阅读说明：本技术 一种艾灸机器人 (Moxibustion robot ) 是由 董志强 涂冬钦 于 2021-07-01 设计创作，主要内容包括：本发明涉及艾灸技术领域,具体涉及一种艾灸机器人。本发明所述艾灸机器人,包括艾灸头、机械臂、艾灸膏涂抹装置和安装平台；所述机械臂的一端与所述安装平台连接,所述机械臂的另一端与所述艾灸头驱动连接,所述艾灸膏涂抹装置包括膏盒挤压装置和膏盒,所述膏盒挤压装置安装于所述艾灸头上,所述膏盒挤压装置适于对所述膏盒中的艾灸膏进行挤压。当所述机械臂带动所述艾灸头运动到人体指定的穴位时,所述膏盒挤压机构可以将艾灸膏挤出到体穴位上时,所述机械臂可以将所述膏盒按压在艾灸膏上,通过所述机械臂做涂抹动作,实现将艾灸膏涂抹在人体的特定穴位,实现了自动化涂抹。(The invention relates to the technical field of moxibustion, in particular to a moxibustion robot. The moxibustion robot comprises a moxibustion head, a mechanical arm, a moxibustion paste smearing device and a mounting platform; the one end of arm with mounting platform connects, the other end of arm with the first drive of moxa-moxibustion is connected, the device is paintd to moxa-moxibustion cream includes cream box extrusion device and cream box, cream box extrusion device install in on the moxa-moxibustion, cream box extrusion device is suitable for right moxa-moxibustion cream in the cream box extrudees. When the mechanical arm drives the moxibustion head to move to the appointed acupuncture point of the human body, when the paste box extrusion mechanism can extrude moxibustion cream to the body acupuncture point, the mechanical arm can press the paste box on the moxibustion cream, and smearing action is carried out through the mechanical arm, so that the moxibustion cream is smeared on the specific acupuncture point of the human body, and automatic smearing is realized.)

1. A moxibustion robot is characterized by comprising a moxibustion head (1), a mechanical arm (2), a moxibustion paste smearing device (5) and a mounting platform (3); the one end of arm (2) with mounting platform (3) are connected, the other end of arm (2) with moxibustion head (1) drive is connected, device (5) is paintd to the moxa-moxibustion cream includes cream box extrusion mechanism (53) and cream box (54), cream box extrusion mechanism (53) install in on moxibustion head (1), cream box extrusion mechanism (53) are suitable for right the moxa-moxibustion cream in cream box (54) extrudes.

2. A moxibustion robot according to claim 1, characterized in that the robot arm (2) comprises a first connecting arm (21), a second connecting arm (22), a third connecting arm (23), a first motor, a second motor and a third motor (13); the first connecting arm (21), the second connecting arm (22), the third connecting arm (23) and the moxibustion head (1) are sequentially connected in a rotating manner, one end of the first connecting arm (21) is connected with the mounting platform (3), the first motor is mounted at the other end of the first connecting arm (21), the first motor is in driving connection with one end of the second connecting arm (22), the second motor is mounted at the other end of the second connecting arm (22), the second motor is in driving connection with one end of the third connecting arm (23), the third motor (13) is mounted at the other end of the third connecting arm (23), and the third motor (13) is in driving connection with the moxibustion head (1); the pivot of first motor with first linking arm (21) with second linking arm (22) are perpendicular, the pivot of second motor with second linking arm (22) with third linking arm (23) are perpendicular, the pivot of third motor (13) with third linking arm (23) with the axis of moxibustion head (1) is perpendicular.

3. A moxibustion robot according to claim 2, wherein the mechanical arm (2) further comprises a fourth motor (25), the fourth motor (25) is mounted on the mounting platform (3), the fourth motor (25) is in driving connection with the first connecting arm (21), and the rotating shaft of the fourth motor (25) is parallel to the first connecting arm (21).

4. The moxibustion robot as claimed in any one of claims 1 to 3, wherein the cartridge (54) comprises a cartridge body (541) and a sliding plate (543), the cartridge body (541) comprises an accommodating chamber (542) suitable for accommodating moxibustion cream, one end of the cartridge body (541) far away from the cartridge pressing mechanism (53) is provided with a moxibustion cream outlet communicated with the accommodating chamber (542), the sliding plate (543) is slidably connected with the inner wall of the accommodating chamber (542), the cartridge pressing mechanism (53) is in driving connection with the sliding plate (543), the cartridge pressing mechanism (53) is suitable for driving the sliding plate (543) to slide along the inner wall of the accommodating chamber (542), and the cartridge body (541) is detachably connected with the body of the cartridge pressing mechanism (53).

5. A moxibustion robot according to claim 4, characterized in that the moxibustion cream smearing device (5) further comprises a smearing drive motor (51) and a mounting seat (52), the smearing drive motor (51) is mounted on the moxibustion head (1), the rotating shaft of the smearing drive motor (51) is connected with the mounting seat (52), and the cream box pressing mechanism (53) is mounted on the mounting seat (52).

6. A moxibustion robot according to any of claims 1-3, further comprising a moxa smoke generating device (7), a filtering device (8) and a fan (6), the mounting platform (3) comprises a case, the moxa smoke generating device (7), the filtering device (8) and the fan (6) are all mounted in the case, the moxibustion head (1) and the mechanical arm (2) are of hollow structures, an outlet is formed in the moxibustion head (1), the outlet is communicated with the case through the mechanical arm (2), the filtering device (8) is used for filtering the moxa smoke, the fan (6) is suitable for discharging the air in the machine box through the outlet after passing through the moxa smoke generating device (7), the filtering device (8), the mechanical arm (2) and the moxibustion head (1) in sequence.

7. A moxibustion robot according to any of claims 6, characterized by further comprising an electric heating module (9) and a temperature sensor, wherein the temperature sensor and the electric heating module (9) are mounted on the moxibustion head (1), the temperature sensor is suitable for monitoring the temperature of the moxibustion smoke at the outlet of the moxibustion head (1), and the electric heating module is suitable for heating the moxibustion smoke at the outlet of the moxibustion head (1) according to the temperature of the moxibustion smoke.

8. A moxibustion robot according to claim 6, wherein said filter means (8) comprises a multi-layer filter structure comprising at least a carbon core filter layer, a filter cotton layer and a water washing cotton layer.

9. A moxibustion robot according to claim 6, wherein the case comprises a first case (31) and a second case (32), the blower (6) is installed in the second case (32), the second case (32) is provided with an air inlet, the outlet of the blower (6) is communicated with the bottom of the first case (31), the moxa smoke generating device (7) is installed at the bottom of the first case (31), the top of the first case (31) is provided with a mounting port, the robot arm (2) is installed at the mounting port, the first case (31) is communicated with the robot arm (2) through the mounting port, and the filtering device (8) is installed between the mounting port and the moxa smoke generating device (7).

10. A moxibustion robot according to any of claims 1-3, further comprising an acupuncture point detector (4), wherein the acupuncture point detector (4) is mounted on the moxibustion head (1).

Technical Field

The invention relates to the technical field of moxibustion, in particular to a moxibustion robot.

Background

Moxibustion usually utilizes the heat of moxa stick to stimulate the acupoints or specific parts of human body to stimulate the movement of meridian qi, so as to regulate the physiological and biochemical functions of disorder of human body. The existing moxibustion robot can only produce moxa smoke to perform moxibustion, but generally needs to manually smear moxibustion cream before moxibustion, and can not realize full automation.

Disclosure of Invention

The invention solves the problem that the existing moxibustion robot can not realize full automation because moxibustion cream needs to be manually coated.

In order to solve the problems, the invention provides a moxibustion robot, which comprises a moxibustion head, a mechanical arm, a moxibustion paste smearing device and a mounting platform, wherein the moxibustion head is arranged on the mechanical arm; the one end of arm with mounting platform connects, the other end of arm with the first drive of moxa-moxibustion is connected, the device is paintd to moxa-moxibustion cream includes cream box extrusion device and cream box, cream box extrusion device install in on the moxa-moxibustion, cream box extrusion device is suitable for right moxa-moxibustion cream in the cream box extrudees.

Optionally, the mechanical arm includes a first connecting arm, a second connecting arm, a third connecting arm, a first motor, a second motor, and a third motor; the first connecting arm, the second connecting arm, the third connecting arm and the moxibustion head are sequentially connected in a rotating manner, one end of the first connecting arm is connected with the mounting platform, the first motor is mounted at the other end of the first connecting arm, the first motor is in driving connection with one end of the second connecting arm, the second motor is mounted at the other end of the second connecting arm, the second motor is in driving connection with one end of the third connecting arm, the third motor is mounted at the other end of the third connecting arm, and the third motor is in driving connection with the moxibustion head; the pivot of first motor with first linking arm with the second linking arm is perpendicular, the pivot of second motor with the second linking arm with the third linking arm is perpendicular, the pivot of third motor with the third linking arm with the axis of moxibustion head is perpendicular.

Optionally, the mechanical arm further includes a fourth motor, the fourth motor is mounted on the mounting platform, the fourth motor is in driving connection with the first connecting arm, and a rotating shaft of the fourth motor is parallel to the first connecting arm.

Optionally, the cream box includes cream box body and slide, the cream box body is including the accommodation cavity that is suitable for the holding moxa-moxibustion cream, the cream box body is kept away from the one end of cream box extrusion mechanism seted up with the moxa-moxibustion cream export of accommodation cavity intercommunication, the slide with the inner wall sliding connection of accommodation cavity, cream box extrusion mechanism with slide drive is connected, cream box extrusion mechanism is suitable for the drive the slide is followed the inner wall of accommodation cavity slides, the cream box body with the connection can be dismantled to the body of cream box extrusion mechanism.

Optionally, the device is paintd to moxa-moxibustion cream still includes paints driving motor and mount pad, paint driving motor install in on the moxa-moxibustion head, paint driving motor's pivot with the mount pad is connected, cream box extrusion device install in on the mount pad.

Optionally, moxibustion robot still includes chinese mugwort cigarette generating device, filter equipment and fan, mounting platform includes quick-witted case, chinese mugwort cigarette generating device filter equipment with the fan all install in the machine case, the chinese mugwort head with the arm is hollow structure, the overhead export of having seted up of moxa-moxibustion, the export is passed through the arm with machine case intercommunication, filter equipment is used for the filtration of chinese mugwort cigarette, the fan be suitable for with air in the machine case passes through in proper order chinese mugwort cigarette generating device filter equipment the arm with pass through behind the chinese mugwort head the export is discharged.

Optionally, moxibustion robot still includes electric heating module and temperature sensor, temperature sensor with electric heating module install in on the moxa-moxibustion head, temperature sensor is suitable for right the chinese mugwort cigarette temperature of moxa-moxibustion head exit carries out the monitoring, electric heating module is suitable for according to the chinese mugwort cigarette temperature is right the chinese mugwort cigarette of moxa-moxibustion head exit heats.

Optionally, the filter device comprises a multi-layer filter structure comprising at least a carbon core filter layer, a filter cotton layer and a water wash cotton layer.

Optionally, the chassis includes a first chassis and a second chassis, the fan is installed on the second chassis, an air inlet is formed in the second chassis, an outlet of the fan is communicated with the bottom of the first chassis, the moxa smoke generating device is installed at the bottom of the first chassis, an installation opening is formed in the top of the first chassis, the mechanical arm is installed at the installation opening, the first chassis is communicated with the mechanical arm through the installation opening, and the filtering device is installed between the installation opening and the moxa smoke generating device.

Optionally, the moxibustion robot further comprises an acupuncture point detector mounted on the moxibustion head.

Compared with the prior art, the moxibustion robot has the beneficial effects that:

when the mechanical arm drives the moxibustion head to move to the acupuncture points designated by the human body, and the paste box extrusion mechanism can extrude moxibustion paste to the acupuncture points of the human body, the mechanical arm can press the paste box on the moxibustion paste, and the moxibustion paste is smeared on the specific acupuncture points of the human body by smearing action of the mechanical arm, so that automatic smearing is realized. The moxa smoke generating device is arranged in the case and is far away from the human body, so that the moxa smoke is prevented from being directly emitted into the air to pollute the indoor air; through the setting of fan also can adjust the amount of wind that blows to human skin for the moxa-moxibustion is experienced better. Through electric heating module with temperature sensor's setting can realize right the chinese mugwort cigarette temperature of the export of moxibustion head is adjusted, strengthens the experience of moxa-moxibustion and feels and the moxa-moxibustion effect.

Drawings

Fig. 1 is a schematic structural view of a moxibustion robot in an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the invention at A in FIG. 1;

fig. 3 is a schematic structural view of another perspective of the moxibustion robot in the embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of the present invention at B of FIG. 3;

FIG. 5 is a sectional view of the moxibustion head in an embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of the present invention at C of FIG. 5;

fig. 7 is a schematic view of a moxibustion paste application device in an embodiment of the present invention;

fig. 8 is a schematic view of the inside of the chassis according to the embodiment of the present invention.

Description of reference numerals:

1-moxibustion head, 2-mechanical arm, 3-mounting platform, 4-acupoint detector, 5-moxibustion paste smearing device, 6-fan, 7-moxibustion smoke generating device, 8-filtering device, 9-electric heating module, 11-moxibustion head body, 12-connecting column, 13-third motor, 21-first connecting arm, 22-second connecting arm, 23-third connecting arm, 24-hollow ball head, 25-fourth motor, 31-first case, 32-second case, 51-smearing driving motor, 52-mounting seat, 53-paste box extruding mechanism, 54-paste box, 541-paste box body, 542-accommodating chamber and 543-sliding plate.

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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the terms "an embodiment," "one embodiment," and "one implementation," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or example implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

Also, in the drawings, the Z-axis represents a vertical direction, that is, an up-down direction, and a positive direction of the Z-axis (that is, an arrow direction of the Z-axis) represents an up direction, and a negative direction of the Z-axis (that is, a direction opposite to the positive direction of the Z-axis) represents a down direction; in the drawings, the X-axis indicates the front-rear direction, and the positive direction of the X-axis (i.e., the arrow direction of the X-axis) indicates the rear, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates the front; in the drawings, the Y-axis represents the left-right direction, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) represents the left, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) represents the right; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

An embodiment of the present invention provides a moxibustion robot, as shown in fig. 1 to 5, including a moxibustion head 1, a robot arm 2, a moxibustion paste applying device 5, and a mounting platform 3; the one end of arm 2 with mounting platform 3 is connected, the other end of arm 2 with the first drive of moxa-moxibustion is connected, device 5 is paintd to the moxa-moxibustion cream includes cream box extrusion mechanism 53 and cream box 54, cream box extrusion mechanism 53 install in on the moxa-moxibustion head 1, cream box extrusion mechanism 53 is suitable for to extrude the moxa-moxibustion cream in the cream box 54.

In this embodiment, the mechanical arm 2 may be a multi-axis mechanical arm, for example, a six-axis mechanical arm, and the mechanical arm 2 may move the moxibustion head 1. The mounting platform 3 may be a frame, a mobile base, a cabinet, or the like, which may be used for mounting the robot arm 2. The first body of moxa-moxibustion 11 can be the columnar structure, cream box extrusion mechanism 53 install in the axial one end of the first body of moxa-moxibustion 11, cream box extrusion mechanism 53 can adopt electric putter or hydraulic drive device, cream box extrusion mechanism 53 only need right moxa-moxibustion cream in the cream box 54 form promote make moxa-moxibustion cream extrude on human acupuncture point can, its principle can be similar with the syringe.

In one embodiment, the mechanical arm 2 can press the paste box 54 on the acupuncture points of the human body, the mechanical arm 2 generates a certain pressure on the paste box 54, and the mechanical arm 2 moves to form a smearing action so that moxibustion paste is smeared on the acupuncture points of the human body uniformly. In one embodiment, after the cartridge pressing mechanism 53 presses the moxibustion cream onto the acupuncture points of the human body, the moxibustion cream may be applied by other mechanisms.

Therefore, when the mechanical arm 2 drives the moxibustion head 1 to move to the acupuncture points designated by the human body, and the paste box extrusion mechanism 53 can extrude moxibustion paste to the acupuncture points of the human body, the mechanical arm 2 can press the paste box 54 on the moxibustion paste, and the moxibustion paste is smeared on the specific acupuncture points of the human body by the smearing action of the mechanical arm 2, so that automatic smearing is realized.

As shown in fig. 1 to 4, the robot arm 2 includes a first connecting arm 21, a second connecting arm 22, a third connecting arm 23, a first motor, a second motor, and a third motor 13; the first connecting arm 21, the second connecting arm 22, the third connecting arm 23 and the moxibustion head 1 are sequentially connected in a rotating manner, one end of the first connecting arm 21 is connected with the mounting platform 3, the first motor is mounted at the other end of the first connecting arm 21, the first motor is in driving connection with one end of the second connecting arm 22, the second motor is mounted at the other end of the second connecting arm 22, the second motor is in driving connection with one end of the third connecting arm 23, the third motor 13 is mounted at the other end of the third connecting arm 23, and the third motor 13 is in driving connection with the moxibustion head 1; the pivot of first motor with first linking arm 21 with second linking arm 22 is perpendicular, the pivot of second motor with second linking arm 22 with third linking arm 23 is perpendicular, the pivot of third motor 13 with third linking arm 23 with the axis of moxibustion head 1 is perpendicular.

In this embodiment, first linking arm 21, second linking arm 22 and third linking arm 23 are hollow rod-like structure first linking arm 21 second linking arm 22 with hollow bulb 24 is installed respectively at the both ends of third linking arm 23, first linking arm 21 with second linking arm 22 rotates the connection, that is to say, first linking arm 21 with only can rotate relatively after second linking arm 22 connects, specifically can realize connecting through the joint structure. The first motor can be arranged on the first connecting arm 21 through a support, the first connecting arm 21 is arranged along the Z-axis direction, the rotating shaft of the first motor is vertical to the Z-axis direction, and the hollow ball head 24 at the end part of the first connecting arm 21 is covered outside the first motor.

The second connecting arm 22 and the third connecting arm 23 are rotatably connected, that is, the second connecting arm 22 and the third connecting arm 23 can only rotate relatively after being connected, and particularly, the connection can be realized through a clamping structure. The second motor can be mounted on the second connecting arm 22 through a bracket, and a hollow ball head 24 at the end of the second connecting arm 22 is covered outside the second motor.

The third connecting arm 23 is rotatably connected with the moxibustion head 1, that is, the third connecting arm 23 and the moxibustion head can only rotate relatively after being connected, and particularly can be connected through a clamping structure. The third motor can be mounted on the third connecting arm 23 through a bracket, and a hollow ball head 24 at the end of the third connecting arm 23 is covered outside the third motor. Here, the moxibustion head 1 includes a connecting column 12, the connecting column 12 is perpendicular to a central axis of the moxibustion head body 11, an axis of the third motor is parallel to the connecting column 12, and the third motor is adapted to drive the connecting column 12 to rotate.

Therefore, the mechanical arm is of a multi-stage structure, joints similar to human arms are realized through the sequential rotating connection of the first connecting arm 21, the second connecting arm 22, the third connecting arm 23 and the moxibustion head 1, and the flexibility of smearing moxibustion paste is guaranteed.

As shown in fig. 8, the robot arm 2 further includes a fourth motor 25, the fourth motor 25 is mounted on the mounting platform 3, the fourth motor 25 is in driving connection with the first connecting arm 21, and a rotating shaft of the fourth motor 25 is parallel to the first connecting arm 21. In this embodiment, the mounting platform 3 may be a chassis, the fourth motor 25 is installed in the chassis and located at the top of the chassis, a rotating shaft of the fourth motor 25 is arranged in a vertical direction, the first connecting arm 21 is also arranged vertically, the fourth motor 25 is adapted to drive the first connecting arm 21 to rotate along its own axial lead, and a bearing seat may be arranged at a joint of the first connecting arm 21 and the mounting platform 3 to position the first connecting arm 21. Through the setting of the fourth motor 25, the flexibility of the mechanical arm 2 is increased, so that the mechanical arm 2 can perform moxibustion operation in a horizontal range without being purposely stacked on the mounting platform 3.

As shown in fig. 6 and 7, the cartridge 54 includes a cartridge body 541 and a sliding plate 543, the cartridge body 541 includes an accommodating chamber 542 adapted to accommodate moxibustion cream, one end of the cartridge body 541, which is away from the cartridge pressing mechanism 53, is provided with a moxibustion cream outlet communicated with the accommodating chamber 542, the sliding plate 543 is slidably connected with an inner wall of the accommodating chamber 542, the cartridge pressing mechanism 53 is drivingly connected with the sliding plate 543, the cartridge pressing mechanism 53 is adapted to drive the sliding plate 543 to slide along the inner wall of the accommodating chamber 542, and the cartridge body 541 is detachably connected with a body of the cartridge pressing mechanism 53.

In this embodiment, the inner wall of the cartridge body 541 can be provided with a sliding groove, the sliding plate 543 can be provided with a guide block, the guide block is slidably connected to the sliding groove, when the cartridge pressing mechanism 53 extends out, the moxibustion cream in the accommodating chamber 542 can be pressed, so that the moxibustion cream is extruded out of the moxibustion cream outlet to the human body, the cartridge body 541 can be in threaded connection with the cartridge pressing mechanism 53, for example, an external thread structure is provided on the cartridge body 541, and an internal thread structure matched with the external thread structure is provided on the cartridge pressing mechanism 53. For another example, a fastening structure is provided on the cartridge body 541, and a fastening hole matched with the fastening structure is provided on the body of the cartridge squeezing mechanism 53.

As shown in fig. 5, the device 5 for applying moxibustion cream further includes an application driving motor 51 and a mounting base 52, the application driving motor 51 is mounted on the moxibustion head 1, a rotating shaft of the application driving motor 51 is connected with the mounting base 52, and the cream box pressing mechanism 53 is mounted on the mounting base 52. The rotating shaft of the smearing driving motor 51 is parallel to the central axis of the moxibustion head 1, the smearing driving motor 51 is installed at one end of the moxibustion head 1, and the other end of the moxibustion head 1 is suitable for moxibustion.

The moxibustion head 1 may be a hollow structure, the smearing drive motor 51 is accommodated in the moxibustion head 1, and the smearing drive motor 51 may be mounted in the moxibustion head 1 through a bracket. Here, the moxibustion head 1 may have a cylindrical structure, the smearing drive motor 51 is mounted at one axial end of the moxibustion head 1, and a rotation shaft of the smearing drive motor 51 is parallel to a central axis of the moxibustion head 1. The body of cream box extrusion mechanism 53 with mount pad 52 can dismantle the connection, scribble driving motor 51's pivot and set up along the Z axle direction, work as cream box extrusion mechanism 53 extrudees the moxa-moxibustion cream to human specific acupuncture point, can make arm 2 will cream box 54 is pressed down in the human body surface, scribble driving motor 51 operation, drive mount pad 52 rotates, drives simultaneously cream box 54 rotates, realizes the spin coating to the moxa-moxibustion cream for the moxa-moxibustion is scribbled more evenly.

As shown in fig. 8, the moxibustion robot further comprises a moxa smoke generating device 7, a filtering device 8 and a fan 6, the mounting platform 3 comprises a case, the moxa smoke generating device 7, the filtering device 8 and the fan 6 are all mounted in the case, the moxa head 1 and the mechanical arm 2 are of a hollow structure, an outlet is formed in the moxa head 1, the outlet is communicated with the case through the mechanical arm 2, the filtering device 8 is used for filtering moxa smoke, and the fan 6 is suitable for enabling air in the case to sequentially pass through the moxa smoke generating device 7, the filtering device 8, the mechanical arm 2 and the moxa head 1 and then to be discharged through the outlet.

In this embodiment, the moxa smoke generating device 7 comprises an automatic ignition device, the automatic ignition device can automatically ignite to realize the combustion of moxa sticks, which is equivalent to the combustion of the moxa sticks in the machine box, the moxa smoke is gathered in the machine box, under the action of the fan 6, the moxa smoke is blown to one side of the filtering device 8 along with air, the moxa smoke is filtered by the filtering device 8 and then flows upwards into the mechanical arm 2, and the filtered moxa smoke can pass through the mechanical arm 2 and the moxa head 1 and then is discharged through the outlet of the moxa head 1 due to the communication between the moxa head 1 and the mechanical arm 2. From this, through filter equipment 8's setting can filter large granule, tar, dust, VOC gaseous pollutant etc. in the chinese mugwort cigarette, and the chinese mugwort cigarette after will filtering is passed through the export of moxa-moxibustion head 1 is sprayed to the human body surface and is realized the moxa-moxibustion. Therefore, the moxa smoke generating device 7 is arranged in the case and is far away from the human body, so that the moxa smoke is prevented from being directly emitted into the air to pollute the indoor air; through fan 6's setting also can adjust the amount of wind that blows to human skin for the moxa-moxibustion is experienced better.

As shown in fig. 5, the moxibustion robot further comprises an electric heating module 9 and a temperature sensor, wherein the temperature sensor and the electric heating module 9 are installed on the moxibustion head 1, the temperature sensor is suitable for monitoring the temperature of the moxibustion smoke at the outlet of the moxibustion head 1, and the electric heating module 9 is suitable for heating the moxibustion smoke at the outlet of the moxibustion head 1 according to the temperature of the moxibustion smoke.

In this embodiment, electric heating module 9 with temperature sensor can be connected with the controller respectively, electric heating module 9 install in moxibustion head 1, electric heating module 9 can heat the moxa cigarette after filtering, electric heating module 9 can set for a plurality of different gears, and every gear corresponds different moxa-moxibustion temperature, and moxa-moxibustion temperature can be set for through the manual work, the controller can be according to the moxa cigarette temperature is right electric heating module 9 controls. From this, through electrical heating module 9 with temperature sensor's setting can realize right the chinese mugwort cigarette temperature of the export of moxibustion head 1 is adjusted, strengthens the experience of moxa-moxibustion and feels and the moxa-moxibustion effect.

As shown in fig. 8, the filter device 8 includes a multi-layer filter structure including at least a carbon core filter layer, a filter cotton layer, and a water-washing cotton layer. In this embodiment, the filtering device 8 may be detachably connected to the case, for example, the filtering device 8 is connected to the case in the form of a drawer, and the filtering device 8 covers the cross section of the case to ensure that all moxa smoke passes through the filtering device 8. The carbon core filter layer can adopt nanometer composite carbon core, carbon fiber filter core or active carbon filter core to make, filter cotton layer can be including just imitating filter cotton and the filter cotton of middling effect, the carbon core filter layer filter cotton layer with wash cotton layer can have one deck or at least two-layer respectively, and each filter layer is range upon range of and forms, sets gradually along the direction that chinese mugwort cigarette flows.

As shown in fig. 8, the chassis includes a first chassis 31 and a second chassis 32, the fan 6 is installed in the second chassis 32, an air inlet is opened on the second chassis 32, an outlet of the fan 6 is communicated with the bottom of the first chassis 31, the moxa smoke generating device 7 is installed at the bottom of the first chassis 31, a mounting opening is opened at the top of the first chassis 31, the mechanical arm 2 is installed at the mounting opening, the first chassis 31 is communicated with the mechanical arm 2 through the mounting opening, and the filtering device 8 is installed between the mounting opening and the moxa smoke generating device 7. In this embodiment, the fan 6 is disposed in the second housing 32, an outlet of the fan 6 is communicated with a side wall of the first housing 31, and a connection portion between the outlet of the fan 6 and the first housing 31 is located at a position close to a bottom of the first housing 31, which is equivalent to that the fan 6 sucks indoor air, mixes the air with moxa smoke at the bottom of the first housing 31, and then flows upward through the filter device 8 and then flows to the robot arm 2 through the mounting port. The first housing 31 and the second housing 32 may be structures communicating with each other,

as shown in fig. 1 to 4, the moxibustion robot further includes an acupuncture point detector 4, and the acupuncture point detector 4 is mounted on the moxibustion head 1. In this embodiment, the mechanical arm 2 can drive the moxibustion head 1 to move, so as to drive the acupuncture point detector 4 to move, thereby detecting specific acupuncture points of a human body. The acupuncture point detector 4 can adopt an acupuncture point detector, and can also install an acupuncture point detecting needle on the moxibustion head 1, and the acupuncture point detecting needle is synchronously driven to move through the moxibustion head, so that automatic acupuncture point detection is realized.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.