CN112587407A - Intelligent moxibustion robot - Google Patents
Intelligent moxibustion robot Download PDFInfo
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- CN112587407A CN112587407A CN202011443162.4A CN202011443162A CN112587407A CN 112587407 A CN112587407 A CN 112587407A CN 202011443162 A CN202011443162 A CN 202011443162A CN 112587407 A CN112587407 A CN 112587407A
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- moxibustion
- moxa
- robot arm
- driving motor
- smoke
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 239000000779 smoke Substances 0.000 claims abstract description 52
- 229920000742 Cotton Polymers 0.000 claims description 16
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 15
- 238000010521 absorption reaction Methods 0.000 claims description 13
- 150000001450 anions Chemical class 0.000 claims description 8
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 15
- 239000002023 wood Substances 0.000 abstract description 12
- 238000001914 filtration Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 5
- 238000002560 therapeutic procedure Methods 0.000 abstract 1
- 235000019504 cigarettes Nutrition 0.000 description 17
- 239000007789 gas Substances 0.000 description 8
- 230000009967 tasteless effect Effects 0.000 description 5
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 206010053615 Thermal burn Diseases 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 231100000331 toxic Toxicity 0.000 description 3
- 230000002588 toxic effect Effects 0.000 description 3
- 235000010894 Artemisia argyi Nutrition 0.000 description 2
- 244000030166 artemisia Species 0.000 description 2
- 238000005868 electrolysis reaction Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 239000003517 fume Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/02—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols by adsorption, e.g. preparative gas chromatography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/34—Chemical or biological purification of waste gases
- B01D53/74—General processes for purification of waste gases; Apparatus or devices specially adapted therefor
- B01D53/75—Multi-step processes
-
- 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
- A61H2201/0107—Constructive details modular
Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to an intelligent moxibustion robot which comprises a moxibustion function module, a moxibustion function module and a control module, wherein the moxibustion function module comprises a moxibustion column fixing part and a moving mechanism for driving the moxibustion column fixing part to move back and forth far away from or close to a robot arm, so that a moxibustion manipulation of the traditional wood pecking moxibustion is realized, meanwhile, the robot arm fully automatically drives the moxibustion function module to move, the whole moxibustion process does not need manual participation, the automatic moxibustion is really realized, time and labor are saved during use, the operation is simple, and the working efficiency is higher; the moxibustion device is characterized by further comprising a rotating mechanism used for driving the moxa column fixing part to eccentrically rotate, moxibustion manipulation of traditional rotary moxibustion is realized, the moving mechanism and the rotating mechanism can also drive the moxa column to eccentrically rotate and reciprocate, automatic rotary moxibustion and wood pecking moxibustion are integrated, various moxibustion operation methods are conveniently applied, therapy is diversified, moxibustion smoke is treated by electrolytic filtration, indoor air quality is improved, damage to a human body by moxa smoke is avoided, and treatment of a patient is facilitated.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of medical instruments, and particularly relates to an intelligent moxibustion robot.
[ background of the invention ]
Moxibustion is widely applied clinically, the existing moxibustion instrument for realizing moxibustion can only realize single mild moxibustion manipulation, and can not realize traditional moxibustion manipulations such as wood pecking moxibustion, circling moxibustion and the like, a person is required to hold a rotating moxibustion manipulation with a moxa column to rotate back and forth or a far and near wood pecking moxibustion manipulation, the manipulations cannot be completed by the existing robot, and therefore manual completion is needed, a doctor is easy to fatigue during long-time hand-held moxa stick moxibustion in the moxibustion application process, moreover, the requirements of moxibustion application actions, directions, distances and the like of rotary moxibustion and bird pecking moxibustion can consume more physical power and time for a longer time, and the skin of a patient can be scalded and the like due to careless operation, and the work efficiency is low.
[ summary of the invention ]
The invention provides an intelligent moxibustion robot, and aims to solve the problems that the traditional moxibustion instrument can only realize single mild moxibustion techniques, and the traditional moxibustion techniques such as wood pecking moxibustion, convolution moxibustion and the like still need manual moxibustion, so that the working efficiency is low, and time and labor are wasted.
The invention is realized by the following technical scheme:
intelligent moxibustion robot, including robot arm and the moxa-moxibustion functional module who locates robot arm one end, moxa-moxibustion functional module include the moxa column mounting and with the moxa column mounting is connected for drive moxa column mounting is kept away from or is close to robot arm makes reciprocating motion's moving mechanism.
The intelligent moxibustion robot comprises a moving fixed plate connected with the robot arm, a moving sliding plate capable of moving relative to the moving fixed plate, and a moving driving component for driving the moving sliding plate to move, wherein the moxa column fixing component is arranged on the moving sliding plate and moves along with the moving sliding plate.
The intelligent moxibustion robot comprises a first driving motor and a crank-link mechanism, wherein the crank-link mechanism comprises a reciprocating cam connecting block arranged at the output end of the first driving motor, the other end of the reciprocating cam connecting block is provided with a reciprocating connecting rod, and the other end of the reciprocating connecting rod is connected with the movable sliding plate, so that the movable sliding plate can move back and forth away from or close to the robot arm along with the rotation of the first driving motor.
As above mentioned intelligent moxibustion robot, the moxibustion function module further comprises a rotating mechanism connected with the moxa column fixing part and used for driving the moxa column fixing part to eccentrically rotate.
As above intelligence moxibustion robot, rotary mechanism includes second driving motor, the pivot direction of second driving motor drive end with moving mechanism's reciprocating motion direction is the same, be equipped with the rotary motion cam connecting block along the radial extension of pivot in the pivot of second driving motor drive end, moxa column mounting one end is connected with the one end that second driving motor was kept away from to rotary motion cam connecting block, makes second driving motor can drive moxa column mounting eccentric rotation.
As above intelligence moxibustion robot, the removal sliding plate includes the slip curb plate of two relative settings, two be equipped with upper junction plate and lower connecting plate between the slip curb plate, second driving motor locates on the upper junction plate, the one end that second driving motor was kept away from to the moxa column mounting sets up to the pivot direction slope of second driving motor drive end, just the one end that second driving motor was kept away from to the moxa column mounting passes lower connecting plate center, be equipped with movable contact mechanism between moxa column mounting and the lower connecting plate, make the tip of moxa column mounting use movable contact mechanism's contact department to make circumferential swing as the fulcrum.
According to the intelligent moxibustion robot, the end, far away from the rotating shaft of the second driving motor, of the rotating motion cam connecting block is provided with a connecting hole, and one end of the moxa column fixing piece is rotatably embedded into the connecting hole.
The intelligent moxibustion robot comprises a movable contact mechanism and a lower connecting plate, wherein the movable contact mechanism comprises a rotary motion block arranged on the moxa column fixing piece and a rotary contact groove arranged on the lower connecting plate and in movable contact with the rotary motion block.
As above intelligent moxibustion robot, chinese mugwort post mounting opening is located and is kept away from robot arm one end, just chinese mugwort post mounting opening part is equipped with a plurality of elasticity centre gripping strips.
As above intelligence moxibustion robot, still keep away from including locating robot arm the cigarette filter of moxa-moxibustion functional module one end, the inside hollow structure that is of robot arm, the cigarette filter passes through robot arm with moxa-moxibustion functional module intercommunication, the cigarette filter includes from being close to robot arm to keeping away from high-frequency low pressure cigarette electrolyte sheet, anion generator, filter module and the smoke ventilator that robot arm set gradually, filter module includes from being close to robot arm to keeping away from robot arm and range upon range of first nanometer oil absorption cigarette cotton, first active carbon oil absorption cigarette cotton, high activated carbon layer, second active carbon oil absorption cigarette cotton and the second nanometer oil absorption cigarette cotton that sets gradually.
Compared with the prior art, the invention has the following advantages:
1. the invention provides an intelligent moxibustion robot, wherein a moxibustion function module comprises a moxibustion column fixing part for fixing a moxibustion column and a moving mechanism for driving the moxibustion column fixing part to move back and forth far away from or close to a robot arm, so that a moxibustion method of the traditional wood pecking moxibustion is realized, meanwhile, the moxibustion function module is driven to move through the robot arm in a full-automatic manner, the whole moxibustion process does not need manual participation, the intelligent and automatic moxibustion is really realized, time and labor are saved during use, the operation is simple, the working efficiency is higher, and meanwhile, the intelligent moxibustion robot is small in size and compact in structure;
2. the moxibustion function module also comprises a rotating mechanism for driving the moxa column fixing piece to eccentrically rotate, so that the moxibustion manipulation of the traditional rotary moxibustion is realized, the moving mechanism and the rotating mechanism can also drive the moxa column fixing piece to eccentrically rotate and simultaneously carry out reciprocating movement, and the automatic rotary moxibustion and the wood pecking moxibustion are integrated, so that various moxibustion operation methods are conveniently applied, the treatment is diversified, and the treatment of a patient is more facilitated;
3. the moxibustion smoke filter is characterized by also comprising a smoke filter, wherein the smoke filter is communicated with the moxibustion function module through a robot arm, the smoke filter comprises a high-frequency low-voltage smoke electrolytic sheet, an anion generator, a filtering module and a smoke exhaust fan which are sequentially arranged from the part close to the robot arm to the part away from the robot arm, the smoke filter is used for exhausting harmless and tasteless gas, the smoke filter is exhausted by the smoke exhaust fan, toxic and harmful substances in the air are respectively decomposed through the high-frequency low-voltage smoke electrolytic sheet, the anion generator removes smoke and smell, the filtering module is used for filtering, and finally the harmless and tasteless gas is exhausted.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a partial exploded view of the present invention;
FIG. 4 is a partial enlarged view of a in FIG. 3;
FIG. 5 is a partial exploded view of the present invention;
FIG. 6 is a top view of the present invention;
FIG. 7 is a cross-sectional view A-A of FIG. 6;
fig. 8 is a schematic structural view of a filter module according to the present invention.
[ detailed description ] embodiments
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When embodiments of the present invention refer to the ordinal numbers "first", "second", etc., it should be understood that the words are used for distinguishing between them unless the context clearly dictates otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In a specific embodiment, the intelligent moxibustion robot shown in fig. 1-8 comprises a robot arm 1 and a moxibustion function module 2 arranged at one end of the robot arm 1, wherein the moxibustion function module 2 comprises a moxa column fixing member 21 and a moving mechanism 22 connected with the moxa column fixing member 21 and used for driving the moxa column fixing member 21 to move away from or close to the robot arm 1 in a reciprocating manner. The moxa column is installed in moxa column mounting 21, rethread moving mechanism 22 drives moxa column mounting 21 and keeps away from or is close to robot arm 1 and does reciprocating motion, has realized the moxa-moxibustion gimmick of traditional pecking wood moxibustion, and the while drives moxa-moxibustion function module 2 through robot arm 1 is full-automatic and removes, and whole moxa-moxibustion process does not need artifical the participation, really realizes intellectuality, automatic moxa-moxibustion, labour saving and time saving during the use, easy operation, work efficiency is higher. The joint connection part on the robot arm is driven by the arm driving mechanism 7, the arm driving mechanism 7 comprises a rotation driving motor 71, the output end of the rotation driving motor 71 is connected with a motor fixing flange 72, the rotation driving motor 71 is fixed on an inner shell of the robot arm, a joint connecting flange 74 is further arranged at the joint for connecting with an adjacent arm, a rotating flange 73 is further arranged between the motor fixing flange 72 and the joint connecting flange 74, the rotation driving motor 71 penetrates through the joint connecting flange 74, the motor fixing flange 72 and the rotating flange 73 to drive the adjacent arm to rotate, all-directional swinging of the robot arm is achieved, swinging is stable, the robot arm is small in size, compact in structure and stable in working, and the condition that a patient is scalded due to fault errors is avoided. Because the burning moxa stick is easy to fall ash, which affects the cleanness of the field, the moxibustion ash tray 5 is also provided for receiving the fallen moxa stick ash.
Specifically, the moving mechanism 22 includes a moving fixed plate 221 connected to the robot arm 1, a moving sliding plate 222 movable relative to the moving fixed plate 221, and a moving driving assembly 223 for driving the moving sliding plate 222 to move, and the moxa cone fixing member 21 is disposed on the moving sliding plate 222 and moves along with the moving sliding plate 222. The movable sliding plate 222 is driven by the movable driving assembly 223 to move relative to the movable fixing plate 221, so that the moxa column fixing member 21 reciprocates relative to the movable fixing plate 221, the wood pecking moxibustion is automatically completed, and the robot arm 1 and the movable fixing plate 221 are connected through the clamp spring type connecting flange, so that the robot arm is simple to disassemble, and the moxibustion function module 2 is convenient to replace and maintain.
More specifically, the moving driving assembly 223 includes a first driving motor 2231 and a crank link mechanism 2232, the crank link mechanism 2232 includes a reciprocating cam connecting block 2232a provided at an output end of the first driving motor 2231, the other end of the reciprocating cam connecting block 2232a is provided with a reciprocating connecting rod 2232b, and the other end of the reciprocating connecting rod 2232b is connected to the moving sliding plate 222, so that the moving sliding plate 222 performs reciprocating movement away from or close to the robot arm 1 as the first driving motor 2231 rotates. The first driving motor 2231 drives the crank-link mechanism 2232 to move the sliding plate 222 in a reciprocating linear motion.
Further, the moxibustion function module 2 further comprises a rotating mechanism 23 connected with the moxa column fixing member 21 and used for driving the moxa column fixing member 21 to eccentrically rotate. The rotating mechanism 23 drives the moxa column fixing member 21 to eccentrically rotate, so that a moxa-moxibustion manipulation of the traditional rotary moxibustion is realized, the moving mechanism 22 and the rotating mechanism 23 can also drive the moxa column fixing member 21 to eccentrically rotate and simultaneously reciprocate, the automatic rotary moxibustion and the wood pecking moxibustion are integrated, various moxibustion operation methods are conveniently applied, the treatment is diversified, and the treatment of a patient is more facilitated.
In addition, the rotating mechanism 23 includes a second driving motor 231, the direction of the rotating shaft at the driving end of the second driving motor 231 is the same as the reciprocating direction of the moving mechanism 22, a rotating motion cam connecting block 232 extending along the radial direction of the rotating shaft is arranged on the rotating shaft at the driving end of the second driving motor 231, and one end of the moxa column fixing member 21 is connected with one end of the rotating motion cam connecting block 232 away from the second driving motor 231, so that the second driving motor 231 can drive the moxa column fixing member 21 to eccentrically rotate. The second driving motor 231 drives the rotating cam connecting block 232 to rotate, and the moxa cone fixing member 21 eccentrically rotates around the rotating shaft of the second driving motor 231 together with the moxa cone.
Further, the movable sliding plate 222 includes two sliding side plates 2221 disposed oppositely, an upper connecting plate 2222 and a lower connecting plate 2223 are disposed between the two sliding side plates 2221, the second driving motor 231 is disposed on the upper connecting plate 2222, one end of the moxa column fixing member 21 away from the second driving motor 231 is disposed obliquely to the rotating shaft direction of the driving end of the second driving motor 231, one end of the moxa column fixing member 21 away from the second driving motor 231 passes through the center of the lower connecting plate 2223, and a movable contact mechanism 2224 is disposed between the moxa column fixing member 21 and the lower connecting plate 2223, so that the end of the moxa column fixing member 21 circumferentially swings with the contact position of the movable contact mechanism 2224 as a fulcrum. The end of the moxa column fixing member 21 circumferentially swings with the contact position of the movable contact mechanism 2224 as a fulcrum, and further drives the ignited end of the moxa column to circumferentially swing with the contact position of the movable contact mechanism 2224 as a fulcrum, thereby realizing the traditional method of rotary moxibustion.
Still further, a connection hole 2321 is formed at one end of the rotating cam connection block 232 away from the rotation shaft of the second driving motor 231, and one end of the moxa cone fixing member 21 is rotatably embedded in the connection hole 2321. When the moxa cone fixing member 21 is rotated around the second driving motor 231 and one end of the moxa cone fixing member is circumferentially swung with the contact point of the movable contact mechanism 2224 as a fulcrum, the moxa cone fixing member 21 itself can be rotated, the friction force at the contact point is reduced, and the axial swing is more stable and smooth with the fulcrum at the contact point.
Specifically, the movable contact mechanism 2224 includes a rotary moving block 2224a provided on the moxa cone fixing member 21, and a rotary contact groove 2224b provided on the lower connecting plate 2223 and movably contacted with the rotary moving block 2224 a. The outer surface of the rotary motion block 2224a is engaged with the rotary contact groove 2224b, and the second driving motor 231 is used to drive the moxa cone fixing member 21 to rotate, so as to drive the outer surface of the rotary motion block 2224a to be stably contacted with the rotary contact groove 2224b, and the contact position is changed in an axial direction.
More specifically, the opening of moxa column fixing part 21 is located and is kept away from 1 one end of robot arm, just moxa column fixing part 21 opening part is equipped with a plurality of elasticity centre gripping strips 211, can carry out the elasticity clamp to installing the moxa column on moxa column fixing part 21 through elasticity centre gripping strip 211 and press from both sides fixedly, can artifically manually break elasticity centre gripping strip 211 off in addition, changes the moxa column, need not with the help of other instruments, and it is simple, convenient to change.
Further, still including locating robot arm 1 and keeping away from the cigarette filter 4 of 2 one ends of moxa-moxibustion function module, robot arm 1 is inside to be hollow structure, cigarette filter 4 passes through robot arm 1 with moxa-moxibustion function module 2 intercommunication, cigarette filter 4 includes from being close to robot arm 1 to keeping away from high frequency low pressure cigarette electrolysis piece 41, anion generator 42, filter module 43 and smoke ventilator 44 that robot arm 1 set gradually, the produced moxa cigarette of burning the moxa column in moxa-moxibustion function module 2, take out cigarette filter 4 through smoke ventilator 44, respectively through poisonous harmful substance in the high frequency low pressure cigarette electrolysis piece 41 decomposition air, remove the cigarette by anion generator 42 and remove the flavor, rethread filter module 43 filters, finally discharge harmless tasteless gas, effectual, avoid the patient to receive the moxa cigarette when the treatment and disturb, meanwhile, the moxa smoke is prevented from being directly discharged to the outside to pollute the air; the filtering module 43 comprises a first nanometer oil-smoke absorption cotton 431, a first activated carbon oil-smoke absorption cotton 432, a high activated carbon layer 433, a second activated carbon oil-smoke absorption cotton 434 and a second nanometer oil-smoke absorption cotton 435 which are sequentially stacked from the position close to the robot arm 1 to the position far away from the robot arm 1, two layers of nanometer oil-smoke absorption cotton are adopted, the cotton has a large surface area, can be fully contacted with oil, can easily and automatically adsorb oil fume, and two layers of activated carbon oil smoke absorption cotton and a high activated carbon layer 433 are arranged between the two layers, which can effectively absorb various organic gases, can adsorb, separate, concentrate and purify harmful and toxic smoke gas and then discharge the smoke gas into the environment so as to purify air, obviously improve the air quality, and the activated carbon oil smoke absorption cotton has better aerodynamic performance, small occupied volume and low density, and has the effect of removing peculiar smell.
The moxibustion device also comprises a smoke-proof and scald-proof protective cover 3, wherein the smoke-proof and scald-proof protective cover 3 is sleeved on the periphery of the moxibustion function module 2, so that smoke generated after the moxa column arranged in the moxibustion fixing part 21 is ignited can not be directly emitted, a moxibustion person can not be smoked by the moxa smoke, the environment is better, and the treatment effect is improved; meanwhile, the moxa smoke is gathered together through the smoke-proof and scald-proof protective cover 3, and the treatment effect of the moxibustion can also be improved.
In addition, the smoke filter 4 is also provided with the movable caster wheels 6 which are beneficial to the movement of the robot, and the movable caster wheels 6 are universal caster wheels, so that the whole robot can move conveniently.
The robot arm 1 is connected with the smoke filter 4 through the robot fixing flange 8, so that the robot arm 1 can be conveniently replaced and maintained.
The invention relates to an intelligent moxibustion robot, wherein a moxibustion function module comprises a moxibustion column fixing part for fixing a moxibustion column and a moving mechanism for driving the moxibustion column fixing part to move back and forth far away from or close to a robot arm, a crank-link mechanism is driven by a first driving motor, and a moving sliding plate is driven to move back and forth linearly, so that a moxibustion manipulation of the traditional wood pecking moxibustion is realized, meanwhile, the moxibustion function module is driven to move fully automatically by the robot arm, the whole moxibustion process does not need manual participation, intellectualization and automatic moxibustion are really realized, time and labor are saved during use, the operation is simple, the working efficiency is higher, and meanwhile, the intelligent moxibustion robot is small in size and compact in structure; the moxibustion device also comprises a rotating mechanism for driving the moxa column fixing piece to eccentrically rotate, the rotating motion cam connecting block is driven to rotate through the second driving motor, the moxa column fixing piece and the moxa column are eccentrically rotated around the rotating shaft of the second driving motor together, the moxibustion method of the traditional rotary moxibustion is realized, the moving mechanism and the rotating mechanism can also drive the moxa column fixing piece to eccentrically rotate and simultaneously reciprocate, the automatic rotary moxibustion and the wood pecking moxibustion are integrated, various moxibustion operation methods are conveniently applied, the treatment is diversified, and the treatment of a patient is more facilitated; the moxibustion smoke filter is characterized by also comprising a smoke filter, wherein the smoke filter is communicated with the moxibustion function module through a robot arm, the smoke filter comprises a high-frequency low-voltage smoke electrolytic sheet, an anion generator, a filtering module and a smoke exhaust fan which are sequentially arranged from the part close to the robot arm to the part away from the robot arm, the smoke filter is used for exhausting harmless and tasteless gas, the smoke filter is exhausted by the smoke exhaust fan, toxic and harmful substances in the air are respectively decomposed through the high-frequency low-voltage smoke electrolytic sheet, the anion generator removes smoke and smell, the filtering module is used for filtering, and finally the harmless and tasteless gas is exhausted.
The foregoing is illustrative of one embodiment provided in connection with the detailed description and is not intended to limit the invention to the specific embodiment described. Similar or identical methods, structures and the like as those of the present invention or several technical deductions or substitutions made on the premise of the conception of the present invention should be considered as the protection scope of the present invention.
Claims (10)
1. Intelligence moxa-moxibustion robot, including robot arm (1) and moxa-moxibustion functional module (2) of locating robot arm (1) one end, its characterized in that, moxa-moxibustion functional module (2) including moxa column mounting (21) and with moxa column mounting (21) are connected for drive moxa column mounting (21) keep away from or be close to robot arm (1) makes reciprocating motion's moving mechanism (22).
2. The intelligent moxibustion robot according to claim 1, wherein the moving mechanism (22) comprises a moving fixed plate (221) connected with the robot arm (1), a moving sliding plate (222) capable of moving relative to the moving fixed plate (221), and a moving driving component (223) for driving the moving sliding plate (222) to move, and the moxa column fixing member (21) is arranged on the moving sliding plate (222) and moves along with the moving sliding plate (222).
3. An intelligent moxibustion robot according to claim 2, wherein the moving driving assembly (223) comprises a first driving motor (2231) and a crank-link mechanism (2232), the crank-link mechanism (2232) comprises a reciprocating cam connecting block (2232a) provided at the output end of the first driving motor (2231), the other end of the reciprocating cam connecting block (2232a) is provided with a reciprocating connecting rod (2232b), and the other end of the reciprocating connecting rod (2232b) is connected with the moving sliding plate (222) so that the moving sliding plate (222) can move back and forth away from or close to the robot arm (1) with the rotation of the first driving motor (2231).
4. An intelligent moxibustion robot according to claim 3, wherein the moxibustion function module (2) further comprises a rotating mechanism (23) connected with the moxa column holder (21) for driving the moxa column holder (21) to rotate eccentrically.
5. The intelligent moxibustion robot of claim 4, wherein the rotating mechanism (23) comprises a second driving motor (231), the direction of the rotating shaft at the driving end of the second driving motor (231) is the same as the reciprocating direction of the moving mechanism (22), a rotating cam connecting block (232) extending along the radial direction of the rotating shaft is arranged on the rotating shaft at the driving end of the second driving motor (231), and one end of the moxa column fixing member (21) is connected with one end of the rotating cam connecting block (232) far away from the second driving motor (231), so that the second driving motor (231) can drive the moxa column fixing member (21) to eccentrically rotate.
6. An intelligent moxibustion robot according to claim 5, wherein the mobile sliding plate (222) comprises two sliding side plates (2221) oppositely arranged, an upper connecting plate (2222) and a lower connecting plate (2223) are arranged between the two sliding side plates (2221), the second driving motor (231) is arranged on the upper connecting plate (2222), one end of the moxa cone fixing piece (21) far away from the second driving motor (231) is obliquely arranged towards the rotating shaft direction of the driving end of the second driving motor (231), and one end of the moxa cone fixing piece (21) far away from the second driving motor (231) passes through the center of the lower connecting plate (2223), a movable contact mechanism (2224) is arranged between the moxa column fixing piece (21) and the lower connecting plate (2223), so that the end part of the moxa column fixing piece (21) can circumferentially swing by taking the contact part of the movable contact mechanism (2224) as a fulcrum.
7. The intelligent moxibustion robot of claim 6, wherein one end of the rotating movement cam connecting block (232) far away from the rotating shaft of the second driving motor (231) is provided with a connecting hole (2321), and one end of the moxa cone fixing member (21) is rotatably embedded into the connecting hole (2321).
8. An intelligent moxibustion robot according to claim 7, wherein said movable contact mechanism (2224) comprises a rotary motion block (2224a) provided on said moxa cone fixing member (21), and a rotary contact groove (2224b) provided on said lower connection plate (2223) to be in movable contact with said rotary motion block (2224 a).
9. An intelligent moxibustion robot according to claim 1, wherein the opening of the moxa cone fixing part (21) is arranged at one end far away from the robot arm (1), and a plurality of elastic clamping strips (211) are arranged at the opening of the moxa cone fixing part (21).
10. The intelligent moxibustion robot of claim 1, further comprising a smoke filter (4) arranged at one end of the robot arm (1) far away from the moxibustion function module (2), wherein the robot arm (1) is internally of a hollow structure, the smoke filter (4) is communicated with the moxibustion function module (2) through the robot arm (1), the smoke filter (4) comprises a high-frequency low-pressure smoke electrolytic sheet (41), an anion generator (42), a filter module (43) and a smoke exhaust fan (44) which are sequentially arranged from the position close to the robot arm (1) to the position far away from the robot arm (1), and the filter module (43) comprises a first nano smoke absorption cotton (431), a first active carbon smoke absorption cotton (432) and a smoke exhaust fan (44) which are sequentially arranged in a stacked manner from the position close to the robot arm (1) to the position far away from the robot arm (1), A high activated carbon layer (433), a second activated carbon oil-smoke absorbing cotton (434) and a second nano oil-smoke absorbing cotton (435).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011443162.4A CN112587407A (en) | 2020-12-11 | 2020-12-11 | Intelligent moxibustion robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011443162.4A CN112587407A (en) | 2020-12-11 | 2020-12-11 | Intelligent moxibustion robot |
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| CN112587407A true CN112587407A (en) | 2021-04-02 |
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| CN202011443162.4A Pending CN112587407A (en) | 2020-12-11 | 2020-12-11 | Intelligent moxibustion robot |
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| CN113332134A (en) * | 2021-04-26 | 2021-09-03 | 李华文 | Multifunctional integrated moxibustion instrument |
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Application publication date: 20210402 |