CN211067992U

CN211067992U - Automatic moxibustion robot arm

Info

Publication number: CN211067992U
Application number: CN201920755773.9U
Authority: CN
Inventors: 熊江华
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-24
Filing date: 2019-05-24
Publication date: 2020-07-24
Anticipated expiration: 2029-05-24

Abstract

The utility model discloses an automatic moxibustion robot arm, including support, support arm structure, control box and the moxa-moxibustion box that is used for placing the moxa-moxibustion strip, the support arm structure is installed on the top of support through the supporting seat, the support arm structure includes motor one, first support arm, motor two, second support arm, motor three and support, the support passes through the screw fixation on the mounting panel, and motor one is fixed mounting on the mounting panel, and is located between the support, the mounting panel can rotate relative to the supporting seat; the second motor is arranged on the outer side of the bracket and is connected with the lower end of the first supporting arm; the motor III is arranged at the lower end of the first support arm and is relatively positioned at the other side of the motor II; the second support arm is connected with the upper end of the first support arm in a relatively rotating mode, and the motor III is connected with the second support arm through a connecting rod; the moxibustion box is fixedly arranged at the tail end of the second support arm through a pin shaft, the first motor, the second motor and the third motor are respectively controlled by the control box, and the control box is arranged at the bottom of the support seat.

Description

Automatic moxibustion robot arm

Technical Field

The utility model belongs to the technical field of moxibustion instrument and specifically relates to an automatic moxibustion machine arm.

Background

At present, the existing human body moxibustion methods generally adopt manual methods to perform moving moxibustion, for example: mild moxibustion, bird pecking moxibustion, rotary moxibustion, indirect moxibustion, and the like; however, the manual operation is not so accurate in control of human hands and easy to fatigue due to long-time operation. Although some existing moxibustion instruments generally can only realize two-axis linkage, and a telescopic cylinder is used for controlling a moxibustion box to move up and down, the moxibustion box cannot move back and forth, so that a moxibustion effect of rotary moxibustion is not achieved, sparrow pecking moxibustion can only be achieved, various moxibustion modes cannot be achieved, and when other moxibustion methods are needed, the moxibustion instruments need to be moved manually to be matched, and full automation cannot be achieved. In addition, the existing moxibustion instrument (CN 203123004U) specially used for the rotary moxibustion drives the moxibustion box to rotate through a motor and gear set structure, so the rotary moxibustion is realized, but the rotary moxibustion needs to consume more moxa, only can be fixed in position, and the moxibustion cannot be automatically carried out according to the set moxibustion position, a moxibustion mode is intelligently and independently executed, and the function is single; the distance between the moxibustion box and the moxibustion receiving body needs to be manually adjusted, and automatic adjustment cannot be achieved. Meanwhile, some moxibustion equipment capable of realizing rotary moxibustion and sparrow pecking moxibustion exist, but the moxibustion equipment is huge, occupies more space, has a complex structure, and has the technical problems of high manufacturing cost and the like.

Therefore, improvements to the prior art are yet to be made.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an automatic moxa-moxibustion robotic arm aims at needing professional moxa-moxibustion doctor manual operation in solving current moxa-moxibustion, and moxa-moxibustion equipment can't realize full automatic operation, can not realize multiple moxa-moxibustion mode to and the structure is complicated, and is bulky, the many technical problem of occupation space.

In order to achieve the above purpose, the technical scheme of the utility model is as follows: an automatic moxibustion robot arm comprises a support, a support arm structure, a control box and a moxibustion box for placing moxibustion sticks, wherein the support arm structure is mounted at the top end of the support through a support seat, the support arm structure comprises a first motor, a first support arm, a second motor, a second support arm, a third motor and a support, the support is fixed on a mounting plate through screws, the first motor is fixedly mounted on the mounting plate and located between the supports, and the mounting plate can rotate relative to the support seat; the second motor is arranged on the outer side of the bracket and is connected with the lower end of the first supporting arm; the motor III is arranged at the lower end of the first support arm and is relatively positioned at the other side of the motor II; the second support arm is connected with the upper end of the first support arm in a relatively rotating mode, and the motor III is connected with the second support arm through a connecting rod; the moxibustion box is fixedly arranged at the tail end of the second support arm through a pin shaft, the first motor, the second motor and the third motor are respectively controlled by the control box, and the control box is arranged at the bottom of the support seat.

The automatic moxibustion robot arm comprises a control box, a camera and a moxibustion box, wherein the control box is connected with the control box, the camera is used for shooting the moxibustion position, and is installed on the moxibustion box and connected with the control box.

The automatic moxibustion robot arm further comprises a distance sensor for detecting the distance between the moxibustion box and the moxibustion receiving position, and the distance sensor is connected with the control box.

The automatic moxibustion robot arm further comprises a temperature sensor for detecting the temperature of the ignition part of the moxa roll, and the temperature sensor is connected with the control box.

The automatic moxibustion robot arm further comprises a control panel used for observing moxibustion tracks, moxibustion temperature and freely setting the moxibustion tracks by a user, and the control panel is connected with the control box.

Automatic moxa-moxibustion robot arm, wherein, still strengthen fixedly through taut screw between first support arm and the second support arm.

Automatic moxa-moxibustion machine arm, wherein, motor three is connected through the one end of pivot with the connecting rod, and the other end of connecting rod is connected with the head end of second support arm through the round pin axle, and motor three is along with first support arm swing.

Automatic moxibustion machine arm, wherein, the support includes base and support column, the lower extreme fixed mounting of support column on the base, the upper end and the supporting seat fixed connection of support column.

Automatic moxa-moxibustion robot arm, wherein, still be provided with the stopper that is used for restricting mounting panel rotation range on the supporting seat.

The automatic moxibustion robot arm further comprises an alarm used for alarming, and the alarm is connected with the control box.

Has the advantages that: the utility model discloses can realize the full-automatic moxa-moxibustion of desktop, realize multiple moxa-moxibustion mode to simple structure, small, occupation space is few. The utility model discloses a control box realizes all on the support to motor one, motor two and the three control of motor, the center of motor three, motor two and motor one, so first support arm and second support arm need not bear the weight of motor three in the wobbling, so the wearing and tearing of motor one have been alleviateed. The bracket, the first support arm and the second support arm are respectively driven by the motor, the motor II and the motor III, so that moxibustion modes such as rotary moxibustion, sparrow pecking moxibustion, mild moxibustion and the like can be realized by controlling the moxibustion strips in the moxibustion box, and moxibustion areas can be shot by the camera and fed back to the control box, so that moxibustion staff can directly observe the moxibustion condition from the control panel, the operation is convenient, and the moxibustion track is set; and the moxa stick that is used for the real-time detection moxa-moxibustion through temperature sensor lights partial temperature, according to the settlement temperature, adjusts the distance of moxa-moxibustion box, and distance sensor will detect the moxa-moxibustion distance feedback of settlement temperature to the control box, carries out the moxa-moxibustion by the control box according to the moxa-moxibustion distance again. During moxibustion, the moxa stick can be moved above the temperature sensor at random to detect the temperature of the ignition part of the moxa stick, when the detected temperature is overhigh, the moxa box can be controlled to rise, and when the temperature is insufficient, the moxa box can be controlled to fall; when the distance sensor detects that the moxibustion distance is lower than the alarm value, the control box controls the alarm to alarm and controls the robot arm to return to the original point. In addition, can detect the position of moxa-moxibustion box apart from the human body through distance sensor to give the control box with the detection distance feedback, make things convenient for the control box to control, perhaps feed back to control panel, be controlled according to individual demand by the moxibustion personnel.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a use placement diagram of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples.

As shown in fig. 1-2, the utility model discloses an automatic moxibustion robot arm, which comprises a support 1, a support arm structure 2, a control box 3 and a moxibustion box 4 for placing moxibustion sticks 14, wherein the support arm structure 5 is installed at the top end of the support 1 through the support 5, the support arm structure 2 comprises a first motor 20, a first support arm 23, a second motor 21, a second support arm 24, a third motor 22 and a support 25, the support 25 is fixed on a mounting plate 26 through screws, the first motor 20 is fixedly installed on the mounting plate 26 and is located between the supports 25, and the mounting plate 26 can rotate relative to the support 5; the second motor 21 is arranged on the outer side of the bracket 25 and is connected with the lower end of the first supporting arm 23; the third motor 22 is arranged at the lower end of the first support arm 23 and is relatively positioned at the other side of the second motor 22; the second support arm 24 is connected with the upper end of the first support arm 23 in a relative rotating manner, and the motor III 22 is connected with the second support arm 24 through the connecting rod 6; the moxibustion box 4 is fixedly arranged at the tail end of the second support arm 24 through a pin shaft 7, the first motor 20, the second motor 21 and the third motor 22 are respectively controlled by the control box 3, and the control box 3 is arranged at the bottom of the support seat 5.

Preferably, the support arm structure is further provided with a connecting rod assembly for keeping the moxibustion box balanced along with the swinging of the support arm structure, the connecting rod assembly comprises a first balance rod fixedly arranged on the support arm structure, a triangular connecting plate, a third balance rod and a second balance rod connected with the moxibustion box, the connecting plate is arranged in the second support arm and is respectively connected with one end of the third balance rod and one end of the second balance rod, and the other end of the second balance rod is connected with the first balance rod, so that after the structure is adopted, the support arm structure swings under the driving of the motor, and the moxibustion box can be kept balanced and is always in horizontal balance due to the adjustment of the connecting rod assembly.

After the structure of the oil adding device is adopted, the utility model discloses a second support arm passes through the connecting rod and is connected with motor three, so motor three can drive the swing of second support arm through the connecting rod, and motor three is installed in the side of first support arm, can be along with the swing of first support arm, so motor three's gravity is born by the support, make motor three need not directly to be connected with the second support arm, lightened motor one at the during operation, the strength that needs to bear, let motor one more durable, motor two installs the one side at the support, and be connected with first support arm through the pivot, so motor two can the first support arm of direct drive, motor one installs on the mounting panel of self-love, so can drive the relative supporting seat rotation of mounting panel, so can drive the relative supporting seat rotation of whole support arm. Therefore the utility model discloses under the control of control box, can realize circling round the moxibustion, the moxa-moxibustion can be accomplished according to the moxa-moxibustion procedure of setting for in whole multiple moxa-moxibustion modes such as sparrow pecking moxibustion and gentle moxibustion, realizes full-automatic moxa-moxibustion, and the moxa-moxibustion doctor who does not need to have moxa-moxibustion knowledge can all realize the moxa-moxibustion, has saved the cost of moxa-moxibustion, and receives the moxibustion personnel can oneself the operation. In addition, whole moxa-moxibustion robot arm simple structure, small occupation space is little.

Preferably, the utility model discloses a robotic arm sets for the initial point position, and motor 20 sets for pivoted angle, and the turned angle is preferred 0-180 degrees, so can effectually prevent that robotic arm from hurting the people of moxa-moxibustion bed when the wobbling. Preferably, the control box 3 is further provided with an emergency button for controlling emergency reset of the moxibustion robot arm, so that the emergency button can be pressed for reset when the user needs to reset the robot arm, or the emergency button can be pressed for resetting the robot arm when the abnormality of the robot arm is found.

The automatic moxibustion robot arm further comprises a camera 8 for shooting moxibustion positions, wherein the camera 8 is mounted on the moxibustion box 4 and connected with the control box 3; therefore, the moxibustion receiving area of the moxibustion receiving personnel or the moxibustion receiving condition can be shot through the camera, the moxibustion receiving personnel can operate conveniently, and the moxibustion track is planned on the control panel according to the shot pictures.

The automatic moxibustion robot arm further comprises a distance sensor 9 for detecting the distance between the moxibustion box and a moxibustion receiving position, and the distance sensor 9 is connected with the control box 3; therefore, the distance sensor can detect the distance between the moxibustion box and the moxibustion position of the human body, and then feeds data back to the control box, so that the control of the robot arm is conveniently carried out in the control, and meanwhile, the data can also be fed back to the control panel to allow moxibustion workers to operate the moxibustion box by themselves.

The automatic moxibustion robot arm further comprises a temperature sensor 10 for detecting the surface temperature of the burning part of the moxa roll, wherein the temperature sensor 10 is connected with the control box 3; the temperature of the moxa roll can be detected, and when the detected temperature is higher or lower than the set moxibustion temperature, the control box controls the third motor to move the moxibustion box to a proper position.

Preferably, the bottom of the temperature sensor 10 is provided with a suction cup 13, and the temperature sensor 10 can be attached to the human body through the suction cup 13.

The automatic moxibustion robot arm further comprises a control panel 11 used by a user for observing moxibustion tracks, moxibustion temperature and freely setting the moxibustion tracks, wherein the control panel 11 is connected with the control box 3; so receive the condition that moxibustion personnel can observe the moxa-moxibustion through control panel, the temperature of moxa-moxibustion, the moxa-moxibustion orbit, oneself sets for the moxa-moxibustion temperature, sets for the moxa-moxibustion mode, can also oneself set for the moxa-moxibustion orbit.

The automatic moxibustion robot arm is characterized in that the first support arm 23 and the second support arm 24 are fixedly reinforced through the tensioning screw 12, so that the first support arm 23 and the second support arm 24 are firmer and not easy to loosen.

In the automatic moxibustion robot arm, the motor III 22 is connected with one end of the connecting rod 6 through a rotating shaft, the other end of the connecting rod 3 is connected with the head end of the second support arm 24 through a pin shaft, and the motor III 22 swings along with the first support arm 23; therefore, the gravity center of the motor III can be shifted, the tension on the motor I is reduced, and the service life of the motor I is prolonged.

The automatic moxibustion robot arm comprises a support 1, a support base and a support column, wherein the support base comprises a base 100 and a support column 101, the lower end of the support column 101 is fixedly arranged on the base 100, and the upper end of the support column 101 is fixedly connected with a support base 5; preferably, universal wheels can be further mounted at the bottom of the base 5, the support can be conveniently moved, and the universal wheels can be locked.

In the automatic moxibustion robot arm, the support base 5 is also provided with a limiting block for limiting the rotation range of the mounting plate; the motor three-rotation limiting device is used for limiting the rotation range of the motor three, can play a role in protection, and prevents a moxibustion robot arm from hurting people beside the moxibustion robot arm in work.

The automatic moxibustion robot arm further comprises an alarm (not shown) for alarming, the alarm is connected with the control box 3, when the detection temperature detected by the temperature sensor is higher than the alarm temperature, the control box controls the alarm to alarm, and meanwhile, the robot arm is controlled to return to the initial position.

Preferably, the first motor 20, the second motor 21, the third motor 22 and the control box of the present invention may be powered by commercial power, or may be powered by a rechargeable battery, or by other power supply systems.

The working principle is as follows: firstly, a moxibustion receiving body 15 lies on a moxibustion bed 16 and lies on the stomach, a temperature sensor 10 is attached to the back of the moxibustion receiving body, the moxibustion receiving body 15 holds a control panel 11, a moxibustion instrument is started, and a moxibustion mode and a moxibustion track are set according to the moxibustion receiving body 15 and freely selected; when the moxibustion mode and the moxibustion track are selected, the control box controls the support arm structure to move the moxibustion box above the temperature sensor, the temperature sensor detects the temperature of the ignition part of the moxa stick, when the temperature sensor detects that the temperature is higher than the set temperature, the control motor three pulls the connecting rod to further raise the moxibustion box until the temperature reaches the set temperature, when the temperature is detected to be lower than the set temperature, the moxibustion box is lowered until the detected temperature is equal to the set temperature, the distance sensor detects the distance between the current moxa stick and the sensor and feeds the distance back to the control box, and the control box controls the support arm structure to automatically complete moxibustion according to the set moxibustion mode and the moxibustion track according to the moxibustion distance corresponding to the set temperature; when the distance detected by the distance sensor is lower than a set alarm value, the control box controls the alarm to alarm, and meanwhile, the moxibustion receiving body can press the emergency button to quickly restore the moxibustion instrument to the initial position and close the moxibustion instrument. In addition, the moxibustion receiving body can set the moxibustion mode and the moxibustion track on the control panel according to the moxibustion receiving photo shot by the camera, and the moxibustion height is adjusted by self by matching the distance data detected by the distance sensor and the temperature detected by the temperature sensor.

The utility model discloses can realize the full-automatic moxa-moxibustion of desktop, realize multiple moxa-moxibustion mode to simple structure, small, occupation space is few. The utility model discloses a control box realizes all on the support to motor one, motor two and the three control of motor, the center of motor three, motor two and motor one, so first support arm and second support arm need not bear the weight of motor three in the wobbling, so the wearing and tearing of motor one have been alleviateed. The bracket, the first support arm and the second support arm are respectively driven by the motor, the motor II and the motor III, so that moxibustion modes such as rotary moxibustion, sparrow pecking moxibustion, mild moxibustion and the like can be realized by controlling the moxibustion strips in the moxibustion box, and moxibustion areas can be shot by the camera and fed back to the control box, so that moxibustion staff can directly observe the moxibustion condition from the control panel, the operation is convenient, and the moxibustion track is set; and the moxa stick that is used for the real-time detection moxa-moxibustion through temperature sensor lights partial temperature, according to the settlement temperature, adjusts the distance of moxa-moxibustion box, and distance sensor will detect the moxa-moxibustion distance feedback of settlement temperature to the control box, carries out the moxa-moxibustion by the control box according to the moxa-moxibustion distance again. During moxibustion, the moxa stick can be moved above the temperature sensor at random to detect the temperature of the ignition part of the moxa stick, when the detected temperature is overhigh, the moxa box can be controlled to rise, and when the temperature is insufficient, the moxa box can be controlled to fall; when the distance sensor detects that the moxibustion distance is lower than the alarm value, the control box controls the alarm to alarm and controls the robot arm to return to the original point. In addition, can detect the position of moxa-moxibustion box apart from the human body through distance sensor to give the control box with the detection distance feedback, make things convenient for the control box to control, perhaps feed back to control panel, be controlled according to individual demand by the moxibustion personnel.

The above is a preferred embodiment of the present invention, and certainly not to limit the scope of the present invention, it should be noted that, for those skilled in the art, modifications or equivalent substitutions of the technical solutions of the present invention without creative efforts may not depart from the protection scope of the technical solutions of the present invention.

Claims

1. An automatic moxibustion robot arm is characterized by comprising a support (1), a support arm structure (2), a control box (3) and a moxibustion box (4) for placing moxibustion sticks, wherein the support arm structure (2) is installed on the support (1) through a support seat (5), the support arm structure (2) comprises a first motor (20), a first support arm (23), a second motor (21), a second support arm (24), a third motor (22) and a support (25), the support (25) is fixed on a mounting plate (26), and the first motor (20) drives the mounting plate (26) to rotate relative to the support seat (5); the second motor (21) is arranged on the outer side of the bracket (25) and is connected with the lower end of the first supporting arm (23); the motor III (22) is arranged on the first support arm (23) and is relatively positioned on the other side of the motor II (21); the second support arm (24) is connected with the upper end of the first support arm (23) in a relatively rotating mode, and the motor III (22) is connected with the second support arm (24) through a connecting rod (6); the moxibustion box (4) is fixedly arranged at the tail end of the second support arm (24) through a pin shaft (7), the motor I (20), the motor II (21) and the motor III (22) are respectively controlled by the control box (3), the moxibustion box further comprises a camera (8) used for shooting the moxibustion position, and the camera (8) is arranged on the moxibustion box (4) and connected with the control box (3); the distance sensor (9) is used for detecting the distance between the moxibustion box and a moxibustion receiving position, and the distance sensor (9) is connected with the control box (3); the moxa stick ignition device also comprises a temperature sensor (10) for detecting the temperature of the moxa stick ignition part, and the temperature sensor (10) is connected with the control box (3).

2. An automatic moxibustion robot arm according to claim 1, further comprising a control panel (11) for a user to observe moxibustion trajectory, moxibustion temperature, and to freely set moxibustion trajectory, said control panel (11) being connected to the control box (3).

3. An automatic moxibustion robot arm according to claim 1, characterized in that the first arm (23) and the second arm (24) are further fixed by tightening screws (12).

4. An automatic moxibustion robot arm according to claim 1, characterized in that the motor three (22) is connected with one end of the connecting rod (6) through a rotating shaft, the other end of the connecting rod (6) is connected with the head end of the second supporting arm (24) through a pin shaft, and the motor three (22) swings along with the first supporting arm (23).

5. An automatic moxibustion robot arm according to claim 1, characterized in that the support (1) comprises a base (100) and a support column (101), the lower end of the support column (101) is fixedly installed on the base (100), and the upper end of the support column (101) is fixedly connected with the support base (5).

6. An automatic moxibustion robot arm according to claim 1, characterized in that the supporting base (5) is further provided with a limiting block for limiting the rotation range of the mounting plate.

7. An automatic moxibustion robot arm according to claim 1, characterized by further comprising an alarm for alarming, wherein the alarm is connected with the control box (3).