CN109316347B - A moxibustion instrument end effector - Google Patents

Abstract

The invention discloses a moxibustion instrument end effector, which relates to the field of moxibustion therapeutic instruments and comprises a moxibustion heating device, a resistance sensor and a guide rail; the moxibustion heating device and the resistance sensor are fixed on the guide rail; the moxibustion heating device is connected with one end of the first push rod; the other end of the first push rod is fixedly connected to one side of the large gear through a pin; the resistance sensor is connected with one end of a second push rod, and the other end of the second push rod is connected with the other side of the large gear through a pin; a motor is arranged on the back of the large gear, and a rotating gear on an output shaft of the motor can be meshed with the large gear; the gear of the motor rotating shaft is utilized to rotate and drive the large gear meshed with the motor rotating shaft to complete reciprocating rotation at a left angle and a right angle, so that the position of the sensor and the position of the moxibustion heating device at the top end of the guide rail and the position of the bottom end of the guide rail are changed, and moxibustion treatment is carried out through the moxibustion heating device after the accurate cutting and positioning of the acupuncture points are carried out through the resistance sensor.

Description

A moxibustion instrument end effector

technical field

The invention relates to the field of moxibustion treatment instruments, in particular to an end effector of a moxibustion instrument.

Background technique

Moxibustion treatment has always been an important part of traditional Chinese medicine treatment in my country. Traditional moxibustion treatment mainly ignites moxa cones and moxa sticks made of moxa leaves, and smokes and roasts the acupuncture points of the human body to achieve the purpose of health care and treatment. Physicians need to hold moxa sticks all the time during moxibustion treatment. Existing hot moxibustion treatment instruments are low-intelligence, cumbersome to use and can only achieve the purpose of heating without the therapeutic effect of wormwood.

Contents of the invention

In order to solve the above problems, the present invention provides an end effector of a moxibustion instrument, which uses the gear of the motor rotating shaft to rotate and drives the large gear meshed with it to complete the reciprocating rotation of 60 degrees left and right, so that the sensor and the moxibustion heating device are positioned at the top of the guide rail and The position of the bottom of the guide rail is changed, and the acupoints are accurately cut and positioned through the resistance sensor, and then the moxibustion treatment is performed through the moxibustion heating device.

A moxibustion instrument end effector provided by the present invention includes a moxibustion heating device, a resistance sensor and a guide rail, the moxibustion heating device is fixed on one side of the guide rail; the resistance sensor is fixed on the other side of the guide rail side;

The guide rail is diamond-shaped, including a first track, a second track, a third track and a fourth track;

The moxibustion heating device is fixedly connected to one end of the first push rod; the other end of the first push rod is fixedly connected to one side of the large gear tooth plate through a pin;

The resistance sensor is fixedly connected to one end of the second push rod, and the other end of the second push rod is connected to the other side of the toothed wheel of the large gear through a pin;

The large gear is connected with the shaft upper end of the guide rail through a bearing;

A motor is arranged on the back of the big gear, and a rotating gear is arranged on an output shaft of the motor, and the rotating gear meshes with the big gear.

As an improvement of the present invention, the moxibustion heating device includes a wormwood extract container, a heater and a carbon rod; the wormwood extract container is connected to the heater through a fastening device; the carbon rod is connected to the Heater interference fit.

As an improvement of the present invention, a probe is provided at the lower end of the resistance sensor, and the probe can perform spiral movement through the control end of the resistance sensor.

As an improvement of the present invention, three support shafts are arranged in the middle of the large gear, and the three support shafts are 120° to each other.

As an improvement of the present invention, a support rod is provided at the lower end of the motor, and the support rod is fixedly connected with the motor.

As an improvement of the present invention, the lower end of the support rod is connected with the lower end of the track shaft.

As an improvement of the present invention, a miniature vision sensor is provided on the lower end surface of the support rod, and the model of the miniature vision sensor is pixy2 type.

Beneficial effects of the present invention: use the gear of the rotating shaft of the motor to rotate and drive the large gear meshed with it to complete the reciprocating rotation at a certain angle to the left and right, and realize the position change of the sensor and the moxibustion heating device at the top of the guide rail and the bottom of the guide rail. High level and dexterous use; the resistance sensor can accurately find and determine the position of each acupoint on the human body; the moxibustion heater is used instead of the traditional moxa stick, which solves the problem of ash falling, and can also smoke and roast the acupoints from various angles. The therapeutic effect is high and safe.

Description of drawings

Fig. 1 is a schematic structural view of the front of an end effector of a moxibustion instrument according to the present invention;

Fig. 2 is a schematic structural view of the back of the end effector of a moxibustion instrument according to the present invention;

Fig. 3 is an exploded view of a wormwood heating device in the present invention;

Drawings: 1-moxibustion heating device; 11-wormwood extract container; 12-heater; 13 carbon rod; 14-fastening device; 2-resistance sensor; 21-probe; 3-guide rail; 31-section 1 track; 32-second track; 33-third track; 34-fourth track; 4-first push rod; 5-second push rod; 6-big gear; 61-support shaft; 7-motor; 71 - turning gear; 72 - support rod; 721 - miniature vision sensor.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

As shown in Figures 1-3, an embodiment of the present invention discloses a moxibustion instrument end effector, including a moxibustion heating device 1, a resistance sensor 2 and a guide rail 3, and the moxibustion heating device 1 is fixed on the One side of the guide rail 3; the resistance sensor 2 is fixed on the other side of the guide rail 3; the guide rail 3 is rhombus-shaped and includes a first track 31, a second track 32, a third track 33 and a fourth track 34; The moxibustion heating device 1 is fixedly connected to one end of the first push rod 4; the other end of the first push rod 4 is fixedly connected to one side of the gear wheel 6 through a pin; the resistance sensor 2 is connected to the second push rod 4. One end of the rod 5 is fixedly connected, and the other end of the second push rod 5 is connected to the other side of the toothed disc of the large gear 6 through a pin; the large gear 6 is connected to the shaft upper end of the guide rail 3 through a bearing; A motor 7 is arranged on the back of the bull gear 6 , and the output shaft of the motor 7 is provided with a rotating gear 71 , and the rotating gear 71 meshes with the bull gear 6 . Use the gear of the motor rotation shaft to rotate and drive the large gear meshed with it to complete the reciprocating rotation of 60 degrees left and right, realize the position change of the sensor and moxibustion heating device at the top of the guide rail and the bottom of the guide rail, and use the resistance sensor to perform precise cutting and positioning of the acupoints. Moxibustion treatment by moxibustion heating device.

In this embodiment, the moxibustion heating device 1 includes a wormwood extract container 11, a heater 12 and a carbon rod 13; the wormwood extract container 11 is connected to the heater 12 through a fastening device 14; The carbon rod 13 is in interference fit with the heater 12 . By heating the wormwood extract instead of burning the traditional moxa sticks for moxibustion treatment, ash falling can be avoided and the safety of moxibustion treatment can be improved.

In this embodiment, a probe 21 is provided at the lower end of the resistance sensor 2 , and the probe 21 can perform spiral movement through the control end of the resistance sensor 2 . The head of the resistance sensor can be attached to the skin to do a spiral movement, which can accurately locate the acupuncture points of the human body.

In this embodiment, three supporting shafts 61 are arranged in the middle of the large gear 6 , and the three supporting shafts 61 are 120° apart from each other. Increase the structural strength of the entire end effector.

In this embodiment, a support rod 72 is provided at the lower end of the motor 7 , and the support rod 72 is fixedly connected with the motor 7 . Support and secure the motor.

In this embodiment, the lower end of the support rod 72 is connected with the lower end of the shaft of the guide rail 3 . The motor and the support rod are integrated with other parts of the end effector of the moxibustion instrument to realize integration.

In this embodiment, a miniature vision sensor 721 is provided on the lower end surface of the support rod 72, and the model of the miniature vision sensor 721 is pixy2 type. The preliminary search and positioning of the acupuncture points of the human body are completed through the miniature visual sensor.

In the specific work, the miniature vision sensor is used to complete the initial search and positioning of the acupuncture points of the human body, and then the motor is started to drive the large gear to rotate counterclockwise by 60°, and the second push rod pushes the resistance sensor to move along the second guide rail. to the bottom of the guide rail, and at the same time, the first push rod moves the moxibustion heater device along the third guide rail to the top of the guide rail, and then turns off the motor; the probe of the resistance sensor is close to the skin and performs a spiral movement to accurately locate the acupuncture points; after accurately locating the acupuncture points, The starter motor drives the large gear to rotate clockwise 120°, and the first push rod moves the moxibustion heating device along the third and fourth guide rails to the top of the guide rails; at the same time, the second push rod moves the resistance sensor along the second and first guide rails. The guide rail moves to the top of the guide rail; the moxibustion heater device starts to heat the wormwood extract, and the heat and gas generated by the heating of the wormwood extract are precipitated through the carbon rods, and moxibustion is performed on the acupuncture points.

Finally, it should be noted that the above is only a detailed description of specific embodiments of the present invention. However, the present invention is not limited to the specific embodiments described above. Equivalent modifications and substitutions of the present invention by those skilled in the art also fall within the scope of the present invention. Therefore, equivalent changes and modifications made without departing from the spirit and scope of the present invention fall within the scope of the present invention.

Claims (5)

1. The end effector of the moxibustion instrument comprises a moxibustion heating device (1), a resistance sensor (2) and a guide rail (3), wherein the moxibustion heating device (1) is fixed on one side of the guide rail (3); the resistance sensor (2) is fixed on the other side of the guide rail (3), and is characterized in that:

the guide rail (3) is diamond-shaped and comprises a first rail (31), a second rail (32), a third rail (33) and a fourth rail (34);

the moxibustion heating device (1) is fixedly connected with one end of the first push rod (4); the other end of the first push rod (4) is fixedly connected to one side of a fluted disc of the large gear (6) through a pin;

the resistance sensor (2) is fixedly connected with one end of a second push rod (5), and the other end of the second push rod (5) is connected with the other side of the fluted disc of the large gear (6) through a pin;

the large gear (6) is connected with the upper end of the shaft of the guide rail (3) through a bearing;

a motor (7) is arranged on the back surface of the large gear (6), a rotating gear (71) is arranged on an output shaft of the motor (7), and the rotating gear (71) is meshed with the large gear (6);

the moxibustion heating device (1) comprises a mugwort extracting solution container (11), a heater (12) and a carbon rod (13); the mugwort extracting solution container (11) is connected with the heater (12) through a fastening device (14); the carbon rod (13) is in interference fit with the heater (12);

the lower end of the resistance sensor (2) is provided with a probe (21), and the probe (21) can do spiral motion through the control end of the resistance sensor (2).

2. A moxibustion instrument end effector according to claim 1, characterized in that:

three supporting shafts (61) are arranged in the middle of the large gear (6), and the three supporting shafts (61) are 120 degrees.

3. A moxibustion instrument end effector according to claim 1, characterized in that:

the lower end of the motor (7) is provided with a supporting rod (72), and the supporting rod (72) is fixedly connected with the motor (7).

4. A moxibustion instrument end effector according to claim 3, characterized in that:

the lower end of the supporting rod (72) is connected with the lower end of the shaft of the guide rail (3).

5. A moxibustion instrument end effector according to claim 3, characterized in that:

the lower end face of the supporting rod (72) is provided with a miniature vision sensor (721), and the model of the miniature vision sensor (721) is pixy2 type.

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