the rotating seat 2 is kept in central rotating shaft connection with the base 1, the other end of the rotating seat is connected with the first rotating arm 3 through a hinge, the other end of the first rotating arm 3 is connected with the second rotating arm 5 through a hinge, the connecting part 6 is fixedly arranged on the second rotating arm 5, one end of the reinforcing rod 4 is connected with the hinged part of the first rotating arm 3 and the second rotating arm 5, the other end of the reinforcing rod 4 is connected with the second rotating arm 5 through a hinge,
the working part comprises a rotating part 8, and one end of the rotating part is rotatably connected to the connecting part 6;
a rotating disc 7 fixedly installed at the other end of the rotating part 8;
a positioning mechanism 10 fixedly installed at the center of the rotating disc 7;
four working blocks 9 are circumferentially distributed and arranged on the rotating disc 7.
Meanwhile, the full-automatic moxibustion operation mechanical arm of the embodiment is also provided with a moxibustion control system 11 as shown in fig. 6-7; the moxibustion control system 11 is provided with a control unit 12, a power supply module 13, a temperature judging unit 14, a timing module 15, a Bluetooth module 16, a warning unit 17 and an output executing unit 18; the power supply module 13 is connected with the control unit 12 to realize power supply to the moxibustion control system 11; the output end of the temperature judging unit 14 is connected with the control unit 12, and the output end of the control unit 12 is respectively connected with the Bluetooth module 16, the warning unit 17 and the output executing unit 18; the input end of the temperature judging unit 14 is connected with a temperature sensor 19 arranged in the cylinder 9.1, and the temperature sensor 19 detects whether the temperature of the mugwort leaves reaches a set temperature or not when the mugwort leaves burn; the output execution unit 18 is externally connected with and controls a driving motor 21 in the connecting part; the moxibustion control system 11 is also provided with a camera 20, the output of the camera 20 is connected with the control unit 12, and the camera 20 is used for shooting a moxibustion part; the bluetooth module 16 may be used to implement bluetooth connection with a mobile phone, and control the mechanical arm through the mobile phone by means of the platform of the moxibustion control system 11.
The full-automatic moxibustion operation mechanical arm corresponding to the embodiment is operated in the following manner;
when the moxibustion is performed on a human body, the positions of the acupoints of the human body and the working blocks are corresponding through the positioning mechanism 10, and when the moxibustion is positioned, a worker pulls the positioning head 10.1 to correspond to the navel of the human body, namely positioning is completed, the positioning head 10.1 is loosened, and the positioning head 10.1 is retracted under the action of the elastic piece 10.3.
Then the working block 9 is taken out, the mugwort leaves are put into the placing cylinder 9.1, after the connecting piece 9.2 is connected, the mugwort leaves are aligned to the ignition part 9.5 through an external fire source, the fire source passes through the ignition part 9.5 and is sprayed out from a fire outlet, and the mugwort leaves on the filter screen 9.3 are ignited; after completion, fix whole working piece 9 on rolling disc 7, then through the rotatory rolling disc 7 of the inside motor of control connecting portion 6, can carry out the moxa-moxibustion, when burning, the moxa leaf burns ashes after falling in the sediment spare 9.4 through the gap between filter screen 9.3, and the upper end is burning the moxa leaf and falls on filter screen 9.3 under gravity, continues to carry out the moxa-moxibustion, and the moxa-moxibustion is accomplished to burning.
Wherein, the burning mode of the mugwort leaf is as follows; igniting the mugwort leaf for the first time, burning for 0.5-1 min, standing for 1-2 min, detecting the temperature of the mugwort leaf by a temperature sensor 19, and judging whether the mugwort leaf reaches a set temperature by a temperature judging unit 14; if the temperature of the mugwort leaves reaches the set temperature, the control unit 12 controls the driving motor 21 in the connecting part to rotate positively and rotate the rotating disc 7 positively through the output execution unit 18, at the moment, the timing module 15 performs 1 minute timing, after 1 minute timing, the driving motor 21 is controlled to rotate reversely, so as to realize the reverse rotation of the rotating disc 7, and the reverse rotation of the rotating disc 7 is controlled; if the temperature of the mugwort leaf is detected not to reach the set temperature, the mugwort leaf is considered to be ignited for the second time again so as to fully burn the mugwort leaf, and the set temperature is reached.
Then, the moxibustion manipulation system 11 added to embodiment 2 has the following effects;
(1) The temperature detection of the mugwort leaf can be realized; that is, the input end of the temperature determination unit 14 is connected to a temperature sensor 19 provided in the cylinder 9.1, and the temperature sensor 19 detects whether the temperature of the mugwort leaves reaches a set temperature or not when the mugwort leaves burn.
(2) The output execution unit 18 is externally connected and controls the positive and negative rotation of the driving motor 21 in the connecting part; so as to realize the alternate positive and negative rotation of the rotating disk 7 and enhance the moxibustion effect.
(3) The moxibustion control system 11 is also provided with a camera 20, the output of the camera 20 is connected with the control unit 12, and the camera 20 is used for shooting a moxibustion part; the device also comprises a Bluetooth module 16, wherein the Bluetooth module 16 can be used for realizing Bluetooth connection with a mobile phone, and the mobile phone controls the mechanical arm by means of a platform of the moxibustion control system 11 (the content of the camera 20 can be displayed in the corresponding mobile phone); when the temperature of the mugwort leaves is too high or abnormal, the mugwort leaves are warned by a warning unit 17.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A full-automatic moxibustion operation mechanical arm is characterized in that; the mechanical arm comprises a rotating part and a working part; the rotating part and the working part are kept connected through a connecting part (6); the rotating part comprises a base (1), a rotating seat (2), a first rotating arm (3), a second rotating arm (5) and a reinforcing rod (4), wherein one end of the rotating seat (2) is connected with the base (1) through a central rotating shaft, the other end of the rotating seat is connected with the first rotating arm (3) through a hinge, the other end of the first rotating arm (3) is connected with the second rotating arm (5) through a hinge, a connecting part (6) is fixedly arranged on the second rotating arm (5), one end of the reinforcing rod (4) is connected with a hinged part of the first rotating arm (3) and the second rotating arm (5), and the other end of the reinforcing rod is connected onto the second rotating arm (5) through a hinge;
the working part comprises a rotating part (8), and one end of the rotating part is rotatably connected to the connecting part (6);
the working part also comprises a rotating disc (7) fixedly arranged at the other end of the rotating part (8);
the working part also comprises a positioning mechanism (10) fixedly arranged at the central part of the rotating disc (7);
the working part also comprises four working blocks (9) which are circumferentially distributed and arranged on the rotating disc (7);
the working block (9) comprises a placing cylinder (9.1) which is movably connected in a threaded hole of the rotating disc (7);
one end of a connecting piece (9.2) is movably connected with the end part of the placing cylinder (9.1);
a slag accumulating part (9.4); the other end of the connecting piece (9.2) is connected with the other end of the connecting piece;
the filter screen (9.3) is fixedly arranged at the joint of the connecting piece (9.2) and the slag accumulating piece (9.4);
a igniting part (9.5) which passes through the center of the slag accumulating part (9.4) and the center of the filter screen (9.3) and is kept fixed;
the slag accumulating part (9.4) is a hollow hemisphere, and a round hole is formed in the center of the sphere;
the ignition part (9.5) is a cone-shaped pipe, the small end part of the ignition part is closed, the small end part of the ignition part passes through the filter screen (9.3) and is provided with a fire outlet (9.6) on the circumferential surface passing through the filter screen (9.3), and the large end part of the ignition part (9.5) is arranged in a hole formed in the center of the slag accumulation piece (9.4) and is fixed;
the mechanical arm is also provided with a moxibustion control system (11); the moxibustion control system (11) is provided with a control unit (12), a power supply module (13), a temperature judging unit (14), a timing module (15), a Bluetooth module (16), a warning unit (17) and an output executing unit (18); the power supply module (13) is connected with the control unit (12) to realize power supply to the moxibustion control system (11); the output end of the temperature judging unit (14) is connected with the control unit (12), and the output end of the control unit (12) is respectively connected with the Bluetooth module (16), the warning unit (17) and the output executing unit (18); the input end of the temperature judging unit (14) is connected with a temperature sensor (19) arranged in the cylinder (9.1), and the temperature sensor (19) detects whether the temperature of the mugwort leaf reaches a set temperature or not when the mugwort leaf burns; the output execution unit (18) is externally connected with and controls a driving motor (21) in the connecting part; the moxibustion control system (11) is also provided with a camera (20), the output of the camera (20) is connected with the control unit (12), and the camera (20) is used for shooting the moxibustion part; the Bluetooth module (16) can be used for realizing Bluetooth connection with a mobile phone, and the mobile phone controls the mechanical arm by means of the platform of the moxibustion control system (11).
2. The fully automated moxibustion manipulator according to claim 1, wherein: the connecting part (6) is in a cylindrical form, and a driving motor (21) is arranged in the connecting part; the rotating part (8) is a short shaft, one end of the short shaft is inserted into the connecting part (6) and is kept connected with the driving motor, and the other end of the short shaft is fixedly arranged at the center of the rotating disc (7).
3. The fully automated moxibustion manipulator according to claim 1, wherein: the positioning mechanism (10) is arranged at the center part of the other surface of the rotating disc (7).
4. A fully automatic moxibustion manipulator according to claim 1 or 3, characterised in that: the positioning mechanism (10) comprises a telescopic rod (10.2), and one end of the telescopic rod is fixedly arranged at the center of the rotating disc (7);
a positioning head (10.1) fixedly arranged at the other end of the telescopic rod (10.2);
two elastic members (10.3) are arranged between the positioning head (10.1) and the rotating disc (7).
5. The fully automated moxibustion manipulator according to claim 4, wherein: the positioning head (10.1) is in a semicircular sphere shape, the plane center of the positioning head is connected with the telescopic rod (10.2), and the two elastic pieces (10.3) are symmetrically arranged between the positioning head (10.1) and the rotating disc (7) relative to the telescopic rod.
6. The fully automated moxibustion manipulator according to claim 1, wherein: 4 threaded holes are circumferentially distributed in the surface of the rotating disc (7) on which the positioning mechanism (10) is arranged, and the working blocks (9) are arranged in the threaded holes.
7. An operation method of a full-automatic moxibustion operation mechanical arm, which is applied to the full-automatic moxibustion operation mechanical arm according to claim 1, and is characterized in that; the method comprises the following steps:
s1, when moxibustion is carried out on a human body, the positions of the acupuncture points of the human body and the working blocks are corresponding through a positioning mechanism (10), and when positioning is carried out, a worker pulls a positioning head (10.1) to correspond to the navel of the human body, namely positioning is finished, the positioning head (10.1) is loosened, and the positioning head (10.1) is retracted under the action of an elastic piece (10.3);
s2, taking out the working block (9), putting the mugwort leaves into the placement cylinder (9.1), connecting the connection piece (9.2), aligning the ignition part (9.5) through an external fire source, and spraying the fire source from a fire outlet through the ignition part (9.5) to ignite the mugwort leaves on the filter screen (9.3); after the moxibustion is completed, the whole working block (9) is fixed on the rotating disc (7), then the rotating disc (7) is rotated by controlling a motor in the connecting part (6), during combustion, the moxa leaves are burnt into ashes and then fall into the slag accumulating part (9.4) through gaps between the filter screens (9.3), and the moxa leaves with the upper end being combusted fall onto the filter screens (9.3) under the gravity, so that the moxibustion is continuously performed until the moxa leaves are burnt, and the moxibustion is completed;
wherein, the burning mode of the mugwort leaf is as follows; igniting the mugwort leaf for the first time, burning for 0.5-1 min, standing for 1-2 min, detecting the temperature of the mugwort leaf by a temperature sensor (19), and judging whether the mugwort leaf reaches a set temperature by a temperature judging unit (14); if the temperature of the mugwort leaves reaches the set temperature, the control unit (12) controls the driving motor (21) in the connecting part to rotate forwards through the output execution unit (18), the rotating disc (7) rotates forwards, the timing module (15) performs 1 minute timing at the moment, after 1 minute timing, the driving motor (21) is controlled to rotate reversely, the rotating disc (7) rotates reversely, and the rotating disc (7) is controlled to rotate reversely and alternately; if the temperature of the mugwort leaf is detected not to reach the set temperature, the mugwort leaf is considered to be ignited for the second time again so as to fully burn the mugwort leaf, and the set temperature is reached.
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