阅读说明：本技术 一种艾灸装置及具有其的艾灸机器人 (Moxibustion device and moxibustion robot with same ) 是由 查卿 张举中 储雨奕 王之森 徐泽欧 谢凤宁 于 2021-08-25 设计创作，主要内容包括：本发明提供了一种艾灸装置及具有其的艾灸机器人,所述艾灸装置包括：壳体,呈内部中空且端部开口设置,所述壳体的底端部形成有开口端；基板,设于壳体的中空腔内,基板上设有艾条；第一驱动机构,第一驱动机构被配置为驱使基板沿壳体的中轴线方向做直线往复运动,以使艾条朝向开口端侧运动或是远离开口端侧运动；以及自点火机构,设于壳体上,自点火机构包括位于壳体中空腔内的点火板、驱使点火板运动的动力单元以及设于点火板上的电热丝；其中,点火板具有保持与中轴线垂直的第一状态和保持与中轴线平行的第二状态,在第一状态下,电热丝与艾条的端部抵接；点火板响应于动力单元的作用而在第一状态和第二状态之间切换。(The invention provides a moxibustion device and a moxibustion robot with the same, wherein the moxibustion device comprises: the shell is hollow inside and is provided with an opening at the end part, and an opening end is formed at the bottom end part of the shell; the base plate is arranged in the hollow cavity of the shell and is provided with moxa sticks; a first driving mechanism configured to drive the substrate to make a linear reciprocating motion along a central axis direction of the housing so as to move the moxa stick towards or away from the open end side; the self-ignition mechanism is arranged on the shell and comprises an ignition plate positioned in a hollow cavity of the shell, a power unit driving the ignition plate to move and an electric heating wire arranged on the ignition plate; the ignition plate is provided with a first state and a second state, the first state is perpendicular to the central axis, the second state is parallel to the central axis, and the electric heating wire is abutted to the end part of the moxa stick in the first state; the ignition plate switches between a first state and a second state in response to the action of the power unit.)

1. A moxibustion device, comprising:

a housing (100) which is hollow and has an open end, wherein an open end (110) is formed at the bottom end of the housing (100);

the base plate (200) is arranged in the hollow cavity of the shell (100), and the moxa stick (800) is arranged on the base plate (200);

a first driving mechanism (400), wherein the first driving mechanism (400) is configured to drive the substrate (200) to perform linear reciprocating motion along the central axis direction of the casing (100) so as to enable the moxa roll (800) to move towards the open end (110) side or away from the open end (110) side; and

the self-ignition mechanism (500) is arranged on the shell (100) and is positioned between the base plate (200) and the opening end (110), and the self-ignition mechanism (500) comprises an ignition plate (510) positioned in a hollow cavity of the shell (100), a power unit (520) driving the ignition plate (510) to move and an electric heating wire (511) arranged on the ignition plate (510);

wherein the ignition plate (510) has a first state of keeping perpendicular to the central axis and a second state of keeping parallel to the central axis, and in the first state, the heating wire (511) is abutted against the end of the moxa stick (800) for igniting the moxa stick (800);

the ignition plate (510) switches between the first state and the second state in response to the action of the power unit (520).

2. The moxibustion device of claim 1,

a connecting seat (530) is arranged on the cavity side wall of the hollow cavity of the shell (100), and the ignition plate (510) is hinged with the connecting seat (530);

the power unit (520) comprises a first rod body (521) hinged with the ignition plate (510) and positioned in a hollow cavity of the shell (100), a power piece (523) arranged on the outer side wall of the shell (100) and a second rod body (522) connecting the first rod body (521) and the power piece (523); one end of the first rod body (521) is hinged to the ignition plate (510), the other end of the first rod body (521) is fixedly connected with one end of the second rod body (522), one end of the second rod body (522) is located in a hollow cavity of the shell (100), the other end of the second rod body (522) is located outside the shell (100) and is connected with the power part (523), the second rod bodies (522) are distributed along a direction perpendicular to the central axis, and the power part (523) is configured to drive the second rod body (522) to perform linear reciprocating motion in the direction perpendicular to the central axis, so that the ignition plate (510) is switched between the first state and the second state; alternatively, the first and second electrodes may be,

the power unit (520) comprises a motor, the motor is provided with a motor output shaft, a hinge shaft is arranged between the ignition plate (510) and the connecting seat (530), the ignition plate (510) is fixedly connected with the hinge shaft, and the motor output shaft is connected with the hinge shaft so as to drive the ignition plate (510) to be switched between the first state and the second state.

3. The moxibustion device of claim 2,

an obtuse included angle exists between the first rod body (521) and the second rod body (522);

wherein, the first rod body (521) and the second rod body (522) are integrally formed.

4. The moxibustion device of claim 1,

the first driving mechanism (400) comprises a lead screw unit (410) and a first motor (420), the lead screw unit (410) comprises a lead screw (411) which is arranged in a hollow cavity of the shell (100) and extends along the central axis direction and a nut (412) which is screwed on the lead screw (411), the nut (412) is fixedly provided with the substrate (200), and the substrate (200) is provided with a first through hole (210) for the lead screw (411) to penetrate through;

the first motor (420) is connected with the screw rod (411) to drive the substrate (200) to do linear reciprocating motion along the direction of the central axis.

5. The moxibustion device of claim 1, further comprising:

the clamping unit (300) is positioned in the hollow cavity of the shell (100), arranged on the substrate (200) and used for fixing the moxa stick (800);

wherein the clamping unit (300) is arranged on the end surface of the substrate (200) close to the opening end (110).

6. The moxibustion device of claim 5,

the clamping unit (300) comprises barbs (310) and clip structures (320) symmetrically distributed on the periphery of the barbs (310);

one end part of the barb (310) close to the open end (110) is a piercing end, and the outer diameter of the piercing end is gradually reduced in the direction from the base plate (200) to the open end (110);

the clamping piece structure (320) comprises a clamping piece (321) used for clamping the moxa stick (800), a fixing seat (322) arranged on the outer side of the clamping piece (321), and an elastic element (323) arranged between the clamping piece (321) and the fixing seat (322), wherein the elastic element (323) is configured to provide elastic force for the clamping piece (321) to abut against the moxa stick (800).

7. The moxibustion device of claim 4,

an air inlet structure (120) is arranged at the top of the shell (100), a blower mechanism (600) is arranged in the hollow cavity of the shell (100), and the blower mechanism (600) is configured to drive external air to enter the hollow cavity of the shell (100) through the air inlet structure (120) and be discharged from the open end (110);

the top end part of the shell (100) is provided with an opening to form a top connecting port (160), and the air inlet structure (120) is detachably arranged at the top connecting port (160);

the air inlet structure (120) comprises an air homogenizing plate (121) and a ring piece (122) arranged on the periphery of the air homogenizing plate (121) in a surrounding mode, air homogenizing holes are formed in the air homogenizing plate (121), the ring piece (122) is detachably arranged at the top connecting port (160), and the air homogenizing plate (121) is fixedly arranged on the ring piece (122) so that the air homogenizing plate (121) and the ring piece (122) can be detachably connected together with the top connecting port (160) after forming a whole.

8. The moxibustion device of claim 7,

a first partition (130) and a second partition (140) are sequentially arranged in the hollow cavity of the shell (100) in the direction from the air inlet structure (120) to the open end (110), and the second partition (140) is arranged closer to the open end (110) than the first partition (130); the first partition (130) and the second partition (140) are respectively provided with a through hole for air flow circulation, and the second partition (140) is detachably arranged in the shell (100);

wherein the first partition (130) and the second partition (140) partition a hollow cavity of the case (100) into an upper chamber in which the blower mechanism (600) and the first motor (420) are housed and a lower chamber in which the base plate (200), the self-ignition mechanism (500), and the moxa stick (800) are housed, a part of the screw unit (410) is located in the upper chamber, and another part of the screw unit (410) is located in the lower chamber;

the first separating member (130) is fixedly connected with the nut (412) so that the first separating member (130) and the nut (412) move synchronously, the first separating member (130) is located above the base plate (200), a second through hole (131) for the screw rod (411) to penetrate through is formed in the first separating member (130), and the edge of the first separating member (130) is infinitely close to but not in contact with the cavity side wall of the hollow cavity of the shell (100).

9. The moxibustion device of claim 8,

a bottom cover (700) is detachably arranged at the open end (110), and at least part of the bottom cover (700) is positioned outside the shell (100);

the bottom cover (700) comprises a horn-shaped outer cover (710) and an inner interlayer (720) arranged in the outer cover (710), and the inner diameter of the outer cover (710) is gradually increased along the direction from the air inlet structure (120) to the opening end (110); the inner partition layer (720) divides the space enclosed by the outer cover (710) into a first space and a second space in the direction from the air inlet structure (120) to the opening end (110);

the inner partition layer (720) is provided with a through hole (721) which enables the first space and the second space to be communicated, and the inner partition layer (720) is an arc-shaped plate protruding towards the second space; the inner partition (720) is configured such that an airflow flowing within the first space to where the inner partition (720) flows peripherally to centrally along an arc-shaped face of the inner partition (720);

wherein the second space and the lower chamber are in communication via a conduit (150).

10. A moxibustion robot, characterized by comprising:

a mobile base (900);

a robot arm (910) provided on the moving base (900); and

a moxibustion device arranged on the mechanical arm (910);

wherein the moxibustion device is as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of robots, in particular to a moxibustion device and a moxibustion robot with the same.

Background

With the continuous improvement of living standard, traditional Chinese medicine physiotherapy is favored by more and more people, and moxibustion is especially so. Moxibustion is a natural therapy in traditional Chinese acupuncture therapy, which mainly comprises burning moxa cones and moxa sticks made of folium artemisiae argyi and smoking and roasting acupuncture points of a human body to achieve health care and disease treatment. When moxibustion is used for treatment, one end of the moxa stick is ignited and is smoked and roasted on an affected part, and by virtue of mild heat of moxibustion fire and medicinal effect, through conduction of human meridians and collaterals, the moxibustion stick has the effects of warming and dredging channels and collaterals, regulating qi and blood, coordinating yin and yang, strengthening body resistance and eliminating evil, and achieves the effects of treating diseases, preventing diseases and protecting health.

In the prior art, an operator usually ignites a moxa roll outside and then puts the moxa roll into a moxibustion box, and the ignition mode of the moxa roll has the following defects: 1) after the moxa stick is ignited, the holding position of an operator is limited, the mounting difficulty of mounting the moxa stick into the moxibustion box is increased, and the defect of inconvenient operation exists; 2) the moxa roll can generate smoke after being ignited outside, and certain substances in the smoke can have certain influence on the health of an operator. Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

Disclosure of Invention

The invention aims to provide a moxibustion device and a moxibustion robot with the same, wherein a moxa stick can be automatically ignited in a shell, and the moxibustion device has the advantage of convenience in operation.

The purpose of the invention is realized by the following technical scheme:

in a first aspect of the disclosure, there is provided a moxibustion device including: the shell is hollow inside and is provided with an opening at the end part, and an opening end is formed at the bottom end part of the shell; the base plate is arranged in the hollow cavity of the shell, and moxa sticks are arranged on the base plate; a first driving mechanism configured to drive the base plate to linearly reciprocate along a central axis direction of the housing to move the moxa stick toward or away from the open end side; the self-ignition mechanism is arranged on the shell and positioned between the base plate and the opening end, and comprises an ignition plate positioned in a hollow cavity of the shell, a power unit driving the ignition plate to move and an electric heating wire arranged on the ignition plate; the ignition plate is provided with a first state and a second state, the first state is perpendicular to the central axis, the second state is parallel to the central axis, and in the first state, the heating wire is abutted against the end part of the moxa stick and used for igniting the moxa stick; the ignition plate switches between the first state and the second state in response to the action of the power unit.

In one embodiment, a connecting seat is arranged on a cavity side wall of a hollow cavity of the shell, and the ignition plate is hinged with the connecting seat; the power unit comprises a first rod body, a power piece and a second rod body, wherein the first rod body is hinged with the ignition plate and is positioned in the hollow cavity of the shell, the power piece is arranged on the outer side wall of the shell, and the second rod body is connected with the first rod body and the power piece; one end of the first rod body is hinged to the ignition plate, the other end of the first rod body is fixedly connected with one end of the second rod body, one end of the second rod body is located in the hollow cavity of the shell, the other end of the second rod body is located outside the shell and is connected with the power piece, the second rod body is distributed in the direction perpendicular to the central axis, and the power piece is configured to drive the second rod body to do linear reciprocating motion in the direction perpendicular to the central axis, so that the ignition plate is switched between the first state and the second state; alternatively, the first and second electrodes may be,

the power unit comprises a motor, the motor is provided with a motor output shaft, a hinged shaft is arranged between the ignition plate and the connecting seat, the ignition plate is fixedly connected with the hinged shaft, and the motor output shaft is connected with the hinged shaft so as to drive the ignition plate to be switched between the first state and the second state.

In one embodiment, an obtuse included angle exists between the first rod body and the second rod body; the first rod body and the second rod body are integrally formed.

In one embodiment, the first driving mechanism includes a screw unit and a first motor, the screw unit includes a screw rod disposed in the hollow cavity of the housing and extending along the central axis direction, and a nut screwed to the screw rod, the nut is fixedly provided with the substrate, and the substrate is provided with a first through hole for the screw rod to penetrate through; the first motor is connected with the screw rod to drive the substrate to do linear reciprocating motion along the direction of the central axis.

In one embodiment, the moxibustion device further includes: the clamping unit is positioned in the hollow cavity of the shell, arranged on the substrate and used for fixing the moxa roll; the clamping unit is arranged on the end face of the substrate close to the opening end side.

In one embodiment, the clamping unit comprises a barb and a clip structure symmetrically distributed on the periphery of the barb; one end part of the barb close to the open end is a piercing end, and the outer diameter of the piercing end is gradually reduced in the direction from the base plate to the open end; the clamping piece structure comprises a clamping piece for clamping the moxa stick, a fixing seat arranged on the outer side of the clamping piece and an elastic element arranged between the clamping piece and the fixing seat, wherein the elastic element is configured to provide elastic force for the clamping piece to abut against the moxa stick.

In one embodiment, an air inlet structure is arranged at the top of the shell, and a blowing mechanism is arranged in the hollow cavity of the shell and is configured to drive external air to enter the hollow cavity of the shell through the air inlet structure and to be discharged from the open end; the top end part of the shell is provided with an opening to form a top connecting port, and the air inlet structure is detachably arranged at the top connecting port; the air inlet structure includes even aerofoil and encloses and locates the loop forming element of even aerofoil periphery, be equipped with even wind hole on the even aerofoil, the loop forming element can be dismantled and locate top connector department, even aerofoil set firmly in on the loop forming element, so that even aerofoil with the loop forming becomes one whole back, can together with the top connector can be dismantled and be connected.

In one embodiment, a first partition and a second partition are sequentially arranged in the hollow cavity of the shell along the direction from the air inlet structure to the open end, and the second partition is arranged closer to the open end than the first partition; the first separator and the second separator are respectively provided with a through hole for air flow circulation, and the second separator is detachably arranged in the shell; the first partition and the second partition divide a hollow cavity of the housing into an upper chamber in which the blower mechanism and the first motor are accommodated and a lower chamber in which the base plate, the auto-ignition mechanism and the moxa sticks are accommodated, wherein one part of the screw unit is located in the upper chamber, and the other part of the screw unit is located in the lower chamber; the first separating piece is fixedly connected with the nut so that the first separating piece and the nut move synchronously, the first separating piece is located above the base plate, a second through hole for the screw rod to penetrate through is formed in the first separating piece, and the edge of the first separating piece is infinitely close to but not in contact with the cavity side wall of the hollow cavity of the shell.

In one embodiment, a bottom cover is detachably arranged at the open end, and the bottom cover is at least partially positioned at the outer side of the shell; the bottom cover comprises a trumpet-shaped outer cover and an inner interlayer arranged in the outer cover, and the inner diameter of the outer cover is gradually increased along the direction from the air inlet structure to the opening end; the inner interlayer divides a space surrounded by the outer cover into a first space and a second space in the direction from the air inlet structure to the opening end; the inner partition layer is provided with a through hole which enables the first space and the second space to be communicated, and the inner partition layer is an arc-shaped plate which is convexly arranged towards the side of the second space; the inner partition layer is configured such that an airflow flowing within the first space to where the inner partition layer is located flows peripherally to the center along an arc-shaped face of the inner partition layer; wherein the second space and the lower chamber are communicated through a pipeline.

In a second aspect of the disclosure, there is provided a moxibustion robot including: moving the base; the mechanical arm is arranged on the movable base; the moxibustion device is arranged on the mechanical arm; wherein the moxibustion device is the moxibustion device.

Compared with the prior art, the invention has the following beneficial effects:

according to the moxibustion device and the moxibustion robot with the same, the heating wire of the self-ignition mechanism can ignite the moxa stick after being electrified, so that the self-ignition operation of the moxa stick in the shell is realized, an operator does not need to hold the moxa stick by hand and then ignite by means of an external igniter, and the moxibustion device and the moxibustion robot have the advantage of convenience in operation;

furthermore, after the moxa stick starts to burn, the burning surface of the moxa stick is closer to the top of the shell and farther away from the skin, the position of the burning surface is closer and farther back, the concentration of smoke with a treatment effect is lower and lower, and the distance between the moxa stick and the skin can be adjusted through the first driving mechanism, so that the concentration of the smoke is ensured; in addition, the first driving mechanism can realize the movement tendency of the moxa stick close to the skin and the movement tendency of the moxa stick far away from the skin, and can realize the pulse type movement of the moxa stick.

Drawings

Fig. 1 is a schematic structural view of a moxibustion device provided by the present invention.

Fig. 2 is a schematic sectional view of the moxibustion device according to the present invention.

Fig. 3 is a schematic view of the internal structure of fig. 1.

Fig. 4 is an enlarged schematic view of the region a in fig. 3.

Fig. 5 is a schematic cross-sectional view of an ignition plate of the moxibustion device provided by the present invention in a second state.

Fig. 6 is an enlarged schematic view of a region B in fig. 5.

Fig. 7 is a schematic structural view of the second rod in fig. 6.

Fig. 8 is an enlarged schematic view of region C in fig. 1.

FIG. 9 is a schematic view showing the positional relationship among the substrate, the holding unit and the moxa roll in the present invention.

Fig. 10 is a schematic structural view of a clamping unit in the present invention.

FIG. 11 is a schematic view of the construction of the bottom cover of the present invention.

Fig. 12 is a schematic view of an air intake structure in the present invention.

Fig. 13 is a schematic view of the structure of the first separator in the present invention.

Fig. 14 is a schematic structural view of a moxibustion robot provided by the present invention.

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. It is to be understood that the following terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like are used merely to indicate an orientation or positional relationship relative to one another as illustrated in the drawings, merely to facilitate describing and simplifying the invention, and are not intended to indicate or imply that the device/component so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore are not to be considered limiting of the invention.

It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 13, the present invention provides a moxibustion device including: a housing 100 having a hollow interior and an open end, the housing 100 having an open end 110 formed at a bottom end thereof; the substrate 200 is arranged in the hollow cavity of the shell 100, and the moxa roll 800 is arranged on the substrate 200; a first driving mechanism 400, wherein the first driving mechanism 400 is configured to drive the substrate 200 to perform a linear reciprocating motion along the central axis L of the casing 100, so as to move the moxa roll 800 towards the open end 110 or away from the open end 110; as shown in fig. 3 to fig. 6, the self-ignition mechanism 500 includes an ignition plate 510 located in the hollow cavity of the housing 100, a power unit 520 driving the ignition plate 510 to move, and a heating wire 511 disposed on the ignition plate 510; the ignition plate 510 has a first state perpendicular to the central axis L and a second state parallel to the central axis L, and in the first state, the heating wire 511 abuts against the end of the moxa stick 800 to ignite the moxa stick 800; the ignition plate 510 switches between a first state and a second state in response to the action of the power unit 520. In the present invention, the housing 100 has a cylindrical shape, an elliptic cylindrical shape, or a square cylindrical shape; when the housing 100 is cylindrical, the central axis L is a central axis thereof; when the housing 100 is in an elliptic cylinder shape or a square cylinder shape, the central axis L is a symmetry line thereof; preferably, the housing 100 is a cylinder with a hollow interior. In the present invention, a direction of the central axis L of the case 100 is defined as a vertical direction, a direction perpendicular to the central axis L is defined as a horizontal direction, the base plate 200 is disposed in the horizontal direction, and the moxa roll 800 is disposed in the vertical direction.

Through the manner, the heating wire 511 of the self-ignition mechanism 500 can ignite the moxa roll 800 after being electrified, so that the self-ignition operation of the moxa roll 800 in the shell 100 is realized, an operator does not need to hold the moxa roll 800 and then perform the ignition operation by an external igniter, the self-ignition mechanism has the advantage of convenience in operation, and the influence of smoke generated after the ignition of the moxa roll 800 on the operator can be avoided. Further, the heating wire 511 on the ignition plate 510 also has a heating function, so that the temperature in the case 100 can be raised, the heating power of the moxibustion fire can be increased, and the medicinal effect of the moxa roll 800 can be enhanced to a certain extent. Furthermore, after the moxa roll 800 starts to burn, the burning surface of the moxa roll is closer to the top of the housing 100 and further away from the skin, and the burning surface is located further and further back, so that the concentration of smoke with therapeutic effect is lower and lower, and the distance between the moxa roll 800 and the skin can be adjusted by the first driving mechanism 400, thereby ensuring the concentration of smoke. In order to achieve a better moxibustion effect and avoid burning sensation of the skin during moxibustion, the moxa roll 800 needs to have a movement tendency close to the skin and a movement tendency far away from the skin, and in the present invention, the first driving mechanism 400 is used to realize the movement tendency close to the skin and the movement tendency far away from the skin of the moxa roll 800, so as to realize pulse-type movement of the moxa roll 800.

In the present invention, the ignition plate 510 is made of a high temperature resistant material, and preferably, the ignition plate 510 is made of a ceramic material. A connecting seat 530 is disposed on a cavity sidewall of the hollow cavity of the housing 100, the ignition plate 510 is hinged to the connecting seat 530, a hinge shaft is disposed between the ignition plate 510 and the connecting seat 530, and the ignition plate 510 has only rotational freedom with respect to the housing 100. The connecting seat 530 is preferably a seat body having a hollow hole, which can reduce the flow resistance of the air flow to facilitate the flow of the air flow in the housing 100.

Further, the power unit 520 serves to rotate the ignition plate 510 about its hinge axis to switch the ignition plate 510 between the first state and the second state. In one embodiment, the power unit 520 includes a first rod 521 hinged to the ignition plate 510 and located in the hollow cavity of the housing 100, a power member 523 disposed on an outer sidewall of the housing 100, and a second rod 522 connecting the first rod 521 and the power member 523. One end of the first rod 521 is hinged to the ignition plate 510, and the other end of the first rod 521 is fixedly connected to one end of the second rod 522. One end of the second rod 522 is located in the hollow cavity of the casing 100, and the other end of the second rod 522 is located outside the casing 100 and connected to the power member 523. The second rod 522 is distributed along a direction perpendicular to the central axis L, and the power member 523 is configured to drive the second rod 522 to reciprocate linearly in the direction perpendicular to the central axis L, so as to switch the ignition plate 510 between the first state and the second state.

Specifically, the ignition plate 510 has a first end surface on which the above-described heating wire 511 is provided, and a second end surface that is disposed opposite to the first end surface. A hinge portion 512 is disposed on the second end surface of the ignition plate 510, and one end of the first rod 521 is hinged to the ignition plate 510 through the hinge portion 512. Referring to fig. 1 and 8, the second rod 522 is disposed through the sidewall of the casing 100, such that one end of the second rod is located in the hollow cavity of the casing 100 and the other end of the second rod is located outside the casing 100. A side hole for the second rod 522 to pass through is formed in the side wall of the casing 100, a linear bearing 525 is disposed in the side hole, the linear bearing 525 is sleeved on the second rod 522, and the second rod 522 is disposed on the casing 100 through the linear bearing 525. In the present invention, the linear bearing 525 can effectively improve the motion stability and reliability of the second rod 522.

In order to limit the movement of the second rod 522 in the horizontal direction, a first limit block 5221 and a second limit block 5222 are further disposed on the second rod 522, please refer to fig. 6 and 7, in which the first limit block 5221 is located in the hollow cavity of the casing 100, and the second limit block 5222 is located outside the casing 100.

An obtuse included angle exists between the first rod body 521 and the second rod body 522, and the obtuse included angle has the advantage of being stable and reliable in connection in the arrangement mode, so that the ignition plate 510 can be smoothly switched between the first state and the second state. The first rod 521 and the second rod 522 are integrally formed therebetween in consideration of convenience in production and installation, thereby facilitating production and installation while reducing the number of parts.

The power member 523 is preferably an air cylinder, and a piston rod of the power member 523 is connected to the other end of the second rod 522 through a connecting plate 524, so that the second rod 522 and the piston rod of the power member 523 move synchronously along a direction perpendicular to the central axis L, wherein the connecting plate 524 extends along the central axis L.

In the working process of the power member 523, when the second rod 522 moves along the direction from the first limit block 5221 to the second limit block 5222, the ignition plate 510 is changed from the first state to the second state, and when the ignition plate 510 is in the second state, the first limit block 5221 abuts against the end of the linear bearing 525, and the second limit block 5222 is away from the linear bearing 525; when the second rod 522 moves along the direction from the second limit block 5222 to the first limit block 5221, the ignition plate 510 is changed from the second state to the first state, and when the ignition plate 510 is in the first state, the second limit block 5222 abuts against the end of the linear bearing 525, and the first limit block 5221 is away from the linear bearing 525. Therefore, the motion limit of the second rod 522 in the horizontal direction is realized, and it can be understood that the motion limit of the second rod 522 can also be realized by controlling the motion stroke of the piston rod of the power member 523.

It is to be understood that the configuration of the power unit 520 includes, but is not limited to, the above configuration, and may also be a configuration in which the power unit 520 includes a motor (not shown) having a motor output shaft (not shown) and the ignition plate 510 is fixedly connected to the hinge shaft, and the motor output shaft is connected to the hinge shaft to actuate the ignition plate 510 to switch between the first state and the second state.

In the present invention, referring to fig. 2, the first driving mechanism 400 includes a screw unit 410 and a first motor 420, the screw unit 410 includes a screw 411 disposed in the hollow cavity of the housing 100 and extending along the central axis direction and a nut 412 screwed on the screw 411, the nut 412 is fixedly provided with a substrate 200, and the substrate 200 is provided with a first through hole 210 for the screw 411 to pass through. The first motor 420 is connected to the lead screw 411 to drive the base plate 200 to make a linear reciprocating motion along the central axis, so as to drive the moxa roll 800 to move towards the open end 110 or away from the open end 110, so that the moxa roll 800 has a movement tendency close to the skin and a movement tendency away from the skin.

Specifically, as shown in fig. 2, the screw rod 411 is disposed in the hollow cavity of the housing 100 through a screw rod connection seat 413, a bearing is disposed between the screw rod 411 and the screw rod connection seat 413, and the screw rod connection seat 413 is fixedly disposed on a cavity sidewall of the hollow cavity of the housing 100. In the present invention, the screw rod connecting seat 413 is of a frame structure, and a plurality of hollow areas are formed on the screw rod connecting seat 413, and the hollow areas are located on a flow path of an air flow in the housing 100 to facilitate the air flow.

In order to secure the moxa roll 800 on the base plate 200 without falling off from the base plate 200, the moxibustion device further includes a holding unit 300, and the holding unit 300 is located in the hollow cavity of the housing 100 and is disposed on the end surface of the base plate 200 near the open end 110 side for fixing the moxa roll 800. In the present invention, the plurality of holding units 300 are provided corresponding to the moxa roll 800 one by one, the plurality of holding units 300 are equally spaced apart from each other, and preferably, the holding units 300 are arranged on the substrate 200 in a circular array. When in use, the hollow cavity of the shell 100 can contain a plurality of moxa sticks 800, thereby effectively ensuring the concentration of smoke.

Referring to fig. 9 and 10, the clamping unit 300 includes barbs 310 and clip structures 320 symmetrically distributed on the peripheries of the barbs 310, wherein the barbs 310 and the clip structures 320 are disposed on the end surface of the base 200 near the open end 110; one end of the barb 310 close to the open end 110 is a piercing end, and the outer diameter of the piercing end is gradually reduced in the direction from the base plate 200 to the open end 110; the clip structure 320 includes a clip 321 for holding the moxa stick 800, a fixing seat 322 disposed outside the clip 321, and an elastic element 323 disposed between the clip 321 and the fixing seat 322, wherein the elastic element 323 is configured to provide an elastic force for the clip 321 to abut against the moxa stick 800, and preferably, the elastic element 323 is a spring.

In the present invention, the number of barbs 310 may be 1, 2, or more; preferably, the number of barbs 310 is 3 and the barbs are distributed in a triangular shape. The clip structures 320 are at least provided in a pair, and the clip structures 320 are distributed on the periphery of the barb 310 in an axisymmetric manner, or distributed on the periphery of the barb 310 in a centrosymmetric manner, or distributed on the periphery of the barb 310 in a rotationally symmetric manner. The section of the clamping piece 321 in the horizontal direction is at least one of a straight line, an arc line and a broken line, and considering that most of the moxa roll 800 is cylindrical, preferably, the section of the clamping piece 321 in the horizontal direction is an arc line, that is, the clamping piece 321 is in an arc sheet shape, which has the advantage of good clamping effect.

When the moxa roll 800 is installed, the end of the moxa roll 800 is first inserted into the barb 310, during the insertion, the moxa roll 800 forces the clip 321 to move outward, and when the end of the moxa roll 800 is completely inserted into the barb 310, the clip 321 tightly abuts against the outer surface of the moxa roll 800 by the elastic element 323. Therefore, the end part of the moxa roll 800 is fixedly arranged on the base plate 200 under the combined action of the barb 310 and the clamping piece structure 320, and the moxa roll 800 is not easy to fall off from the base plate 200, so that the moxa roll has the advantage of good installation effect.

In the present invention, the top of the casing 100 is provided with the air inlet structure 120, the hollow cavity of the casing 100 is provided with the air blowing mechanism 600, and the air blowing mechanism 600 is configured to drive external air to enter the hollow cavity of the casing 100 through the air inlet structure 120 and to be discharged from the open end 110. Referring to fig. 2, the blower mechanism 600 includes an impeller 610 and a second motor 620, and an output shaft of the second motor 620 is connected to the impeller 610 to rotate the impeller 610. After the impeller 610 rotates, negative pressure is formed in the hollow cavity of the casing 100, and the airflow enters the casing 100 through the air inlet structure 120 and is discharged from the opening end 110. The second motor 620 and the first motor 420 are disposed in the hollow cavity of the casing 100 through the same motor mounting bracket, or may be mounted through different motor mounting brackets, and in order to reduce the number of parts and the occupancy rate of the internal space of the casing 100, it is preferable that the second motor 620 and the first motor 420 are disposed in the casing 100 through the same motor mounting bracket.

Further, referring to fig. 12, the top end of the housing 100 is opened to form a top connection opening 160, and the air intake structure 120 is detachably disposed at the top connection opening 160. The air inlet structure 120 comprises an air homogenizing plate 121 and a ring member 122 surrounding the periphery of the air homogenizing plate 121, an air homogenizing hole is formed in the air homogenizing plate 121, the ring member 122 is detachably arranged at the top connecting port 160, and the ring member 122 can be understood as a frame provided with the air homogenizing plate 121. The air homogenizing plate 121 is fixedly arranged on the ring-shaped member 122, so that the air homogenizing plate 121 and the ring-shaped member 122 can be detachably connected with the top connecting port 160 together after forming a whole. In the present invention, the air distribution plate 121 is in the shape of a circular disc, and the annular member 122 is in the shape of a circular ring, it is understood that the shapes of the air distribution plate 121 and the annular member 122 include, but are not limited to, a circle, and may also be an ellipse, a square, etc., depending on the shape of the casing 100. After the operation of blower mechanism 600, the air outside casing 100 enters the hollow cavity of casing 100 through even aerofoil 121, and the air current in the hollow cavity of casing 100 can be lighted the flue gas and the heat that produce after moxa stick 800 and take to open end 110 department, and heat transfer is effectual, can effectively improve the moxa-moxibustion effect.

Considering that the moxa roll 800 generates moxa ash after combustion, in order to prevent the moxa ash from adhering to the air intake structure 120 and the blower mechanism 600, the first partition 130 and the second partition 140 are sequentially disposed in the hollow cavity of the housing 100 in a direction from the air intake structure 120 to the open end 110, and the second partition 140 is disposed closer to the open end 110 than the first partition 130; the first and second partitions 130 and 140 are respectively provided with through holes for allowing air to flow therethrough, and the first and second partitions 130 and 140 may be regarded as filter plates. As shown in fig. 2, the first and second partitions 130 and 140 partition the hollow cavity of the casing 100 into an upper chamber in which the blower unit 600 and the first motor 420 are accommodated and a lower chamber in which the base plate 200, the self-ignition unit 500, and the moxa roll 800 are accommodated. A part of the screw unit 410 is located in the upper chamber, another part of the screw unit 410 is located in the lower chamber, wherein the screw connecting seat 413 is located in the upper chamber, the nut 412 is located in the lower chamber, and a part of the screw 411 is located in the upper chamber and another part is located in the lower chamber.

Specifically, the first separator 130 is located above the substrate 200, and the first separator 130 is provided with a second through hole 131 for the screw rod 411 to pass through. The first divider 130 is fixedly coupled to the nut 412 such that the first divider 130 and the nut 412 move in synchronization, and the rim of the first divider 130 is infinitely close to but not in contact with the cavity sidewall of the hollow cavity of the case 100. In the present invention, the first partition 130 is linearly reciprocated in the direction of the central axis L, whereby the volumes of the upper and lower chambers are constantly changed, and the volumes of the upper and lower chambers are in a negative relationship.

In the present invention, the purpose of the translation of the base plate 200 in the direction of the central axis L is as follows: 1) the pulse type movement of the moxa roll 800 can be realized, so that the scorching feeling of the skin is avoided while a better moxibustion effect is achieved; 2) in order to facilitate the mounting of the moxa stick 800 on the base plate 200, specifically, when the moxa stick 800 needs to be mounted, the second separating member 140 is first removed from the hollow cavity of the housing 100, wherein the second separating member 140 is detachably disposed in the hollow cavity of the housing 100, and then the base plate 200 is driven to move toward the open end 110 side by the first driving mechanism 400, in the present invention, when the ignition plate 510 is in the second state, the base plate 200 can move to the open end 110, thereby, the moxa stick 800 can be conveniently mounted on the base plate 200; 3) the substrate 200 and the chucking unit 300 are easily cleaned, and in particular, when the substrate 200 and the chucking unit 300 need to be cleaned, the substrate 200 is driven to move toward the open end 110 side by the first driving mechanism 400, which has an advantage of easy cleaning.

In the present invention, the first separator 130 is translated in the direction of the central axis L for the following purposes: 1) after the moxibustion device is used, moxa ash with a certain thickness can be attached to the cavity side wall of the lower cavity of the shell 100, and the first partition 130 can scrape the moxa ash attached to the cavity side wall of the lower cavity in the moving process, so that the effect of cleaning ash is achieved, and meanwhile, the moxa ash can be prevented from being attached to the cavity side wall of the lower cavity; 2) when the first partition 130 moves toward the open end 110 side, the first partition 130 pushes the air in the hollow chamber of the case 100 to flow toward the open end 110 side, and the heat generated after the combustion of the moxa roll 800 can be transferred to the open end 110, improving the effect of moxibustion to some extent.

In the present invention, a bottom cover 700 is detachably disposed at the open end 110, the bottom cover 700 is at least partially disposed outside the casing 100, and the bottom cover 700 is used for collecting heat and collecting smoke. Referring to fig. 2 and 11, the bottom cover 700 includes a flared outer cover 710 and an inner interlayer 720 disposed inside the outer cover 710. The inner diameter of the outer cover 710 gradually increases in a direction along the air inlet structure 120 to the open end 110. The inner partition 720 divides the space enclosed by the outer cover 710 into a first space and a second space in a direction along the air inlet structure 120 to the open end 110. The inner partition 720 is provided with a through hole 721 for communicating the first space with the second space, and the inner partition 720 is an arc-shaped plate protruding toward the second space. The inner partition 720 is configured such that the airflow flowing within the first space to where the inner partition 720 flows from the periphery to the center along the arc-shaped face of the inner partition 720.

Further, the second space and the lower chamber are communicated through the duct 150, so that the smoke collected by the bottom cover 700 can be delivered into the lower chamber. Specifically, the cavity side wall of the lower chamber is provided with a smoke inlet, which is disposed close to the second partition 140 and between the self-ignition mechanism 500 and the second partition 140, so that the smoke inlet can be ensured to be always located in the lower chamber.

Having fully described the structure of the moxibustion device, those skilled in the art will understand the following working procedures:

firstly, the moxa stick 800 is installed, the bottom cover 700 and the second separating member 140 are firstly removed from the housing 100, the ignition plate 510 is in the second state in the initial state, then the base plate 200 is driven to move to the opening end 110 by the first driving mechanism 400, the moxa stick 800 is installed on the base plate 200 by the clamping unit 300, wherein the position where the base plate 200 moves to the opening end 110 is the lower limit position of the base plate 200, the initial position of the base plate 200 is the upper limit position, and the upper limit position and the lower limit position are the positions of the base plate 200 at the two end parts of the screw rod 411;

secondly, igniting the moxa roll 800, firstly, the first driving mechanism 400 drives the base plate 200 to return to the upper limit position, at this time, the power piece 523 changes the ignition plate 510 from the second state to the first state, thereby the heating wire 511 on the ignition plate 510 is electrified to ignite the moxa roll 800, and finally, the second separator 140 and the bottom cover 700 are installed on the casing 100; of course, the second separator 140 and the bottom cover 700 may be mounted on the casing 100, and then the heating wire 511 may be electrified.

It is understood that the moxibustion device of the present invention can be applied to various usage scenarios, which will be described below by way of example.

The moxibustion device of the invention can be applied to a moxibustion robot. Referring to fig. 14, the moxibustion robot includes: a mobile base 900; a robot arm 910 disposed on the movable base 900; and a moxibustion device provided on the robot arm 910; wherein the moxibustion device is the moxibustion device as described above. Wherein, the bottom of the mobile base is provided with a plurality of universal wheels to realize the motion of the mobile base 900 on the ground; the robotic arm 910 is a multi-degree of freedom arm.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.