CN114012780A

CN114012780A - Rotating arm with displacement compensation

Info

Publication number: CN114012780A
Application number: CN202111513340.0A
Authority: CN
Inventors: 马云静; 董怡麟; 刘磊; 郭仪
Original assignee: Shenyang Tianren Heyi Technology Co ltd
Current assignee: Shenyang Tianren Heyi Technology Co ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-02-08
Anticipated expiration: 2041-12-13
Also published as: CN114012780B

Abstract

The utility model provides a swinging boom with displacement compensation, can be at line linear lift's support arm mechanism (2) with walking mechanism (4) synchronous motion's the working plane that can provide rotatory degree of freedom of horizontal plane translation line walking mechanism (4), its technical essential is: the support arm mechanism (2) comprises a first coordinate point (N) and a second coordinate point (S) which are respectively arranged at the end part of the support arm mechanism (2) and respectively have one degree of freedom of rotation, and a positioning component for monitoring the plane coordinates of each point in real time. The intelligent control system has the advantages of simple and compact structure, convenience and rapidness in use, high intelligent degree and the like.

Description

Rotating arm with displacement compensation

Technical Field

The invention relates to the field of medical instruments, in particular to a rotating arm with displacement compensation.

Background

The existing moxibustion instrument has low intelligent degree, most of the instruments still need a large amount of manual intervention, and the intellectualization is difficult to realize. And because of lacking effectual auto feed and scald preventing protection mechanism, there is great potential safety hazard. In addition, because the structural design of the existing moxibustion instrument is simpler, the utilization rate of the space in the instrument is still lower, a large amount of redundant space exists in the instrument shell, the miniaturization and the compactness of the instrument cannot be realized, and the smoke exhaust and wire arrangement pipelines are exposed outside the shell, so that the attractiveness of the equipment is influenced.

For example, the patent application with publication number CN104095748A discloses a "convolute moxibustion instrument", which only explains the structure of the moxibustion instrument by a higher technical scheme, but still has many problems in practical application.

The invention discloses a moxibustion instrument as disclosed in the patent application with the publication number CN108836842A, which comprises a moxibustion instrument seat and a connecting frame; the connecting frame is connected with the connecting pipe and the sliding insertion pipe; the connecting pipe is sleeved with a rotating pipe; the rotating pipe is formed with a smoking hole; a valve ring is arranged in the rotating pipe; a smoking hole is formed in the side wall of the valve ring; the rotating pipe is sleeved with a rotating connecting pipe in a sliding manner; the rotating connecting pipe is connected with a moxibustion unit; the moxibustion unit comprises an outer tube body; the inner pipe body is arranged in the outer pipe body; the inner pipe body is fixedly connected with a mesh plate and a smoking groove; the inner tube body is rotationally connected with a propelling gear which pushes the moxa stick to move downwards; the moxibustion instrument seat is provided with a negative pressure filtering component, and the negative pressure filtering component comprises an outer barrel; a flow guiding inner barrel is arranged in the outer barrel; the inner diversion barrel is formed with a side leakage hole, and the upper end of the inner diversion barrel is provided with an exhaust hood; the center of the exhaust hood is formed with a vent pipe. The moxa stick head part of the technical scheme adopts an original moxa stick burning mode, but because the structure of the moxa stick head mechanism is too simple, more accurate automatic control can not be realized by multiple parameters.

The invention discloses an "intelligent moxibustion instrument" as disclosed in patent application publication No. CN110613606A, which comprises a mechanical arm component, a case component and a moxibustion head component, wherein the mechanical arm component comprises: big arm, upper arm, joint frame, drive assembly and tobacco pipe, machine case subassembly includes: screen, touch switch, main control board, driver, rotary platform driving motor, filter cartridge, bellows, balancing weight, truckle and case shell, the first subassembly of moxibustion includes moxibustion head, the first mount of moxibustion, the fixed box of ash net and flame-out lid, still includes laser lamp, temperature sensor, distance sensor and arm control button.

Disclosure of Invention

The invention aims to provide a rotating arm with displacement compensation, which fundamentally solves the problems and has the advantages of simple and compact structure, convenient and quick use, high intelligent degree and the like.

In order to achieve the purpose, the invention provides the following technical scheme: this swinging boom with displacement compensation, including can walk the mechanism, with walking the support arm mechanism that can provide the work plane of rotatory degree of freedom can linear lift along with walking the mechanism simultaneous movement of mechanism translation on the horizontal plane, its technical essential is: the support arm mechanism comprises a first coordinate point and a second coordinate point which are respectively arranged at the end part of the support arm mechanism and respectively have one rotational degree of freedom, and a positioning component for monitoring the plane coordinates of each point in real time.

Furthermore, the output end of the support arm mechanism is connected with the adapter piece by driving one degree of freedom, and the adapter piece is connected with the moxibustion head mechanism by driving one degree of freedom.

Furthermore, the moxibustion head mechanism comprises a supporting structure assembly and a moxa stick feeding assembly, wherein the moxa stick feeding assembly comprises a stepping pressing plate which is limited in the supporting structure assembly, is elastically limited at a driving output end through a feeding spring and drives the moxa stick to move linearly in a stepping mode.

Furthermore, the support structure assembly comprises a moxibustion cover and a flue shell which are connected and supported by the middle plate, and the flue shell comprises a cover shell connecting part extending into the moxibustion cover, a connecting ring fixed with the middle plate and an ash net connecting part protruding out of the middle plate.

Furthermore, a moxa stick bin is arranged in the flue shell at intervals through a heat insulation ring, the heat insulation ring is sleeved on the moxa stick bin and is provided with a horn-shaped opening, and a flue gas channel is arranged between the moxa stick bin and the flue shell at intervals.

Furthermore, a photoelectric switch for monitoring the motion state of a lead screw at the output end of the moxa stick feeding assembly is arranged in the moxibustion cover.

Furthermore, an ash net cover is limited on the flue shell through an elastic component supported on the heat insulation ring.

Furthermore, a plurality of connecting lugs arranged along the circumferential direction are arranged on the inner wall of the ash screen cover, the connecting lugs are elastically limited by ash removing springs, the locating pins are supported on the heat insulation ring, and the ash blocking screen is elastically limited between the heat insulation ring and the connecting lugs.

Furthermore, a contact switch matched with the ash screen cover is arranged on the outer wall of the flue shell.

Furthermore, a vibration component powered by a vibration motor is arranged on the stepping pressure plate.

The invention has the beneficial effects that: in the overall technical scheme, the intelligent moxibustion instrument is provided with a walking mechanism capable of being positioned in space, a filtering component capable of moving along with the walking mechanism, a support arm mechanism fixed on a support framework of the walking mechanism, and a highly intelligent moxibustion head mechanism positioned at the tail end of the support arm mechanism.

For the moxibustion head mechanism, a flue shell and a moxibustion cover which are connected by a middle plate and an angle code are adopted as main structures, wherein the flue shell comprises a cross structure formed by a connecting ring separating a housing connecting part and an ash net connecting part, a smoke outlet communicated to the outside is formed in the housing connecting part, an opening of the angle code made of aluminum alloy corresponds to the smoke outlet, the angle code is also used as a structural support, and the rigidity of connection of the moxibustion head mechanism and a support arm mechanism is improved. The moxa stick feeding part adopts a mode that a stepping motor drives a through screw rod, and is matched with a plurality of hollow optical shafts to realize the lifting of a lifting plate and the wiring of an electric component, so that the feeding of the stepping pressing plate is driven by a feeding spring, and the feeding spring can provide buffering and compensation when the stepping motor is driven in an over-position mode. A fixed part for moxa stick adopts outside-in concentric post to arrange, and the ash screen connecting portion of the flue shell of structure as an organic whole in the outside, its bottom elasticity assembly ash screen panel inwards are thermal-insulated ring spaced moxa stick storehouse, and moxa stick storehouse and thermal-insulated ring are kept apart the heat, prevent to damage the flue shell, and thermal-insulated ring can make the multiple specification moxa stick of moxa-moxibustion head adaptation through adopting not unidimensional direction hole. The innermost side is a moxa stick fixed by a stepping pressing plate, and smoke generated by burning the moxa stick enters the filtering component from the smoke outlet under the negative pressure effect. The structure is more compact as far as possible under the condition of ensuring that the smoke and the soot can be removed and the oxygen required by combustion is sufficient. In order to ensure that the cigarette ash on the moxa roll is quickly separated from the moxa roll, a vibration motor is arranged on the stepping pressing plate to play a role of real-time strip brushing, and when an ash removing program is executed, the mechanical arm moves to the position of the embedded ash collecting box to uniformly recover the brushed cigarette ash. Silica gel multi-petal cover plates are embedded at the upper parts of the ash collecting boxes to prevent the ash from falling outside. After the ash removing procedure is finished, the ash collecting box automatically retracts to the interior of the machine body.

In addition, in order to prevent the moxa stick from scalding the human body, the shape of the opening of the ash net cover is changed into a wave shape, and the wave shape is embedded with skin-friendly silica gel. A double protection mechanism is further arranged. The ash screen cover is elastically assembled through a plurality of ash removing springs and the positioning pins which are positioned at the bottom of the heat insulation ring, the ash blocking screen is fixed into an integral structure through the annular clamping grooves of the positioning pins and is supported by the connecting lugs, a mutually matched bulge and sliding groove structure is adopted between the ash blocking screen and the positioning pins, so that the ash screen cover can be assembled in a limiting mode through rotating and clamping, the ash removing springs are sleeved on the positioning pins in a compression mode, and the heat insulation ring is used as a fulcrum to elastically support the ash screen cover outwards. Once the ash screen cover touches the human body to retract, the ash screen cover retracts to touch a contact switch on the outer wall of the flue shell, and then the anti-collision program is triggered to execute rebound or braking. The infrared sensor on the lifting plate monitors the distance between the lifting plate and the stepping pressing plate in real time, when the distance is gradually reduced, the moxa stick is completely burnt out, and then the withdrawing action and the voice prompt are executed.

A plurality of array laser sensors are arranged on the moxibustion head, the distance between the moxibustion head mechanism and the human body is monitored in real time, the space angle of the moxibustion head is controlled in real time according to the distance difference monitored by different sensors, and the human body curved surface follow-up function in the moxibustion process is realized. When the distance between the moxibustion head and the surface of the human body is smaller than or larger than a set value, the mechanical arm carries out response adjustment.

For the support arm mechanism, the space positioning of the moxibustion head mechanism is realized by adopting a mode of matching the lifting mechanism with the rotating arm, the former realizes Z-direction positioning, and the latter realizes XY plane positioning. The lifting mechanism is fixed on a supporting framework of the walking mechanism and moves synchronously with the walking mechanism. The end of the first rotating arm is connected with the moxibustion head mechanism through the adapter, and the freedom degree of the swing angle of the moxibustion head is increased for the first rotating arm through the angle motor, so that multi-dimensional control is realized. The exterior of the moxibustion instrument has no redundant wiring, and the flue and the flat cable are completely embedded into the support arm mechanism.

For the running mechanism, a mounting chassis can be adopted to match with the prior unpowered universal wheel as a rolling component in a simplified scheme. In the optimization scheme, the omnidirectional wheel drive with the autonomous movement function can be further adopted, and the moxa stick coordinate of the moxa stick mechanism is further matched, so that the problem of insufficient length of the support arm mechanism is compensated in a mode of integral chassis migration when the mechanism is miniaturized.

To filtering component, the movable filtering component that adopts the fuselage to take certainly, because exhaust passage adopts the tubular structure, the area of overflowing is great relatively, need not to adopt the fan of too big power can provide the negative pressure that is enough to get rid of flue gas and cigarette ash, and the sealed quick change plug-in type structure of upper and lower O type circle integrates flue gas channel and winding displacement passageway in support arm mechanism, under the condition that does not influence the use, changes swiftly conveniently, makes the appearance more succinct pleasing to the eye.

Drawings

Figure 1 is a schematic isometric side view of the moxibustion instrument of the present invention.

Figure 2 is an isometric side view schematic diagram of the moxibustion head mechanism of the present invention.

Fig. 3 is an exploded view of the moxibustion head mechanism of the present invention.

Fig. 4 is a schematic sectional structure view of the moxibustion head mechanism of the present invention.

Fig. 4A is a schematic structural side sectional view of a portion of the structure of fig. 4.

Fig. 5 is a schematic view of the internal structure of the moxibustion instrument of the present invention.

Fig. 5A is a schematic cross-sectional structural view of the shaft side of fig. 5.

FIG. 6 is a bottom view of the filter assembly of the present invention.

Fig. 6A is a schematic cross-sectional structure of fig. 6.

FIG. 7 is a schematic structural diagram of the arm mechanism of the present invention.

Fig. 7A is a schematic diagram of the operation principle of fig. 7.

FIG. 8 is a schematic diagram of the principle of the moxibustion head freedom degree adjustment parameter acquisition.

FIG. 9 is a schematic diagram illustrating the displacement compensation principle of the arm mechanism according to the present invention.

Detailed Description

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

Intelligent moxibustion instrument

The intelligent moxibustion instrument comprises a walking mechanism 4, a filtering component 3 limited in a supporting framework 44 of the walking mechanism 4, a support arm mechanism 2 fixed on the walking mechanism 4 and a moxibustion head mechanism 1 arranged at the tail end of the support arm mechanism 2.

Moxibustion head mechanism

The moxibustion head mechanism 1 comprises a moxa stick feeding component 13 limited by a supporting structure component 14, a vibrating component 11 matched with the moxa stick feeding component 13, and the supporting structure component 14 comprises a moxibustion cover 142 and a flue shell 141 which are jointed through an intermediate plate 144. The force bearing point of the moxibustion head mechanism 1 is located at the side part, namely, the moxibustion head mechanism is rotatably assembled at the tail end of the mechanical arm through an angle code 1422. The bottom of the moxibustion cover 142 sequentially passes through the bolt fixing flue shell 141 and the middle plate 144, wherein the corner connectors 1422 are made of aluminum alloy with high strength, during assembly, the middle plate 144 and the corner connectors 1422 are firstly assembled through flat head bolts, then the corner connectors 1422 are matched with the flange rear cover 1421 of the moxibustion cover 142 to realize assembly, finally, the flue shell 141 is fixed on the middle plate 144 through self-tapping screws, and the laser ruler 126 is fixed on the middle plate 144 through the laser ruler mounting plate 1441. The flue casing 141 comprises a connecting ring 1412 assembled with the middle plate 144, an ash screen connecting part 1414 matched with the ash screen 143, and a case connecting part 1413 for the moxa roll feeding assembly 13, wherein one side of the case connecting part 1413 is further provided with a smoke outlet 1411 corresponding to the opening of the corner connector 1422 so as to facilitate the subsequent installation of smoke discharging or electric control pipelines (not shown in the figure), and the case connecting part 1413 is further fixed with the PCB plate 122 with a through hole in the middle.

In the moxibustion cover 142, a moxa stick bin 137 is coaxially fixed in the flue shell 141, the stepping motor 131 is limited at the upper part of the flue shell 141, a lead screw 134 is used as an output shaft of the stepping motor, the output end of the lead screw 134 is provided with a lifting plate 133 positioned in the moxa stick bin 137, and a plurality of optical axes 135 limited on the moxa stick bin 137 or the flue shell 141 through shaft sleeves 1351 are arranged on the lifting plate 133 in the same direction. Therefore, the lifting plate 133 can be driven to ascend and descend stably through the lead screw 134 of the stepping motor 131, and the moxa roll bin 137 is always fixed during movement. A heat insulation ring 145 fixed (for example, by conventional technical means such as screwing, bonding, and the like) outside the moxa stick bin 137 or inside the ash net connecting part 1414 is arranged between the moxa stick bin 137 and the ash net connecting part 1414 of the flue housing 141, and a plurality of heat dissipation holes (not marked in the figure) are circumferentially distributed on the heat insulation ring 145.

As shown in fig. 4A, the limiting portion 1481 is supported on the open end of the heat insulation ring 145, the annular groove 1482 is snapped onto the dust blocking net 146, so that the dust removing spring 147 is limited in a compressed state between the heat insulation ring 145 and the dust blocking net 146, and the front end portions of the positioning posts 1483 are supported on the connecting lugs 1432. The ash blocking net 146 is fixed with the annular grooves 1482 of the positioning pins 148, and the ash blocking net 146 and the positioning pins 148 are integrated into a whole; the ash blocking screen 146 and the ash screen 143 are elastically limited relative to the ash screen connecting portion 1414 of the flue housing 141 by a plurality of (three in this embodiment) limited ash removing springs 147, which cooperate with the groove portions of the catching groove 1415 along the axial direction. Specifically, when the ash removing spring 147 is restrained in a compressed state, the connecting lug 1432 is "pushed out" with the opening of the heat insulation ring 145 as a fulcrum, and further the ash mesh enclosure 143 is pushed out, so that the ash mesh enclosure 143 is elastically restrained in the groove portion of the catch 1415 along the axial direction.

The ash net cover 143 is coaxially fixed outside the ash net connecting portion 1414, and since the moxa roll a needs to be frequently replaced, a rotary buckle structure which is convenient to disassemble and assemble is preferably adopted, for example, symmetrical clamping grooves 1415 are arranged on the outer wall of the ash net connecting portion 1414, and a buckle 1431 (circular protrusion) matched with the clamping groove 1415 is arranged on the inner wall of the ash net cover 143. The locking slots 1415 may be more than three circumferentially arranged, and each locking slot 1415 includes a strip-shaped guide slot perpendicular to the central axis and a positioning slot parallel to the central axis. Of course, other equivalent alternatives can be adopted, such as the snap groove 1415 is arranged on the inner wall of the ash screen cover 143, and the snap 1431 is arranged on the outer wall of the ash screen connecting part 1414; or the number of the slots 1415 and the corresponding fasteners 1431 may be increased or decreased.

The bottom of the ash net cover 143 is of a wave-shaped opening structure, and the interior of the ash net cover is provided with connecting lugs 1432 which are used as elastic structure supports, for example, in the embodiment, three connecting lugs 1432 which are uniformly distributed along the circumferential direction are adopted, so that a supporting surface with uniform stress can be formed. Of course, the number of engaging lugs 1432 can be increased or decreased as desired for the actual product configuration under the concepts of the present invention. The bottom opening of the ash net cover 143 is provided with an elastic limiting ash blocking net 146. The inner wall of the opening of the ash screen cover 143 is provided with a containing cavity 1433 corresponding to the position of the connecting lug 1432 for containing the positioning pin 148, so as to avoid the interference between the positioning pin 148 and the inner wall of the ash screen cover 143. The positioning pin 148 has a structure similar to a pin and has a flat limiting portion 1481 and a positioning post 1483 perpendicular to the limiting portion 1481, and on the basis of the structure, an annular groove 1482 is provided at a distal end of the positioning post 1483, and the positioning post 1483 is used for assembling the ash removing spring 147. Through the structure of the positioning pin 148, the annular groove 1482 at one end of the positioning pin 148 is matched with the through hole at the outer edge of the ash blocking net 146, and the limiting part 1481 at the other end of the positioning pin 148.

For the limitation of the moxa roll a, a countersunk head bolt (not marked by a figure) sequentially penetrates through the spring pressing plate 138 and the lifting plate 133 from bottom to top, the feeding spring 136 is limited in the spring pressing plate 138, the other end of the feeding spring 136 abuts against the stepping pressing plate 132, the stepping pressing plate 132 limits the vibration motor 111 on the upper part of the stepping pressing plate 132 through the vibration motor pressing plate 112, and the moxa roll a is fixed on the lower part of the stepping pressing plate 132.

With the above structure, the feeding of the moxa roll a is realized by the driving of the stepping motor 131. In order to ensure the distance between the moxa stick A and the human body and prevent scalding, the moxibustion head mechanism 1 is also provided with two safety measures to prevent the moxa stick A from scalding the human body and avoid damaging the parts of the moxibustion head mechanism 1, and the moxibustion head mechanism is mainly realized by matching the electric control assembly 12 with a corresponding mechanical mechanism. The electronic control component 12 mainly includes an infrared sensor 121, a PCB 122, a contact switch 123, a contact switch push rod 124, a photoelectric switch 125, and a laser ruler 126.

The first safety measure is mainly implemented by monitoring the motion states of the lead screw 134 and the lifting plate 133 at the output end of the stepping motor 131 through the infrared sensor 121 and the photoelectric switch 125, specifically, the photoelectric switch 125 is used for monitoring the rotation state of the lead screw 134 (for example, monitoring the position of the upper end of the lead screw, the number of rotations, and the like), and the infrared sensor 121 is used for monitoring the distance between the spring pressing plate 138 and the stepping pressing plate 132 (or the vibration motor pressing plate 112). The action state of the stepping motor 131 is controlled by cooperation of multiple sensors. For example, in the initial state, the upper end portion of the screw 134 is positioned in the upper photoelectric switch 125. As the screw 134 drives the lifting plate 133 to continuously shift downward, the upper end of the screw 134 is separated from the upper photoelectric switch 125 and reaches the lower photoelectric switch 125, and at this time, a braking signal is output to the PCB 122, and the PCB 122 stops outputting the driving current of the stepping motor 131.

Or in a normal use state, the compression amount of the feeding spring 136 between the spring pressing plate 138 and the stepping pressing plate 132 is constant, when the moxa stick a gradually consumes soot, the lifting plate 133 drives the infrared sensor 121 to gradually deflect downwards, when the moxa stick a is completely burnt out, the bottom of the stepping pressing plate 132 touches the elastic bulge 1461 as a buffer and is blocked by the ash blocking net 146, so that the compression amount of the feeding spring 136 is reduced, that is, the distance between the lifting plate 133 and the stepping pressing plate 132 is shortened, at this time, the infrared sensor 121 sends a braking signal to the PCB 122, and the PCB 122 stops outputting the driving current of the stepping motor 131.

The second safety measure is mainly realized by identifying the downward over-position movement of the moxibustion head mechanism 1 through the laser ruler 126, the contact switch 123 and the ash screen 143, specifically, the laser ruler 126 monitors the distance between the front end of the moxa stick a in the moxibustion head mechanism 1 and the human body in real time to avoid scalding, even if the moxibustion head mechanism 1 accidentally moves downward over-position, the waveform opening at the front end of the ash screen 143 first contacts the human body, the ash screen 143 translates to the rear end, the contact switch 123 is triggered through the contact switch push rod 124, the contact switch 123 and the laser ruler 126 are three groups arranged along the circumferential direction, and the condition that the safety mechanism is not triggered due to the side-to-side touch of the ash screen 143 in the technical scheme of the single contact switch 123 is effectively avoided.

In the structure, on the premise of ensuring compact structure, the structural stability of the screw-in part of the plastic part bolt is increased, and an embedded nut (not marked by a reference numeral) is correspondingly arranged. For example, in the intermediate plate 144 for securing with the connection ring 1412; provided on the cover attaching portion 1413, for assembling the PCB board 122. When the embedded nut is used, the embedded nut is firstly 'knocked into' the plastic stud, the end face of the embedded nut is parallel to the end face of the plastic stud, and then the embedded nut is matched with the plastic stud according to the commonly used bolt and nut.

Arm mechanism

As shown in fig. 7 and 7A, the arm mechanism 2 includes a first rotating arm 22 and a second rotating arm 23 connected in sequence, an adaptor 21 connected to the end of the first rotating arm 22, and a lifting mechanism 24 for driving the second rotating arm 23 to lift and rotate. The adaptor 21 is connected to the first rotating arm 22 through the rotating arm connecting end 213, and outputs a driving torque from the corresponding end of the first rotating arm 22, and the moxibustion head connecting end 211 of the adaptor 21 is connected to the moxibustion head mechanism 1 through the connecting pipe 1423, and outputs an angle adjusting torque from the angle motor 212. The lifting mechanism 24 includes a leg 243 for fixing to the support frame 44 of the running mechanism 4, a slide 242 fixed to the leg 243, a slider 244 slidably fitted along the slide 242, and a column housing 241 for protecting the internal structure while serving as a support structure. In addition, the limitation of the stroke of the slider 244 may be realized by using a lead screw motor (not shown) in combination with a signal feedback module such as a photoelectric sensor, an infrared sensor, a stroke switch, a pressure sensor, or the like, or may be realized by using a baffle 245 to limit the stroke of the slider 244. To ensure the compactness of the structure, the slider 244 may be configured to include a front lifting part 2441 and a rear lifting part 2442, which are spaced apart from each other at the middle part, and a first caulking groove 2444 is provided at the back of the front lifting part 2441 to match the shape of the slide way 242, and a second caulking groove 2443 is provided at the back of the rear lifting part 2442 to match the shape of the inner wall of the stand casing 241, so as to minimize the structural interference while ensuring the compactness.

For convenience of describing the operation principle of the arm mechanism 2, the coordinate system of XYZ is set manually in the embodiment, and it should be understood by those skilled in the art that the setting manner of the coordinate system is not limited to the actual protection scope of the present invention.

The angle motor 212 is positioned in the adaptor 21 and used for realizing the degree of freedom of a point P1, namely, driving the moxibustion head mechanism 1 to rotate around a horizontal shaft; a first rotating motor (not shown in the figure) is located in the first rotating arm 22, and is used for realizing the degree of freedom of a point P2 of the adaptor 21, that is, driving the adaptor 21 to rotate around the Z axis; a second rotating motor (not shown in the figure) is located in the second rotating arm 23, and is used for realizing the degree of freedom of the point P3 of the first rotating arm 22, that is, driving the first rotating arm 22 to rotate around the Z axis; a third rotating motor (not shown in the figure) is located in the front lifting part 2441 of the slider 244, and is configured to implement the degree of freedom of the point P4 of the second rotating arm 23, that is, to drive the second rotating arm 23 to rotate around the Z axis; a lifting motor (not shown) is fixed to the leg 243 of the lifting mechanism 24, and a combination of a stepping motor and a lead screw, for example, is used to drive the rear lifting portion 2442 of the slider 244 to move up and down in the Z-axis direction at the point P0.

With the above configuration, the operation of the moxibustion head mechanism 1 in the XYZ coordinate system can be realized, and when the interference effect of the column housing 241 is neglected, the operation range of the moxibustion head mechanism 1 is a circular region having a center point of P4 and a radius equal to the sum of the lengths of the first rotating arm 22 and the second rotating arm 23 (i.e., L1+ L2). The point P0 defines the relative position of the circular area on the Z axis, the point P1 defines the rotation angle of the end face (not shown in fig. 7A) of the moxa stick a of the moxibustion head mechanism 1 relative to the axes P1-P2, and the point P2 defines the rotation angle of the rotation end face of the point P1 relative to the rotation axis P2, so that the moxibustion head mechanism 1 with multiple degrees of freedom is realized.

Positioning of moxibustion head

For example, the moxibustion part can be recognized by means of image recognition, specifically, a camera whose camera plane is always equidistant and parallel to the plane of the moxa stick a can be arranged on the moxibustion head mechanism 1, the current coordinate information can be obtained in real time, and the current coordinate information can be fed back to the moxibustion head mechanism 1, the arm mechanism 2 or the traveling mechanism 4. The rapid and accurate positioning of the moxibustion head mechanism 1 is realized through the feedback control of the processor. For the positioning camera (not shown in the figure), for example, more than two cameras can be adopted, one of the cameras is positioned right above the moxibustion bed and used for acquiring the coordinate data of each part (such as the connecting piece 21, the sliding block 244 and the like) in real time, and the other camera is arranged on the moxibustion head mechanism 1, and the shooting surface of the camera is always parallel to the front end of the moxa stick A. For the positioning of the Z-coordinate (e.g. the joint 21, the slider 244, the moxibustion head mechanism 1, etc.), on the one hand, a photoelectric sensor on the lead screw side can be used to indirectly convert the height value by the number of turns of rotation, or a camera is additionally provided to determine the height value in a perspective scaling manner based on a standard graph size.

Regarding the method of positioning by using the camera, for example, after the human body lies down, a two-dimensional code identification sticker can be pasted on the part needing moxibustion or a two-dimensional code tattoo which is easy to remove can be printed, such as a commercially available PrinkerS customizable tattoo printer. The camera is firstly positioned right above the human body, the coordinates of the positions of the two-dimensional codes are determined through flat scanning, and an XYZ coordinate system is established. Of course, the space position of each two-dimensional code in the XY plane can be easily determined according to the position of the two-dimensional code, and due to the skin surface and the standard two-dimensional plane structure, the moxibustion angle required by a specific position still needs to be further estimated by means of other algorithms. The two-dimensional code can be corrected and identified by the prior art, for example, the invention patent publication of publication number CN107679436A, and the specific steps are as follows.

Step 1, preprocessing an original image containing a bending deformation two-dimensional code to obtain a binary image without noise points;

and step 1.1, extracting angular points of the bending deformation two-dimensional code and angular points of a part of position detection graphs as reference corresponding points on the original image before correction.

Step 1.2, performing edge fitting on the bending deformation two-dimensional code, solving the side length of the two-dimensional code and the position detection graph, and determining a reference corresponding point on the corrected standard image:

and step 1.2.1, judging whether the distance l from the pixel point i to the image boundary is less than the roller radius R or not, and jumping to the step 1.2.4 if l is less than R.

Step 1.2.2, detecting the value of the pixel point i, if the value is 0, the color is black, and jumping to the step 1.2.4;

step 1.2.3, judging whether only one 0 point exists in a circular neighborhood of a radius R with a pixel point i as a center, and recording the coordinate of the 0 point if only one 0 point exists; otherwise, jumping to step 1.2.4;

step 1.2.4, substituting the coordinate of the next point into the pixel point i, returning to step 1.2.1 until all pixel points are traversed;

and step 1.3, constructing a transformation model between the original image and the standard image according to the obtained reference corresponding point, and correcting the bending deformation two-dimensional code.

And 2, determining the position of the two-dimensional code position detection graph in the image.

And 3, performing morphological processing on the image to connect the interior of the two-dimensional code into a connected domain, and extracting the connected domain where the two-dimensional code position detection graph is located.

In the moxibustion head mechanism 1, the angle adjustment parameters of the angle motor 212 for adjusting two degrees of freedom thereof and the first rotating motor in the first rotating arm 22 can be realized by the following method. As shown in fig. 8, the plane M is always tangent to the spherical surface Q, and the line K is a connection line between the midpoint of the plane M and the midpoint of the spherical surface Q. Fixing an image acquisition point, establishing an XY coordinate system, wherein the K1 point is superposed with an original point, when the plane K is vertical to an observation plane, the distance between the K2 point and the K1 point is the farthest, the length of the K line is equal to the radius of the spherical surface Q, and when the K2 point is located at other coordinates of the circumference where the spherical surface Q is located, the plane K swings on the spherical surface Q. Therefore, the data set of the included angle between the coordinates of the K1 and the K2 and the X axis or the Y axis can be automatically simulated by inputting the K2 point coordinates meeting the requirement into the computer in batches according to the use precision (the density of the K2 point coordinates). Under different distortion conditions, a data set corresponding to the coordinates of four end points M1-M4 of the plane M outer contour and the coordinates of two end points of the line K can be obtained. Nine standard positions of the model are exemplified in fig. 8. And due to its symmetrical distribution, only 25% of the positions (e.g., when the K2 point is located within the upper left 1/4 circle) need be acquired to obtain all the corresponding data in a transformed manner.

The standard quadrilateral profile with the repaired profile curvature can be obtained by the correction method. Under the condition that the image acquisition distances are the same, the coordinate of a central point K1 can be obtained by taking the square outline of the two-dimensional code in the planar state as reference, the offset is obtained, and then the coordinates of four end points of the quadrangle are obtained, which are equivalent to the M1-M4 coordinates in the model, so that the data such as the coordinate of a K2 point, the included angle between a K line and an X axis, and the included angle between the K line and a Y axis are quickly obtained in a data query mode. Finally, the front end face of the moxa stick A is adjusted to be parallel to the plane M through controlling the degree of freedom of the moxibustion head mechanism 1, and the distance between the front end of the moxa stick A and a human body is kept through another set of sensor, so that the automatic adjustment of the degree of freedom can be completed.

Running mechanism

The running mechanism 4 includes a supporting framework 44 fixedly supported on the base 41 by the base 41, a plurality of (four in this embodiment) running wheel assemblies 43 disposed on the base 41, and an outer casing 42 for protecting and covering the internal structure, and a touch control panel (not shown in the figure) is integrated on the outer casing 42. In one simple embodiment, the road wheel assembly 43 may be an existing universal wheel assembly. When the miniaturization is further adopted, due to the limitation of the material of the supporting structure and the limitation of the balance stability, the center of gravity shifts when the cantilever is too long, and the side turning of the traveling mechanism 4 occurs. Due to the limitation of the length of the cantilever, the moxibustion instrument can be pushed to move integrally only by people, and the use process is inconvenient. To solve this problem, the present embodiment adopts the following modifications.

As shown in fig. 7A and 9, the traveling wheel assembly 43 is optimized to replace a mecanum wheel having a separate driving motor, and the driving circuit board of the mecanum wheel is integrated on the base 41 to ensure a compact structure and avoid redundancy of wiring. The invention mainly utilizes the function that the Mecanum wheel drives the supporting framework 44 to move rapidly on the XY plane, makes up the problem that the length of the supporting arm mechanism 2 is limited by the way of automatic compensation displacement, and can further optimize the control method to realize the automatic control under the completely unattended state.

Fig. 9 is a schematic diagram of a top view principle, an XYZ coordinate system is established, a Z axis is perpendicular to an XY coordinate plane, positioning sensors are arranged in the slider 244 and the adaptor 21, XYZ coordinates of an N point and an S point are obtained, and coordinates of moxibustion positions R1 to Rn are determined by using positioning cameras. When R1 points need to be subjected to moxibustion, the distance D1 between the coordinates of the N points and R1 is calculated through the Pythagorean theorem, if D1 is less than L1+ L2, the support arm assembly 2 is directly driven to adjust the coordinate point S of the adapter 21 to the moxibustion point position, and as the point S is not completely overlapped with the front end of the moxa stick of the moxibustion head mechanism 1, the offset parameter still needs to be determined according to design requirements; when R2 point moxibustion is required, the distance D2 between the N point coordinates and R1 is calculated through the Pythagorean theorem, and if D2 is larger than L1+ L2, an action instruction is sent to the walking wheel assembly 43, so that the walking wheel assembly is enabled to translate along the edge of the moxibustion bed under the condition of meeting obstacle avoidance until D2 = L1+ L2 is met. Of course, in order to improve the control adaptability, a redundant displacement D can be reserved, namely, when the moxibustion bed is translated along the edge of the moxibustion bed, the movement is stopped until the condition D2 = L1+ L2+ D is met.

The coordinate recognition of the XY plane can be performed, for example, by setting two-dimensional codes on the N point and the S point of the arm assembly 2, and acquiring the relative positions of the midpoint of the corresponding two-dimensional code and the coordinate system in real time by a camera on the upper portion of the moxibustion bed to obtain the corresponding coordinates. For the recognition of the Z-direction coordinate, a two-dimensional code with a standard size is set as a height base point, and when the lifting mechanism 24 drives the working plane to move up and down, the position relative to the height base point at this time, i.e., the ± Z-direction coordinate value, is converted according to the perspective scaling of the standard size.

Filter System

The filter assembly 3 includes a bottom case 33 and a filter housing 34 with ventilation holes, a sealing cover 32 with an air inlet 321 mounted on the filter housing 34, an air outlet at the bottom of the filter housing 34 corresponding to the air inlet of the fan 31, and an air outlet 311 of the fan 31 corresponding to the ventilation holes of the bottom case 33. Bottom shell 33 adopts bilayer structure, and the substructure is used for supporting annular superstructure, leaves the high space for fan 31 simultaneously, and the upper strata communicates with the filtration casing 34 of tube-shape, and the outer wall of substructure adopts hollow out construction for taking a breath of fan 31. The smoke discharged from the smoke discharge port 1411 of the moxibustion head mechanism 1 is introduced into the filter housing 34 through the smoke discharge line by the negative pressure caused by the fan 31.

When in use, in order to prevent the cigarette ash or the smoke oil of the moxa roll A from entering the structural member of the moxibustion head mechanism 1, the opening of the heat insulation ring 145 is set to be in a horn-shaped structure, on one hand, the heat insulation ring is used for being matched with the annular groove 1482, on the other hand, the heat insulation ring 145 is also provided with a smoke exhaust hole, after passing through the smoke exhaust hole and a channel formed between the moxa roll bin 137 and the flue shell 141, the cigarette ash and the smoke of the moxa roll A are communicated to the adapter 21 through the smoke exhaust hole 1411, then reach the filter component 3 through a smoke exhaust channel (not shown in the figure) preset in the support arm mechanism 2, and finally are discharged to the air through the air outlet 311 on the fan 31. In order to make the structure more compact and prevent the control cable from being hung outside in disorder, during installation, the cable is integrated and then used as a bypass of a flue gas channel on the premise of mutual noninterference.

When the ash on the moxa roll a is quickly separated from the moxa roll a under the action of the vibrating motor 111, in order to prevent the smoke dust with excessive mass from entering the filtering component 3 under the action of negative pressure, a telescopic ash collecting component is additionally arranged on the supporting framework 44, and the telescopic ash collecting component specifically comprises a plurality of supports 441 fixed on the supporting framework 44, electric push rods 443 fixed through the supports 441, guide rails 442 fixed through the supports 441, push rod sliding blocks 444 arranged at the output ends of the electric push rods 443 and matched with the guide rails 442, and ash collecting boxes 445 fixed on the push rod sliding blocks 444, and in order to enable the ash collecting component to be contained in the whole machine shell under the non-use state, panels 447 matched with the grooves of the shell 42 are further arranged on the ash collecting boxes 445. A silica gel multi-petal cover plate (not marked) is embedded on the ash collecting box 445 to prevent the ash from falling outside. After the ash removing procedure is finished, the ash collecting box automatically retracts to the interior of the machine body. In order to broadcast the action state or play music, the loudspeaker 446 is arranged between the supports 441, so that the loudspeaker 446 is positioned closer to the ear of a person, and the structure is more compact.

In the invention, a driving motor for outputting torque is mainly adopted, and the degree of freedom is the rotational degree of freedom if not further described. Because the aim of the invention is to make the existing moxibustion instrument more miniaturized and intelligent, a mobile battery pack bound by a wireless cable is adopted as a power supply for the moxibustion instrument, although the drawing and the characters are rarely mentioned, the part which should be known by the technical personnel in the field is necessarily hidden in the corresponding technical scheme, and because the power supply module can also realize the function of the invention in the prior art, the structure, the installation and the use mode are not elaborated.

Description of reference numerals:

a moxa roll

1 moxibustion head mechanism

11 vibration component, 111 vibration motor and 112 vibration motor pressure plate

12 electric control components, 121 infrared sensors, 122 PCB boards, 123 contact switches, 124 contact switch push rods, 125 photoelectric switches and 126 laser rulers

13 moxa roll feeding component, 131 stepping motor, 132 stepping pressing plate, 133 lifting plate, 134 lead screw, 135 optical axis, 1351 shaft sleeve, 136 feeding spring, 137 moxa roll bin and 138 spring pressing plate

14 support structure assembly

141 flue housing, 1411 smoke outlet, 1412 connection ring, 1413 hood connection, 1414 ash net connection, 1415 card slot

142 moxibustion cover, 1421 flange back cover, 1422 corner connector, 1423 connecting pipe

143 ash net cover, 1431 buckle, 1432 engaging lug, 1433 containing cavity

144 middle plate, 1441 laser ruler mounting plate

145 heat insulation ring

146 ash blocking net, 1461 elastic bulge

147 dust removing spring

148 positioning pin, 1481 limiting part, 1482 annular groove and 1483 positioning column

2 support arm mechanism

21 adaptor, 211 moxibustion head connecting end, 212 angle motor, 213 rocking arm connecting end

22 a first rotating arm, 23 a second rotating arm

24 lifting mechanism, 241 upright post shell, 242 slide way, 243 foot, 244 slide block, 2441 front lifting part, 2442 rear lifting part, 2443 second caulking groove and 2444 first caulking groove

245 baffle plate

3 Filter assembly

31 fan, 311 air outlet

32 sealing cover and 321 air inlet

33 bottom shell, 34 filtering shell

4 running mechanism

41 base, 42 outer shell, 43 traveling wheel assembly, 44 supporting framework, 441 support, 442 guide rail, 443 electric push rod, 444 push rod slide block, 445 ash collecting box, 446 loudspeaker and 447 panel.

Claims

1. A rotating arm with displacement compensation comprises a walking mechanism (4) capable of translating on a horizontal plane and a support arm mechanism (2) which moves synchronously with the walking mechanism (4) and can provide a working plane with a rotational degree of freedom and can lift along a linear line, and is characterized in that: the support arm mechanism (2) comprises a first coordinate point (N) and a second coordinate point (S) which are respectively arranged at the end part of the support arm mechanism (2) and respectively have one degree of freedom of rotation, and a positioning component for monitoring the plane coordinates of each point in real time.

2. Rotary arm with displacement compensation according to claim 1, characterized in that: the output end of the support arm mechanism (2) is connected with the adaptor (21) by driving one degree of freedom, and the adaptor (21) is connected with the moxibustion head mechanism (1) by driving one degree of freedom.

3. Rotary arm with displacement compensation according to claim 2, characterized in that: the moxibustion head mechanism comprises a supporting structure assembly (14) and a moxa stick feeding assembly (13), wherein the moxa stick feeding assembly (13) comprises a stepping pressing plate (132) which is limited in the supporting structure assembly (14), is elastically limited at a driving output end through a feeding spring (136) and drives a moxa stick (A) to linearly move in a stepping mode.

4. Rotating arm with displacement compensation according to claim 3, characterized in that: the support structure assembly (14) comprises a moxibustion cover (142) and a flue shell (141) which are connected and supported by a middle plate (144), wherein the flue shell (141) comprises a cover shell connecting part (1413) extending into the moxibustion cover (142), a connecting ring (1412) fixed with the middle plate (144), and an ash net connecting part (1414) protruding out of the middle plate (144).

5. Rotating arm with displacement compensation according to claim 4, characterized in that: moxa stick bins (137) are arranged in the flue shell (141) at intervals through heat insulation rings (145), the heat insulation rings (145) are sleeved on the moxa stick bins (137) and are provided with horn-shaped openings, and flue gas channels are arranged between the moxa stick bins (137) and the flue shell (141) at intervals.

6. Rotating arm with displacement compensation according to claim 4, characterized in that: a photoelectric switch (125) for monitoring the motion state of a lead screw (134) at the output end of the moxa stick feeding assembly (13) is arranged in the moxibustion cover (142).

7. Rotating arm with displacement compensation according to any of claims 4 to 6, characterized in that: an ash screen cover (143) is limited on the flue shell (141) through an elastic component supported on the heat insulation ring (145).

8. Rotating arm with displacement compensation according to claim 7, characterized in that: the inner wall of the ash net cover (143) is provided with a plurality of connecting lugs (1432) arranged along the circumferential direction, the connecting lugs (1432) are elastically limited by ash removing springs (147), the locating pins (148) are supported on the heat insulation ring (145), and the ash net (146) is elastically limited between the heat insulation ring (145) and the connecting lugs (1432).

9. Rotating arm with displacement compensation according to any of claims 4 to 6, characterized in that: the outer wall of the flue shell (141) is provided with a contact switch (123) matched with the ash net cover (143).

10. Rotating arm with displacement compensation according to any of claims 3 to 6, characterized in that: the stepping pressure plate (132) is provided with a vibration component (11) powered by a vibration motor (111).