阅读说明：本技术 一种智能艾灸仪 (Intelligent moxibustion instrument ) 是由 王天 于 2019-10-08 设计创作，主要内容包括：本发明的目的在于提供一种具有机械臂路径记录和回放功能,并带动灸头组件以特定的动作在人体穴位上进行理疗的智能艾灸仪。本发明采用的技术方案如下：一种智能艾灸仪,包括机械臂组件、机箱组件和灸头组件,所述机械臂组件包括：大臂、上臂、关节架、传动组件和烟管,所述机箱组件包括：屏幕、触摸开关、主控板、驱动器、旋转平台、旋转平台驱动电机、滤盒、风箱、配重块、脚轮和箱壳,所述灸头组件包括灸头、灸头固定架、灰网固定盒和熄火盖,还包括激光灯、温度传感器、距离传感器和机械臂控制按钮。(The invention aims to provide an intelligent moxibustion instrument which has the functions of recording and replaying a mechanical arm path and drives a moxibustion head component to perform physical therapy on acupuncture points of a human body by specific actions. The technical scheme adopted by the invention is as follows: the utility model provides an intelligence moxibustion instrument, includes arm assembly, quick-witted case subassembly and moxibustion head subassembly, arm assembly includes: big arm, upper arm, joint frame, drive assembly and tobacco pipe, machine case subassembly includes: screen, touch switch, main control board, driver, rotary platform driving motor, filter cartridge, bellows, balancing weight, truckle and case shell, the first subassembly of moxibustion includes moxibustion head, the first mount of moxibustion, the fixed box of ash net and flame-out lid, still includes laser lamp, temperature sensor, distance sensor and arm control button.)

1. An intelligent moxibustion instrument is characterized by comprising a mechanical arm component, a case component and a moxibustion head component,

the robot arm assembly includes: the moxibustion instrument comprises a large arm, an upper arm, a joint frame, a transmission assembly and a smoke tube, wherein the large arm is rotatably arranged on a machine box assembly, the upper arm is connected with the large arm through the joint frame, the tail end of the upper arm is provided with a moxibustion head assembly, the large arm and the upper arm are also in transmission connection with a driving device through the transmission assembly respectively, and the smoke tube is used for connecting the moxibustion head assembly with the machine box assembly;

the main control board and the driver are installed in the case assembly, the driver controls the forward and reverse rotation of the driving device to drive the large arm and the small arm to move, the driver also controls the forward and reverse rotation of the driving device to drive the mechanical arm assembly to horizontally rotate relative to the case assembly, and the main control board is used for recording and replaying the operation process of the mechanical arm assembly and setting the retention time of the moxibustion head assembly at a certain point.

2. The intelligent moxibustion instrument of claim 1 further characterized in that the cabinet assembly further comprises: the rotary platform is positioned above the box shell, the mechanical arm assembly is connected to the rotary platform, and the rotary platform driving motor is positioned in the box shell and used for driving the rotary platform to horizontally rotate relative to the case assembly; four trundles are arranged at the bottom of the box shell; the air box is arranged on a box shell bottom plate and comprises a centrifugal fan and an activated carbon box, and balancing weights are further arranged in the box shells on two sides of the air box; a filter box is arranged above the air box, filter cotton and a filter are arranged in the filter box, an outlet of the filter box can be communicated with an inlet fluid of the air box, and the smoke pipe is communicated with the filter box; and a screen and a touch switch which are electrically connected with the main control panel are further installed on the outer side of the box shell.

3. The intelligent moxibustion instrument of claim 2, wherein the moxibustion head assembly comprises a robotic arm control button for controlling the opening and closing of a robotic arm path recording function of the main control board.

4. The intelligent moxibustion instrument of claim 1 or 3, further characterized in that the moxibustion head assembly comprises a moxibustion head, a moxibustion head fixing frame, an ash net fixing box and a flameout cover, wherein the moxibustion head is of a cylindrical structure and is used for mounting moxa sticks or moxa cakes, the moxibustion head fixing frame is used for mounting the moxibustion head on the upper arm, the end part of the moxibustion head is provided with the ash net fixing cover and the flameout cover, the ash net fixing cover prevents ash generated after combustion from falling on the skin of a moxibustion applicator, the flameout cover is used for closing the moxibustion head assembly to isolate the interior of the moxibustion head assembly from the outside, the moxibustion head assembly is further provided with a smoke pipe joint, and the smoke pipe joint is provided with the smoke pipe.

5. The intelligent moxibustion instrument of claim 4, further characterized in that the moxibustion head assembly further comprises a laser lamp, a temperature sensor, a distance sensor and a mechanical arm control button, wherein the laser lamp is used for assisting a physiotherapist to see the position of the moxibustion head on the skin and playing a role in assisting the positioning, the temperature sensor is used for sensing the temperature of the skin, and the distance sensor is used for sensing the position of the moxibustion head away from the skin.

6. The intelligent moxibustion instrument of any one of claims 1-3 and 5, the driving device is a motor and comprises a shell, an end cover, an output shaft, a rotor stator planet wheel, an inner shaft, a supporting fixed seat, a coder and an inner gear ring, an output shaft is arranged on one side of the shell, a bearing is arranged between the output shaft and the shell, the other side of the shell is connected with an end cover, one end of the output shaft extends out of the shell, the other end of the output shaft is fixedly connected to the rotor stator planet wheel, one side of the rotor stator planet wheel is sleeved with the inner gear ring, the inner gear ring is arranged in the end cover in an interference fit manner, an inner shaft connected with the rotor stator planet wheel bolt is also arranged in the inner gear ring, one end of the inner shaft, which is far away from the rotor stator planet wheel, is sleeved with a supporting and fixing seat, the supporting and fixing seat is arranged in the end cover, and the encoder is fixedly arranged on the supporting and fixing seat; the rotor stator planet wheel is internally integrated with a planet gear reducer, wherein the end part of a rotor gear of the rotor stator planet wheel extends out of the rotor stator planet wheel, and the end part of the rotor gear extending out of the rotor stator planet wheel is provided with a magnet.

7. The intelligent moxibustion instrument according to any one of claims 2, 3 and 5, further characterized in that the driving device further comprises a large arm driving motor and an upper arm driving motor, and the large arm driving motor and the upper arm driving motor are respectively arranged on two sides of a hinge point of the large arm and the rotating platform, an output shaft of the large arm driving motor is in transmission connection with the large arm to drive the large arm to perform pitching motion; the output shaft of the upper arm driving motor is in transmission connection with a synchronizing wheel, and the synchronizing wheel is in transmission connection with a driven wheel of the upper arm, which is arranged in the joint frame, so that the upper arm is driven to perform pitching motion.

8. The intelligent moxibustion instrument of claim 2, wherein the main control board is further configured to control the centrifugal fan to be turned on or off.

Technical Field

The invention belongs to the field of medical equipment for moxibustion physiotherapy, and particularly relates to an intelligent moxibustion instrument.

Background

Moxibustion is a natural therapy which is inherited from Chinese traditional acupuncture therapy, namely, a moxa stick, a moxa cake and the like made of folium artemisiae argyi are ignited, and acupuncture points of a human body are smoked and baked to achieve health care and disease treatment. In the traditional moxibustion therapy, doctors usually hold moxa sticks to moxibustion acupuncture points, for example, "sparrow pecking moxibustion" and "rotary moxibustion" in the moxibustion therapy require long-time repeated movement of the ignited moxa sticks held by physical therapists on the acupuncture points of users, physical therapy cannot be simultaneously carried out on multiple users, acupuncture point identification and moxibustion application time of each acupuncture point are carried out by the doctors, and time and physical energy consumption of the doctors are large.

At present, various moxibustion medical equipment for assisting moxibustion to liberate the labor of doctors are designed by domestic and foreign research and development institutions, but the existing moxibustion machine is not intelligent enough and only has a mechanical clamping structure; or bulky, the operation is complicated, need the host computer of computer to control, and the operation is not nimble enough, when carrying out the physiotherapy to the user, need carry out complicated path planning on the system, just can carry out the physiotherapy, and preparation time is long in earlier stage, because the user is different, and the position of user's health is different when the physiotherapy at every turn, and the unsuitable used repeatedly of route, and the moxa-moxibustion gimmick route of predetermineeing in the system is single, can not adjust at any time according to the real-time condition.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide an intelligent moxibustion instrument which has the functions of recording and replaying a mechanical arm path and drives a moxibustion head component to perform physical therapy on acupuncture points of a human body by specific actions.

The technical scheme adopted by the invention is as follows: an intelligent moxibustion instrument comprises a mechanical arm component, a case component and a moxibustion head component,

the robot arm assembly includes: big arm, upper arm, joint frame, transmission assembly and tobacco pipe, the rotatable installation of big arm is on the case subassembly, the upper arm with connect through the joint frame between the big arm, the terminal installation moxibustion head subassembly of upper arm, big arm with the upper arm still passes through respectively transmission assembly is connected with the drive arrangement transmission, the tobacco pipe is used for being connected moxibustion head subassembly and case subassembly to discharge the smog of moxa stick or moxa cake in the moxibustion head subassembly.

The driving device can be selectively integrated with a motor with a speed reducer and a coder, for example, a large-torque motor integrated with the speed reducer and the coder, and comprises a shell, an end cover, an output shaft, a rotor stator planet wheel, an inner shaft, a supporting fixed seat, the coder, an inner gear ring, a first bearing and a second bearing, wherein one side of the shell is provided with the output shaft, the first bearing is arranged between the output shaft and the shell, the other side of the shell is connected with the end cover, one end of the output shaft extends out of the shell, the other end of the output shaft is fixedly connected to the rotor stator planet wheel, one side of the rotor stator planet wheel is sleeved with the inner gear ring, the inner gear ring is arranged in the end cover in an interference fit manner, the inner shaft connected with the rotor stator planet wheel, the encoder is fixedly arranged on the supporting and fixing seat; a planetary gear reducer is integrated in the rotor stator planet gear, wherein the end part of a rotor gear in the rotor stator planet gear extends out of the rotor stator planet gear, and a magnet is arranged on the end part of the rotor gear extending out of the rotor stator planet gear; a lengthened shaft is also arranged between the end part of the rotor gear and the magnet so as to adjust the relative distance between the magnet and the encoder; the side cover is installed to the lateral surface of end cover for parts such as the inside encoder of protection end cover, still be provided with the sealing washer between side cover and the end cover.

The mechanical arm assembly has three actions, namely horizontal rotation, large arm pitching and upper arm pitching of the mechanical arm assembly around the chassis assembly. Each action requires a set of motors with a reducer and an encoder to drive, respectively a large arm drive motor, an upper arm drive motor and a rotary platform drive motor.

The chassis assembly includes: the device comprises a screen, a touch switch, a main control board, a driver, a rotary platform driving motor, a filter box, an air box, a balancing weight, a caster and a box shell. The rotary platform is positioned above the box shell, the mechanical arm assembly is connected to the rotary platform, and the rotary platform driving motor is positioned in the box shell and used for driving the rotary platform to horizontally rotate relative to the case assembly; the bottom of the box shell is provided with four trundles, so that workers can conveniently push the intelligent moxibustion instrument to move; the air box is arranged on a box shell bottom plate, the air box comprises a centrifugal fan and an activated carbon box, and balancing weights are further arranged in the box shells on two sides of the air box; a filter box is arranged above the air box, filter cotton and a filter are arranged in the filter box, and an outlet of the filter box can be communicated with an inlet fluid of the air box; the box shell is also internally provided with a main control board and drivers of the large arm driving motor, the upper arm driving motor and the rotary platform driving motor, wherein the drivers control the positive and negative rotation of the motors to drive the large arm, the small arm and the rotary platform to move; and a screen and a touch switch which are electrically connected with the main control panel are further installed on the outer side of the box shell. The touch switch comprises a switch, an air exhaust switch, a starting switch, a time switch, a mechanical arm height switch, a mechanical arm speed switch, a plus switch, a minus switch and a reset switch.

The output shaft of the large arm driving motor is connected with the large arm through a gear to drive the large arm to perform pitching motion; the upper arm driving motor output shaft is connected with a synchronizing wheel through gear transmission, the synchronizing wheel is arranged inside a support on a rotary platform, the support is used for being hinged with a large arm, the synchronizing wheel is in transmission connection with a driven wheel of the upper arm, the driven wheel is arranged in a joint frame, the upper arm is driven to perform pitching motion, the synchronizing wheel is connected with the driven wheel through a transmission belt or a chain, and the transmission belt or the chain is arranged in the inner space of the large arm. So set up, set up drive arrangement on rotary platform, not only pleasing to the eye, realized the miniaturization of arm subassembly moreover to help the miniaturization of whole intelligent moxibustion instrument, it is more convenient to use, and the cost is cheaper.

The moxibustion head component is arranged at the tail end of the upper arm and comprises a moxibustion head, a moxibustion head fixing frame, an ash net fixing box and a flameout cover, the moxibustion head is of a cylindrical structure and is used for installing moxa sticks or moxa cakes, the moxibustion head fixing frame is used for installing the moxibustion head on the upper arm, the end part of the moxibustion head is provided with the ash net fixing cover and the flameout cover, the ash net fixing cover prevents ash after combustion from falling on the skin of a moxibustion applicator, the flameout cover is used for sealing the moxibustion head component to isolate the interior of the moxibustion head component from the outside, the moxibustion head component is further provided with a smoke pipe joint, the smoke pipe joint is provided with a smoke pipe, the other end of the smoke pipe is connected with the filter box in the box shell and is used for discharging smoke generated by the combustion of the moxa sticks or the moxa cakes into the filter box, and the smoke is discharged from the air box.

The moxibustion head subassembly still includes laser lamp, temperature sensor, distance sensor and arm control button, the laser lamp is used for assisting the physical therapist to see the position that the moxibustion head is located skin, plays assistance-localization real-time's effect, temperature sensor be used for responding to the skin temperature distance sensor is used for responding to the position of moxibustion head apart from skin, and when the temperature exceeded and predetermine the threshold value or the distance was less than when predetermineeing the threshold value, main control board control arm subassembly stopped executing the moxibustion, prevents that the incident from taking place. The mechanical arm control button is used for controlling the starting and stopping of a mechanical arm path recording function. When the button is pressed, the system starts to record the motion estimation of the mechanical arm, and the path is saved when the button is released.

The intelligent moxibustion instrument has the functions of recording and replaying a mechanical arm path, and the specific principle of recording a track is as follows: and pressing a mechanical arm control button on the moxibustion head assembly, and at the moment, randomly releasing the brake of the large arm driving motor, the upper arm driving motor and the rotary platform driving motor and simultaneously triggering a track recording program. The track information is generated by an encoder positioned in the motor, when the motor rotates to drive the mechanical arm component to rotate, the magnet at the end part of the motor rotor gear starts to rotate relative to the encoder, the angle change of the magnetic field is generated by the encoder to generate an angle signal, and the angle signal is recorded by a program; when the mechanical arm control button is released, all motors are locked, and the recording function is stopped and stored in the system. At this time, the mechanical arm can automatically repeat the path just recorded by pressing a start button in the case component touch switch. When repeated paths are carried out, the height and the speed of the moxibustion head can be adjusted at any time through the buttons on the touch switch of the case component, and the physiotherapy time can be set. When the path is recorded, if special requirements exist, for example, the path is moved to the next point after a single point hovers for a period of time, the setting can also be carried out through the mode of the control panel.

The invention has the following advantages:

1. this intelligence moxibustion instrument all improves driving motor and transmission mode, has realized the miniaturization of arm subassembly and even whole moxibustion instrument, and it is more convenient to use, and the cost is cheaper, and in addition to can lift up automatically after presetting the time the moxibustion head.

2. The conventional moxibustion instrument is provided with a multi-head version, although moxibustion can be simultaneously carried out on a plurality of acupuncture points, the main points of the moxa roll are burnt, the generated smoke and taste are doubled, and the filtration is not easy. This intelligence moxibustion instrument can reach after predetermined time at single acupuncture point, and the next position of presetting in advance by the physiotherapist is moved to automatically. Only a single moxa stick or moxa cake is burnt, the amount of smoke and taste generated is small, and the filtration is convenient.

3. Conventional moxibustion instrument needs the manual regulation to the moxibustion head position of physical therapist after every acupuncture point reaches the physiotherapy time, if a physical therapist corresponds many clients, hardly takes into account all clients fast, can only adjust one by one. And the position of the moxibustion head is fixed, so that dynamic moxibustion techniques such as rotary moxibustion, sparrow-pecking moxibustion and the like in moxibustion actions cannot be reproduced. This intelligence moxibustion instrument can reach after predetermined time at single acupuncture point, and the next position of presetting in advance by the physiotherapist is moved to automatically. The physical therapist is not required to adjust again in the moxibustion process. And the arm can reappear by the physical therapist dynamic moxa-moxibustion action when teaching the arm to the cycle work.

4. Conventional moxibustion instrument does not have the safety guarantee function at the physiotherapy in-process, if the user probably touches the moxibustion head carelessly because of adjusting the posture in the physiotherapy in-process, has the risk of scalding skin. If the moxibustion head is in a fixed position for a long time, the skin temperature rises, and the risk of scalding the skin also exists. The moxibustion head fixing frame of the intelligent moxibustion instrument is provided with a position and temperature sensor, when the skin is far away from the moxibustion head and exceeds a safety range, or when the system detects that the skin temperature is too high, the mechanical arm can be automatically controlled to lift the moxibustion head, and the moxibustion head is recovered to an initial position.

5. The conventional moxibustion instrument has single type and quantity of moxibustion heads. Is not convenient for one machine with multiple functions, such as replacing the moxibustion head with the infrared function. This intelligence moxibustion instrument can be different according to the demand that needs, changes to have moxibustion head or other physiotherapy instruments such as infrared function.

6. The existing intelligent moxibustion instrument is large in size, complex to operate, needs an upper computer of a computer host to control, and is not flexible to operate. When carrying out the physiotherapy to the user, need carry out complicated path planning on the system, just can carry out the physiotherapy, preparation time is long in earlier stage, because the user is different, and the position of user's health is different when the physiotherapy at every turn, and the unsuitable used repeatedly of route, moxa-moxibustion gimmick route that predetermines in the system is single, can not adjust at any time according to the real-time condition. This intelligence moxibustion instrument is because its function that possesses the route study of handheld moxibustion head, so the operation is more simple swift, need not study the system, can be nimble carry out the route planning according to user and physiotherapist's idea, the orbit of the handheld moxibustion head of physiotherapist is reappeared completely.

Drawings

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

FIG. 2 is a schematic view of the robot arm assembly and moxibustion head assembly of the present invention;

FIG. 3 is a schematic view of a rotary platform configuration of the present invention;

FIG. 4 is a schematic diagram of the internal structure of the housing of the present invention;

FIG. 5 is a touch switch key illustration of the present invention;

FIG. 6 is a schematic flow chart of the operation of the present invention;

in the figure: 1. big arm, 2, upper arm, 3, joint frame, 4, tobacco pipe, 5, big arm driving motor, 6, upper arm driving motor, 7, screen, 8, touch switch, 9, main control board, 10, driver, 11, rotary platform, 12, rotary platform driving motor, 13, filter box, 14, bellows, 15, balancing weight, 16, truckle, 17, case shell, 18, decorate the cover, 19, synchronizing wheel, 20, moxibustion head mount, 21, moxibustion head, 22, laser lamp, 23, temperature sensor, 24, distance sensor, 25, arm control button.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the disclosure herein.

Referring to the drawings, the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present disclosure can be implemented, so that the present disclosure has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the disclosure of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. Meanwhile, the positional limitation terms used in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship therebetween may be regarded as the scope of the present invention without substantial changes in the technical content.

Fig. 1 is a schematic view of the overall structure of the present invention, fig. 2 is a schematic view of the structure of a robot arm assembly and a moxibustion head assembly according to the present invention, fig. 3 is a schematic view of the structure of a rotary platform according to the present invention, fig. 4 is a schematic view of the internal structure of a cabinet according to the present invention, and as shown in the drawings, an intelligent moxibustion instrument according to the present invention includes a robot arm assembly, a cabinet assembly and a moxibustion head assembly. The robot arm assembly includes: big arm 1, upper arm 2, joint frame 3, drive assembly and tobacco pipe 4, the rotatable installation of big arm 1 is on the case subassembly, upper arm 2 with connect through joint frame 3 between the big arm 1, the first subassembly of moxibustion is installed to the end of upper arm 2, big arm 1 with upper arm 2 still passes through respectively drive assembly is connected with the drive arrangement transmission, tobacco pipe 4 is arranged in being connected moxibustion head subassembly and case subassembly to discharge the smog of moxa stick or moxa cake in the moxibustion head subassembly.

The chassis assembly includes: the device comprises a screen 7, a touch switch 8, a main control board 9, a driver 10, a rotary platform 11, a rotary platform driving motor 12, a filter box 13, an air box 14, a balancing weight 15, a caster 16 and a box shell 17. The rotary platform 11 is positioned above the box shell 17, the mechanical arm assembly is connected to the rotary platform 11, and the rotary platform driving motor 12 is positioned in the box shell 17 and used for driving the rotary platform 11 to horizontally rotate relative to the case assembly; four trundles 16 are arranged at the bottom of the box shell 17, so that workers can conveniently push the intelligent moxibustion instrument to move; the air box 14 is arranged on a bottom plate of the box shell 17, the air box 14 comprises a centrifugal fan and an activated carbon box, and balancing weights 15 are further arranged in the box shells 17 on two sides of the air box 14; a filter box 13 is arranged above the air box 14, filter cotton and a filter are arranged in the filter box 13, and an outlet of the filter box 13 is communicated with an inlet of the air box 14 through fluid; the box shell 17 is also internally provided with a main control board 9 and a driver 10 of the large arm driving motor 5, the upper arm driving motor 6 and the rotary platform driving motor 12, the driver 10 controls the positive and negative rotation of the motors to drive the large arm 1, the small arm 2 and the rotary platform 11 to move, and the main control board 9 is used for recording and replaying the operation process of the motors and setting the retention time of the moxibustion head assembly at a certain point; and a screen 7 and a touch switch 8 which are electrically connected with the main control board 9 are further installed on the outer side of the box shell 17. The touch switch 8 includes "power on/off", "air discharge", "start", "time", "arm height", "arm speed", "+", "", "reset".

The large arm driving motor and the upper arm driving motor are positioned in a decoration cover 18 of the rotating platform 11 and are respectively arranged on two sides of a hinge point of the large arm 1 and the rotating platform 11, and an output shaft of the large arm driving motor 5 is connected with the large arm 1 through a gear to drive the large arm 1 to perform pitching motion; the output shaft of the upper arm driving motor 6 is connected with a synchronizing wheel 19 through gear transmission, the synchronizing wheel 19 is arranged inside a support on the rotating platform 11, the support is used for being hinged with the large arm 1, the synchronizing wheel 19 is in transmission connection with a driven wheel of the upper arm 2, the driven wheel is arranged in the joint frame 3, the upper arm 2 is driven to perform pitching motion, the synchronizing wheel 19 is connected with the driven wheel through a transmission belt or a chain, and the transmission belt or the chain is arranged in the inner space of the large arm 1. So set up, set up drive arrangement on rotary platform 11, not only pleasing to the eye, realized the miniaturization of arm subassembly moreover to help the miniaturization of whole intelligent moxibustion instrument, it is more convenient to use, and the cost is cheaper.

The moxibustion head assembly is arranged at the tail end of the upper arm 2 and comprises a moxibustion head 21, a moxibustion head fixing frame 20, an ash net fixing box and a fire extinguishing cover, wherein the moxibustion head 21 is of a cylindrical structure and is used for installing moxa sticks or moxa cakes, the moxibustion head fixing frame 20 is used for installing the moxibustion head 21 on the upper arm 2, the end part of the moxibustion head 21 is provided with the ash net fixing cover and the fire extinguishing cover, the ash net fixing cover is used for preventing ash after combustion from falling on the skin of a moxibustion applicator, the fire extinguishing cover is used for sealing the moxibustion head assembly to isolate the interior of the moxibustion head assembly from the outside, the moxibustion head assembly is further provided with a smoke pipe joint, the smoke pipe joint is provided with a smoke pipe 4, the other end of the smoke pipe 4 is connected with the filter box 13 in the box shell and is used for discharging smoke generated by the combustion of the moxa sticks or the moxa cakes into the filter box, and the smoke is discharged from the.

The moxibustion head subassembly still includes laser lamp 22, temperature sensor 23, distance sensor 24 and arm control button 25, laser lamp 33 is used for assisting the physiotherapist to see the position that the moxibustion head is located skin, plays the effect of assistance-localization real-time, temperature sensor 23 be used for responding to the skin temperature distance sensor 24 is used for responding to the position of moxibustion head apart from skin, and when the temperature exceeded and predetermine the threshold value or the distance was less than when predetermineeing the threshold value, main control panel 9 control arm subassembly stopped to execute the moxibustion, prevents that the incident from taking place. The mechanical arm control button 25 is used for controlling the starting and stopping of a mechanical arm path recording function. When the button is pressed, the system starts to record the motion estimation of the mechanical arm, and the path is saved when the button is released.

As shown in fig. 5, the description of the touch switch key of the present invention includes "power on/off", "air exhaust", "start", "time", "arm height", "arm speed", "+", "-", and "reset". The power-on/off state is the control of the power on-off button; the 'air exhaust' key is used for starting and stopping an air exhaust system of the moxibustion instrument, and when the moxibustion instrument is pressed once, the moxibustion instrument circulates from off-1, 2 and 3 (the air quantity is increased from small to large) gears in sequence and displays the current gear in a screen; the starting key is used for starting the mechanical arm path recorded by the main control panel, and when no path is recorded, the key is invalid; the time, the height of the mechanical arm and the speed of the mechanical arm respectively represent moxibustion application time, the height of a moxibustion head from skin during moxibustion application and the moving speed of the mechanical arm, and are used in combination with two keys of plus and minus, one of the time, the height of the mechanical arm and the speed of the mechanical arm is firstly pressed, and then the parameters of plus and minus can be adjusted by pressing the key; the reset key is used for resetting the mechanical arm at any time in the starting state as long as the mechanical arm is not at the initial position and the key is pressed.

The detailed description of the specific working process of the intelligent moxibustion instrument of the invention is provided below with reference to fig. 6, and the intelligent moxibustion instrument of the invention can be divided into two modes of fixed point moxibustion and automatic moxibustion. Fixed point moxibustion: after starting the machine, medical personnel put moxa cakes or moxa sticks into the moxibustion head assembly, light the moxa cakes after starting the air exhaust function, then press a mechanical arm control button of the moxibustion head assembly, release self-locking of the path recording function of the main control board, drag the moxibustion head assembly to reach moxibustion application acupuncture points by the medical personnel, then loosen the mechanical arm control button, start moxibustion application after setting moxibustion application time through a touch switch, reset the mechanical arm after timing is finished, or press a reset button, reset the mechanical arm. Automatic moxibustion: after the machine is started, medical personnel put moxa cakes or moxa sticks into the moxibustion head assembly, the moxa cakes are ignited after the air exhaust function is started, then mechanical arm control buttons of the moxibustion head assembly are pressed, the self-locking of the path recording function of the main control board is released, the medical personnel drag the moxibustion head assembly to reach the starting point position of a path to be recorded, the mechanical arm control buttons are released to clear the path record from the reset point of the mechanical arm to the starting point position, then the mechanical arm control buttons are pressed again, the medical personnel drag the moxibustion head assembly to sequentially reach the acupuncture points to be moxibustion, the moxibustion time is set through the touch switch, then a start key of the touch switch is triggered to start moxibustion, the mechanical arm resets after the timing is finished, or the reset button is pressed, and the mechanical arm resets.

In the moxibustion application process, if a temperature sensor or a distance sensor is triggered by signals, the main control board controls the mechanical arm to stop applying moxibustion for resetting, so that safety accidents are prevented.