CN113842315A

CN113842315A - Machine equipment for moxibustion

Info

Publication number: CN113842315A
Application number: CN202010597368.6A
Authority: CN
Inventors: 祁宏伟; 邱小亮
Original assignee: Shenzhen Beitian Robot Co ltd
Current assignee: Shenzhen Paitian Robot Technology Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-12-28

Abstract

The embodiment of the application discloses a machine equipment for moxa-moxibustion for alleviate the burden that physiotherapy workman carried out moxa-moxibustion work. The machine equipment for moxa-moxibustion of this application includes: a cooperative robot, a moxibustion actuator; the moxibustion actuator is fixedly arranged at the free end of the cooperation robot and used for clamping moxa sticks; the cooperative robot is used for commanding the moxibustion actuator to reach a specified position needing moxibustion according to a preset instruction.

Description

Machine equipment for moxibustion

Technical Field

The application relates to the technical field of medical care equipment, in particular to a machine device for moxibustion.

Background

Moxibustion is a moxibustion method in the acupuncture therapy of traditional Chinese medicine, and is a treatment method which takes moxa leaves as a main component, generates moxa heat to stimulate acupuncture points or specific parts on the body surface, and regulates the physiological and biochemical functions of human body disorder by exciting the activity of meridian qi, thereby achieving the purpose of preventing and treating diseases.

Traditional moxibustion work is mainly accomplished through the physical therapist, for example: the physical therapist is close to the body surface position that the patient needs the moxa-moxibustion through handheld moxa stick of lighting, and the moxa stick of being lighted conducts the heat to moxa-moxibustion person's body surface acupuncture point, adjusts the disorderly physiology biochemical function of human body through the activity of excitation menstruation gas. The physiotherapist can achieve different moxibustion treatment purposes by approaching the ignited moxa stick to different acupuncture points on the body surface of the moxibustion person, combining the different acupuncture points, moxibustion time lengths of the different acupuncture points and different acupuncture point moxibustion sequences. The operation of moxa-moxibustion process all needs the physiotherapy mr to carry out whole operation among the prior art, and working strength is big, urgently needs a solution that can alleviate the physiotherapy mr and carry out moxa-moxibustion work burden.

Disclosure of Invention

The embodiment of the application provides a machine equipment for moxa-moxibustion for provide one kind and can alleviate moxa-moxibustion physiotherapy personnel and carry out the solution of moxa-moxibustion work burden.

The present application provides in a first aspect a machine for moxibustion, comprising:

a cooperative robot, a moxibustion actuator;

the moxibustion actuator is fixedly arranged at the free end of the cooperation robot and is used for clamping moxa sticks;

the cooperative robot is used for commanding the moxibustion actuator to reach a specified position needing moxibustion according to a preset instruction.

Further, the moxibustion actuator comprises at least two clamping devices for clamping the moxa stick, wherein one clamping device is a flexible clamping device for flexibly clamping the moxa stick, and the other clamping device is a rigid clamping device for rigidly clamping the moxa stick;

further, the flexible clamping device is a spring clamping steel sheet, and the rigid clamping device is a pneumatic clamping jaw;

furthermore, the moxibustion actuator also comprises an adapter plate, and the adapter plate is connected with the free end interface of the cooperative robot in a matching manner and is used for providing a vertical plate type adapter interface;

the pneumatic clamping jaw is mounted on one surface of the adapter plate through the adapter interface;

the spring clamping steel sheet is arranged at different heights of the same surface of the adapter plate and the pneumatic clamping jaw through the adapter interface;

further, the moxibustion actuator also comprises a visual assembly, and the visual assembly is arranged on the other surface of the adapter plate through the adapter;

furthermore, the moxibustion actuator also comprises a distance measuring sensor, and the distance measuring sensor is arranged on the side surface of the adapter plate through the adapter;

furthermore, the moxibustion actuator also comprises a moxibustion actuator protective cover, the moxibustion actuator protective cover is connected with the top surface of the adapter plate through the adapter interface, and the pneumatic clamping jaw, the spring clamping steel sheet, the vision assembly and the distance measuring sensor are wrapped in the moxibustion actuator protective cover;

furthermore, the moxibustion actuator also comprises a moxa stick sleeve, and a moxa stick placing opening for conveniently placing moxa sticks is formed in the moxibustion actuator protective cover;

moxa-moxibustion executor safety cover in and with the mouth intercommunication is placed to the moxa stick, moxa stick sheathed tube other end is connected spring centre gripping steel sheet, spring centre gripping steel sheet is used for placing moxa stick in the moxa stick cover plays flexible clamping action, do under the spring centre gripping steel sheet the clamping jaw of pneumatic clamping jaw, pneumatic clamping jaw is used for right the follow the moxa stick that stretches out under the moxa stick sleeve carries out the rigidity centre gripping.

The moxibustion actuator further comprises an air extraction system, wherein the air extraction system comprises an air extraction hole, a plurality of air extraction pipes and an air extraction pump, and the air extraction hole is formed in the moxibustion actuator protective cover;

the air suction pipe is connected with the air suction hole and an air inlet of the air suction pump to form an air suction pipeline;

further, the air extraction system further comprises a smoke filter, and the smoke filter is installed in an air extraction pipeline between the air extraction hole and the air extraction pump through the air extraction pipe.

The robot comprises a robot body, a robot handle, a robot arm and a robot arm, wherein the robot arm is arranged on a slide block of the robot body;

further, cooperation linear motion module is any one in pneumatic slip table, lead screw sharp module, the rack and pinion sharp module.

Further, a position sensor is mounted on a base of the linear module and used for identifying the position of the cooperative robot on the linear module;

furthermore, the number of the position sensors is three, and the three position sensors are respectively used for identifying a left limit position, an origin position and a right limit position of the cooperative robot on the cooperative linear motion module.

Further, still include the frame, cooperation straight line module fixed mounting is in on the frame.

Further, still include: the dust removal device comprises a motor and a brush;

the brush is connected with a rotating shaft of the motor;

furthermore, the dust removal device also comprises a motor fixing frame, the motor is fixed on the rack through the motor fixing frame, and the rotating shaft of the motor faces upwards;

furthermore, the dust removal device also comprises a dust removal box body, and the dust removal box body is a box body;

furthermore, the dust removal device also comprises a funnel structure, the inlet surface of the funnel structure replaces the top surface of the dust removal box body to extend the outlet of the funnel structure towards the interior of the dust removal box body, and the sector surface of the funnel structure is provided with a motor through hole;

the motor is fixed inside the dedusting box body through the motor fixing frame, the dedusting box is fixed on the rack, and a rotating shaft of the motor is exposed out of the sector of the funnel structure through the motor through hole;

the brush is connected with a rotating shaft of the motor through a detachable connection;

furthermore, the dust removal device also comprises a cup, and the cup is placed right below an outlet of the funnel structure in the dust removal box body.

Further, the dust removal box still includes dust pelletizing system, dust pelletizing system includes: the dust removal air suction hole, the plurality of dust removal air suction pipes, the dust removal filter and the dust removal air suction pump are arranged on the dust removal box body;

the dust removal exhaust tube is sequentially connected with the dust removal exhaust hole, the dust removal filter and the dust removal exhaust pump.

Further, the brush is connected with a rotating shaft of the motor through a coupling.

Further, still include moxa stick recovery unit, moxa stick recovery unit fixed mounting in the frame, moxa stick recovery unit includes: the box-shaped recovery box body is provided with a moxa stick recovery through hole leading to the interior of the recovery box body on the top surface;

furthermore, a door is arranged on the side surface of the recovery box body;

furthermore, the moxa stick recovery device also comprises an inserted bar bracket, an inserted bar linear moving module and an inserted bar;

one end of the inserted link bracket is vertically and fixedly arranged on one side of the recovery box body, and the other end of the inserted link bracket is suspended and vertically upwards;

the inserting rod linear moving module is fixedly arranged at one suspended vertically upward end of the inserting rod bracket and is positioned above the recovery box body;

the inserted bar is fixedly arranged on a sliding block of the inserted bar linear moving module and vertically downwards faces the moxa stick recovery through hole;

furthermore, the moxa stick recovery device also comprises an inserted bar origin position sensor;

the inserted bar origin position sensor is arranged on one side of the inserted bar support and used for identifying the origin position of the inserted bar moving on the inserted bar linear moving module;

furthermore, the moxa stick recovery device also comprises a moxa stick working position sensor, and a detection notch is formed in the side surface of the moxibustion actuator protective cover;

moxa stick operating position sensor horizontal fixed mounting is in retrieve the upper surface of box body, and aim at the top of through-hole is retrieved to the moxa stick, moxa stick operating position sensor passes through detect the breach and detect the operating position of moxa stick in the moxa-moxibustion executor safety cover.

According to the technical scheme, the embodiment of the application has the following advantages:

in this application, assist physiotherapy mr centre gripping moxa stick through using the cooperation robot that installs moxibustion actuator, physiotherapy mr only need ignite the moxa stick, and give moxibustion actuator centre gripping the moxa stick of igniting, and give cooperation robot input corresponding movement instruction, cooperation robot just can remove the moxa stick of igniting according to this movement instruction and carry out the moxa-moxibustion to the position that needs the moxa-moxibustion, physiotherapy mr need not grip the moxa stick whole journey, alleviate physiotherapy mr's work burden from this.

Drawings

FIG. 1 is a schematic view of one embodiment of the machine for moxibustion according to the present application;

FIG. 2 is a schematic view of the internal structure of an actuator of the machine for moxibustion according to the present application;

FIG. 3 is a schematic view of the structure of an actuator protecting cover of the moxibustion machine

FIG. 4 is a schematic view of a cooperative linear module of the machine for moxibustion according to the present application;

FIG. 5 is a schematic view showing the construction of a dust removing case of the machine for moxibustion according to the present application;

fig. 6 is a schematic view showing a moxa roll recovery device of the machine for moxibustion according to the present application.

Detailed Description

Referring to fig. 1, an embodiment of a machine for moxibustion according to the present application mainly includes: the cooperative robot 500 and the moxibustion actuator 600. A moxibustion actuator 600 fixedly installed at a free end of the cooperation robot 500, and mainly used for holding moxa sticks; the cooperative robot 500 is an articulated robot and is used for commanding the moxibustion actuator to reach a specified position needing moxibustion according to a preset instruction. That is, the embodiment of the application adopts the cooperative robot with the moxibustion actuator to assist the physiotherapist to hold the moxa stick, the physiotherapist only needs to ignite the moxa stick and hand the ignited moxa stick to the moxibustion actuator for holding, and inputs a corresponding motion command to the blind robot, the cooperative robot can move the ignited moxa stick to the position needing moxibustion according to the motion command for moxibustion, that is, the moxibustion person 700 lies in the motion range of the cooperative robot 500 and exposes the body surface part needing moxibustion, so that the moxibustion person 700 can lie on the soft lying tool 800 with the moxa stick 900 held by the moxibustion actuator 600 at the free end of the cooperative robot 500 to reach the position needing moxibustion of the moxibustion person 700, and the moxibustion person 700 can select to lie on the soft lying tool 800, which can further improve the experience of the moxibustion process, such as beauty couch, sofa and the like.

The cooperative robot 500 may be an industrial six-axis robot, a four-axis robot (SCARA), or a robot having other number of axes, as the joint robot. It can be understood that the more the number of axes of the cooperative robot, the more delicate the motion that the cooperative robot can accomplish, which is better for the moxibustion user experience in the moxibustion process, and the number of axes of the cooperative robot 500 is not limited herein; in addition, the longer the arm length of the cooperation robot is, the wider the moxibustion position range that the cooperation robot can reach, the wider the moxibustion coverage part of the moxibustion person in the moxibustion process can be, the fewer the times that the moxibustion person needs to move in the moxibustion process, and the better the use experience.

In one of them embodiment, moxa-moxibustion executor mainly plays the clamping action to the moxa stick, and the moxa-moxibustion executor of this application embodiment should possess two or more than two clamping device that are used for the centre gripping moxa stick at least, wherein has at least one clamping device is for being used for carrying out the flexible clamping device of flexible centre gripping for the moxa stick, mainly is used for playing the clamping-force of overcoming self gravity for the moxa stick can not fall down automatically under flexible clamping device's effect, and wherein still another clamping device is for carrying out the rigidity clamping device of rigidity centre gripping for the moxa stick at least, mainly is used for playing the fixed action for the moxa stick, makes the moxa stick can not fall down easily even under certain exogenic action for the security of moxa stick is burnt in the moxa-moxibustion process. For example, the flexible clamping device may be a spring clamping steel sheet or the like, and the rigid clamping device may be a pneumatic clamping jaw or the like.

More specifically, referring to fig. 2 and fig. 3, the adapter plate 602 mainly converts the free end interface of the cooperative robot 500 into a dedicated interface for the components related to the moxibustion actuator 600, so the adapter plate 602 has an interface capable of being connected with the free end interface of the cooperative robot 500 in a matching manner, and a dedicated interface for the components related to the moxibustion actuator 600, in this embodiment, since the moxibustion actuator 600 is driven by the cooperative robot 500 to move mainly above the moxibustion person when the moxibustion person lies on one side of the movement range of the cooperative robot, the adapter plate 602 is designed as a vertical plate type adapter interface.

Specifically, the adapter plate 602 includes a raised structure 60211 positioned in cooperation with the free end of the cooperative robot 500, a circular plate structure 6021 coupled in cooperation with the moxibustion actuator protective cover 601, a straight plate structure 6022 coupled in cooperation with the pneumatic jaw 604 and perpendicular to the circular plate structure 6021, a plate structure 6024 coupled in cooperation with the vision assembly 603 and perpendicular to the circular plate structure 6021 and the straight plate structure 6022, and coupled to one side of the straight plate structure 6022, and a plate structure 6023 coupled in cooperation with the distance measuring sensor 605 and perpendicular to the circular plate structure 6021 and the straight plate structure 6022, and coupled to the other side of the straight plate structure 6022. The raised structure 60211, the circular plate structure 6021, the straight plate structure 6022, the plate structure 6023 and the plate structure 6024 may be the adapter plate 602 formed by integrally molding all the structures; or the adapter plate 602 can be in a modular structure and combined together through fixed connection; or a part of the adapter plate 602 may be integrated, and another part of the adapter plate may be fixed and combined together in a modular manner, for example, the circular plate structure 6021 and the protruding structure 60211 in fig. 2 are integrated structures, and then connected with the modular straight plate structure 6022, the plate structure 6023, and the plate structure 6024 by screws to form the shape as shown in the figure. It should be noted that the specific structure of the adapter plate 602 may be different according to the component parts that need to be installed on the moxibustion actuator 600, which is not necessarily exemplified herein.

The pneumatic clamping jaw 604 is fixedly mounted on one surface of the adapter plate 602 through an adapter interface, specifically, the air cylinder 6041 is fixed on one side of the straight plate type structure 6022 through a screw, and the clamping jaw 6042 side of the pneumatic clamping jaw 604 faces downwards. The pneumatic clamping jaw 604 is used for carrying out secondary clamping on the burning moxa stick 900, prevents the moxa stick from falling to hurt the moxibustion person 700 in the moxibustion process, and the clamped part is close to one end (having a certain distance from the moxa stick ignition point) of the moxa stick ignition point (burning point). As is well known, the burning point of the moxa stick is the body surface part facing the moxa-moxibustion person 700 during moxibustion, the body surface acupuncture points of the moxa stick are stimulated by heat generated by burning the moxa stick, the physiological and biochemical functions of the moxibustion person for regulating the human body disorder of the moxa-moxibustion person are stimulated by the movement of the qi of the moxibustion person, so that the purposes of preventing and treating diseases are achieved, in order to transmit the heat generated by burning the moxa stick to the body surface acupuncture points of the moxibustion person as accurately as possible, the burning point of the moxa stick needs to be controlled accurately, and the clamping jaw 6042 of the pneumatic clamping jaw 604 is used as a clamping structure which is closest to the burning point of the moxa stick, so that the device has important coordinate reference significance.

In another possible embodiment, the spring clamping steel sheet can be matched with the pneumatic clamping jaw to clamp the moxa stick through the adapter interface at different heights of the adapter plate and the pneumatic clamping jaw on the same surface, so that the clamping function of the moxibustion actuator is realized.

The vision assembly 603 is fixedly mounted on the other side of the adapter plate 602 by an adapter interface, specifically, the main body portion of the vision assembly 603 is fixed to the plate structure 6024 by screws and is located on the other side of the adapter plate 6022 where the pneumatic clamping jaws 604 are mounted, and the lens portion of the vision assembly 603 is facing downward. The vision component 603 is used to photograph a moxibustion body surface part of the moxibustion person 700 to acquire a planar picture, i.e., two-dimensional coordinates, of the body surface of the moxibustion person 700. In order to reduce the shaking of the lens part 6031 of the vision assembly 603 and improve the photographing precision, an auxiliary lens support 6025 may be added to the adapter plate 602, and one end of the auxiliary lens support 6025 is connected to the straight plate structure 6024 and the other end is connected to the lens part 6031 of the vision assembly 603. The visual component 603 is a product that is now relatively mature and will not be described in greater detail. Dispose visual subassembly for moxibustion actuator and can note moxa-moxibustion process moxa-moxibustion person 700's whole moxa-moxibustion process, provide data for follow-up moxa-moxibustion research.

The distance measuring sensor 605 is fixedly mounted on the side surface of the adapter plate 602 through an adapter interface, specifically, fixedly mounted on the plate structure 6023 through screws, a detection area of the distance measuring sensor 605 should be the same as the visual component 603, and is mainly used for supplementing a depth coordinate to a two-dimensional coordinate of the body surface of the moxibustion person 700 acquired by the visual component 603, that is, a new coordinate z is provided for a picture two-dimensional coordinate (x, y) of the visual component 603, so as to form a three-dimensional coordinate (x, y, z), so that the distance between the moxibustion part plane of the body surface of the moxibustion person 700 and the moxibustion actuator 600 can be known through the combination of the coordinates of the distance measuring sensor 605 and the visual component 603, and data information of subsequent moxibustion research is further enriched.

Moxa-moxibustion executor safety cover 601 passes through the top surface fixed connection of switching interface with keysets 602 to with pneumatic clamping jaw 604, vision subassembly 603, range sensor 605 parcel in moxa-moxibustion executor safety cover 601, open the moxa stick that has the convenient moxa stick of puting in on the moxa-moxibustion executor safety cover 601 and place mouth 6013. Specifically, the moxibustion actuator protective cover 601 is fixedly mounted on the circular plate type structure 6021 by screws, and the circular plate type structure 6021 is precious in the moxibustion actuator protective cover 301, and the moxibustion actuator protective cover 601 is shaped like an inverted barrel, except that the 'bung' curled edge 6011 of the moxibustion actuator protective cover faces the inside of the barrel. In the present embodiment, the moxibustion actuator protecting cover 601 is only described as a barrel, and in practical applications, the moxibustion actuator protecting cover 601 may have various cubic structures, and will not be described herein. It should be noted that, a circular through hole 6016 is formed in the center of the top surface of the moxibustion actuator protection cover 601 in this embodiment, and the circular through hole is used for allowing the protruding structure 60211 of the adapter plate 602 to protrude from the moxibustion actuator protection cover 601 and to be matched and positioned with the moxibustion actuator protection cover 601 and the free end of the cooperative robot 500, at this time, the screw hole 6017 on the moxibustion actuator protection cover 601 corresponds to the screw hole on the circular plate structure 6021, and also corresponds to the screw hole of the flange interface after the free end of the cooperative robot is matched and positioned, and the free end of the cooperative robot 500, the moxibustion actuator protection cover 601, and the circular plate structure 6021 can be fixedly connected by screws. Moxa-moxibustion executor safety cover uses the moxa stick that can avoid burning and scalds article or personnel etc. on every side under the drive of cooperation robot.

An electrical wire through hole 6018 is further formed in the top surface of the moxibustion actuator protection cover 601, the electrical wire through hole 6018 is used for leading an electrical connection wire between the distance measuring sensor 605 and the vision component 603 out of the moxibustion actuator protection cover 601, specifically, the electrical wire through hole 6018 is formed right above the vision component 603, in view of the principle that the electrical connection wire is the shortest in routing distance and the minimum in signal interference in the moxibustion actuator protection cover 601, the video component 603 is used for collecting two-dimensional coordinate data, the distance measuring sensor 605 only collects distance (one-dimensional) coordinate data, the electrical connection wire required by the distance measuring sensor 605 is less than that of the video component 603, and the moxibustion actuator protection cover 60 with a shorter distance of electrical connection of the vision component 603 is preferred; and because the moxa stick will burn in the moxibustion actuator protective cover when the moxibustion actuator works normally and will emit light and heat, the loosening and clamping of the moxa stick by the pneumatic clamping jaw will vibrate, and various environmental factors in the moxibustion actuator protective cover 601 may interfere with signals of the distance measuring sensor 605 and the vision assembly 603, the electric connecting line is required to be connected out of the moxibustion actuator protective cover 601 in the shortest distance and the principle of minimum signal interference. It is noted that the electrical wire through hole 6018 formed on the top surface of the protection cover 601 of the moxibustion actuator is shielded by the circular plate structure 6021, and for the convenience of wiring, the circular plate structure 6021 is formed with a notch 60212 for wiring an electrical connection wire.

A moxa stick placing opening 6013 is further formed in the top surface of the moxibustion actuator protective cover 601 and is in the shape of a hollow truncated cone, one end of the moxa stick sleeve 606 is fixedly connected in the moxibustion actuator protective cover 601 and is communicated with the moxa stick placing opening 6013, the other end of the moxa stick sleeve 606 is provided with a clamping device, this clamping device is used for carrying out a centre gripping to the moxa stick in the moxa stick sleeve pipe 606, it is flexible clamping structure to be preferred clamping device, flexible clamping structure can play the effect of playing the flexible centre gripping of buffering to the moxa stick 900 of placing in moxa stick sleeve pipe 606, for example, elasticity clamping structure is spring clamping steel sheet 6062, spring clamping steel sheet 6062 is used for playing flexible centre gripping effect to the moxa stick of placing in moxa stick sleeve pipe 606, be the clamping jaw 6042 of pneumatic clamping jaw 604 under spring clamping steel sheet 6062, pneumatic clamping jaw 604 is used for carrying out the secondary centre gripping to the moxa stick 900 that stretches out under follow moxa stick sleeve pipe 606, the rigidity centre gripping promptly. Specifically, the moxa roll placement port 6013 may be in the form of a hollow circular truncated cone protruding from the top surface of the moxibustion actuator protective cover 601 as shown in fig. 3, may be in the form of a hollow circular truncated cone not having the top surface of the protruding moxibustion actuator protective cover 601, or may be in another form, which is not limited herein. It should be noted that a plurality of screw through holes 6015 are also formed around the moxa stick placing hole 6013, and are used to be matched and connected with the screw holes on the flange plate at one end of the moxa stick sleeve 606, so as to fix the moxa stick sleeve 606 inside the moxibustion actuator protecting cover 601 and make the moxa stick placing hole 6013 communicate with the moxa stick sleeve 606. The spring clamping steel sheet 6062 of the moxa stick sleeve 606 clamps the moxa stick 900 placed in the moxa stick sleeve 606 at one time, the spring clamping steel sheet 6062 clamps the moxa stick 900 elastically and slightly, the clamping force can only overcome the self gravity of the moxa stick 900 and can not cause the moxa stick 900 to fall off automatically, if axial force is applied to the moxa stick 900 in the moxa stick sleeve 606, the moxa stick 900 can move in the moxa stick sleeve 606 and withdraw from the axial force, and the moxa stick stops moving under the clamping of the spring clamping steel sheet 6062. Different from the clamping of the pneumatic clamping jaw 604 to the moxa stick 900, the clamping force of the pneumatic clamping jaw 604 to the moxa stick 900 is large, if the pneumatic clamping jaw 604 does not loosen the clamping of the moxa stick 900, the position of the moxa stick 900 in the moxa stick sleeve 606 cannot be easily changed, the pneumatic clamping jaw 604 has a fixing effect on the moxa stick to ensure that the burning moxa stick 900 does not fall off to scald a moxibustion person when the body surface of the moxibustion person moves, and the actual burning point position of the moxa stick is accurately calculated by taking the pneumatic clamping jaw 604 as a reference coordinate. It is understood that after the moxibustion actuator 600 is fixedly connected with the cooperative robot 500, the size coordinates of the moxibustion actuator 600 may need to be input into the system of the cooperative robot, such as: coordinate information such as the coordinate of the center point of the top surface of the moxa roll sleeve 606, the inner diameter of the moxa roll sleeve 606, the coordinate of the clamping point of the spring steel sheet 6062 of the moxa roll sleeve 606, the coordinate of the clamping point of the pneumatic clamping jaw 604, the coordinate of the bottom surface of the moxibustion actuator 600, the coordinate of the outer contour of the moxibustion actuator 600 and the like is input into a system of the cooperative robot, so that the cooperative robot knows the space size of the moxibustion actuator 600 carried and installed, the collision with other position components in the movement process is avoided, and meanwhile, the quick positioning is facilitated.

The horn type arch of inversion is still seted up to moxa-moxibustion executor safety cover 601's top surface, and this horn type arch is cavity, the through-hole that links to each other with moxa-moxibustion executor safety cover 601 inside for extract the air in moxa-moxibustion executor safety cover 601, be called aspirating hole 6014, can design a plurality of aspirating holes for better bleed effect, so that in time take away the flue gas that moxa stick burning produced in the moxa-moxibustion.

Based on the above understanding, the machine for moxibustion of the present application further includes an air pumping system, which includes an air pumping hole 6014, a plurality of air pumping pipes, and an air pumping pump. Connect the inlet port of aspirating hole 6014 and aspiration pump through the exhaust tube, form the exhaust tube, then with the gas outgoing of exhaust tube to suitable place, can avoid the flue gas pollution physiotherapy environment that moxa stick burning produced in moxa-moxibustion executor safety cover 601. Furthermore, can also contain gas filter, use the exhaust tube to be connected aspirating hole 6014 with gas filter's inlet end, be connected gas filter's gas outlet and aspiration pump, the control of aspiration pump intercommunication power operation both can realize extracting moxa-moxibustion executor safety cover 601 in to the filtration through gas filter is being discharged from the aspiration pump, only needs regularly to change gas filter both can. Air exhaust system can keep certain negative pressure state in making moxa-moxibustion executor safety cover 601, and moxa-moxibustion process moxa stick produces surveys the flue gas and can in time purify through air exhaust system, reduces the pollution of moxa-moxibustion process moxa stick flue gas to the environment, improves the travelling comfort of moxa-moxibustion environment.

Referring to fig. 4, the machine for moxibustion according to the present application may further include a cooperative linear motion module 400, which may be one or more of a combination of a pneumatic sliding table, a ball screw linear module, and a rack and pinion linear module, and is not limited herein as long as it is a mechanical device capable of performing linear motion. It should be noted that the cooperative linear motion module 400 introduced in the embodiment of the present application mainly aims to make up for the shortage of the arm length of the cooperative robot 500, and to achieve a shorter arm length of the cooperative robot to cover the moxibustion part of the whole body of the human body, because the longer the arm length of the cooperative robot 500, the higher the price. Taking the example of the human moxibustion object as a simple example, if the whole body of the human needs to be subjected to moxibustion, the height size is larger than the body width size according to the structural characteristics of the human body, and the arm length of one cooperative robot is to fully cover the operating range of the human body, at least the arm length needs 0.5 personal height size, and generally 0.5 personal height length is also larger than the body width of the human body. The embodiment of the application provides a motion combination scheme of cooperation robot cooperation straight line module, can realize as long as the cooperation robot of the arm length of human body width size, just can realize covering the moxa-moxibustion position of human whole body, because the cost price of cooperation straight line module is far less than the cooperation robot of jumbo size arm length, so can realize reduce cost, compromise simultaneously also to obtain great moxa-moxibustion operating space.

The cooperative linear motion module 400 in fig. 4 is a screw linear motion module, the cooperative robot 500 is fixedly mounted on a slide block 404 of the cooperative linear motion module 400 through a base 501 thereof, the slide block 404 is slidably mounted on a screw of the base 401, one end of the screw is connected with a motor 402, and the slide block 404 realizes a left-right linear motion under the condition that the motor 402 drives the screw to rotate. It should be noted that the sliding block 404 is a sliding block with a hollow through hole in the axial direction of the screw rod, a cover plate 403 is installed in the through hole between the screw rod and the sliding block to fix the sliding block and the base 401, and the cover plate covers the screw rod but does not contact with the sliding block 404, so that the rotating screw rod can be prevented from being touched carelessly in the moxibustion process, mechanical damage is avoided, and meanwhile, the moving precision of the cooperation linear motion module 400 is prevented from being influenced by sundries falling into the screw rod in the moxibustion environment. A crawler-type wire arranging groove 409 is fixedly connected to one side of the moving direction of the sliding block 404, and the crawler-type wire arranging groove 409 is used for placing lines such as electric wiring and an air suction pipe which are connected from the moxibustion actuator 600 and extend along the arm length of the cooperative robot, and the lines are connected out through the crawler-type wire arranging groove 409.

A position sensor is mounted on the base of the coordinated movement module 400 and is used to identify the position of the coordinated robot on the linear module, and also the specific position of the slide 404. Specifically, in the present embodiment, three position sensors and one stopper are exemplified, and the position sensors are a left limit position sensor 406, an origin position sensor 407, a right limit position sensor 408, and a stopper 404. The blocking piece 404 is fixedly arranged at the other side of the moving direction of the sliding block 404, and is respectively arranged at one side of the sliding block 404 together with the crawler-type winding displacement slot 409, the blocking piece can do linear motion back and forth left and right on the base 401 along with the sliding block 404, the left limit position sensor 406 is arranged on the base 406 and is positioned in the moving path of the blocking piece 405, so that when the blocking piece 405 (namely the sliding block 404, namely the cooperative robot base 501) reaches the left limit position 406, the sensor sends a signal of stopping moving to the motor 402, and the sliding block 404 is prevented from moving left; similarly, a right extreme position sensor 408 is mounted on the base 406 and in the path of movement of the flap 405, such that when the flap 405 (and hence the slide 404, and hence the co-operating robot base 501) reaches the right extreme position 408, the sensor signals the motor 402 to stop moving, preventing the slide 404 from continuing to move to the right; and the origin position sensor 407 is installed between the left extreme position sensor 406 and the right extreme position sensor 408, and is also located on the base 406 and in the moving path of the flap 405, where the position is used as the origin position of the cooperative motion module 400, i.e., the 0-coordinate position of the cooperative motion module 400, and when the flap 405 moves to the origin position sensor 407, it means the 0-coordinate position of the cooperative motion module 400.

Referring to fig. 1 again, the machine for moxibustion according to the embodiment of the present application further includes a frame 100, the above-mentioned cooperating moving module 400 is fixedly installed on the upper surface of the frame 100, and the smoke filter, the air pump, and the like of the air pumping system can be installed inside the frame 100. The frame 100 may be a frame box with movable rollers to facilitate easy movement and installation of auxiliary components.

The machine equipment for moxa-moxibustion of this application can also include dust collector, and this dust collector includes motor and brush, and wherein the brush links to each other with the rotation axis of motor, and it is rotatory to drive the brush through the motor, and rotatory brush department is arranged accurately with the moxa stick of moxa-moxibustion executor centre gripping in to cooperation robot, realizes getting rid of the ashes that the moxa stick ignition point covered. In another embodiment, the motor can be fixed on the rack through a motor fixing frame, and the rotating shaft of the motor faces upwards, so that the moxa stick clamped by the moxibustion actuator can be conveniently and accurately placed at the rotating brush by the cooperation robot, and ash covered by the burning point of the moxa stick can be removed.

Specifically, referring to fig. 5, the dust removing device 300 may be a dust removing box 300, and the dust removing box 300 is fixedly installed on the upper surface of the frame 100 and is within the movement coverage of the cooperative robot 500. Dust removal box body 301 is a box, and mainly used cleans the ashes of the moxa stick ignition point department cover and holds the ashes that the moxa stick burning formed, and the one side of this box is door structure (not drawn in figure 5), and this door is used for conveniently carrying out maintenance to the inside component part of dust removal box. Specifically, the cube structure shown in fig. 5 may be other cube structures, and is not limited to this. The inlet surface of the funnel structure 307 replaces the top surface of the dust removal box body 301 to extend the outlet of the funnel structure 307 towards the interior of the dust removal box body 301, and the fan surface of the funnel structure 307 is provided with a motor through hole; the motor 304 is fixed inside the dust removal box body 301 through a motor fixing frame 303, and a rotating shaft of the motor 304 is exposed out of the sector of the funnel structure 307 through a motor through hole; the brush 306 is connected to the rotating shaft of the motor 304 by a detachable connection; the cup 302 is placed just below the outlet of the funnel structure 307 in the dust box body 301.

Specifically, the dust removal box 300 is used to cooperate with the moxibustion actuator 600 to perform ash cleaning on the burning point of the moxa stick held by the moxibustion actuator 600, so that the burning moxa stick keeps the state of the burning point exposed, and meanwhile, the dust removal box 300 is also used to collect ash falling from the moxa stick, so that the ash flows into the cup inside the dust removal box along the sector of the funnel. In the moxa-moxibustion in-process, the physiotherapy teacher only need regularly change the cup that bears ashes can.

It should be noted that the coordinate position of the dust box 300 on the frame 100 is determined, and more specifically, the position of the brush 306 is calibrated in the system of the cooperative robot, the brush 306 is detachably connected through a coupling, the detachable connection of the brush 306 facilitates the replacement of the brush 306, but the coordinate position of the brush 306 needs to be re-calibrated after each replacement of the brush 306, and the calibrated position is stored in the system of the cooperative robot. Secondly, considering that the brush 306 has a certain loss along with the extension of the service time, a compensation value of the brush 306 after a certain time is needed to be set, so that the coordinate position of the brush 306 is updated at a certain interval under the condition that the brush 306 is not replaced, and the cooperative robot can accurately find the position of the brush 306. It can be understood that the coordinate position of the whole dust removing box 300 can be input into the system of the cooperative robot 500 when necessary, so that the cooperative robot can know the existence and the spatial position of the dust removing box 300, and the subsequent cooperative robot 500 can respond quickly when carrying the moxibustion actuator 600 and cooperating with the dust removing box.

The dust removing box 300 further includes a dust removing system, the dust removing system is used for purifying air inside the dust removing box body 301, and the dust removing system specifically includes: a dust removal air suction hole 3011, a plurality of dust removal air suction pipes, a dust removal filter 308 and a dust removal air suction pump which penetrate through the wall thickness of the dust removal box body; the dust-removing air-extracting pipe is sequentially connected with the dust-removing air-extracting hole 3011, the dust-removing filter 308 and the dust-removing air-extracting pump to form a dust-removing system, and under the condition that the dust-removing air-extracting pump runs, air in the dust-removing box body 301 can be extracted and filtered by the dust-removing filter 308 and then discharged by the dust-removing air-extracting pump. The dust-removing air pump of the dust-removing system is installed in the machine frame 100 as the air pump of the air-extracting system of the moxibustion actuator 600, and even the dust-removing air pump and the air pump can be the same, so as to save cost. The negative pressure state can be kept in the dust removal box body 301 by pumping air in the dust removal box body 301, so that ash in the dust removal box body 301 is not easy to escape to pollute the environment, the motor 304 is operated in a cleaner environment, and the service life of the motor 304 is prolonged.

Referring to fig. 6, the machine for moxibustion according to the present application may further include a moxa roll recovery device 200, and the moxa roll recovery device 200 is fixedly installed on the upper surface of the frame 100 and is within the movement coverage of the cooperative robot 500. This moxa roll recovery device 200 is mainly used for carrying out the recovery processing to the moxa roll that burns the too short moxa roll or accomplishes moxa-moxibustion work to and be used for exerting axial force to the moxa roll 900 in the moxa roll sleeve 606, so that the moxa roll 900 realizes the axial motion in the moxa roll sleeve 606, thereby realizes correcting the operating position to gradually burning the moxa roll 900 that shortens. Moxa stick recovery unit is including retrieving box body 201, and this recovery box body 201 is a box, and the top surface of retrieving box body 201 is seted up and is led to the inside moxa stick recovery through-hole of retrieving box body 201 to moxibustion robot can instruct moxibustion actuator to place the moxa stick directly over the moxa stick recovery through-hole, and it is pushed into the recovery box body through the manual work again. A door (not shown) is provided on a side surface of the recovery box body 201, and the door is used for taking out the moxa stick falling into the recovery box body 201 through the moxa stick recovery through hole.

One end of the inserting rod bracket 203 is vertically and fixedly arranged at one side of the recovery box body 201, and the other end is suspended vertically upwards. The inserted bar rectilinear movement module 205 fixed mounting is in the unsettled perpendicular ascending one end of inserted bar support 203, and be located the top of retrieving box body 201, the inserted bar rectilinear movement module 205 in the embodiment of the application is the lead screw rectilinear movement module, specifically be the top at inserted bar support 203 is installed to the motor, the lead screw is installed in inserted bar support 203, the surface of inserted bar support is installed and exposed on the lead screw to the slider is movably, the slider of inserted bar rectilinear movement module can realize reciprocating on the inserted bar support under the drive of motor, it can be understood, can also use other devices that can realize the rectilinear movement function, for example cylinder etc.. For the principle and structure of the lead screw linear module, please refer to the above description of the cooperative linear module, which is not repeated herein.

The inserting rod 203 is fixedly installed on the sliding block of the inserting rod linear moving module 205 and vertically faces downwards to the moxa roll recovery through hole, and when the inserting rod 203 is at the sliding block of the linear moving module 205 and is at the uppermost position (the original position of the inserting rod) of the inserting rod support 203, the distance from the lowermost position of the inserting rod 203 to the upper surface of the recovery box body 201 should be greater than the height of the moxibustion actuator 600, so that the cooperative robot 500 can control the moxibustion actuator 600 to be placed on the upper surface of the recovery box body 201, the moxa roll placing port 6013 can face downwards to the lower side of the inserting rod 203, and the through hole is directly recovered to the moxa roll of the recovery box body 201 under the moxa roll sleeve 605. It should be noted that, specifically, the inserting rod 203 applies an axial force to the moxa stick 900 in the moxa stick sleeve 606, the size of the inserting rod 203 should be smaller than the inner diameter of the moxa stick sleeve 606, and the inserting rod 203 can be driven by the inserting rod linear moving module 205 to realize a linear motion from top to bottom. Can realize automatic pushing the moxa stick at this moment and retrieve the box body, reduce artifically.

The plunger origin position sensor 202 is installed at one side of the plunger holder 203, and identifies an origin position at which the plunger 206 moves on the plunger linear-motion module 205. Specifically, the plunger home position sensor 202 is disposed on a path that a slider of the plunger linear-motion module 205 must pass through, and an electrical signal triggered by detecting the passage of the slider stops the rotation of the motor of the plunger linear-motion module 205, that is, the slider of the plunger linear-motion module 205 stops moving upward, and the position of the plunger home position sensor 202 is the highest point position where the slider of the plunger linear-motion module 205 can move, that is, the home position of the plunger 206. The use of the position sensor can enable the inserted link to have a fixed origin reference coordinate, and is beneficial to improving the control accuracy of the system.

It should be noted that the side of the moxibustion actuator protecting cover 600 has a detecting notch 6012 (see fig. 3), and the moxa stick working position sensor 202 is horizontally and fixedly installed on the upper surface of the recovery box body 201 and aligned above the moxa stick recovery through hole, and the moxa stick working position sensor 202 detects the working position of the moxa stick in the moxibustion actuator protecting cover 601 through the detecting notch 6012. Specifically, as can be seen from the above description of the pneumatic jaw 604 of the moxibustion actuator 600, the ignition point of the moxa roll 900 during normal operation is located below the jaw 6042, although the moxibustion actuator protective cover 601 encloses all moxibustion actuator components, the lower surface of the moxibustion actuator protective cover 601 is connected, and the ignition point of the moxa roll is located closest to the plane of the lower surface, so the detection notch 6012 is preferably located at the height of the moxibustion actuator protective cover 601 from the lower surface of the moxibustion actuator protective cover to the lower surface of the jaw, and the width of the detection notch 6012 in the moxibustion actuator protective cover 601 is preferably the diameter of the moxa roll. The moxa stick operating position sensor 202 is a correlation photoelectric sensor, and it is possible to detect whether the moxa stick held in the moxibustion actuator 600 is in the operating position through the detection notch 6012.

It should be noted that, in one embodiment, the coordinate position of the moxa stick recovery device 200 is determined, and more specifically, at least the origin coordinate of the plunger 206 and the plane position of the upper surface of the moxa stick recovery device are calibrated in the system of the cooperative robot 500, and the length of the plunger 206, the origin position coordinate, and other data are stored in the system of the cooperative robot 500, so as to guide the cooperative robot 500 to accurately place the moxibustion actuator 600 on the upper surface of the moxa stick recovery device 200 and under the plunger 206, so that the moxa stick placing hole 6013 can be directly under the plunger 203, and the moxa stick cannula 605 is directly under the moxa stick recovery through hole of the recovery box body 201. It can be understood that the coordinate position of the moxa roll recovery device 200 can be input into the system of the cooperative robot 500 when necessary, so that the cooperative robot can know the existence and specific spatial position of the moxa roll recovery device 200, and therefore, the cooperative robot 500 can respond quickly when carrying the moxibustion actuator 600 to cooperate with the moxa roll recovery device 200.

While the specific constitution of the machine for moxibustion is described above, an embodiment using the machine for moxibustion of the present application is described below.

The first step starts the device. When the machine for moxibustion is started, the machine runs a self-test program, and moves the cooperative robot 500, the cooperative linear motion module 400, the insertion rod linear motion module 205 of the moxa-stick recovery device 200, and the like to respective origin positions, and places the pneumatic gripper 604 in a released state. Such as: the cooperative robot 500 moves the moxibustion actuator 600 to a position just above the funnel structure 307 of the dust box 300 by a distance such that the center of the moxa roll sleeve 606 is aligned with the center of the brush 306 of the dust box 300, which is the origin position of the cooperative robot 500. The position where the cooperative linear motion module 400 moves the slider 404 to the home position sensor 407 is the home position of the cooperative linear motion module 400. The plunger linear moving module 205 of the moxa roll retrieving device 200 moves the slider to the position of the plunger origin position sensor 202, which is the origin position thereof.

And secondly, loading the moxa sticks. The physiotherapist can light the moxa stick 900, and the one end that lights the moxa stick 900 is down, put into moxa stick sleeve 606 through moxa stick placing port 6013 on moxa-moxibustion executor safety cover 601, the moxa stick 900 can stop the whereabouts in moxa stick sleeve 606 because of the centre gripping of spring steel sheet 6062, because the length dimension of new moxa stick 900 is exactly the same with the height of moxa-moxibustion executor safety cover 601, at this moment the physiotherapist can directly push the moxa stick 900 towards the moxa stick sleeve 606, make the moxa stick 900 place the mouth 6013 parallel and level with the moxa stick, at this moment the burning point part of moxa stick 900 just in time overcomes the clamping-force of spring steel sheet 6062 and passes through the unclamping clamping jaw 6042 of the pneumatic clamping jaw 604 below the moxa stick sleeve 606 and reaches the operating position.

And thirdly, detecting the working position of the moxa stick. Regardless of whether the moxa roll 900 is a new moxa roll, the moxa roll working position detection is performed after the above-described moxa roll loading step. The cooperative robot 500 moves the moxibustion actuator 600 to the lower part of the plunger 203 of the moxa stick recovery device 200 according to the coordinates recorded in the system, specifically, the moxa stick placing port 6013 can be opposite to the lower part of the plunger 203, the right lower part of the moxa stick sleeve 605 is opposite to the moxa stick recovery through hole of the recovery box body 201, and the center of the moxa stick sleeve 606 is aligned with the central axis of the plunger 203, the moxa stick working position sensor 202 detects whether the moxa stick 900 is at the preset working position through the detection notch 6012 on the side surface of the moxibustion actuator protective cover 600, if not, the motor of the plunger linear moving module 205 is started to make the plunger 206 move downwards from the original position, the plunger 206 moves downwards to enter the moxa stick placing port 6013 and enter the moxa stick sleeve 606 to apply an axial force to the moxa stick 900, so as to force the plunger to move downwards to overcome the clamping force of the spring 6062 until the moxa stick working position sensor 202 detects the feedback signal of the moxa stick 900 at the working position, at this time, the motor of the plunger linear movement module 205 is started reversely, so that the plunger 206 moves upwards to return to the original position, at this time, the moxa stick working position sensor 202 can detect whether the moxa stick 900 is at the preset working position again through the detection notch 6012 on the side surface of the moxibustion actuator protective cover 601, if so, it is proved that the moxa stick 900 is indeed in the moxa stick sleeve 606 of the moxibustion actuator 600 and is clamped by the spring steel sheet 6062, and at this time, the pneumatic clamping jaw 604 can be started to clamp the moxa stick 900; if not, it is proved that no moxa roll exists in the moxibustion actuator 600, and the fact that the moxa roll needs to be added is prompted, and the cooperation robot 500 moves to return to the original position. The purpose of the moxa roll working position sensor 202 to detect again is to exclude the case where the moxa roll is too short and no moxa roll is placed, such as: when the moxa roll working position sensor 202 adopts a correlation photoelectric sensor, the plunger 206 is moved downwards to enter the moxa roll placing hole 6013, passes through the moxa roll sleeve 606, and passes through the clamping jaw 6042 of the pneumatic clamping jaw 604, and a feedback signal of a fake moxa roll 900 at the working position is triggered, so that no moxa roll 900 exists at the time, the plunger 206 is detected, and the problem can be avoided by detecting the plunger 206 again when the plunger 206 returns to the original position; in addition, the length of the moxa stick 900 is less than the absolute vertical length from the clamping point of the spring steel sheet 6062 to the detection point of the moxa stick working position sensor 202, and the moxa stick is too short, so that the too short moxa stick may burn to the clamping jaw 604 for clamping the moxa stick and damage the clamping jaw 604, and the too short clamping jaw 604 is detected again by the moxa stick working position sensor 202 and eliminated. Of course, the coordinate position from the central coordinate position of the ignition point to the central point of the bottom surface of the insertion rod 206 at the working position of the moxa stick may be calculated and obtained as the length of the moxa stick by the origin coordinate of the insertion rod 206 stored in the system of the cooperative robot 500, the length of the insertion rod 206, and the corresponding trigger coordinate position of the central axis of the moxa stick sleeve when the feedback signal of the working position is triggered (i.e., the central coordinate position of the ignition point at the working position of the moxa stick), and whether the moxa stick is suitable for use is determined by the length of the moxa stick. There are, of course, other ways to determine the length of the moxa roll, and this need not be the case.

And fourthly, executing moxibustion. The moxibustion is performed in various processes, and different actions can be performed according to different commands received by the cooperation robot, and only a few embodiments will be described below. After determining that the moxa roll 900 is held in the moxibustion actuator 600 in the third step, the air pumping system may be activated to ensure that the air in the moxibustion actuator protective cover is purified. The moxibustion is carried out in various ways, one of which is only to assist the physical therapist to hold the moxa stick, and the moxibustion part, the moxibustion time, the moxibustion part execution sequence and the like of the moxibustion person are not concerned, and the whole course is guided by the field operation of the physical therapist. The other is full automation, the cooperation robot 500 moves the moxibustion actuator 600 to the upper side of the bedding 800 according to a preset instruction, and detects and identifies the bedding 800 by using the distance measuring sensor 605 and/or the vision component 603 in the moxibustion actuator 600, so as to judge whether the moxibustion person 700 who needs to perform moxibustion exists. If so, the moxibustion person 700 is photographed by the vision component 603 and three acupuncture points preset in the photograph are recognized, and a workpiece coordinate system can be established for the moxibustion person 700 by the positions of the three acupuncture points. Through the above-mentioned relative position relationship between the three acupuncture points, the system can obtain all acupuncture point positions of the moxibustion person 700, i.e. all working coordinate points on the workpiece coordinates, by referring to the acupuncture point structure relationship model of the human body. At this time, the cooperative robot 500 can be directed to perform accurate moxibustion on the whole-body moxibustion part of the moxibustion person 700 as needed. It should be noted that, during moxibustion, the moxibustion person 700 may move, so the vision module 603 should take a picture of the moxibustion person at intervals, re-determine the positions of the three acupuncture points, and update the latest workpiece coordinate system, so that even if the moxibustion person has a certain body movement, the system can acquire the current moxibustion position of the current moxibustion person according to the latest working coordinate. Distance measuring sensor also should measure a distance to the moxa-moxibustion person every a period of time equally, in time knows the moxa-moxibustion person and to the distance between the moxa-moxibustion executor, especially the distance of moxa-moxibustion person to the moxa-moxibustion stick ignition point, when distance measuring sensor discovery distance changes, the system need make the adjustment fast, controls the cooperation robot promptly and adjusts the distance between moxa-moxibustion executor to the moxa-moxibustion person to control moxa-moxibustion temperature that can be accurate and avoid the moxa stick to scald moxa-moxibustion person etc.. It should be noted that, learn the ignition point position of moxa stick when the third step operating position detects, can learn the distance between the moxa stick and the moxa-moxibustion person through range finding sensor in this step, and the compensation value to moxa stick burning rate is combined again, can learn the distance between the moxa stick and the moxa-moxibustion person at the ignition point of combustion process.

The process of establishing a coordinate system of a workpiece by using three acupuncture points is complex, and the general process is as follows: the system collects the acupuncture point distribution coordinates of a certain number of crowds with different heights and weights in advance, and finds out three acupuncture point coordinates as three reference points for establishing a workpiece coordinate system. Because the three acupuncture points of people with different heights and weights have certain deviation, the heights and weights can be divided into different sections, the acupuncture points of people in the sections with the same height and weight have small difference, the acupuncture points of the three reference points can be considered to be the same at the moment, then the positions of the acupuncture points of the three units in each section can be obtained according to the collected acupuncture point distribution of people with different heights and weights, so that the approximate positions of the three reference acupuncture points can be obtained for all people in the height and weight range, and a database is respectively established for men and women. When moxibustion patients carry out moxibustion, operators firstly measure the height and the weight of the patients and record the height and the weight into the system. Therefore, the positions of the three reference acupuncture points of the moxibustion patient can be determined according to the sex of the moxibustion patient and the height and weight interval of the moxibustion patient.

It should be noted that, in the moxibustion process, the cooperative robot can move the moxibustion actuator 600 to the upper part of the dust-removing box 300 at preset intervals, and make the ignition point of the moxa roll 900 align with the brush 306, and the driving motor 304 drives the brush 306 to remove ash from the moxa roll 900, and the ash falls into the cup 302 along with the sector of the funnel structure, and the effect of starting the dust-removing system is better. It can be understood that, in the moxibustion process, the cooperative robot also needs to move the moxibustion actuator 600 to the lower part of the insertion rod 203 of the moxa stick recovery device 200 at every other segment to correct the working position of the moxa stick or recover the moxa stick, and for the specific process, reference is made to the previous step, which is not described herein again.

And fifthly, ending moxibustion and recycling the moxa sticks. After the moxibustion process is completed, the cooperative robot 500 moves the moxibustion actuator 600 to the lower side of the plunger 203 of the moxa stick recovery device 200, recovers the moxa stick, and returns the moxibustion actuator to the original position. At this time, the physical therapist needs to process the moxa stick recovered from the moxa stick recovery box body 201.

The above description of the present application with reference to specific embodiments is not intended to limit the present application to these embodiments. For those skilled in the art to which the present application pertains, several changes and substitutions may be made without departing from the spirit of the present application, and these changes and substitutions should be considered to fall within the scope of the present application.

Claims

1. A machine for moxibustion, comprising: a cooperative robot, a moxibustion actuator;

2. The machine for moxibustion according to claim 1, wherein said moxibustion actuator comprises at least two gripping means for gripping said moxa roll, one of said gripping means being a flexible gripping means for flexibly gripping said moxa roll, the other of said gripping means being a rigid gripping means for rigidly gripping said moxa roll;

3. The machine for moxibustion according to claim 2, further comprising an air extraction system, wherein the air extraction system comprises an air extraction hole formed on the moxibustion actuator protective cover, a plurality of air extraction pipes and an air extraction pump;

4. A machine for moxibustion according to any one of claims 1 to 3, further comprising a cooperating linear module, the cooperating robot being mounted on a slide of the cooperating linear module;

5. The machine for moxibustion according to claim 4, characterized in that a position sensor is mounted on the base of the linear module for identifying the position of the cooperative robot on the linear module;

6. The machine for moxibustion according to claim 4 further comprising a frame on which the cooperating linear die set is fixedly mounted.

7. The machine for moxibustion according to claim 6, further comprising: the dust removal device comprises a motor and a brush;

the brush is connected with a rotating shaft of the motor;

8. The machine for moxibustion according to claim 7, wherein said dust-removing box further comprises a dust-removing system, said dust-removing system comprising: the dust removal air suction hole, the plurality of dust removal air suction pipes, the dust removal filter and the dust removal air suction pump are arranged on the dust removal box body;

9. The machine for moxibustion according to claim 7, wherein said brush is coupled to a rotating shaft of said motor by a coupling.

10. The machine for moxibustion according to claim 7, further comprising a moxa roll recovery device fixedly mounted to the frame, the moxa roll recovery device comprising: the box-shaped recovery box body is provided with a moxa stick recovery through hole leading to the interior of the recovery box body on the top surface;

furthermore, a door is arranged on the side surface of the recovery box body;