CN114699313A - Acupuncture point moxibustion therapy robot suitable for different crowds and using method - Google Patents

Acupuncture point moxibustion therapy robot suitable for different crowds and using method Download PDF

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Publication number
CN114699313A
CN114699313A CN202210405464.5A CN202210405464A CN114699313A CN 114699313 A CN114699313 A CN 114699313A CN 202210405464 A CN202210405464 A CN 202210405464A CN 114699313 A CN114699313 A CN 114699313A
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fixed
moxa stick
rod
block
box
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CN114699313B (en
Inventor
戴缙
任婷
林天龙
霍宏
王若愚
王洪旭
姜北
闫起
赵楠
贾洪涛
景伟超
刁旺平
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Heilongjiang University of Chinese Medicine
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Heilongjiang University of Chinese Medicine
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H39/00Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
    • A61H39/06Devices for heating or cooling such points within cell-life limits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0173Means for preventing injuries
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Finger-Pressure Massage (AREA)

Abstract

The invention belongs to the technical field of acupuncture and moxibustion, in particular to an acupuncture point moxibustion therapy robot suitable for different crowds and a using method thereof, aiming at the problem of how to keep the distance between a moxa stick combustion part and an acupuncture point constant in the moxibustion therapy process in the prior art, the invention provides a scheme which comprises a driving box fixed at the end part of a mechanical arm of the moxibustion therapy robot, wherein a fixed platform is fixed at the bottom end of the driving box, a circular hole is formed at one side edge of the fixed platform, which is close to the driving box at one side, a fixed cylinder is arranged below the circular hole at the lower surface of the fixed platform, and a vertical guide pipe with an upward opening and a barrel-shaped structure is fixed at the bottom end of the fixed cylinder. The invention can quickly reflect signals to the displacement servo motor if meeting the position of the skin or bone protrusion in the process of walking by the mechanical arm with the burning moxa stick on the skin surface in the moxibustion treatment process, thereby controlling the whole mechanism to ascend or descend so as to ensure that the distance between the burning position of the moxa stick and the skin is proper.

Description

Acupuncture point moxibustion therapy robot suitable for different crowds and using method
Technical Field
The invention relates to the technical field of acupuncture and moxibustion, in particular to an acupuncture point moxibustion therapy robot suitable for different crowds and a using method thereof.
Background
Moxibustion, wherein an ignited moxa stick is rotated on a moxibustion application part, is 3cm away from the skin, and is parallelly reciprocated left and right or repeatedly rotated, so that the skin has warm feeling and is not burnt; generally, one moxibustion stick can be used for 20-30 minutes; suitable for rheumatism, neural paralysis and extensive skin disease etc., present moxibustion therapy robot can ensure to aim at moxibustion bar with moxibustion person's acupuncture point and hang the moxibustion, but because people's skin surface is not the horizontally, and the recipient also can not be motionless at moxibustion in-process yet, follow the slow burning of moxibustion bar again for the ignition position of moxibustion bar also is changing apart from the target acupuncture point, so all kinds of reasons make the robot have to come often in moxibustion in-process and adjust some parameters, greatly reduced the efficiency of going a doctor, consequently just need a can be according to the novel intelligent moxibustion therapy robot that the evolution of moxibustion in-process can intelligent adjustment distance.
The searched Chinese patent publication No. CN108743370A discloses a medical moxibustion treatment robot, which comprises a rotary table, a serial base, a third serial arm, a fourth serial arm and a fifth serial arm. The six-degree-of-freedom main body is provided with a two-degree-of-freedom first chassis and a two-degree-of-freedom working head, so that the working space is large; the robot is movable, and control is more flexible and intelligent. The camera and the laser sensor can scan the human body and measure the distance, and are used for determining acupuncture points and planning working tracks. The two-degree-of-freedom working head can rotate with a needle and simultaneously pierce the skin, and the height of the working head is in accordance with the actual needle application method; although the device can perform accurate needle application according to the measured venation in advance, the device cannot perform moxibustion treatment after needle application, and further cannot well solve the problem of dynamic distance balance between the burning part of the moxa stick and the acupuncture point.
Disclosure of Invention
The invention provides an acupuncture point moxibustion therapy robot suitable for different crowds and a using method thereof, aiming at overcoming the problem that how to keep the distance between a burning part of a moxa stick and an acupuncture point constant in the moxibustion therapy process in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a robot for acupuncture point moxibustion therapy suitable for different people and a using method thereof, comprises a driving box fixed at the end part of a mechanical arm of the robot for moxibustion therapy, wherein a fixed platform is fixed at the bottom end of the driving box, a round hole is formed at one side edge of the fixed platform close to the driving box at one side, a fixed cylinder is arranged below the round hole at the lower surface of the fixed platform, a vertical guide pipe with an upward opening in a barrel-shaped structure is fixed at the bottom end of the fixed cylinder, a guide notch is formed at one side of the vertical guide pipe close to the round hole, a speed reduction motor is fixed on the inner wall of the driving box through a bolt, a transmission rod is fixed at the top end of an output shaft of the speed reduction motor, a moxa stick propelling mechanism is arranged at the bottom end of the transmission rod and is in sliding connection with the guide notch, so that the moxa stick propelling mechanism can be slowly moved downwards through the rotation of the transmission rod as the burning position of the moxa stick continuously moves upwards in the moxibustion therapy process, ensure to let moxa stick burning position remain throughout and skin between the distance stabilize within a range of fluctuation that the distance allows, the bottom of vertical pipe is provided with intelligence distance mechanism, and the signal output part of intelligence distance mechanism is connected with and is used for controlling the manipulator decline and the ascending displacement servo motor, thereby can be at the moxibustion treatment in-process, when the manipulator takes the moxa stick of burning at the in-process of skin surface walking, if meet skin or the convex place of bone position, can be fast with signal reflection to displacement servo motor, and then control whole mechanism and rise or descend, in order to ensure that the distance of moxa stick burning position and skin is moderate.
According to the moxa stick feeding device, a radial bearing with the inner diameter matched with the transmission rod is fixed at the top end of the vertical guide pipe, a self-locking screw rod is fixed at the bottom end of the transmission rod, an internal threaded pipe matched with the self-locking screw rod is embedded in the middle of the sliding ring block, and a moxa stick clamping framework is arranged at one end, far away from the vertical guide pipe, of the sliding ring block, so that when the moxa stick feeding device is pushed in, the rotation of the transmission rod can be converted into vertical movement of the sliding ring block through the rotation of the self-locking screw rod and the arrangement of the guide notch, and then the clamped moxa stick is driven to slowly descend along with the consumption of combustion so as to offset upward movement of a combustion point.
The moxa stick clamping mechanism is further arranged in the moxa stick clamping mechanism and comprises a sliding groove which is formed in the side surface of the sliding ring block and close to the end part, a C-shaped sliding strip is fixed at the end part of the sliding groove, a tower-shaped sliding block is connected in the sliding groove of the C-shaped sliding strip in a sliding mode, a tension spring and a pull rod are fixed on two sides of the tower-shaped sliding block respectively, two parallel positioning clamping jaws with openings facing the moxa stick body are fixed at one end, far away from the bottom of the groove, of the sliding ring block, a movable clamping jaw is fixed at one end, close to the positioning clamping jaws, of the tower-shaped sliding block, a plurality of conical heads with mutually parallel axial leads are fixed on the inner arc side of each positioning clamping jaw, when the moxa stick body is clamped in use, the positioning clamping jaws and the movable clamping jaws can be separated, then the moxa stick body can be tightly fixed under the action of the conical heads, and the situation that a traditional clamping device can clamp the moxa stick tightly is avoided, also can lead to the possibility of crushing moxa sticks and influence the using effect.
As a further arrangement of the invention, one side of the outer wall of the fixed cylinder, which is close to the moxa stick propelling mechanism, is provided with a tangent plane, and the section is provided with an ash removing mechanism which comprises a sliding bearing embedded on the section and a transmission shaft rotationally connected in the sliding bearing, two ends of the transmission shaft are respectively fixed with a second belt pulley and a hexagonal fixing block, a shaft lever is arranged on the vertical inner wall of the driving box and positioned right above the second belt pulley, the outer wall of the shaft lever is sleeved with the first belt pulley, a same conveying belt is wound between the first belt pulley and the circumferential outer wall of the second belt pulley, mutually meshed driving gears are respectively arranged on the surface of the first belt pulley and the top end of the transmission rod, the two driving gears are mutually meshed conical gears, therefore, the six-edge fixing block can be driven to slowly rotate at a required speed by the rotation of the transmission rod through the arrangement of the meshed bevel gears and the transmission belt.
The moxibustion device is further provided with an adjustable telescopic rod fixed on the outer wall of the hexagonal prism block, an extension rod is inserted into one end, away from the hexagonal prism block, of the adjustable telescopic rod, a material receiving box with an opening facing the hexagonal prism block is fixed at the end of the extension rod, a blocking rod is fixed on the outer wall of the extension rod and located above a box opening of the material receiving box, and the blocking rod is located between millimeters and millimeters below a burning position of a moxa stick body, so that the blocking rod and the material receiving box can be periodically rotated together in the moxibustion treatment process, the blocking rod firstly breaks a burnt ash column and then falls into the material receiving box, and the traditional phenomenon that a blocking net is required to be permanently arranged below the burning position of the moxa stick body is avoided, the moxibustion treatment effect is influenced, and fine dust falls onto a patient to cause scalding.
The dust removing device is further arranged, the material receiving box is communicated with the temporary collecting box far away from the front end, a discharge hole is formed in one side, far away from the extension rod, of the temporary collecting box, grid plates which are parallel to each other are arranged at the discharge hole, dust is guided to fall into the temporary collecting box to be prevented from falling freely and scattering, a material sucking box is fixed on the outer wall, close to the bottom end, of the driving box, on the vertical outer wall, located on the clockwise turning side of the material receiving box, of the driving box, a feed inlet matched with the discharge hole is formed in the front face of the material sucking box, and an exhaust fan is arranged in the material sucking box.
The moxibustion stick is characterized in that the intelligent distance-fixing mechanism comprises a cylindrical barrel fixed at the bottom end of the vertical guide pipe, the cylindrical barrel is of a cylindrical structure with an opening at the top of an inner cavity, a guide ring is embedded at the bottom end of the cylindrical barrel, a round rod is fixed at the top end of the sliding block, the round rod penetrates through the guide ring, a second contact block is fixed on the outer wall of the top end of the round rod, a spherical groove is formed in the bottom end of the sliding block, a ball is clamped in the spherical groove, and a compression spring is fixed between the bottom end of the cylindrical barrel and the sliding block.
As a further arrangement of the moxibustion device, the inner wall of the cylindrical barrel is positioned at the upper side and the lower side of the contact block II and is respectively provided with a contact block I and a contact block III which are connected in parallel in circuits of the two direction control displacement servo motors, and the contact block II forms a single-pole double-throw switch, so that the distance between a combustion position and the skin is reduced when a convex position is met in the moxibustion treatment process; the contact block II in the middle is forced to rapidly move upwards by a large section to be tightly contacted with the contact block I, and then a forward moving circuit is switched on, namely, the displacement servo motor drives the whole mechanism at the end part of the manipulator to move upwards, so that the distance between the combustion position and the skin is ensured to return to normal again.
The invention also discloses an intelligent acupuncture system of the robot for acupuncture point moxibustion therapy, which is suitable for different crowds, and comprises the following specific steps:
the method comprises the following steps: before use, the manipulator is controlled to stick the ball at the bottom end of the sliding block in the intelligent distance-fixing mechanism on the surface of the skin and press the ball for a certain distance, so that the second contact block is positioned at a non-contact position between the first contact block and the third contact block;
step two: fixing and adjusting the moxa stick body, when clamping the moxa stick body, firstly pulling the pull rod outwards, then separating the positioning clamping jaw and the moving clamping jaw, then tightly fixing the moxa stick body under the action of the conical head, and controlling the speed reduction motor to rotate reversely until the position of the bottom end of the moxa stick body is moved to be about cm +/-mm away from the skin;
step three: igniting the moxa stick body; in the moxibustion treatment process, the ash removing mechanism regularly rotates the blocking rod and the material receiving box together, and at the moment, the blocking rod firstly breaks off the burnt ash column and then falls into the material receiving box; the adjustable telescopic rod continues to slowly rotate, when the ash removing mechanism drives the temporary collecting box to rotate to the horizontal position, collected ash can be transferred into the suction box, and then next ash removing work is carried out again.
The skin care device also comprises a controller, wherein the controller is used for receiving a signal transmitted by the single-pole double-throw switch, and the signal represents the skin position; the collection of the physical parameters of the user comprises the following steps:
s1: record start position, time 0:
s2: linear displacement is performed in a uniform manner:
s3: recording time velocity = position whenever a skin or bone site bulge is encountered;
s4: and recording the position into a controller, wherein the controller is connected with a cloud end, and the cloud end is stored in a database.
To sum up, the beneficial effect in this scheme is:
1. according to the moxibustion treatment robot and the intelligent acupuncture system applicable to different crowds, the displacement servo motor which is arranged on the manipulator and used for adjusting the whole mechanism to descend and ascend and the intelligent distance-fixing mechanism which is matched with the displacement servo motor can be used for slowly moving the moxa stick pushing mechanism downwards along with the continuous upward movement of the ignition position of the moxa stick through the rotation of the transmission rod in the moxibustion treatment process, so that the distance between the ignition position of the moxa stick and the skin can be kept within an allowable fluctuation range of distance all the time;
2. according to the moxibustion treatment robot and the intelligent acupuncture system applicable to different crowds, the contact block II arranged between the contact block I and the contact block III is matched with the compression spring, so that in the moxibustion treatment process, when a manipulator drives a burning moxa stick to walk on the surface of skin, if the manipulator encounters a place with a projected skin or bone position, a signal can be quickly reflected to a displacement servo motor, and then the whole mechanism is controlled to ascend or descend, so that the moderate distance between the burning position of the moxa stick and the skin is ensured;
3. this kind of applicable different crowds 'moxibustion therapy robot and intelligent acupuncture system, through the ash removal mechanism that sets up, can be in the moxibustion treatment in-process, can regularly with shelves pole and the same rotation of material receiving box come, the shelves pole is at first broken with the ash column after burning, fall into material receiving box afterwards, avoid traditional needs lasting in the below of moxa stick body burning position to set up one and keep off the net, one influences moxa-moxibustion treatment, secondly still can have the tiny dust to fall and cause the scald on one's body at the patient.
4. The controller is used for receiving the signal of single-pole double-throw switch transmission, the position of record acupuncture to with data connection high in the clouds, the high in the clouds storage is to the database, for the degree of illness of patient, adjusts acupuncture intensity, formulates the acupuncture scheme.
Drawings
Fig. 1 is a schematic structural view of a robot manipulator for moxibustion therapy according to the present invention;
FIG. 2 is a schematic perspective view of a moxibustion robot driving box according to the present invention;
FIG. 3 is a schematic perspective view of the ash removing mechanism of the present invention;
FIG. 4 is a schematic perspective view of the ash collecting box of the present invention;
FIG. 5 is a schematic perspective view of a moxa stick advancing mechanism according to the present invention;
FIG. 6 is a schematic view of an assembly structure of the moxa roll advancing mechanism according to the present invention;
FIG. 7 is a partial cross-sectional view of the intelligent spacing mechanism of the present invention;
fig. 8 is a circuit diagram of the intelligent distance mechanism of the present invention.
In the figure: 1. a drive box; 2. a sliding bearing; 3. a drive shaft; 4. an adjustable telescopic rod; 5. a slip ring block; 6. moving the clamping jaw; 7. positioning the clamping jaw; 8. a vertical conduit; 9. a cylindrical barrel; 901. a first contact block; 902. a second contact block; 903. a contact block III; 10. a compression spring; 11. a slider; 12. a temporary collection box; 13. a gear lever; 14. a material receiving box; 15. an extension rod; 16. a fixed cylinder; 17. a feed inlet; 18. a material suction box; 19. a reduction motor; 20. a moxa stick advancing mechanism; 21. an intelligent distance-setting mechanism; 22. a fixed platform; 23. a circular hole; 24. a driving gear; 25. a shaft lever; 26. a first belt pulley; 27. a moxa stick body; 28. a dust removing mechanism; 29. a conveyor belt; 30. a second belt pulley; 31. a discharge port; 32. a grid plate; 33. an internally threaded tube; 34. a transmission rod; 35. a C-shaped slide bar; 36. a conical head; 37. a tower-shaped slider; 38. a pull rod; 39. a guide notch; 40. a displacement servo motor; 41. a self-locking screw; 42. a tension spring; 43. and (4) a ball.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Example 1:
referring to fig. 1-5, a robot for acupuncture point treatment suitable for different people comprises a driving box 1 fixed at the end of a mechanical arm of the robot for moxibustion treatment, a mechanism for controlling the device to move up and down is arranged on the mechanical arm, the mechanism is driven by a displacement servo motor 40, a fixed platform 22 is fixed at the bottom end of the driving box 1, a round hole 23 is arranged at one side edge of the fixed platform 22 close to one side of the driving box 1, a fixed cylinder 16 is arranged at the lower surface of the fixed platform 22 below the round hole 23, a vertical guide tube 8 with an upward opening and a barrel-shaped structure is fixed at the bottom end of the fixed cylinder 16, a guide notch 39 is arranged at one side of the vertical guide tube 8 close to the round hole 23, a speed reducing motor 19 is fixed at the inner wall of the driving box 1 through bolts, a transmission rod 34 is fixed at the top end of an output shaft of the speed reducing motor 19, and a moxa stick propulsion mechanism 20 is arranged at the bottom end of the transmission rod 34, the moxa stick pushing mechanism 20 is slidably connected in the guiding notch 39, so that the moxa stick pushing mechanism 20 can be slowly moved downwards along with the continuous upward movement of the burning position of the moxa stick in the moxibustion treatment process through the rotation of the transmission rod 34, the burning position of the moxa stick can be always kept within a range of allowable fluctuation of the distance from the skin, the bottom end of the vertical conduit 8 is provided with the intelligent distance-fixing mechanism 21, and the signal output end of the intelligent distance-fixing mechanism 21 is connected with a displacement servo motor 40 for controlling the descending and ascending of the manipulator, therefore, in the moxibustion treatment process, when the mechanical arm drives the burning moxa roll to walk on the surface of the skin, if the mechanical arm meets the position where the skin or the bone is protruded, the signal can be quickly reflected to the displacement servo motor 40, and then the whole mechanism is controlled to ascend or descend so as to ensure that the distance between the burning position of the moxa stick and the skin is moderate.
Wherein, the top of vertical pipe 8 is fixed with the radial bearing of internal diameter and transfer line 34 looks adaptation, and the bottom mounting of transfer line 34 has auto-lock screw rod 41, the centre of sliding ring piece 5 is inlayed and is equipped with the internal thread pipe 33 with auto-lock screw rod 41 looks adaptation, the sliding ring piece 5 is kept away from the one end of vertical pipe 8 and is provided with moxa stick centre gripping framework, thereby can be when impelling, the setting of the normal running fit direction breach 39 through auto-lock screw rod 41 can be with the rotation of transfer line 34 transform into the vertical motion of sliding ring piece 5, and then drive the moxa stick of centre gripping slowly along with the consumption of burning and slowly descend, in order to offset the ascending of burning point.
Further, the moxa stick clamping mechanism comprises a sliding groove which is arranged on the side surface of the sliding ring block 5 and close to the end part, the end part of the sliding groove is fixed with a C-shaped sliding strip 35, a tower-shaped sliding block 37 is connected in the sliding groove of the C-shaped sliding strip 35 in a sliding manner, two sides of the tower-shaped sliding block 37 are respectively fixed with a tension spring 42 and a pull rod 38, one end of the sliding ring block 5, which is far away from the bottom of the groove, is fixed with two positioning clamping jaws 7 which are parallel to each other and have openings facing the moxa stick body 27, one end of the tower-shaped sliding block 37, which is close to the positioning clamping jaws 7, is fixed with a movable clamping jaw 6, and a plurality of conical heads 36 with mutually parallel axial leads are fixed on the inner arc side of the positioning clamping jaw 7, so that when the moxa stick body 27 is clamped in use, the pull rod 38 outwards first, then the positioning clamping jaw 7 and the movable clamping jaw 6 can be separated, then the moxa stick body 27 can be tightly fixed under the action of the conical heads 36, thereby avoiding the situation that the traditional clamping device can be tightly clamped, but also can lead to the possibility of crushing moxa sticks, and the using effect is influenced.
Furthermore, a tangent plane is arranged on one side of the outer wall of the fixed cylinder 16 close to the moxa stick propelling mechanism 20, and the section is provided with an ash removing mechanism 28, the ash removing mechanism 28 comprises a sliding bearing 2 embedded on the section and a transmission shaft 3 rotatably connected in the sliding bearing 2, two ends of the transmission shaft 3 are respectively fixed with a second belt pulley 30 and a hexagonal fixing block, and the vertical inner wall of the driving box 1 is provided with a shaft lever 25 positioned right above the second belt pulley 30, the outer wall of the shaft lever 25 is sleeved with the first belt pulley 26, a same conveying belt 29 is wound between the circumferential outer walls of the first belt pulley 26 and the second belt pulley 30, the surface of the first belt pulley 26 and the top end of the transmission rod 34 are respectively provided with driving gears 24 which are mutually meshed, the two driving gears 24 are mutually meshed conical gears, so that the six-edge fixing block can be driven to slowly rotate at a required speed by the rotation of the transmission rod 34 through the arrangement of the engaged bevel gears and the transmission belt 29.
Furthermore, the outer wall of the hexagonal prism block is fixed with an adjustable telescopic rod 4, an extension rod 15 is inserted into one end, away from the hexagonal prism block, of the adjustable telescopic rod 4, a material receiving box 14 with an opening facing the hexagonal prism block is fixed at the end of the extension rod 15, a blocking rod 13 is fixed above a box opening of the material receiving box 14 on the outer wall of the extension rod 15, and the blocking rod 13 is located between 5 mm and 10 mm below a combustion position of the moxa stick body 27, so that the blocking rod 13 and the material receiving box 14 can be rotated together regularly in the moxibustion treatment process, the blocking rod 13 firstly breaks off the burnt ash column and then falls into the material receiving box 14, and the traditional phenomenon that a blocking net is required to be arranged below the combustion position of the moxa stick body 27 for a long time is avoided, the moxibustion treatment effect is influenced, and fine dust can fall on a patient to cause scald.
Further, the receiving box 14 is far away from the front end and is communicated with the temporary collecting box 12, one side of the temporary collecting box 12 far away from the extension rod 15 is provided with a discharge hole 31, the discharge hole 31 is provided with grid plates 32 which are parallel to each other, the grid plates 32 guide dust to fall into the temporary collecting box 12 and avoid scattering of free falling, the outer wall of the driving box 1 is positioned on the vertical outer wall of one side, which is clockwise turned to the receiving box 14, and is close to the bottom end to be fixed with a suction box 18, the front surface of the suction box 18 is provided with a feed inlet 17 which is matched with the discharge hole 31 in position, and an exhaust fan is arranged in the suction box 18, so that when the dust removing mechanism 28 drives the temporary collecting box 12 to rotate to the horizontal position, collected ash can be transferred to the suction box 18, and then next dust removing work is carried out again.
Further, intelligence distance mechanism 21 is including fixing the cylindricality bucket 9 in vertical pipe 8 bottom, and cylindricality bucket 9 is the cylindrical structure of establishing cavity open-top in, and the bottom of cylindricality bucket 9 inlays and is equipped with the guide ring, the top of slider 11 is fixed with the round bar, and the round bar passes the guide ring and is fixed with touch block two 902 at its top outer wall department, the bottom of slider 11 is opened has spherical groove, and spherical inslot joint has ball 43, be fixed with compression spring 10 between the bottom of cylindricality bucket 9 and the slider 11, thereby can be in the moxibustion treatment process, when moxa stick body 27 walking in-process meets unevenness, can control whole mechanism's rising and decline through the distance that detects compression spring 10, ball 43 still can massage.
Furthermore, the inner wall of the cylindrical barrel 9 is provided with a first contact block 901 and a third contact block 903 respectively at the upper side and the lower side of the second contact block 902, the first contact block 901 and the third contact block 903 are connected in parallel in the circuits of the two direction control displacement servo motors 40, and the second contact block 902 forms a single-pole double-throw switch, so that the distance between the combustion position and the skin is reduced when a convex position is met in the moxibustion treatment process; the second contact block 902 in the middle is forced to rapidly move upwards for a large section to be tightly contacted with the first contact block 901, and then a forward moving circuit is switched on, namely the displacement servo motor 40 drives the whole mechanism at the end part of the manipulator to move upwards, so that the distance between the combustion position and the skin is ensured to return to normal again.
Example 2
The embodiment discloses an intelligent acupuncture system of robot is treated with moxibustion to acupuncture point of applicable different crowds, and concrete step includes:
the method comprises the following steps: before use, a manipulator is controlled to stick the ball 43 at the bottom end of the sliding block 11 in the intelligent distance-fixing mechanism 21 to the surface of the skin and press down for a certain distance, so that the second contact block 902 is located at a position where the middle of the first contact block 901 and the third contact block 903 is not contacted;
step two: fixing and adjusting the moxa stick body 27, when clamping the moxa stick body 27, pulling the pull rod 38 outwards, then separating the positioning clamping jaw 7 and the moving clamping jaw 6, then tightly fixing the moxa stick body 27 under the action of the conical head 036, and controlling the speed reduction motor 19 to rotate reversely until the position of the bottom end of the moxa stick body 27 is moved to a position 3cm +/-2 mm away from the skin;
step three: igniting the moxa stick body 27; during the moxibustion treatment process, the ash removing mechanism 28 periodically rotates the blocking rod 13 and the material receiving box 14 together, at the moment, the blocking rod 13 firstly breaks the burnt ash column and then falls into the material receiving box 14; then the adjustable telescopic rod 4 continues to rotate slowly, when the ash removing mechanism 28 drives the temporary collecting box 12 to rotate to the horizontal position, the collected ash can be transferred to the suction box 18, and then the next ash removing work is carried out again.
The skin care device also comprises a controller, wherein the controller is used for receiving a signal transmitted by the single-pole double-throw switch, and the signal represents the skin position; the step of collecting the body parameters of the user comprises the following steps:
s1: record start position, time 0:
s2: linear displacement is performed in a uniform manner:
s3: recording the time, constant speed (speed) = position when encountering the convex part of the skin or bone position;
s4: the position is recorded in the controller, the controller is connected with the cloud end, the cloud end is stored in the database, the controller is used for receiving signals transmitted by the single-pole double-throw switch, the acupuncture position is recorded, the data is connected with the cloud end, the cloud end is stored in the database for deep learning, the acupuncture intensity can be adjusted according to the disease degree of a patient, and an acupuncture scheme is formulated.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. The robot for acupuncture point moxibustion therapy suitable for different people comprises a driving box (1) fixed at the end part of a mechanical arm of the robot for moxibustion therapy, wherein a fixed platform (22) is fixed at the bottom end of the driving box (1), a round hole (23) is formed in one side edge of the fixed platform (22) close to the driving box (1) on one side, a fixed cylinder (16) is arranged below the round hole (23) on the lower surface of the fixed platform (22), and is characterized in that a vertical guide pipe (8) with an opening upwards in a barrel-shaped structure is fixed at the bottom end of the fixed cylinder (16), a guide notch (39) is formed in one side of the vertical guide pipe (8) close to the round hole (23), a speed reducing motor (19) is fixed on the inner wall of the driving box (1) through bolts, a transmission rod (34) is fixed at the top end of an output shaft of the speed reducing motor (19), and a moxa stick propelling mechanism (20) is arranged at the bottom end of the transmission rod (34), moxa stick advancing mechanism (20) sliding connection is in direction breach (39), the bottom of vertical pipe (8) is provided with intelligent distance mechanism (21), and the signal output part of intelligent distance mechanism (21) is connected with and is used for controlling the manipulator and descends and the displacement servo motor (40) that rises.
2. The robot for acupuncture point moxibustion therapy applicable to different people according to claim 1, wherein a radial bearing with an inner diameter matched with the transmission rod (34) is fixed at the top end of the vertical conduit (8), a self-locking screw rod (41) is fixed at the bottom end of the transmission rod (34), an internal threaded pipe (33) matched with the self-locking screw rod (41) is embedded in the middle of the sliding ring block (5), and a moxa stick clamping framework is arranged at one end of the sliding ring block (5) far away from the vertical conduit (8).
3. The robot for acupuncture point moxibustion therapy applicable to different crowds according to claim 2, wherein the moxa stick clamping mechanism comprises a sliding groove which is formed in the side surface of the sliding ring block (5) and close to the end part, a C-shaped sliding strip (35) is fixed at the end part of the sliding groove, a tower-shaped sliding block (37) is connected in the sliding groove of the C-shaped sliding strip (35) in a sliding mode, tension spring springs (42) and pull rods (38) are fixed on two sides of the tower-shaped sliding block (37) respectively, two parallel positioning clamping jaws (7) with openings facing the moxa stick body (27) are fixed at one end, far away from the groove bottom, of the sliding ring block (5), a movable clamping jaw (6) is fixed at one end, close to the positioning clamping jaw (7), of the tower-shaped sliding block (37), and a plurality of conical heads (36) with mutually parallel axial leads are fixed on the inner arc side of the positioning clamping jaw (7).
4. The robot for acupuncture point moxibustion therapy applicable to different people according to claim 1, wherein the outer wall of the fixed cylinder (16) is provided with a tangent plane at one side close to the moxa stick advancing mechanism (20), the tangent plane is provided with an ash removing mechanism (28), the ash removing mechanism (28) comprises a sliding bearing (2) embedded on the tangent plane and a transmission shaft (3) rotatably connected in the sliding bearing (2), two ends of the transmission shaft (3) are respectively fixed with a second belt pulley (30) and a hexagonal fixed block, a shaft lever (25) is arranged on the vertical inner wall of the driving box (1) right above the second belt pulley (30), the outer wall of the shaft lever (25) is sleeved with a first belt pulley (26), the same conveying belt (29) is wound between the circumferential outer walls of the first belt pulley (26) and the second belt pulley (30), the surface of the first belt pulley (26) and the top end of the transmission rod (34) are respectively provided with mutually meshed driving gears (24), the two drive gears (24) are intermeshing bevel gears.
5. The robot for acupuncture point moxibustion therapy applicable to different people according to claim 4, wherein the adjustable telescopic rod (4) is fixed on the outer wall of the hexagonal prism block, an extension rod (15) is inserted into one end of the adjustable telescopic rod (4) far away from the hexagonal prism block, a material receiving box (14) with an opening facing the hexagonal prism block is fixed at the end of the extension rod (15), a stop rod (13) is fixed on the outer wall of the extension rod (15) above the box opening of the material receiving box (14), and the stop rod (13) is located between 5 mm and 10 mm below the burning position of the moxa stick body (27).
6. The robot for acupuncture point moxibustion therapy applicable to different people groups according to claim 5, wherein the side of the material receiving box (14) far from the advancing end is communicated with a temporary collecting box (12), a discharge hole (31) is formed in one side of the temporary collecting box (12) far from the extension rod (15), grid plates (32) which are parallel to each other are arranged at the discharge hole (31), the grid plates (32) guide dust to fall into the temporary collecting box (12), a material suction box (18) is fixed on the outer wall of the driving box (1) close to the bottom end of the vertical outer wall of the side of the material receiving box (14) which turns clockwise, a material inlet (17) which is matched with the discharge hole (31) is formed in the front of the material suction box (18), and an exhaust fan is arranged in the material suction box (18).
7. The robot for acupuncture point moxibustion therapy applicable to different people according to claim 1, wherein the intelligent distance-fixing mechanism (21) comprises a cylindrical barrel (9) fixed at the bottom end of the vertical conduit (8), the cylindrical barrel (9) is of a cylindrical structure with a cavity and an open top, a guide ring is embedded at the bottom end of the cylindrical barrel (9), a round rod is fixed at the top end of the sliding block (11), a second contact block (902) is fixed at the outer wall of the top end of the round rod, the round rod penetrates through the guide ring, a spherical groove is formed at the bottom end of the sliding block (11), a ball (43) is clamped in the spherical groove, and a compression spring (10) is fixed between the bottom end of the cylindrical barrel (9) and the sliding block (11).
8. The robot for acupuncture point moxibustion therapy and the use method thereof according to claim 7, wherein the inner wall of the cylindrical barrel (9) is provided with a first contact block (901) and a third contact block (903) respectively at the upper side and the lower side of a second contact block (902), the first contact block (901) and the third contact block (903) are connected in parallel in the circuit of the two-direction control displacement servo motor (40), and the second contact block (902) forms a single-pole double-throw switch.
9. The use method of the robot for acupuncture point moxibustion therapy applicable to different populations according to claim 1, comprising the robot for acupuncture point moxibustion therapy applicable to different populations according to claims 1 to 8, wherein the concrete steps comprise:
the method comprises the following steps: before use, a manipulator is controlled to attach a ball (43) at the bottom end of a sliding block (11) in an intelligent distance-fixing mechanism (21) in the device to the surface of the skin and press down for a certain distance, so that a second contact block (902) is located at a position where the centers of a first contact block (901) and a third contact block (903) are not contacted;
step two: the moxa stick body (27) is fixed and adjusted, when the moxa stick body (27) is clamped, the pull rod (38) is pulled outwards firstly, then the positioning clamping jaw (7) and the moving clamping jaw (6) can be separated, then the moxa stick body (27) can be tightly fixed under the action of the conical head (036), and the reduction motor (19) is controlled to rotate reversely until the position of the bottom end of the moxa stick body (27) is moved to be about 3cm +/-2 mm away from the skin;
step three: igniting the moxa stick body (27); in the moxibustion treatment process, the ash removing mechanism (28) periodically rotates the stop lever (13) and the material receiving box (14) together, and at the moment, the stop lever (13) firstly breaks the burnt ash column and then falls into the material receiving box (14); then the adjustable telescopic rod (4) continues to rotate slowly, when the ash removing mechanism (28) drives the temporary collecting box (12) to rotate to the horizontal position, collected ash can be transferred into the material suction box (18), and then next ash removing work is carried out again.
10. The method of using the robot for acupuncture point moxibustion therapy according to claim 9, further comprising a controller for receiving signals from the single pole double throw switch, the signals representing skin positions; the step of collecting the body parameters of the user comprises the following steps:
s1: record start position, time 0:
s2: linear displacement is performed in a uniform manner:
s3: recording time velocity = position whenever a skin or bone site bulge is encountered;
s4: and recording the position into a controller, wherein the controller is connected with a cloud end, and the cloud end is stored in a database.
CN202210405464.5A 2022-04-18 2022-04-18 Acupuncture point moxibustion therapy robot suitable for different crowds and using method Active CN114699313B (en)

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