CN115887206A - Moxibustion robot and automatic moxibustion method thereof - Google Patents
Moxibustion robot and automatic moxibustion method thereof Download PDFInfo
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- CN115887206A CN115887206A CN202211360741.1A CN202211360741A CN115887206A CN 115887206 A CN115887206 A CN 115887206A CN 202211360741 A CN202211360741 A CN 202211360741A CN 115887206 A CN115887206 A CN 115887206A
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Abstract
The invention discloses a moxibustion robot and an automatic moxibustion method thereof, which adopt the technical scheme that a moxa cone clamping bracket comprises a first bracket, a second bracket and a moxa cone clamping part respectively connected with the first bracket and the second bracket; a distance measuring sensor mounted on the first bracket or the second bracket; a temperature sensor mounted on the first bracket or the second bracket; an image sensor mounted on the second support or the first support; the mechanical arm comprises a first rotating mechanism, a second rotating mechanism connected with the first rotating mechanism and a third rotating mechanism respectively connected with the second rotating mechanism and the first support; and the control device comprises a control panel and a mechanical arm controller, the control panel is respectively connected with the distance measuring sensor, the temperature sensor and the image sensor, the mechanical arm controller is connected with the mechanical arm, and the control panel is connected with the mechanical arm controller.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a moxibustion robot and an automatic moxibustion method thereof.
Background
Modern life rhythm is faster and faster, and the physical condition of people is always busy and does not have time to be conditioned, so that people are in every case getting worse. In this context, the demand of intelligent health robots is gradually increasing.
The moxa-moxibustion is as reaching the healthy method of recuperating that the purpose that prevents and treats diseases people selected, in order to make things convenient for people to healthy's recuperation, it is more fit for busy people to take care of health to adopt moxibustion robot to carry out the moxa-moxibustion, prior art's moxibustion robot can realize automatic moxa-moxibustion, including the sparrow pecks moxibustion, moxibustion and direct moxibustion mode etc. of circling round, but most of moxibustion robot all is through manual control moxa-moxibustion head at present, can not reach the operation of full automatic moxa-moxibustion, and want to realize automatic moxa-moxibustion, the detection of moxa-moxibustion position temperature and position is also very important, consequently, the full-automatic moxibustion robot that can accurate judgement position of moxa-moxibustion position, the accurate control moxa-moxibustion operation is realized to the temperature that needs urgently at present.
Disclosure of Invention
In view of the above, the invention provides a moxibustion robot and an automatic moxibustion method thereof, and mainly aims to realize automatic moxibustion of the moxibustion robot through cooperative work of a temperature sensor, a distance measuring sensor, an image sensor and a mechanical arm.
In order to achieve the purpose, the invention mainly provides the following technical scheme:
in one aspect, embodiments of the present invention provide a moxibustion robot. It comprises the following steps:
the moxa column clamping bracket comprises a first bracket, a second bracket and a moxa column clamping part which is respectively connected with the first bracket and the second bracket;
a distance measuring sensor mounted on the first bracket or the second bracket;
a temperature sensor mounted on the first or second support;
an image sensor mounted on the second support or the first support;
the mechanical arm comprises a first rotating mechanism, a second rotating mechanism connected with the first rotating mechanism and a third rotating mechanism connected with the second rotating mechanism, and the first rotating mechanism, the second rotating mechanism and the third rotating mechanism can rotate on a horizontal plane and a vertical plane; the third rotating mechanism is connected with the first support or the second support and is used for driving the moxa cone clamping support to rotate on the horizontal plane and the vertical plane;
the control device comprises a control panel and a mechanical arm controller, wherein the control panel is connected with the distance measuring sensor, the temperature sensor and the image sensor respectively and used for controlling the distance measuring sensor, the temperature sensor and the image sensor to work, the mechanical arm controller is connected with the mechanical arm and used for controlling the mechanical arm to work, and the control panel is connected with the mechanical arm controller.
As mentioned above, the moxa cone clamping part adopts a hoop structure.
As mentioned above, the distance measuring sensor is an ultrasonic distance measuring sensor, a laser distance measuring sensor or an infrared distance measuring sensor;
the temperature sensor adopts a non-contact temperature sensor;
the image sensor adopts a CCD image sensor.
As described above, the first rotating mechanism includes the first arm joint connected to the arm controller and the second arm joint connected to the first arm joint through the first link arm, and the second arm joint is connected to the arm controller; the first mechanical arm joint can rotate 720 degrees on a horizontal plane; the second mechanical arm joint is perpendicular to the first mechanical arm joint and can rotate 250 degrees on a vertical plane.
As described above, the second rotating mechanism includes a third mechanical arm joint connected to the second mechanical arm joint through a second connecting arm and a fourth mechanical arm joint connected to the third mechanical arm joint through a third connecting arm, and both the third mechanical arm joint and the fourth mechanical arm joint are connected to the mechanical arm controller; the third mechanical arm joint and the second mechanical arm joint are arranged in parallel on a vertical plane and can rotate 250 degrees on the vertical plane; the fourth mechanical arm joint is perpendicular to the third mechanical arm joint and can rotate 720 degrees on the horizontal plane.
As described above, the third rotating mechanism includes a fifth mechanical arm joint connected to the fourth mechanical arm joint through a fourth connecting arm and a sixth mechanical arm joint connected to the fifth mechanical arm joint through a fifth connecting arm, and both the fifth mechanical arm joint and the sixth mechanical arm joint are connected to the mechanical arm controller; the fifth mechanical arm joint and the third mechanical arm joint are arranged in parallel on a vertical surface and can rotate 250 degrees on the vertical surface; the sixth mechanical arm joint is perpendicular to the fifth mechanical arm joint and can rotate 720 degrees on the horizontal plane.
As mentioned above, the control board and the mechanical arm controller are connected through USB communication; alternatively, the first and second electrodes may be,
the control panel is connected with the mechanical arm controller through wireless communication.
In another aspect, an embodiment of the present invention further provides an automatic moxibustion method of a moxibustion robot, including the steps of:
s1, moving a mechanical arm to the position to be moxibustion according to the position to be moxibustion detected by an image sensor by a moxibustion robot, and controlling the distance between a moxa column and the position to be moxibustion suitable for moxibustion according to the value detected by a distance measuring sensor;
s2, in the moxibustion process, when the temperature sensor detects that the temperature of the moxibustion part is larger than the preset threshold range, the mechanical arm moves towards the direction far away from the moxibustion part, when the temperature sensor detects that the temperature of the moxibustion part is smaller than the preset threshold range, the mechanical arm moves towards the moxibustion part, and finally the temperature of the moxibustion part is controlled within the preset threshold range.
As described above, in S1, the moxibustion robot moves the robot arm to the vicinity of the portion to be moxibustion according to the portion to be moxibustion detected by the image sensor and controls the distance between the moxa cone and the portion to be moxibustion to the portion to be moxibustion at a distance of 10cm according to the value detected by the distance measuring sensor.
As described above, the moxibustion part temperature is preset to have a threshold range of 38 degrees to 40 degrees.
By means of the technical scheme, the moxibustion robot and the automatic moxibustion method thereof at least have the following advantages:
the moxibustion robot and the automatic moxibustion method thereof can accurately judge the position and the temperature of the part to be moxibustion through the temperature sensor, the distance measuring sensor and the image sensor, and achieve the aims of accurately controlling the mechanical arm to work cooperatively and realizing automatic moxibustion according to the position and the temperature of the part to be moxibustion.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of a moxibustion robot of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, a moxibustion robot according to an embodiment of the present invention includes: moxa cone clamping support 1, ranging sensor 2, temperature sensor 3, image sensor 4, mechanical arm 5 and control device
As shown in fig. 1, the moxa column clamping bracket 1 includes a first bracket 11, a second bracket 12, and a moxa column clamping portion 13 connected to the first bracket 11 and the second bracket 12, respectively, wherein the moxa column clamping portion 13 is of a clip structure. The distance measuring sensor 2 is installed on the first support 11 or the second support 12, and in the invention, the distance measuring sensor 2 adopts an ultrasonic distance measuring sensor or a laser distance measuring sensor or an infrared distance measuring sensor. The temperature sensor 3 is mounted on the first bracket 11 or the second bracket 12, and in the present invention, the temperature sensor 3 is a non-contact temperature sensor. The image sensor 4 is mounted on the second support 12 or the first support 11; in the present invention, the image sensor 4 is a CCD image sensor.
As shown in fig. 1, the robot arm 5 includes a first rotating mechanism 51, a second rotating mechanism 52 connected to the first rotating mechanism 51, and a third rotating mechanism 53 connected to the second rotating mechanism 52, and the first rotating mechanism 51, the second rotating mechanism 52, and the third rotating mechanism 53 are all rotatable on a horizontal plane and a vertical plane; the third rotating mechanism 53 is connected to the first support 11 or the second support 12 and is used for driving the moxa cone clamping support 1 to rotate on a horizontal plane and a vertical plane. The control device comprises a control panel and a mechanical arm controller, wherein the control panel is respectively connected with the distance measuring sensor 2, the temperature sensor 3 and the image sensor 4 and used for controlling the distance measuring sensor 2, the temperature sensor 3 and the image sensor 4 to work, the mechanical arm controller is connected with the mechanical arm 5 and used for controlling the mechanical arm 5 to work, the control panel and the mechanical arm controller can be connected through USB communication and wireless communication, when the wireless communication is adopted, wifi wireless communication connection and Bluetooth connection can be adopted, and the control device is not limited to the above, and can be set according to actual needs. The first rotating mechanism 51 comprises a first mechanical arm joint 511 connected with a mechanical arm controller and a second mechanical arm joint 513 connected with the first mechanical arm joint 511 through a first connecting arm 512, wherein the second mechanical arm joint 513 is connected with the mechanical arm controller; the first mechanical arm joint 511 can rotate 720 degrees on the horizontal plane, and the rotation range is negative 360 degrees to positive 360 degrees; the second robot joint 513 is disposed perpendicular to the first robot joint 511 and may rotate 250 degrees in a vertical plane, the rotation range being negative 125 degrees to positive 125 degrees. The second rotating mechanism 52 includes a third mechanical arm joint 522 connected to the second mechanical arm joint 513 through a second connecting arm 521, and a fourth mechanical arm joint 524 connected to the third mechanical arm joint 522 through a third connecting arm 523, and both the third mechanical arm joint 522 and the fourth mechanical arm joint 524 are connected to the mechanical arm controller; the third mechanical arm joint 522 and the second mechanical arm joint 513 are arranged in parallel on a vertical plane and can rotate 250 degrees on the vertical plane, and the rotation range is negative 125 degrees to positive 125 degrees; the fourth robot joint 524 is perpendicular to the third robot joint 522 and can rotate 720 degrees in the horizontal plane, and the rotation range is negative 360 degrees to positive 360 degrees. The third rotating mechanism 53 includes a fifth mechanical arm joint 532 connected to the fourth mechanical arm joint 524 through a fourth connecting arm 531, and a sixth mechanical arm joint 534 connected to the fifth mechanical arm joint 532 through a fifth connecting arm 533, and both the fifth mechanical arm joint 532 and the sixth mechanical arm joint 534 are connected to the mechanical arm controller; the fifth mechanical arm joint 532 and the third mechanical arm joint 522 are arranged in parallel on a vertical plane and can rotate 250 degrees on the vertical plane, and the rotation range is from minus 125 degrees to plus 125 degrees; the sixth mechanical arm joint 534 is disposed perpendicular to the fifth mechanical joint 532 and can rotate 720 degrees in the horizontal plane, and the rotation range is negative 360 degrees to positive 360 degrees.
The moxibustion robot provided by the embodiment of the invention can accurately judge the position and the temperature of the part to be moxibustion through the temperature sensor, the distance measuring sensor and the image sensor, and accurately control the mechanical arm to work cooperatively according to the position and the temperature of the part to be moxibustion, so that the aim of automatic moxibustion is fulfilled.
The embodiment of the invention also provides an automatic moxibustion method of the moxibustion robot, which comprises the following steps:
s1, moving a mechanical arm to the position to be moxibustion according to the position to be moxibustion detected by an image sensor by a moxibustion robot, and controlling the distance between a moxa column and the position to be moxibustion suitable for moxibustion according to the value detected by a distance measuring sensor;
s2, in the moxibustion process, when the temperature sensor detects that the temperature of the moxibustion part is larger than the preset threshold range, the mechanical arm moves towards the direction far away from the moxibustion part, when the temperature sensor detects that the temperature of the moxibustion part is smaller than the preset threshold range, the mechanical arm moves towards the moxibustion part, and finally the temperature of the moxibustion part is controlled within the preset threshold range.
It should be noted that before the moxibustion robot performs automatic moxibustion on the portion to be moxibustion, the user should expose the portion to be moxibustion and mount the moxa column and ignite the moxa column.
Further, in S1, the distance between the moxa column and the portion to be moxibustion may be set according to practical applications, which is not limited in the embodiments of the present invention, and preferably, in S1, the moxibustion robot moves the robot arm to the vicinity of the portion to be moxibustion according to the portion to be moxibustion detected by the image sensor and controls the distance between the moxa column and the portion to be moxibustion at a distance of 10cm according to the value detected by the distance measuring sensor.
Further, the temperature of the moxibustion part is preset in a threshold range of 38 to 40 degrees. The setting can be made according to the actual application.
According to the automatic moxibustion method using the moxibustion robot, the position and the temperature of the moxibustion part can be accurately judged through the temperature sensor, the distance measuring sensor and the image sensor, and the aims of accurately controlling the mechanical arm to work cooperatively and achieving automatic moxibustion are achieved according to the position and the temperature of the moxibustion part.
While the invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A moxibustion robot, its characterized in that: it includes:
the moxa column clamping bracket comprises a first bracket, a second bracket and a moxa column clamping part which is respectively connected with the first bracket and the second bracket;
a distance measuring sensor mounted on the first bracket or the second bracket;
a temperature sensor mounted on the first or second support;
an image sensor mounted on the second support or the first support;
the mechanical arm comprises a first rotating mechanism, a second rotating mechanism connected with the first rotating mechanism and a third rotating mechanism connected with the second rotating mechanism, and the first rotating mechanism, the second rotating mechanism and the third rotating mechanism can rotate on a horizontal plane and a vertical plane; the third rotating mechanism is connected with the first bracket or the second bracket and is used for driving the moxa cone clamping bracket to rotate on a horizontal plane and a vertical plane;
the control device comprises a control panel and a mechanical arm controller, wherein the control panel is respectively connected with the distance measuring sensor, the temperature sensor and the image sensor and used for controlling the distance measuring sensor, the temperature sensor and the image sensor to work, the mechanical arm controller is connected with the mechanical arm and used for controlling the mechanical arm to work, and the control panel is connected with the mechanical arm controller.
2. A moxibustion robot according to claim 1,
moxa cone clamping part adopts the clamp structure.
3. A moxibustion robot according to claim 1,
the distance measuring sensor adopts an ultrasonic distance measuring sensor or a laser distance measuring sensor or an infrared distance measuring sensor;
the temperature sensor adopts a non-contact temperature sensor;
the image sensor adopts a CCD image sensor.
4. The moxibustion robot of claim 1,
the first rotating mechanism comprises a first mechanical arm joint connected with a mechanical arm controller and a second mechanical arm joint connected with the first mechanical arm joint through a first connecting arm, and the second mechanical arm joint is connected with the mechanical arm controller; the first mechanical arm joint can rotate 720 degrees on a horizontal plane; the second mechanical arm joint is perpendicular to the first mechanical arm joint and can rotate 250 degrees on a vertical plane.
5. A moxibustion robot according to claim 4,
the second rotating mechanism comprises a third mechanical arm joint and a fourth mechanical arm joint, the third mechanical arm joint is connected with the second mechanical arm joint through a second connecting arm, the fourth mechanical arm joint is connected with the third mechanical arm joint through a third connecting arm, and the third mechanical arm joint and the fourth mechanical arm joint are both connected with the mechanical arm controller; the third mechanical arm joint and the second mechanical arm joint are arranged in parallel on a vertical plane and can rotate 250 degrees on the vertical plane; the fourth mechanical arm joint is perpendicular to the third mechanical arm joint and can rotate 720 degrees on the horizontal plane.
6. A moxibustion robot according to claim 5,
the third rotating mechanism comprises a fifth mechanical arm joint connected with the fourth mechanical arm joint through a fourth connecting arm and a sixth mechanical arm joint connected with the fifth mechanical arm joint through a fifth connecting arm, and the fifth mechanical arm joint and the sixth mechanical arm joint are both connected with the mechanical arm controller; the fifth mechanical arm joint and the third mechanical arm joint are arranged in parallel on a vertical surface and can rotate 250 degrees on the vertical surface; the sixth mechanical arm joint is perpendicular to the fifth mechanical arm joint and can rotate 720 degrees on the horizontal plane.
7. A moxibustion robot according to claim 1,
the control board is in communication connection with the mechanical arm controller through a USB; alternatively, the first and second electrodes may be,
the control panel is connected with the mechanical arm controller through wireless communication.
8. A method for automatic moxibustion of a moxibustion robot is characterized by comprising the following steps:
s1, a moxibustion robot moves a mechanical arm to the vicinity of a part to be moxibustion according to the part to be moxibustion detected by an image sensor and controls the distance between a moxa column and the part to be moxibustion at a distance suitable for moxibustion according to a value detected by a distance measuring sensor;
s2, in the moxibustion process, when the temperature sensor detects that the temperature of the moxibustion part is larger than the preset threshold range, the mechanical arm moves towards the direction far away from the moxibustion part, when the temperature sensor detects that the temperature of the moxibustion part is smaller than the preset threshold range, the mechanical arm moves towards the moxibustion part, and finally the temperature of the moxibustion part is controlled within the preset threshold range.
9. The automatic moxibustion method by moxibustion robot according to claim 8,
in S1, the moxibustion robot moves the mechanical arm to the vicinity of the part to be moxibustion according to the part to be moxibustion detected by the image sensor and controls the distance between the moxa column and the part to be moxibustion to moxibustion the part to be moxibustion at the distance of 10cm according to the value detected by the distance measuring sensor.
10. The automatic moxibustion method by moxibustion robot according to claim 8,
the preset threshold range of the moxibustion part temperature is 38-40 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211360741.1A CN115887206A (en) | 2022-11-02 | 2022-11-02 | Moxibustion robot and automatic moxibustion method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211360741.1A CN115887206A (en) | 2022-11-02 | 2022-11-02 | Moxibustion robot and automatic moxibustion method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100030333A (en) * | 2008-09-10 | 2010-03-18 | 이재경 | Stand for moxa treatment utensil |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
| CN110693709A (en) * | 2019-11-21 | 2020-01-17 | 四川大学 | Temperature control system and method applied to moxibustion device |
| CN211301135U (en) * | 2019-12-30 | 2020-08-21 | 深圳市汉伟智能技术有限公司 | Moxibustion therapy robot |
| CN113246132A (en) * | 2021-05-28 | 2021-08-13 | 上海禾苗创先智能科技有限公司 | Control method and device of moxibustion physiotherapy robot, computer equipment and storage medium |
| CN113332138A (en) * | 2021-07-20 | 2021-09-03 | 上海盛益精密机械有限公司 | Full-automatic moxibustion instrument based on mechanical arm and moxibustion method |
-
2022
- 2022-11-02 CN CN202211360741.1A patent/CN115887206A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100030333A (en) * | 2008-09-10 | 2010-03-18 | 이재경 | Stand for moxa treatment utensil |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
| CN110693709A (en) * | 2019-11-21 | 2020-01-17 | 四川大学 | Temperature control system and method applied to moxibustion device |
| CN211301135U (en) * | 2019-12-30 | 2020-08-21 | 深圳市汉伟智能技术有限公司 | Moxibustion therapy robot |
| CN113246132A (en) * | 2021-05-28 | 2021-08-13 | 上海禾苗创先智能科技有限公司 | Control method and device of moxibustion physiotherapy robot, computer equipment and storage medium |
| CN113332138A (en) * | 2021-07-20 | 2021-09-03 | 上海盛益精密机械有限公司 | Full-automatic moxibustion instrument based on mechanical arm and moxibustion method |
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