CN112641625A - Intelligent moxibustion robot - Google Patents

Abstract

The invention discloses an intelligent moxibustion robot, which comprises: the moxibustion head device comprises a moving device, a joint robot and a moxibustion head device, wherein the moving device comprises a moving vehicle body, an emergency lifting mechanism arranged in the bottom of the moving vehicle body and a pulley mechanism arranged on the bottom surface of the moving vehicle body, the emergency lifting mechanism is provided with a telescopic lifting end capable of moving up and down relative to the moving vehicle body, and the telescopic lifting end can move down to the position below the pulley mechanism; the joint robot is arranged on the movable vehicle body and is provided with an execution tail end; the moxibustion head device is arranged at the execution tail end. If the moxibustion physiotherapy in-process is unusual, when the joint robot can not get back to safe position fast or can not respond rapidly, the flexible lifting end on the urgent lifting mechanism down extends to pulley mechanism's below fast, can lift the removal automobile body fast for the moxibustion head device breaks away from physiotherapy patient's health, avoids causing the serious injury to the human body, and then can accomplish the moxibustion process safely high-efficiently.

Description

Intelligent moxibustion robot

Technical Field

The invention relates to the technical field of moxibustion physiotherapy, in particular to an intelligent moxibustion robot.

Background

Moxibustion is a moxibustion method in the acupuncture therapy of traditional Chinese medicine, which is a treatment method for achieving the purposes of preventing and treating diseases by stimulating acupuncture points or specific parts on the body surface by moxa heat generated by moxa materials made of folium artemisiae argyi and regulating physiological and biochemical functions of human body disorder by exciting the activity of meridian qi. The common method is suspension moxibustion, including mild moxibustion, sparrow-pecking moxibustion and rotary moxibustion, in the traditional moxibustion treatment process, a medical worker generally holds a moxibustion box by hand to aim at corresponding acupuncture points for moxibustion or moxibustion along meridians for a period of time, the medical worker needs to adjust the distance according to the feeling of a patient on the combustion temperature of a moxa column, so that the difficulty and labor intensity of moxibustion treatment are correspondingly increased, the operation process is time-consuming and labor-consuming and is not beneficial to fully utilizing medical resources, and in order to solve the problem, an intelligent moxibustion robot is necessary to execute a repetitive moxibustion operation flow. The existing moxibustion robot has low safety performance, and if abnormality occurs in the moxibustion physiotherapy process, the robot cannot quickly return to a safe position or cannot quickly respond, so that serious injury to a human body can be caused.

Disclosure of Invention

The invention aims to provide an intelligent moxibustion robot, which aims to solve one or more technical problems in the prior art and at least provide a beneficial choice or creation condition.

The technical scheme adopted for solving the technical problems is as follows:

an intelligent moxibustion robot, comprising: the moxibustion head device comprises a moving device, a joint robot and a moxibustion head device, wherein the moving device comprises a moving vehicle body, an emergency lifting mechanism arranged in the bottom of the moving vehicle body and a pulley mechanism arranged on the bottom surface of the moving vehicle body, the emergency lifting mechanism is provided with a telescopic lifting end capable of moving up and down relative to the moving vehicle body, and the telescopic lifting end can move down to the position below the pulley mechanism; the joint robot is arranged on the movable vehicle body and is provided with an execution tail end; the moxibustion head device is arranged at the execution tail end.

The invention has the beneficial effects that: when the joint robot is used, the execution tail end on the joint robot controls the moxibustion head device to move above the body surface of a human body, so that the moxibustion head device executes a repetitive moxibustion operation flow; under the action of the pulley mechanism, medical personnel can push the movable vehicle body to move to a set position, and the position relation among the joint robot, a curer and the physiotherapy bed body is well adjusted, so that the physiotherapy bed body can be quickly and conveniently switched, the flexibility of the whole set of equipment is improved, and the working strength of the medical personnel is reduced; if the moxa-moxibustion physiotherapy in-process is unusual, when joint robot can not get back to safe position fast or can not respond rapidly, the flexible lifting end on the urgent lifting mechanism down extends pulley mechanism's below fast, under the conflict with the bottom surface, can lift the removal automobile body fast, thereby drive joint robot and up remove fast, make the moxibustion head device break away from physiotherapy patient's health, avoid causing the serious injury to the human body, and then can accomplish the moxibustion process safely high-efficiently.

In a further improvement of the above aspect, the articulated robot includes a base connected to the moving vehicle body, and a plurality of articulated arms, the plurality of articulated arms are connected to each other by electric joint driving, the execution end is provided on the articulated arm at the end, and the articulated arm at the start end is connected to the base. The plurality of joint arms can realize the motion of a plurality of degrees of freedom of the execution tail end, and each degree of freedom is driven by an electric joint, so that the internal structure of the joint robot is simplified.

As a further improvement of the technical scheme, the moxibustion head device comprises a moxibustion head body, a torque sensor, a temperature sensor, a distance sensor and a dragging trigger button, the torque sensor, the temperature sensor and the distance sensor dragging trigger button are arranged on the moxibustion head body, the moxibustion head body is connected with the execution tail end through the torque sensor, and the dragging trigger button is electrically connected with the joint robot.

The intelligent moxibustion robot comprises a torque dragging function, a height detection function and a temperature detection function, when a medical worker triggers the dragging function, the dragging function of the system is activated by pressing a dragging triggering button, a torque sensor transmits collected torque data to a control system, force and position hybrid control of the joint robot is achieved, and dragging teaching and collision detection functions of the joint robot are met; and accessible temperature sensor, distance sensor come real-time measurement human body surface acupuncture point, the distance between human body surface and the moxibustion head body, control system combines control algorithm control joint robot according to temperature sensor, distance sensor's data, along with physiotherapy patient's body profile undulation under the prerequisite of guaranteeing safety, ensure that the distance of moxibustion head body and physiotherapy patient's body surface keeps at effectual moxibustion distance, avoid physiotherapy patient to burn because of the moxa-moxibustion high temperature.

As a further improvement of the technical scheme, the moxibustion head body is connected with a dragging handle, the dragging trigger button is arranged on the dragging handle, the lower end of the moxibustion head body is provided with a heat-gathering cover, and the dragging handle is arranged at the upper end of the moxibustion head body.

When the moxibustion head body is dragged, the dragging trigger button can be pressed when the handle is dragged by a hand, so that the operation is convenient; gather hot cover and play the function of gathering heat, improve the effect of moxa-moxibustion physiotherapy.

As a further improvement of the above technical scheme, the quantity of distance sensor is a plurality of, and a plurality of distance sensor are the annular interval and set up in the periphery of the moxibustion head body, temperature sensor's quantity is a plurality of, and a plurality of temperature sensor are the annular interval and set up in the periphery of the moxibustion head body, temperature sensor and distance sensor are crisscross setting along the axial of the moxibustion head body.

More data can be gathered to a plurality of temperature sensor and distance sensor, and the control of control system is convenient for, ensures the safety of system, and temperature sensor is located the lower part of the moxibustion head body as the safety protection sensor, and distance sensor is located the upper portion of the moxibustion head body, can avoid both to cause the monitoring to interfere.

As a further improvement of the technical scheme, the outer side of the moxibustion head body is connected with a connecting framework, the torque sensor is installed on the connecting framework, and the torque sensor is connected with a switching flange connected with the execution tail end. This can improve the reliability of the connection of the moxibustion head body and the execution tip.

As a further improvement of the technical proposal, a protective shell is sleeved on the periphery of the moxibustion head body. The protective shell can protect each part on the moxibustion head body and avoid direct exposure and damage.

As a further improvement of the above technical solution, the mobile device includes an operation tablet computer, and the operation tablet computer is mounted on the mobile vehicle body through an adjustable bracket. When the multifunctional operating platform is used, the height and the angle of the operating panel computer can be adjusted through the adjustable support, and the operating panel computer can be conveniently controlled and operated, and the content on the operating panel computer can be conveniently observed and operated.

As a further improvement of the above technical solution, a handle and an operation display panel are mounted on the exterior of the moving vehicle body, and an electrical control assembly is disposed in the moving vehicle body. People can move the vehicle body through the handle.

As a further improvement of the above technical solution, the emergency lifting mechanism is an electric telescopic rod which is vertically arranged. At this moment, the lifting function can be realized by controlling the expansion and contraction of the electric telescopic rod, and the supporting seat is connected with the lower end of the electric telescopic rod.

Drawings

The invention is further described with reference to the accompanying drawings and examples;

fig. 1 is a schematic structural view of an embodiment of an intelligent moxibustion robot provided by the invention;

FIG. 2 is a schematic view of the moxibustion head device according to the present invention, showing an embodiment thereof;

FIG. 3 is a cross-sectional view of one embodiment of the mobile cart body of the present invention;

fig. 4 is a schematic view of an intelligent moxibustion robot provided by the invention in use.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 4, the intelligent moxibustion robot of the present invention makes the following embodiments:

the intelligent moxibustion robot of the embodiment comprises a moving device, ajoint robot 200 and amoxibustion head device 300, wherein the moving device comprises a movingvehicle body 100, an emergency lifting mechanism arranged in the bottom of the movingvehicle body 100, apulley mechanism 110 arranged on the bottom surface of the movingvehicle body 100, anoperating tablet computer 400 arranged on the movingvehicle body 100, ahandle 120 and anoperating display panel 130, anelectrical control component 140 is arranged in the movingvehicle body 100, the internal space of the movingvehicle body 100 is efficiently utilized, theoperating tablet computer 400 is mounted on the movingvehicle body 100 through anadjustable bracket 410, when in use, the height and the angle of theoperating tablet computer 400 can be adjusted through theadjustable bracket 410, the operation of theoperating tablet computer 400 and the observation of the contents on theoperating tablet computer 400 are facilitated, people can move thevehicle body 100 through thehandle 120, and thepulley mechanism 110 comprises a plurality of universal wheels with braking function, quick travel of intelligence moxibustion robot is convenient for practices thrift the manpower. In this embodiment, the emergency lifting mechanism is an electrictelescopic rod 150 disposed up and down, the electrictelescopic rod 150 is controlled by an emergency button on theoperation display panel 130, and at this time, the electrictelescopic rod 150 can be controlled to extend and retract to realize the lifting function, and the support base is connected to the lower end of the electrictelescopic rod 150.

The articulatedrobot 200 is mounted on the movingvehicle body 100, the articulatedrobot 200 includes abase 220 connected to themoving vehicle body 100, and a plurality of articulatedarms 230, the plurality of articulatedarms 230 are sequentially connected by electric joint driving, the articulatedarm 230 at the beginning is connected to thebase 220, the articulatedarm 230 at the end is provided with anexecution terminal 210, the plurality of articulatedarms 230 can realize the movement of a plurality of degrees of freedom of theexecution terminal 210, and each degree of freedom is driven by an electric joint, thereby simplifying the internal structure of the articulatedrobot 200, and the articulatedrobot 200 of the present embodiment includes six degrees of freedom.

Themoxibustion head device 300 comprises amoxibustion head body 310, amoment sensor 320, atemperature sensor 330, adistance sensor 340 and adragging trigger button 350, wherein themoxibustion head body 310 is connected with adragging handle 360, thedragging trigger button 350 is arranged on thedragging handle 360, the lower end of themoxibustion head body 310 is provided with a heat-collecting cover 370, thedragging handle 360 is arranged at the upper end of themoxibustion head body 310, and people can press thedragging trigger button 350 when holding thedragging handle 360 when dragging themoxibustion head body 310, so that the operation is convenient; gatherhot cover 370 and play the function of gathering heat, improve the effect of moxa-moxibustion physiotherapy.

Themoment sensor 320, thetemperature sensor 330, thedistance sensor 340 drag thetrigger button 350 to be installed on themoxibustion head body 310, themoxibustion head body 310 is connected with theexecution end 210 through themoment sensor 320, thedrag trigger button 350 is electrically connected with thejoint robot 200, specifically, the number of thedistance sensors 340 is a plurality, thedistance sensors 340 are arranged at the periphery of themoxibustion head body 310 at annular intervals, the number of thetemperature sensors 330 is a plurality, thetemperature sensors 330 are arranged at the periphery of themoxibustion head body 310 at annular intervals, thetemperature sensors 330 and thedistance sensors 340 are arranged in a staggered manner along the axial direction of themoxibustion head body 310, more data can be collected by thetemperature sensors 330 and thedistance sensors 340, the control of the system is convenient, the safety of the system is ensured, thetemperature sensors 330 are used as safety protection sensors and are located at the lower part of themoxibustion head body 310, thedistance sensor 340 is located at the upper part of themoxibustion head body 310, so that monitoring interference between the distance sensor and themoxibustion head body 310 can be avoided, the outer side of themoxibustion head body 310 is connected with a connectingframework 380, thetorque sensor 320 is installed on the connectingframework 380, and thetorque sensor 320 is connected with anadapter flange 321 connected with theexecution tail end 210. This may improve the reliability of the connection of themoxibustion head body 310 to the performingtip 210.

The intelligent moxibustion robot comprises a torque dragging function, a height detection function and a temperature detection function, when a medical worker triggers the dragging function, the system dragging function is activated by pressing adragging triggering button 350, thetorque sensor 320 transmits torque data to a control system by collecting the torque data, force and position hybrid control of thejoint robot 200 is achieved, and dragging teaching and collision detection functions of thejoint robot 200 are met; and the distance between the acupuncture points on the body surface of the human body and themoxibustion head body 310 can be measured in real time through thetemperature sensor 330 and thedistance sensor 340, the control system controls thejoint robot 200 according to the data of thetemperature sensor 330 and thedistance sensor 340 by combining with a control algorithm, the joint robot moves along with the body contour of the physical therapy patient on the premise of ensuring safety, the distance between themoxibustion head body 310 and the body surface of the physical therapy patient is ensured to be kept at an effective moxibustion distance, and the physical therapy patient is prevented from being burnt due to overhigh moxibustion temperature.

Further, aprotective casing 390 is sleeved on the outer circumference of themoxibustion head body 310. Theprotective shell 390 can protect the various components of themoxibustion head body 310 from direct exposure and damage.

When in use, theexecution terminal 210 on thejoint robot 200 controls themoxibustion head device 300 to move above the body surface of the human body, so that themoxibustion head device 300 executes a repetitive moxibustion operation flow; under the action of thepulley mechanism 110, medical staff can push themovable vehicle body 100 to move to a set position, and the position relation among thejoint robot 200, a therapist and a physiotherapy bed body is adjusted, so that the physiotherapy bed body can be switched quickly and conveniently, the flexibility of the whole set of equipment is improved, and the working strength of the medical staff is reduced; if unusual appears in moxa-moxibustion physiotherapy in-process, whenjoint robot 200 can not get back to safe position fast or can not respond rapidly, the flexible lifting end on the urgent lifting mechanism down extendspulley mechanism 110's below fast, under the conflict with the bottom surface, can liftremoval automobile body 100 fast, thereby drivejoint robot 200 and up remove fast, makemoxibustion head device 300 break away from physiotherapy patient's health, avoid causing the serious injury to the human body, and then can accomplish the moxibustion process safely high-efficiently.

In other embodiments, a remote controller can be configured, and the intelligent moxibustion robot can be controlled through the remote controller.

In some embodiments, the emergency lifting mechanism may be other driving mechanisms, such as a pneumatic cylinder, a hydraulic cylinder, or the like.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.

Claims (10)

1. The utility model provides an intelligence moxibustion robot which characterized in that: it includes:

the mobile device comprises a mobile vehicle body (100), an emergency lifting mechanism arranged in the bottom of the mobile vehicle body (100), and a pulley mechanism (110) arranged on the bottom surface of the mobile vehicle body (100), wherein the emergency lifting mechanism is provided with a telescopic lifting end capable of moving up and down relative to the mobile vehicle body (100), and the telescopic lifting end can move down to the position below the pulley mechanism (110);

an articulated robot (200) attached to a moving vehicle body (100), the articulated robot (200) being provided with an execution tip (210);

a moxibustion head device (300) mounted on the execution tip (210).

2. The intelligent moxibustion robot of claim 1, wherein:

the articulated robot (200) comprises a base (220) connected with a moving vehicle body (100) and a plurality of articulated arms (230), wherein the articulated arms (230) are sequentially connected through electric joint driving, an execution tail end (210) is arranged on the articulated arm (230) at the tail end, and the articulated arm (230) at the start end is connected with the base (220).

3. The intelligent moxibustion robot of claim 1, wherein:

moxibustion head device (300) include moxibustion head body (310), torque sensor (320), temperature sensor (330), distance sensor (340) and drag trigger button (350), torque sensor (320), temperature sensor (330), distance sensor (340) drag trigger button (350) and install on moxibustion head body (310), moxibustion head body (310) through torque sensor (320) with execution end (210) is connected, drag trigger button (350) and joint robot (200) electricity are connected.

4. The intelligent moxibustion robot of claim 3, wherein:

be connected with on the moxibustion head body (310) and drag handle (360), drag trigger button (350) and set up on dragging handle (360) the lower extreme of moxibustion head body (310) is provided with and gathers hot cover (370), drag handle (360) and install in the upper end of moxibustion head body (310).

5. The intelligent moxibustion robot of claim 3, wherein:

the quantity of distance sensor (340) is a plurality of, and a plurality of distance sensor (340) are the annular interval and set up in the periphery of the moxibustion head body (310), the quantity of temperature sensor (330) is a plurality of, and a plurality of temperature sensor (330) are the annular interval and set up in the periphery of the moxibustion head body (310), temperature sensor (330) and distance sensor (340) are crisscross setting along the axial of the moxibustion head body (310).

6. The intelligent moxibustion robot of claim 3, wherein:

the outside of moxibustion head body (310) is connected with connection skeleton (380), torque sensor (320) are installed on connection skeleton (380), torque sensor (320) be connected with carry out adaptor flange (321) that end (210) are connected.

7. The intelligent moxibustion robot of claim 3, wherein: a protective shell (390) is sleeved on the periphery of the moxibustion head body (310).

8. The intelligent moxibustion robot of claim 1, wherein:

the mobile device comprises an operation tablet computer (400), wherein the operation tablet computer (400) is installed on a mobile vehicle body (100) through an adjustable support (410).

9. The intelligent moxibustion robot of claim 1, wherein:

a handle (120) and an operation display panel (130) are mounted on the exterior of the moving vehicle body (100), and an electric control assembly (140) is arranged in the moving vehicle body (100).

10. The intelligent moxibustion robot of claim 1, wherein:

the emergency lifting mechanism is an electric telescopic rod (150) which is arranged up and down.

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