CN216985672U

CN216985672U - Automatic moxibustion device

Info

Publication number: CN216985672U
Application number: CN202121273896.2U
Authority: CN
Inventors: 郭林鑫; 孙宇豪; 左华华
Original assignee: Shanghai Yudi Intelligent Technology Co ltd
Current assignee: Shanghai Yudi Intelligent Technology Co ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2022-07-19
Anticipated expiration: 2031-06-08

Abstract

The utility model provides an automatic moxibustion device. The automatic moxibustion device comprises: the moxa stick clamping device comprises a walking part, a moxa stick clamping part and a mechanical arm connected between the walking part and the moxa stick clamping part; wherein, moxa stick clamping part includes: the shell is provided with a moxa stick conveying channel; the vertical movement mechanism is arranged on one side of the moxa stick conveying channel and is provided with a sliding block; and the moxa stick clamping mechanism is connected with the sliding block and corresponds to the moxa stick conveying channel. Can realize automatic moxa-moxibustion, need not manual operation and accomplish the moxa-moxibustion, improve the moxa-moxibustion effect.

Description

Automatic moxibustion device

Technical Field

The utility model relates to the technical field of moxibustion, in particular to an automatic moxibustion device.

Background

Currently, most of the existing moxibustion methods are manual operation, that is, an operator holds an ignited moxa stick with hand and places the moxa stick on a part needing to be roasted. Of course, there are also some devices to assist moxibustion. However, these devices generally comprise a container for holding the moxa roll, the exterior of the container being provided with a handle; the moxa stick is ignited in the container and then placed on the user where broil is desired.

Above-mentioned supplementary device of moxa-moxibustion equally needs manual operation control its and the distance between the human part, avoids the too big moxa-moxibustion temperature that leads to of distance not enough, perhaps apart from less and scald the user. Therefore, when the moxibustion is performed by manual operation, the moxibustion effect is poor, and the labor cost is high.

SUMMERY OF THE UTILITY MODEL

The utility model solves the problems of poor effect and high labor cost of artificial moxibustion.

In order to solve the above problems, an embodiment of the present invention provides an automatic moxibustion device, including: the moxa stick clamping device comprises a walking part, a moxa stick clamping part and a mechanical arm connected between the walking part and the moxa stick clamping part; wherein, moxa stick clamping part includes: the shell is provided with a moxa stick conveying channel; the vertical movement mechanism is arranged on one side of the moxa stick conveying channel and is provided with a sliding block; and the moxa stick clamping mechanism is connected with the sliding block and corresponds to the moxa stick conveying channel.

Compared with the prior art, the technical scheme has the following technical effects: the walking part can control the movement of the automatic moxibustion device; the mechanical arm can drive the moxa stick clamping device to move; moxa stick fixture can the centre gripping moxa stick, and vertical motion drives moxa stick clamping device and reciprocates in moxa stick transfer passage. Therefore, the automatic moxibustion device can realize the up-and-down movement of the automatic control moxa stick and control the distance between the moxa stick and the human body part, thereby realizing automatic moxibustion, improving the moxibustion effect and saving the manual labor.

In one embodiment of the present invention, the vertical movement mechanism includes: the lead screw assembly is vertically arranged on one side of the moxa stick conveying channel and is provided with a moving surface facing the moxa stick conveying channel; the sliding block is arranged on the motion surface; and the driver is connected to one side, far away from the shell, of the screw rod assembly.

The technical effect achieved by adopting the technical scheme is as follows: the driver drives the screw rod assembly to move up and down in the vertical direction, the moving surface of the screw rod assembly faces the moxa stick conveying channel, and the sliding block can drive the moxa stick clamping mechanism to move up and down.

In one embodiment of the present invention, the automatic moxibustion device further includes: and the blocking piece is covered on the motion surface and clamped between the sliding block and the moxa stick clamping mechanism.

The technical effect achieved by adopting the technical scheme is as follows: the baffle piece covers the motion surface, smoke generated by igniting moxa sticks can be prevented from entering the inside of the screw rod assembly, and a screw rod and a sliding block in the screw rod assembly are protected from being polluted by the smoke.

In one embodiment of the present invention, the automatic moxibustion device further includes: the two position sensors are respectively arranged at two opposite ends of the vertical movement mechanism; and the induction piece is matched with the two position sensors and connected with the moxa stick clamping mechanism.

The technical effect achieved by adopting the technical scheme is as follows: the two position sensors limit the movement range of the moxa stick clamping mechanism on the vertical movement mechanism; thereby being capable of precisely controlling the movement of the moxa stick clamping mechanism.

In one embodiment of the utility model, the shell is also provided with a plurality of mounting positions surrounding the moxa stick conveying channel; the vertical movement mechanism is arranged at a first installation position in the plurality of installation positions; the automatic moxibustion device further comprises: at least one distance sensor respectively mounted at a plurality of second mounting locations of the plurality of mounting locations.

The technical effect achieved by adopting the technical scheme is as follows: the distance sensor can detect the distance between the moxibustion clamping part and a part needing moxibustion, namely the distance between the ignited moxa stick and the part; therefore, the vertical motion mechanism can control the moxa stick clamping mechanism to drive the ignited moxa stick to move, so that the distance between the ignited moxa stick and the part is proper.

In one embodiment of the utility model, the walking part is provided with a walking side and an arm connecting side which are opposite; wherein, the arm connecting side is provided with an inclined mounting surface; the robotic arm is mounted to the angled mounting surface.

The technical effect achieved by adopting the technical scheme is as follows: the inclined mounting surface can increase the action range of the mechanical arm.

In one embodiment of the utility model, the walking part is provided with an arm connecting side; further comprising: and the ash wiping part is arranged on the arm connecting side.

The technical effect achieved by adopting the technical scheme is as follows: automatic moxibustion device is in the use, when the moxa stick that ignites need wipe the ash, can be through rotating robotic arm and wipe the ash action at this ash portion of wiping automatically, can accomplish unmanned on duty, full automation moxa-moxibustion.

In one embodiment of the present invention, the ash wiping part includes: the ash wiping device comprises an ash wiping cavity and a plurality of ash wiping needles arranged in the ash wiping cavity.

The technical effect achieved by adopting the technical scheme is as follows: and controlling the mechanical arm to drive the moxa stick clamping part to rotate, enabling the end part of the ignited moxa stick to extend into the ash wiping cavity and rub with the ash wiping needle, and collecting the wiped ash in the ash wiping cavity.

In one embodiment of the utility model, the walking part is provided with opposite moxibustion side and back side; further comprising: a weight block disposed on the back side of the walking part.

The technical effect achieved by adopting the technical scheme is as follows: robotic arm in during the moxa-moxibustion side action, the balancing weight can guarantee automatic moxibustion device's steadiness.

In one embodiment of the utility model, the mechanical arm is provided with a vertically downward connecting end; further comprising: the arm adapter is connected between the connecting end and the moxa stick clamping part.

The technical effect achieved by adopting the technical scheme is as follows: robotic arm with through the arm adapter switching between the moxa stick clamping part, can improve the flexibility ratio of moxa stick clamping part.

In summary, the above embodiments of the present application may have one or more of the following advantages or benefits: i) the height of the ignited moxa stick can be automatically controlled, so that the distance between the ignited moxa stick and a part needing moxibustion is adjusted, automatic moxibustion is realized, the moxibustion effect is improved, and the labor cost is saved; ii) capable of protecting the lead screw assembly; iii) the distance between the ignited moxa roll and the part needing moxibustion can be accurately determined, so that the vertical movement mechanism can be better controlled, and the movement of the moxa roll clamping part can be adjusted.

Drawings

Fig. 1 is a schematic view of an automatic moxibustion device 200 according to an embodiment of the present invention.

Fig. 2 is a side view of the automatic moxibustion device 200 shown in fig. 1.

Fig. 3 is a schematic structural view of the ash wiping part 260 in fig. 1.

Fig. 4 is a schematic view illustrating the connection between the moxa roll holding portion 100 and the arm adapter 110 in fig. 2.

Fig. 5a is a schematic structural view of the arm adapter 110 in fig. 4 from a viewing angle.

Fig. 5b is a schematic structural diagram of the arm adapter 110 in fig. 4 from another view angle.

Fig. 6 is a schematic structural view of the moxa roll holding part 100 in fig. 4.

Fig. 7 is a bottom view of the moxa roll holder 100 shown in fig. 6.

Fig. 8 is a schematic view of the internal structure of the moxa roll holding part 100 shown in fig. 6.

Fig. 9a is a schematic structural diagram of the housing 10 in fig. 8.

Fig. 9b is a bottom view of the housing 10 shown in fig. 8.

Fig. 10 is a schematic view showing the connection between the vertical movement mechanism 30 and the moxa stick holding mechanism 50 in fig. 8.

200 is an automatic moxibustion device; 100 is a moxa stick clamping part; 110 is an arm adapter; 111 is an arm connecting surface; 112 is a first projecting arm; 114 is a first threading opening; 115 is an image collector; 120 is a line-containing space; 121 is a first opening; 210 is a walking part; 220 is the arm connecting side; 221 is an inclined mounting surface; 222 is a horizontal mounting surface; 230 is the walking side; 231 is a travelling wheel; 240 is moxibustion side; 250 is the back side; 251 is a balancing weight; 260 is a dust wiping part; 261 is ash wiping cavity; 262 is a dust-wiping needle; 290 is a mechanical arm; 291 is a connecting end;

10 is a shell; 11 is a moxa stick conveying channel; 12 is a first mounting position; 13 is a second mounting position; 14 is a third mounting position; 21 is a second opening; 22 is a second projecting arm; 23 is a connecting groove; 24 is a second threading opening; 30 is a vertical movement mechanism; 31 is a screw rod component; 32 is a driver; 35 is a baffle piece; 36 is a connecting plate; 37 is a position sensor; 40 is a distance sensor; 41 is a moxa stick sensor; 50 is a moxa stick clamping mechanism; 51 is a clamping connecting piece; 51a is a sensing piece; 52 is a clamping sleeve; 90 is a protective sleeve;

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 1, it is a schematic structural view of an automatic moxibustion device provided by the present invention. The automatic moxibustion device 200 includes, for example: a moxa roll holding part 100, a walking part 210 and a robot arm 290 connected therebetween.

The automatic moxibustion device 200 moves to a target position through the walking part 210, the robot arm 290 can drive the moxa stick holding part 100 to rotate to a certain part of the human body requiring moxibustion, and the moxa stick holding part 100 holds the ignited moxa stick and keeps a proper distance from the certain part, thereby performing moxibustion.

In one embodiment, the walking part 210 is further provided with a dust wiping part 260. In the moxibustion process, the control robot 290 can drive the moxa roll holder 100 to rotate to the ash wiping part 260, and the ash wiping part 260 wipes off the excessive ash. Avoid dropping at the in-process ashes of moxa-moxibustion, scald the user.

Specifically, referring to fig. 2, the walking part 210 is provided with, for example, an arm connecting side 220; a robot arm 290 is connected to the arm connection side 220. For example, the arm connecting side 220 may be located at the top of the walking portion 210, opposite the walking side 230 of the walking portion 210 at the bottom. The traveling side 230 is provided with a traveling wheel 231, for example, and a driving motor may be disposed in the traveling part 210, and the driving motor drives the traveling wheel 231 to rotate so as to realize the movement of the traveling part 210.

In one embodiment, the walking portion 210 is further provided with opposing moxibustion sides 240 and a back side 250. Wherein the robot arm 290 is connected to the arm connecting side 220 near the moxibustion side 240. For example, the moxibustion side 240 is the front side of the walking part 210, and the robot arm 290 moves the moxibustion clamping part 100 on the moxibustion side 240.

The arm connecting side 220 is connected to the robot arm 290 at a position of the inclined mounting surface 221, and may be inclined downward from the middle of the arm connecting side 220 toward the moxibustion side 240, for example. The inclined mounting surface 221 can increase the operating radius of the robot arm 290, and thus the operating range of the automatic moxibustion device 200 is wider when the traveling unit 210 is stationary.

In order to avoid the unstable center of gravity of the automated moxibustion device 200 when the robot arm 290 is extended away from the back side 250, there is a possibility that the automated moxibustion device 200 may be tilted toward the moxibustion side 240, or may be toppled. In one embodiment, the automatic moxibustion device 200 further includes, for example, a weight 251, the weight 251 being disposed on the back side 250 of the walking part 210; this balancing weight 251 can solve the above problems and ensure the stability of the use of the automatic moxibustion device 200. For example, the weight 251 is disposed at the center of the walking part 210 on the back side 250, or at a position with a lower center; in order to keep the weight 251 as far away from the moxibustion side 240 as possible, the weight 251 may be disposed closely to the inner wall of the housing of the walking part 210, which is not described herein.

With continued reference to fig. 2, the robot arm 290 is provided with a connecting end 291 for connecting the moxa stick holding portion 100, the connecting end 291 is connected with the arm adapter 110, and the arm adapter 110 is connected with the moxa stick holding portion 100. The connection end 291 may be disposed vertically downward, and the moxa roll holding portion 100 is connected to a side of the connection end 291 away from the walking portion 210 through the arm adapter 110.

Referring to fig. 3, the ash wiping part 260 is provided with an ash wiping cavity 261, for example, and a plurality of ash wiping needles 262 are provided in the ash wiping cavity 261. The plurality of ash scraping needles 262 are connected in an array in the ash scraping cavity 261, for example, a circular area is arranged in the middle of the ash scraping cavity 261, and the plurality of ash scraping needles 262 are circumferentially arranged around the circular area.

In one embodiment, the arm connecting side 220 of the walking part 210 is provided with a horizontal mounting surface 222 near the back side 250, and the dust wiping part 260 is provided on the horizontal mounting surface 222. For example, the horizontal mounting surface 222 of the walking part 210 is provided with a groove, and the dust wiping part 260 is sleeved in the groove.

Referring to fig. 4, a wire accommodating space 120 is provided between the arm adapter 110 and the moxa stick holding portion 100. The arm adapter 110 and the moxa stick clamping portion 100 are provided with electric devices, for example, and the electric devices are electrically connected with a control circuit board arranged in the walking portion 210 through a circuit; for routing convenience, the lines are collected in the line-containing space 120 and then connected to the inside of the walking part 210 along the robot 290.

Referring to figures 5a and 5b, the arm adapter 110 is provided with, for example, cavities into which electrical components can be mounted. The arm adapter 110 further includes two first protruding arms 112, and a first opening 121 is formed between the two first protruding arms 112; the arm adapter 110 further has a first threading opening 114 formed between the two first extension arms 112, and the first threading opening 114 communicates the cavity with the first opening 121.

In one embodiment, the arm adapter 110 has an arm connecting surface 111 connected to the robot arm 290, and an opening capable of exposing the cavity is disposed on the other surface opposite to the arm connecting surface 111, and an image collector 115 is disposed in the cavity, and the image collector 115 is exposed in the opening to collect an image directly below the robot arm 290. That is, when the automatic moxibustion device 200 performs moxibustion, the image collector 115 is, for example, a camera for obtaining a moxibustion image.

Referring to fig. 6, the moxa stick holder 100 includes, for example, a case 10, a housing chamber for mounting electric devices is provided in the case 10, and a protective cover 90 is fitted over the case 10 to protect the electric devices. The housing 10 is provided with two second protruding arms 22, and a second opening 21 is formed between the two second protruding arms 22; the housing 10 further has a second threading opening 24 between the two second extending arms 22.

When the two second protruding arms 22 are respectively connected with the two first protruding arms 112 in a matching manner, the first opening 121 and the second opening 21 are matched to form the line-receiving opening 120. Wherein, the circuit of the electric device arranged in the moxa stick clamping part 100 is arranged in the thread containing opening 120 through the second thread passing opening 24; the wires of the electrical devices in the arm adapter 110 are routed through the first threading opening 114 and into the thread receiving opening 120. The two lines are combined and connected to the walking part 210 via the robot 290, which is not described herein.

Referring to fig. 7, 8, 9a and 9b, the casing 10 is provided with a moxa stick conveying path 11, and the moxa stick conveying path 11 is provided at an intermediate position of the casing 10, for example, and is provided as the accommodating chamber around the moxa stick conveying path 11. The containing cavity comprises a plurality of mounting positions arranged around the moxa stick conveying channel 11. The plurality of mounting locations are used, for example, for mounting the electric devices of the moxa stick holding part 100.

Wherein the plurality of mounting locations comprises a first mounting location 12 and at least one second mounting location 13. The side of the moxa stick holder 100 opposite to the protective sleeve 90 is the working side, which faces the part of the human body requiring moxibustion. The moxa stick conveying channel 11 and the second mounting position 13 penetrate from the inside of the accommodating cavity to the working side, and are exposed with openings.

Specifically, the electric devices provided in the moxa roll holding portion 100 include, for example, the vertical movement mechanism 30, at least one distance sensor 40, and the moxa roll holding mechanism 50 connected to the vertical movement mechanism 30. The vertical movement mechanism 30 is arranged at the first installation position 12, and the moxa stick clamping mechanism 50 is over against the moxa stick conveying channel 11; the distance sensor 40 is mounted to the second mounting location 13.

The moxa stick clamping mechanism 50 is used for clamping moxa sticks, and the vertical movement mechanism 30 drives the moxa stick clamping mechanism 50 and the moxa sticks to move up and down in the vertical direction through the moxa stick conveying channel 11; and the distance sensor 40 is used to detect the distance between the working side and the moxibustion part through the second mounting site 13.

In one embodiment, the electric device in the moxa roll holder 100 further includes, for example, two paired moxa roll sensors 41; the plurality of mounting positions further include two third mounting positions 14, the two third mounting positions 14 are respectively communicated with the moxa stick conveying channel 11, and the two moxa stick sensors 41 are respectively arranged on the two third mounting positions 14 and are paired with each other.

For example, one of the moxa stick sensors 41 is an infrared transmitter, and the other moxa stick sensor 41 is a paired infrared receiver; when the moxa roll holding mechanism 50 holds the ignited moxa roll for moxibustion, the moxa roll passes through the moxa roll feeding path 11, the moxa roll blocks the infrared signal emitted from the infrared reflector, and the infrared receiver can receive the infrared signal when the moxa roll burns beyond the position of the third mounting position 14. At this time, the length of the moxa roll may be sensed.

Referring to fig. 10, the vertical movement mechanism 30 includes, for example: a screw rod assembly 31 and a driver 32 capable of driving the screw rod assembly 31 to move. One side of the screw rod assembly 31 facing the moxa stick conveying channel 11 is a moving surface, and the moxa stick clamping mechanism 50 is connected to the moving surface; this lead screw subassembly 31 still is equipped with the lead screw of vertical setting, with the sliding block that the lead screw matches. The driving force 32 is, for example, a servo motor that drives the screw rod to rotate, so that the slide block moves along the length direction of the screw rod.

The moxa roll holding mechanism 51 includes, for example, a holding link 51 connected to the slide block, and a holding sleeve 52 detachably connected to the moxa roll link 51. The holding sleeve 52 can be connected with the moxa stick connecting piece 51 by screw threads, but other detachable connection modes can also be adopted.

In one embodiment, the lead screw assembly 30 further includes, for example, a barrier 35 that covers to the running surface. The barrier 35 is sandwiched between the clamping link 51 and the slide blocks.

With continued reference to fig. 10, a connecting plate 36 is also attached to one side of the lead screw assembly 30. Two ends of the connecting plate 36 in the vertical direction are respectively provided with a position sensor 37; and the moxa stick holding mechanism 51 is further provided with a sensing member 51a connected to the holding connection member 51. For example, when the moxa roll holding mechanism 51 moves on the lead screw assembly 30, the sensing member 51a moves between the two position sensors 37, and when moving to any one of the position sensors 37, it indicates that the moxa roll holding mechanism 51 has moved to the end of the lead screw assembly 30, and should move reversely.

The use of the automatic moxibustion device 200 according to this embodiment includes, for example: the moxibustion patient is in a horizontal state; moves to the vicinity of the moxibustion person through the traveling part 210. The moxa stick is held in the holding sleeve 52, then ignited, and connected to the holding link 51 through the moxa stick feeding passage 11 at the working side via the moxa stick holding sleeve 52. And then rotated by the robot arm 290 to move the moxa holder 100 to a proper position away from the moxibustion part of the moxibustion user for moxibustion. During moxibustion, the mechanical arm 290 can also rotate to move the moxibustion clamping part 100 to the ash wiping part 260 to wipe off excessive ash.

Wherein the connection lines of the driver 32, the position sensor 37, the distance sensor 40 and the moxa stick sensor 41 in the moxa stick holder 100 of the automatic moxibustion device 200 are all arranged in the thread accommodating space 120 through the second opening 21; the connection wires of the image collector 115 in the arm adapter 110 are disposed in the wire accommodating space 120 through the first opening 121. The lines of the plurality of electric devices are collected in the line accommodating space 120 and routed to the traveling part 210 along the robot arm 290, and are electrically connected to the controller provided inside the traveling part 210, respectively.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. An automatic moxibustion device, comprising: the moxa stick clamping device comprises a walking part, a moxa stick clamping part and a mechanical arm connected between the walking part and the moxa stick clamping part; wherein, moxa stick clamping part includes:

the shell is provided with a moxa stick conveying channel;

the vertical movement mechanism is arranged on one side of the moxa stick conveying channel and is provided with a sliding block;

and the moxa stick clamping mechanism is connected with the sliding block and corresponds to the moxa stick conveying channel.

2. The automatic moxibustion device according to claim 1, wherein the vertical movement mechanism comprises:

the lead screw assembly is vertically arranged on one side of the moxa stick conveying channel and is provided with a moving surface facing the moxa stick conveying channel; the sliding block is arranged on the motion surface;

and the driver is connected to one side, far away from the shell, of the screw rod assembly.

3. The automatic moxibustion device according to claim 2, further comprising:

and the baffle piece is covered on the motion surface and clamped between the sliding block and the moxa stick clamping mechanism.

4. The automatic moxibustion device according to claim 1, further comprising:

the two position sensors are respectively arranged at two opposite ends of the vertical movement mechanism;

and the induction piece is matched with the two position sensors and connected with the moxa stick clamping mechanism.

5. The automatic moxibustion device according to claim 1, wherein the housing is further provided with a plurality of mounting positions surrounding the moxa stick conveying passage; the vertical movement mechanism is arranged at a first installation position in the plurality of installation positions; the automatic moxibustion device further comprises:

at least one distance sensor respectively mounted at a plurality of second mounting locations of the plurality of mounting locations.

6. The automatic moxibustion device according to claim 1, wherein the walking part is provided with an arm connecting side;

wherein, the arm connecting side is provided with an inclined mounting surface; the robotic arm is mounted to the angled mounting surface.

7. The automatic moxibustion device according to claim 1, wherein the walking part is provided with an arm connecting side; further comprising:

and the ash wiping part is arranged on the arm connecting side.

8. An automatic moxibustion device according to claim 7, characterized in that said ash wiping part comprises:

the ash wiping device comprises an ash wiping cavity and a plurality of ash wiping needles arranged in the ash wiping cavity.

9. An automated moxibustion device according to claim 1, wherein the walking part is provided with opposite moxibustion and back sides; further comprising:

and the balancing weight is arranged on the back side of the walking part.

10. An automatic moxibustion device according to claim 1, wherein said robot arm is provided with a vertically downward connecting end; further comprising:

the arm adapter is connected between the connecting end and the moxa stick clamping part.