CN112315791A

CN112315791A - Intelligent moxibustion bed

Info

Publication number: CN112315791A
Application number: CN202011420597.7A
Authority: CN
Inventors: 董晓明; 王强; 董沣乐; 董丰榕; 王鹏波
Original assignee: Shenyang Tianren Heyi Technology Co ltd
Current assignee: Shenyang Tianren Heyi Technology Co ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-02-05

Abstract

The utility model provides an intelligence moxa-moxibustion bed, includes bed body subassembly (4), robotic arm subassembly (3), sets up at terminal moxa-moxibustion head of robotic arm subassembly (3), and its technical essential is: the mechanical arm assembly (3) can slide linearly along the bed body assembly (4), and the moxibustion head is driven by the mechanical arm assembly (3) and the structure of the moxibustion head to realize universal stepless adjustment; the moxibustion head is provided with a camera, and a target point (5) or a human body sign on the body of a patient is scanned by the camera to identify and record a required coordinate. The device has the advantages of simple and compact structure, convenient and quick operation, less manual intervention and less environmental pollution.

Description

Intelligent moxibustion bed

Technical Field

The invention relates to the field of medical instruments, in particular to an intelligent moxibustion bed.

Background

Most of the traditional moxibustion is that a moxa stick is manually held to perform moxibustion on the surface of a human body, or one or more moxibustion sticks are fixed in a pot, a box or a box to perform moxibustion, and the devices have simple structures, but have the defects of smoke choking, uncontrollable temperature, uncontrollable firepower, uncontrollable ash, difficult manual operation and the like.

Disclosure of Invention

The invention aims to provide an intelligent moxibustion bed, which fundamentally solves the problems and has the advantages of simple and compact structure, convenient and quick operation, less manual intervention and less environmental pollution.

In order to achieve the purpose, the invention provides the following technical scheme: this intelligence moxa-moxibustion bed, including bed body subassembly, robotic arm subassembly, set up at the terminal moxa-moxibustion head of robotic arm subassembly, its technical essential is: the mechanical arm assembly can linearly slide along the bed body assembly, and the moxibustion head is driven by the mechanical arm assembly and the structure of the moxibustion head to realize universal stepless adjustment; the moxibustion head is provided with a camera, and the camera scans target spots or human body signs on the body of a patient, and identifies and records required coordinates.

Preferably, in order to improve the movable dimension of the mechanical arm assembly, the mechanical arm assembly comprises an electric control cabinet, a linear sliding table limited on the side part of the bed body assembly, a mechanical arm support limited on the linear sliding table through sliding of a sliding table motor, a rotary table limited on the mechanical arm support through rotation of a rotary table motor, a large arm hinged on the rotary table through driving of a large arm driving motor, and a small arm hinged on the large arm through driving of a small arm driving motor.

The bed body component comprises a bed body base and a height-adjustable mattress driven by a four-bar linkage mechanism.

Preferably, an automatic-feeding moxibustion head is adopted, which comprises a moxibustion component of a controllable-feeding moxibustion stick; moxa-moxibustion subassembly includes urceolus, spacing motor reducer in urceolus one side, sets up the drive gear at motor reducer output, with drive gear meshing's driven gear, spacing inner tube on driven gear, be used for fixed moxa-moxibustion strip's the picture pin seat through the spring spacing in the inner tube, the spacing ash scraping plate that has in inner tube bottom.

In order to realize the far-end control of the ignition of the moxa roll, an ignition lead is arranged at the bottom of the outer cylinder and at the position corresponding to the tail end of the moxa roll.

In order to obtain reference data of the feeding depth of the moxibustion stick, a distance measuring component or/and a temperature measuring component is/are limited on the outer side of the outer barrel.

In order to realize rapid removal of falling moxa roll ashes, the outer barrel is provided with a smoke outlet, the moxa-moxibustion component is limited in a structural component comprising a moxa-moxibustion cabin and a guide shell with a smoke channel, the smoke outlet corresponds to the smoke channel, and the outlet end of the smoke channel is directly or indirectly connected with a negative pressure system.

For realizing that moxa-moxibustion strip subassembly is adjusted at the distal end of cross axle and axis of ordinates rotation angle, the structure subassembly still includes horizontal rotation steering wheel and vertical rotation steering wheel, and the direction casing is spacing on the output of horizontal rotation steering wheel, and the moxa-moxibustion cabin sets up on the output of vertical rotation steering wheel.

The invention has the beneficial effects that: the whole technical scheme is as follows: through the integrated design, the overall process is treated in all-round solution moxa-moxibustion, and multiple functions such as moxa stick autoignition, moxa stick automatic feed, automatic ash removal, automatic exhaust, automatically regulated firepower, automatic range finding, automatic infrared temperature measurement, automatically regulated angle, vision assistance-localization real-time, automatic distance detection have perfectly been realized. By combining intelligent software control algorithms such as a multi-axis numerical control system, visual auxiliary positioning, visual tracking and the like, the whole machine can automatically generate a planning path through visual scanning, a humanized computer operation interface can be used for freely setting moxibustion time, moxibustion therapy action, temperature setting and the like of each moxibustion acupoint. The moxibustion action can realize various moxibustion techniques such as bird pecking moxibustion, rotary moxibustion, linear reciprocating moxibustion and the like. The intelligent treatment operation is completely realized by the setting, the whole process does not need manual participation, and the device is the traditional Chinese medicine moxibustion device with higher automation degree.

Automatic ignition: the moxibustion stick is instantly ignited by electric control by using a resistance heating element or a high-voltage arc ignition device, so that automatic ignition is realized.

Automatic feeding: in order to ensure that the moxa stick can be shortened after the moxa stick is continuously burnt, and the burning point can be changed, the automatic feeding is realized by utilizing a compression spring arranged in an inner cylinder of a combustion chamber to provide thrust in order to continuously push the burnt and shortened moxa stick forward, and the position of the burning point is kept unchanged.

Automatic ash removal: the burning of moxa stick can constantly produce ashes, these ashes can not drop automatically, the infrared radiation effect can be blockked to the ashes of overlength, after the ashes accumulation drops, if the processing can fall on human skin untimely, so these ashes need in time to be handled, because the ashes of moxa stick are very light, the event sets up the arc at combustion chamber inner tube front end and scrapes the hawk, the combustion chamber inner tube can rotate, by terminal gear wheel and the little gear engagement on the miniature direct current gear motor output shaft, when gear motor is rotatory, it is rotatory to drive the inner tube, the moxa stick is placed in the inner tube, along with the inner tube is rotatory, the position of moxa stick burning can be pasted and scrape the hawk and rotate, strike off ashes, ashes are siphoned off through high vacuum negative pressure system rapidly.

Automatic smoke discharging: the burning of moxa stick can produce bigger smog, and a large amount of smog can the polluted environment, and automatic exhaust is discharged through smoke exhaust passage with low vacuum negative pressure to do purification treatment.

Automatic fire power adjustment: the automatic fire regulation, the automatic ash removal and the automatic smoke discharge are a set of vacuum negative pressure system which only works in different pressure ranges, the vacuum negative pressure system is a smoke discharge process when working in a low pressure range and slowly sucks away smoke dust, the vacuum negative pressure system is a dust and ash discharge process when working in a high pressure range, at the moment, the suction force is large, ash is quickly discharged, the ash discharge process is intermittent, a micro speed reducing motor rotates simultaneously when discharging ash, the ash is forcibly scraped and is immediately sucked away, and the vacuum negative pressure system can regulate the air intake through micro regulation of pressure, so that the combustion state of moxa sticks is regulated, and the fire regulation is realized.

Automatic distance measurement: in order to avoid the moxibustion, the moxibustion head touches the skin of a human body and adjusts the temperature of the moxibustion by changing the distance between the moxibustion head and the skin, a laser ranging sensor is arranged in an equipment cabin of the automatic moxibustion head, and the distance between the moxibustion head and the skin is monitored in real time. A laser ranging sensor is arranged in the automatic moxibustion head, the distance from the moxibustion head to the skin of a human body is monitored in real time, and when the distance is lower than a threshold value, the distance is adjusted through a mechanical arm and/or a two-axis driving motor of the moxibustion head.

Automatic infrared temperature measurement: the equipment cabin is equipped with infrared temperature sensor, and the surface temperature of some is treated in real-time supervision skin moxibustion realizes automatic temperature measurement function, avoids scalding. An infrared temperature measuring sensor is arranged in the automatic moxibustion head to monitor the surface temperature of the skin of the moxibustion site in real time.

Automatic angle regulation: the angle of the holder is changed through the two steering gears, the moxibustion head can be horizontally rotated by 90 degrees through the horizontal rotation steering gears, and the moxibustion head can be adjusted in multiple directions within +/-90 degrees in the vertical direction through the vertical rotation steering gears.

Auxiliary positioning: the special mark or the human body characteristic of the moxibustion point is identified through a camera in the equipment cabin, and the functions of auxiliary positioning, tracking and the like are realized.

Multi-axis arm numerical control system: the multi-axis linkage space motion control mechanism is composed of four-axis linkage space motion mechanical arms, wherein a first axis is a linear sliding table control stepping motor, a second axis is a rotary table rotation control stepping motor, a third axis is a large arm control stepping motor, a fourth axis is a small arm control stepping motor, and position motion control in space is realized by adopting a multi-axis motion control algorithm.

Adjusting the angle of the moxibustion head: two control steering engines are adopted inside the automatic moxibustion head, rotation in the horizontal direction and rotation in the vertical direction of the moxibustion head are respectively realized, and a 4+2 motion control combination is formed by matching mechanical arms, so that different requirements of space motion are met.

In conclusion, the intelligent moxibustion head can be matched with a numerical control mechanical arm or a mechanical arm to realize fully-automatically controlled multifunctional moxibustion equipment.

Drawings

Fig. 1 is an isometric side view schematic diagram of a moxibustion head of the present invention.

Fig. 2 is a schematic sectional structure view I of the moxibustion head of the present invention.

Fig. 3 is a schematic sectional view of the moxibustion head of the present invention II.

Fig. 4 is a schematic view showing the moxibustion head of the present invention in a vertical position and a horizontal position.

Fig. 5 is a schematic bottom view of the moxibustion head of the present invention.

Fig. 6 is an isometric side view schematic diagram of the moxibustion bed of the present invention.

Fig. 7 is a front view schematically showing the moxibustion bed of the present invention.

Fig. 8 is a schematic top view of the moxibustion bed of the present invention.

Fig. 9 is a schematic view of the switching process between different using states of the moxibustion bed of the invention.

Detailed Description

The present invention will be described in detail below with reference to fig. 1 to 9 by way of specific examples.

Example 1

The embodiment is the most preferable technical scheme of the moxibustion head of the invention, and the moxibustion head comprises a structural component 1 and a moxibustion component 2 limited in the structural component 1.

The structure component 1 comprises a top steering engine shell 11, a moxibustion cabin 12 and a guiding shell 13 which are matched with each other, and a side steering engine shell 15 and an equipment cabin 14 which are arranged on the guiding shell 13 in sequence from top to bottom. The guide housing 13 mainly comprises three parts, namely an upper housing (not marked in the figure) which is matched with the top steering engine housing 11, and a pair of side housings which are respectively used for arranging a smoke channel 132 and a cable channel 131 and are arranged oppositely, wherein the tail end of the smoke channel 132 finally leads to the smoke outlet hole 112 of the top steering engine housing 11 and is communicated with a negative pressure system (not shown in the figure); a horizontal rotating steering engine 113 is limited in the top steering engine shell 11 and used for providing Y-axis torque, and an upper shell of the guide shell 13 is installed at the output end of the upper shell; a vertical rotary steering engine 151 is installed in the side steering engine shell 15 in a limiting mode and used for providing X-axis torque; the moxibustion cabin 12 is of a sphere-like structure, one side of the moxibustion cabin 12 is hinged and matched with the lateral shell of the guide shell 13 with the smoke channel 132, and the other side of the moxibustion cabin 12 is installed on the output end of the vertical rotation steering engine 151. As shown in fig. 4, the moxibustion capsule 12 can be freely rotated in the X-axis and the Y-axis by the above-described structure. Meanwhile, in order to facilitate the wire arrangement requirement of the control cable, a cable channel 131 is arranged in the other side shell of the guide shell 13, the cable channel 131 leads to the top steering engine shell 11 and is finally connected to a control terminal through a cable leading-out hole 111, and a control cable (not shown in the figure) of the horizontal rotation steering engine 113, a control cable (not shown in the figure) of the vertical rotation steering engine 151 and a control cable (not shown in the figure) of each sensor or integrated circuit board in the equipment cabin 14 are all led out to the cable leading-out hole 111 through the cable channel 131. This arrangement effectively avoids interference with the smoke passage 132, and the control cable is not knotted by the two-dimensional rotation of the moxibustion chamber 12.

The moxibustion component 2 comprises an outer cylinder 21, a motor reducer 23 limited on one side of the outer cylinder 21, a driving gear 24 arranged at the output end of the motor reducer 23, a driven gear 25 meshed with the driving gear 24, an inner cylinder 22 limited on the driven gear 25, a shaft sleeve 26 fixed on the outer cylinder 21 and used for being matched with the inner cylinder 22, a scraping plate 225 fixed at the tail end of the outer cylinder 21, a needle hub 223 limited in the inner cylinder 22 through a spring 222 and used for fixing a moxibustion stick 224, the moxibustion stick 224 is elastically limited between the needle hub 223 and the scraping plate 225, the tail end of the outer cylinder 21 is sealed through a lens cover 141, and a crystal lens group 146 is arranged on the lens cover 141. After the moxa roll 224 is used up, the moxa roll can be replaced by detaching the lens cover 141, which is convenient and quick. Preferably, a trumpet-shaped perforated reflection cover 221 is provided at the bottom of the outer cylinder 21, so that the treatment effect is improved without affecting smoke removal. Preferably, to remotely control the firing of the moxa stick 224, the firing wire 148 is introduced into the outer barrel 21 through the device compartment 14, and the end of the firing wire corresponds to the end of the moxa stick 224, so that the resistance heating can be remotely controlled to fire the moxa stick 224.

In the using process, the motor reducer 23 drives the driving gear 24 and the driven gear 25 to rotate, so as to drive the inner cylinder 22 to rotate, the moxa stick 224 is always abutted against the inner side of the scraper 225 under the elastic force of the spring 222, the moxa stick 224 always rotates relative to the scraper 225 in the rotating process of the inner cylinder 22, and the ash burning part at the front end of the moxa stick 224 is scraped off by the scraper 225 and is instantly removed by a negative pressure system.

In order to realize automatic control by cooperating with a control terminal (not shown in the figure), a distance measuring component or/and a temperature measuring component or/and an image acquisition component for feeding back real-time data are arranged in the equipment cabin 14. For example, a laser ranging sensor 143, an infrared temperature measuring sensor 144 and a camera 145, which are commonly used in the prior art, are provided, and a transparent window 142 is correspondingly provided with the camera 145, so that an LED is cooperatively provided to improve an image collecting effect. The camera 145 combines with an image recognition function to realize the overall auxiliary positioning of the device.

Example 2

The embodiment is a specific application example of the moxibustion head, and on the basis of the technical scheme of the moxibustion head in embodiment 1, the moxibustion head is combined with the mechanical arm assembly 3 and the bed body assembly 4 to obtain an overall technical scheme, and can be directly used for medical purposes. Wherein, moxibustion head A passes through driving motor and articulates the end at arm component 3.

The mechanical arm assembly 3 comprises an electric control cabinet 38, a linear sliding table 36 limited on the side part of the bed body assembly 4, a mechanical arm support 35 limited on the linear sliding table 36 through sliding driven by a sliding table motor 37, a rotary table 33 limited on the mechanical arm support 35 through a rotary table motor 34 in a rotatable manner, a large arm 32 hinged on the rotary table 33 through a large arm driving motor 321, and a small arm 31 hinged on the large arm 32 through a small arm 31 driving motor 311. The bed assembly 4 comprises a bed base 42, a height adjustable mattress 41 driven by a four bar linkage.

The mechanical arm assembly 3 can linearly slide along the bed body assembly 4, and the moxibustion head A is driven by the mechanical arm assembly 3 and the structure of the moxibustion head A to realize universal stepless adjustment; the moxibustion head A is provided with a camera 145, and a target point 5 or human body physical sign on a patient is scanned through the camera 145 to identify and record required coordinates.

For the technical scheme of image recognition, the method is preferably realized by marking the target point 5 on the affected part, and the camera 145 is used for recognizing the specific target point pattern, so that the interference of other patterns is completely eliminated, and the unique space coordinate is obtained. Furthermore, a machine learning mode can be adopted, body sign images of the human body in each lying position state are used as meta-image data, and the automatic positioning function of the mechanical arm is trained.

For the space coordinate, a plane coordinate system, namely an XY coordinate plane in fig. 8, can be adopted in one scheme, and the depth (Z direction) adjustment of the moxibustion head is realized by combining an infrared temperature measurement sensor and a laser distance measurement sensor which are positioned in the moxibustion head. For example, the plane of the end of the moxibustion head in the reset state of the mechanical arm is taken as the Z0 plane, and then the moxibustion head is translated downwards along the Z direction until the feedback data is obtained.

According to another scheme, an XYZ coordinate system (not shown) can be adopted, and the corresponding Z-direction coordinate is obtained by calculating the ratio of the radius of the outer contour of the target point to the radius of the outer contour in a standard state. Therefore, the robot arm is usually adjusted using the preliminarily calculated Z-coordinate as auxiliary data.

Example 3

The embodiment provides a moxa roll feeding device, which specifically comprises an outer cylinder 21, a motor reducer 23 limited on one side of the outer cylinder 21, a driving gear 24 arranged at the output end of the motor reducer 23, a driven gear 25 meshed with the driving gear 24, an inner cylinder 22 limited on the driven gear 25, and a needle inserting seat 223 limited in the inner cylinder 22 through a spring 222 and used for fixing a moxa roll 224.

Example 4

On the basis of embodiment 2, in order to scrape off burning ash during the feeding process of the moxa roll, an ash scraping plate 225 is limited at the bottom of the inner cylinder 22.

Example 5

On the basis of embodiment 2, in order to realize the remote control of the moxa roll ignition process, an ignition lead 148 is provided on the bottom of the outer cylinder 21 at a position corresponding to the end of the moxa roll 224.

Example 6

On the basis of embodiment 2, in order to cooperate with the information feedback of the control terminal and further more accurately control the position and the feeding depth of the moxibustion stick, a distance measuring component or/and a temperature measuring component or/and an image acquisition component is/are limited at the outer side of the outer cylinder 21.

Example 7

On the basis of embodiments 2-6, in order to remove the burning ashes of moxa sticks quickly, the outer cylinder 21 is provided with a smoke outlet, the moxibustion component 2 is limited in the structural component 1 comprising the moxibustion cabin 12 and the guiding shell 13 with the smoke channel 132, the smoke outlet corresponds to the smoke channel 132, and the outlet end of the smoke channel 132 is directly or indirectly connected with a negative pressure system.

Example 8

On embodiment 2~7 basis, for the control moxa-moxibustion subassembly of multidimension degree to the corresponding acupuncture point of human body is aimed at to the cooperation arm, further adopted horizontal rotation steering wheel 113 and vertical rotation steering wheel 151, the spacing output at horizontal rotation steering wheel 113 of direction casing 13, moxa-moxibustion cabin 12 sets up on vertical rotation steering wheel 151's output.

Description of reference numerals:

a moxibustion head

1 structural component

11 top steering engine shell, 111 cable leading-out hole, 112 smoke leading-out hole, 113 horizontal rotation steering engine, 12 moxibustion cabin, 13 guide shell, 131 cable channel, 132 smoke channel, 14 equipment cabin, 141 lens cover, 142 transparent window, 143 laser ranging sensor, 144 infrared temperature measuring sensor, 145 camera, 146 crystal lens group, 147 LED, 148 ignition lead, 15 side steering engine shell, 151 vertical rotation steering engine

2 moxibustion component

21 outer cylinder, 22 inner cylinder, 221 perforated reflection cover, 222 spring, 223 needle inserting seat, 224 moxibustion stick, 225 ash scraping plate, 23 motor reducer, 24 driving gear, 25 driven gear, 26 shaft sleeve

3 mechanical arm component

31 small arm, 311 small arm driving motor, 32 large arm, 321 large arm driving motor, 33 turntable, 34 turntable motor, 35 mechanical arm support, 36 linear sliding table, 37 sliding table motor and 38 electric control cabinet

4 bed body component

41 mattress, 42 bed body base, 43 lift adjustment arm

And 5, target point.

Claims

1. The utility model provides an intelligence moxa-moxibustion bed, includes bed body subassembly (4), robotic arm subassembly (3), sets up at terminal moxa-moxibustion head of robotic arm subassembly (3), its characterized in that: the mechanical arm assembly (3) can slide linearly along the bed body assembly (4), and the moxibustion head is driven by the mechanical arm assembly (3) and the structure of the moxibustion head to realize universal stepless adjustment; the moxibustion head is provided with a camera, and a target point (5) or a human body sign on the body of a patient is scanned by the camera to identify and record a required coordinate.

2. The intelligent moxibustion bed of claim 1, wherein: the mechanical arm assembly (3) comprises an electric control cabinet (38), a linear sliding table (36) limited on the side part of the bed body assembly (4), a mechanical arm support (35) limited on the linear sliding table (36) through sliding driven by a sliding table motor (37), a turntable (33) limited on the mechanical arm support (35) through a turntable motor (34) in a rotatable manner, a large arm (32) driven by a large arm driving motor (321) and hinged on the turntable (33), and a small arm (31) hinged on the large arm (32) through a small arm (31) driving motor (311).

3. The intelligent moxibustion bed of claim 1, wherein: the bed body component (4) comprises a bed body base (42) and a height-adjustable mattress (41) driven by a four-bar linkage mechanism.

4. The intelligent moxibustion bed of claim 1, wherein: the moxibustion head comprises a moxibustion component (2) of a moxibustion stick (224) which can be controllably fed; moxibustion component (2) include urceolus (21), spacing motor reducer (23) in urceolus (21) one side, set up drive gear (24) at motor reducer (23) output, driven gear (25) with drive gear (24) meshing, spacing inner tube (22) on driven gear (25), be used for fixed moxa stick (224) the picture peg seat (223) through spring (222) spacing in inner tube (22), inner tube (22) bottom is spacing to have ash scraping plate (225).

5. The intelligent moxibustion bed of claim 1, wherein: an ignition lead (148) is arranged at the bottom of the outer cylinder (21) and the position corresponding to the tail end of the moxibustion stick (224).

6. The intelligent moxibustion bed of claim 1, wherein: the outer side of the outer cylinder (21) is limited with a distance measuring component or/and a temperature measuring component.

7. The intelligent moxibustion bed of any one of claims 1 to 6, wherein: the outer cylinder (21) is provided with a smoke outlet, the moxibustion component (2) is limited in a structural component (1) comprising a moxibustion cabin (12) and a guide shell (13) with a smoke channel (132), the smoke outlet corresponds to the smoke channel (132), and the outlet end of the smoke channel (132) is directly or indirectly connected with a negative pressure system.

8. The intelligent moxibustion bed of claim 7, wherein: the structure component (1) further comprises a horizontal rotation steering engine (113) and a vertical rotation steering engine (151), the guide shell (13) is limited at the output end of the horizontal rotation steering engine (113), and the moxibustion cabin (12) is arranged at the output end of the vertical rotation steering engine (151).