CN110141498A - A kind of moxa-moxibustion smart collaboration robot and its operating method - Google Patents
A kind of moxa-moxibustion smart collaboration robot and its operating method Download PDFInfo
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- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5082—Temperature sensors
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Abstract
The invention discloses a kind of moxa-moxibustion smart collaboration robots, it is related to moxa-moxibustion physical therapy technical field, its key points of the technical solution are that: joint cooperation robot and moxa-moxibustion mechanism including being no less than one, joint cooperation robot is connected with teaching system, teaching system records each acupuncture point position and corresponding generation acupuncture point path point, executing agency is provided in the cooperation robot of joint, executing agency is connected with control system, teaching system connect with control system and path is sent in control system, control system controls executing agency and is executed according to the path that teaching system is fed back, the timer for controlling each Moxibustion on Acupoints time is provided in control system.By being driven robot simulation path according to the figure of physical therapy people by specialist and being confirmed to physical therapy acupuncture point, moxa-moxibustion physical therapy is carried out automatically according to the path of simulation by robot again, specialist is more accurate to the position assurance at acupuncture point, has the advantages that improve moxa-moxibustion effect.
Description
Technical field
The present invention relates to moxa-moxibustion physical therapy technical field, more specifically, it relates to a kind of moxa-moxibustion smart collaboration robot and
Its operating method.
Background technique
Moxa-moxibustion is the moxibustion therapy in middle ancient times acupuncture and moxibustion treatment, and point uses based on moxa cone, moxa stick made of folium artemisiae argyi, fire-cures the cave of human body
Position is to reach a kind of naturopathies of promoting health and curing diseases.In the prior art, the moxa stick for hand-held combustion usually being passed through by the doctor of profession
Moxibustion is carried out to acupuncture point, and in order to reduce the physical consumption of doctor, moxibustion robot is devised to substitute doctor and carry out for a long time
Moxa-moxibustion process.
If application publication number is CN107080690U, date of publication is that the Chinese patent of 2017.08.22 discloses a kind of intelligence
Moxibustion robot and its operating method, including control mechanism, fume extractor and moxibustion device, the control mechanism can be known automatically
Other object, and the moxibustion device is turned into target object automatically；The fume extractor carries out Chinese mugwort cigarette to the moxibustion device
Emissions operation；The moxibustion device includes detection device and adjusting device, the detection device detected target object, the regulation
Equipment detects the distance of target object and the state of target object according to the detection device, carries out to target object automatic
One by one or moxa-moxibustion simultaneously operates, and moxibustion device further includes smoke exhaust pipe, Moxibustion strip displacement structure, cover；The detection device includes
CCD camera, distance-sensor, temperature inductor；The adjusting device includes line handspike；The smoke exhaust pipe, the moxa-moxibustion
Displacement structure, the detection device and adjusting device are arranged inside the cover.
It is mobile using rectilinear coordinates by Intelligent moxibustion machine people, it drives camera mobile and searches acupuncture point automatically, thus
Alignment target acupuncture point is gone to carry out moxa-moxibustion physical therapy during the movement of camera, it is artificial to be replaced using Intelligent moxibustion machine people
Carry out moxa-moxibustion physical therapy.But everyone figure stature is different, acupuncture point position can be deviated, and only relied on camera and swept
It retouches, it is poor to the accuracy assurance of acupuncture point position, cause moxa-moxibustion effect bad.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of moxa-moxibustion smart collaboration robot, by
Specialist drives robot simulation path according to the figure of physical therapy people and confirms to physical therapy acupuncture point, then by robot into
Row moxa-moxibustion physical therapy, specialist are more accurate to the position assurance at acupuncture point, have the advantages that improve moxa-moxibustion effect.
To achieve the above object, the present invention provides the following technical scheme that
A kind of moxa-moxibustion smart collaboration robot, including being no less than one joint cooperation robot and being set to joint association
Make the moxa-moxibustion mechanism of robot grasping end, joint cooperation robot is connected with for recording and saving path coordinate parameter
Teaching system, the teaching system record each acupuncture point position and corresponding generation acupuncture point path point, joint cooperation robot
It is inside provided with for the executing agency mobile with movable joint cooperation robot, the executing agency is connected with control system, described
Teaching system connect with control system and path is sent in control system, and control system control executing agency is according to showing
The path of teaching system feedback executes, and the timer for controlling each Moxibustion on Acupoints time, institute are provided in the control system
Joint cooperation robot is stated when being moved to acupuncture point path point, the timer initiation is simultaneously fed back in control system, by the control
System processed controls executing agency's pause and executes, and after in the timer, the control system controls execution machine
Structure continues to execute.
So set, joint cooperation robot simulation path is operated by specialist, so that teaching system records path
Coordinate parameters, and during specialist simulation, it is recorded in for needing the acupuncture point of physical therapy to set it to acupuncture point path point
In teaching system, enable each physical therapy acupuncture point of teaching system accurate recording position and feed back in control system.Then,
Moxibustion time required for doctor determines each acupuncture point according to professional knowledge, and in control system to acupuncture point path point carry out when
Between set and be recorded in timer clocking internal, joint cooperation robot driven by executing agency under be moved to acupuncture point path point
When, pause executing agency simultaneously starts timer, thus to acupuncture point with reasonable moxibustion time, when timer after, execute
Mechanism starting continues the path after executing with movable joint cooperation robot, thus completes the moxa-moxibustion physical therapy at each acupuncture point one by one.
By carrying out moxa-moxibustion physical therapy again after specialist simulaed path, when can be improved robot drive moxa-moxibustion mechanism progress moxa-moxibustion physical therapy
To the accuracy that acupuncture point is held, and the moxibustion time at each acupuncture point is set by specialist, more reasonable, is had and is improved moxa-moxibustion
The advantages of effect, as long as and doctor simulate an execution route, it is very convenient, during moxa-moxibustion physical therapy, Yi Shike
Path simulation is carried out to operate other robot, multiple equipment can be operated in a people, improves working efficiency.
Further setting: being provided with acupuncture point path point ACK button on the grasping end side wall of joint cooperation robot,
The acupuncture point path point ACK button is connect with teaching system, and when pressing the acupuncture point path point ACK button, described to show
Teaching system records the acupuncture point position and is generated as acupuncture point path point.
So set, when the arrival of moxa-moxibustion mechanism needs the acupuncture point of physical therapy, doctor is directly pressed during doctor's simulaed path
Acupuncture point path point ACK button is pressed, that is, can determine that the position is acupuncture point path point, it is very convenient, improve the convenient of doctor's operation
Property, and doctor's specialization judges acupuncture point position, so that the acupuncture point of moxa-moxibustion physical therapy is more accurate, improves moxa-moxibustion physiotheraping effect.
Further setting: be additionally provided on the grasping end side wall of the joint cooperation robot acupuncture point path point deletion by
Button, the acupuncture point path point delete button are connect with teaching system, and when pressing the acupuncture point path point delete button, described
Teaching system is by upper acupuncture point path point deletion.
So set, discovery is unreasonable to acupuncture point position if doctor is when pressing acupuncture point path point ACK button, can pass through
Acupuncture point route deletion button is pressed by the acupuncture point path point deletion, and re-starts confirmation, bring trouble when reducing maloperation,
Doctor is improved for the convenience of the adjustment of acupuncture point position, to improve the accuracy of acupuncture point confirmation, improves moxa-moxibustion physiotheraping effect.
Further setting: the joint cooperation robot and moxa-moxibustion mechanism are respectively arranged with two, the two joint associations
The left and right sides of human body is respectively arranged at as robot.
So set, in doctor's simulation process, can both hands hold two joints cooperation robots respectively and moved, thus
The efficiency of simulaed path is improved, and two joint cooperation robots and moxa-moxibustion mechanism can synchronize carry out physical therapy, improve Chinese mugwort
Moxibustion physical therapy efficiency.
Further setting: being provided with distance-sensor and tester for torque in the cooperation robot of the joint, it is described away from
Be all connected in control system from inductor and tester for torque, be provided in the control system moxa-moxibustion mechanism and human body it
Between distance threshold and tester for torque torsion threshold value, the distance-sensor and tester for torque detected value are more than threshold
When value, the control system controls executing agency's pause and executes.
So set, distance-sensor and tester for torque can guarantee moxa-moxibustion mechanism and protecting human body suitably away from
From to human body progress safeguard protection, raising security performance.
Further setting: temp probe for detecting moxa-moxibustion temperature is provided in the moxa-moxibustion mechanism and for controlling
The temperature controller of moxa-moxibustion temperature, the temp probe and temperature controller are connect with control system, are provided in the control system
Temperature threshold, when the temp probe detects that temperature is more than temperature threshold, the control system control temperature controller starting.
So set, can control the temperature level of moxa-moxibustion by temperature controller, doctor can control temperature control in control system
The temperature level of device adjustment, is controlled with the moxa-moxibustion temperature to each acupuncture point, improves moxa-moxibustion effect；If temp probe detection Chinese mugwort
Moxibustion temperature is higher than temperature threshold, and control system then feeds back temperature controller and carries out temperature regulation, guarantees that the temperature of moxa-moxibustion process is reasonable, mentions
High moxa-moxibustion physiotheraping effect.
Further setting: the moxa-moxibustion mechanism is detachably set to the grasping end of joint cooperation robot.
So set, it can be removed from the cooperation robot of joint and substituted, be convenient for after moxa-moxibustion mechanism is used for a long time
Improve the service life of equipment.
Further setting: joint cooperation robot is set as six axis joint robots.
So set, six axis joint robots more fit in the manner of manpower, the stability in moving process is improved,
And for the gimmicks such as determining, pecking, revolve, transport during moxa-moxibustion physical therapy, the linkage for the robot that can be shut down according to six axis carries out real
It is existing, improve moxa-moxibustion physiotheraping effect.
By using above-mentioned technical proposal, the present invention compares compared with the prior art, has the advantage that
1, by doctor with movable joint cooperate robot simulation's physical therapy path, and by doctor in professional angle to physical therapy person's
Acupuncture point position judged, so that the path and acupuncture point position simulated by joint cooperation robot according to doctor execute moxa-moxibustion
Process improves the judgement to physical therapy person acupuncture point position, has the advantages that improve moxa-moxibustion physiotheraping effect；
2, it by the cooperation of acupuncture point path point ACK button and acupuncture point path point delete button, needs to end convenient for doctor's record
The acupuncture point position of moxibustion, and can delete and reaffirm in time when judging incorrectly, it is more convenient to operate, and improves doctor to acupuncture point
The convenience and accuracy of confirmation have the advantages that improve moxa-moxibustion effect；
3, by the cooperation of two joints cooperation robots and moxa-moxibustion mechanism, carry out physical therapy can be synchronized, improves moxa-moxibustion reason
Curative effect rate, and moxa-moxibustion physical therapy usually requires one to two hours, in this process, doctor can carry out mould to other robots
It is quasi-, cooperation physical therapy can be carried out to multiple physical therapy persons by a specialist, working efficiency is improved, save labour turnover；
4, by the cooperation of temperature controller and temp probe, it is conveniently adjusted moxa-moxibustion temperature, guarantees that the temperature of moxa-moxibustion process is suitable,
Have the advantages that improve moxa-moxibustion effect.
Second object of the present invention is to provide a kind of operating method of moxa-moxibustion smart collaboration robot, convenient and efficient,
Have the effect of improving the convenience of robot automation's moxa-moxibustion physical therapy.
To achieve the above object, the present invention provides the following technical scheme that
A kind of operating method of the moxa-moxibustion smart collaboration robot as described in claim 1-8 any one, feature exist
In including the following steps:
(1) grasping end that doctor holds joint cooperation robot carries out stroke simulation, records and saves road by teaching system
Diameter coordinate parameters, and when being often moved to the acupuncture point for needing moxa-moxibustion, doctor just controls acupuncture point path point ACK button and is confirmed as acupuncture point
Path point, until each needs the acupuncture point of moxa-moxibustion to be sequentially identified and finishes；
(2) doctor's operation control system sets the meter of timer to each acupuncture point path point according to moxibustion time demand
When the time, be recorded in timer after setting；
(3) starting joint cooperation robot, control system will execute in the travel feedback to executing agency of record, by joint
Cooperation robot is moved according to the stroke that doctor simulates, and when being moved to acupuncture point path point, control system controls execution machine
When structure pause executes and starts timer, to carry out the moxa-moxibustion physical therapy in the stipulated time to the acupuncture point；
(4) after when timer, control system control executing agency, which continues to execute to next acupuncture point path point, to be carried out
Thus path in teaching system is all finished by moxa-moxibustion physical therapy step by step, complete moxa-moxibustion physical therapy；
(5) after moxa-moxibustion whole, joint cooperation robot is reset to initial position, and the moxa-moxibustion mechanism closes, reason
Treatment person stands up to leave.
Further setting, joint cooperation robot be located at the setting of human body two sides there are two when, doctor passes through double
Two joint cooperation robots of hand-motion are synchronous to carry out path simulation, and two joint cooperation robot path stroke in simulation process
It is non-interference.
By using above-mentioned technical proposal, the present invention compares compared with the prior art, has the advantage that
1, come accurate judgement acupuncture point position by using doctor and give joint cooperation robot simulation path, improve acupuncture point position
The accuracy of judgement is set, drives moxa-moxibustion mechanism to carry out moxa-moxibustion physical therapy on accurate acupuncture point convenient for shutdown cooperation robot, has and mention
The advantages of high moxa-moxibustion effect；
2, it drives Liang Ge robot to carry out path simulation by doctor's both hands, improves working efficiency, while Liang Ge robot
Can synchronous physiotherapy, improve physical therapy efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of moxa-moxibustion smart collaboration robot；
Fig. 2 is control system, teaching system, acupuncture point path point ACK button, acupuncture point path point delete button, moxabustion machine
Structure, executing agency, shutdown cooperation robot and timer connection relationship diagram；
Fig. 3 is that tester for torque, distance-sensor, executing agency, temp probe, temperature controller, moxa-moxibustion mechanism and control are
The connection relationship diagram of system；
Fig. 4 is that there are two structural representations when joint cooperation robot and moxa-moxibustion mechanism for moxa-moxibustion smart collaboration robot tool
Figure.
In figure: 1, joint cooperation robot；2, moxa-moxibustion mechanism；3, teaching system；4, executing agency；5, control system；6,
Timer；7, acupuncture point path point ACK button；8, acupuncture point path point delete button；9, distance-sensor；10, tester for torque；
11, temp probe；12, temperature controller.
Specific embodiment
Moxa-moxibustion smart collaboration robot is described further referring to figs. 1 to Fig. 4.
Embodiment one: a kind of moxa-moxibustion smart collaboration robot, as shown in Figure 1, including no less than one joint cooperation machine
Device people 1 and the moxa-moxibustion mechanism 2 for being set to joint cooperation 1 grasping end of robot, in the present embodiment, joint cooperate robot 1 with
And moxa-moxibustion mechanism 2 is specifically configured to one, and joint cooperation robot 1 is set as six axis joint robots, so as to mould
Intend various operational motions, realizes and the gimmicks such as determine, peck, revolving, transporting during moxa-moxibustion physical therapy.
As shown in Figure 1, moxa-moxibustion mechanism 2 is removably mounted on the grasping end of joint cooperation robot 1, in order to moxabustion machine
The disassembly of structure 2 substitutes, and improves service life of equipment.Bolt can be used in moxa-moxibustion mechanism 2 or other structures just dismounted are pacified
Dress, is not listed one by one herein.
As depicted in figs. 1 and 2, cooperation robot 1 in joint is connected with the teaching for recording and saving path coordinate parameter
System 3, teaching system 3 are installed at the grasping end of joint cooperation robot 1, and doctor holds joint cooperation robot 1 and carries out road
When diameter is drilled, teaching system 3 is according to path coordinate parameter under the operation note and preservation of doctor, in order to joint cooperation robot
1 is moved along accurate path.Acupuncture point path point ACK button is provided on the grasping end side wall of joint cooperation robot 1
7, acupuncture point path point ACK button 7 is connect with teaching system 3, and doctor is transferred to required moxa-moxibustion during path is drilled
When acupuncture point, acupuncture point path point ACK button 7 is pressed, teaching system 3 records acupuncture point position and correspondence is generated as acupuncture point path point, with
The accurate acupuncture point position determined in joint cooperation 1 transfer process of robot, improves moxa-moxibustion physiotheraping effect.
As depicted in figs. 1 and 2, further, in order to avoid doctor's operation error makes troubles, in joint cooperation robot
Acupuncture point path point delete button 8 is additionally provided on 1 grasping end side wall, acupuncture point path point delete button 8 and teaching system 3 connect
It connects, and when pressing acupuncture point path point delete button 8, teaching system 3 is by upper acupuncture point path point deletion.Doctor is in moxibustion acupuncture point
When confirmation mistake, acupuncture point path point delete button 8 can be pressed and deleted, and plan that the acupuncture point of the point carries out acupuncture point path again
The confirmation of point improves the accuracy of moxibustion acupuncture point confirmation, improves moxa-moxibustion physical therapy convenient for being adjusted during the confirmation of doctor acupuncture point
Effect.
As shown in Fig. 2, being provided in the cooperation robot 1 of joint for controlling the mobile execution of joint cooperation robot 1
Mechanism 4, executing agency 4 are connected with control system 5, and teaching system 3 connect with control system 5 and path is sent to control system
In 5, control executing agency 4 executes according to the path after control system 5 receives the path that teaching system 3 is fed back, thus by joint
Cooperation robot 1 drives moxa-moxibustion mechanism 2 to shift along the path that doctor drills.Wherein, it is provided with and is used in control system 5
The timer 6 of each Moxibustion on Acupoints time is controlled, timer 6 can carry out setting meter to the moxibustion time of each acupuncture point path point
When, when in joint, cooperation robot 1 is moved to acupuncture point path point, the timing time of the starting of the timer 6 acupuncture point path point is simultaneously anti-
It is fed in control system 5, the pause of executing agency 4 is controlled by control system 5 and is executed, in timer 6 by the Chinese mugwort of the acupuncture point path point
After the timing of moxibustion time, control system 5 controls executing agency 4 and continues to execute, thus along path by each acupuncture point path point root
Moxa-moxibustion is carried out according to the timing time that timer 6 is set, improves moxa-moxibustion physiotheraping effect.Further, doctor is drilling whole roads
After diameter, operation control system 5 carries out the moxibustion time setting of each acupuncture point path point, can be determined according to the professional knowledge of doctor
The moxibustion time at each acupuncture point improves moxa-moxibustion physiotheraping effect so that the moxibustion time at each acupuncture point is reasonable.
As shown in figure 3, further, be provided in moxa-moxibustion mechanism 2 temp probe 11 for detecting moxa-moxibustion temperature with
And the temperature controller 12 for controlling moxa-moxibustion temperature, temperature controller 12 can according to the moxa-moxibustion temperature of moxa-moxibustion demand control moxa-moxibustion mechanism 2,
Improve moxa-moxibustion effect.Wherein, temp probe 11 and temperature controller 12 are connect with control system 5, and operation control system 5 can give
Temperature controller 12 sets moxa-moxibustion temperature range, meanwhile, it is provided with temperature threshold in control system 5, when temp probe 11 detects
When temperature is more than temperature threshold, control system 5 controls temperature controller 12 and starts, by temperature controller 12 to the moxa-moxibustion temperature of moxa-moxibustion mechanism 2
It is adjusted.
As shown in figure 3, in order to improve operational safety, be provided in the cooperation robot 1 of joint distance-sensor 9 and
Tester for torque 10, distance-sensor 9 and tester for torque 10 are all connected in control system 5, are arranged in control system 5
There is the torsion threshold value of the distance between moxa-moxibustion mechanism 2 and human body threshold value and tester for torque 10, and control system 5 is connected with report
Alert device, when distance-sensor 9 and 10 detected value of tester for torque are more than threshold value, control system 5 controls executing agency 4 and suspends
It executes, and moxa-moxibustion mechanism 2 is closed, while controlling alarm and alarming, to warn doctor to be adjusted, improved to physical therapy people
The safety protective effect of member.
Working principle: it is moved by the grasping end that specialist holds joint cooperation robot 1, to simulate joint
The path coordinate parameter of cooperation robot 1.During specialist simulated maneuver, if being transferred at the acupuncture point for needing moxa-moxibustion
When, doctor presses acupuncture point path point ACK button 7, which is recorded as acupuncture point path point, successively simulate each acupuncture point and
Transfer path.All Paths simulation after, doctor be arranged in control system 5 moxa-moxibustion temperature of each acupuncture point path point with
And moxibustion time, it is operated to start executing agency 4 with movable joint cooperation robot 1, and open moxa-moxibustion mechanism 2 and end
Moxibustion physical therapy carries out moxa-moxibustion physical therapy to acupuncture point path point one by one, realizes automation moxa-moxibustion physical therapy, it is convenient to operate.Through the above scheme,
Moxa-moxibustion physical therapy is carried out after specialist simulaed path again, can be improved robot drive moxa-moxibustion mechanism 2 carry out moxa-moxibustion physical therapy when pair
The accuracy that acupuncture point is held, and the moxibustion time at each acupuncture point and temperature are set by specialist, it is more reasonable, have and improves
The advantages of moxa-moxibustion effect, as long as and doctor simulate an execution route, it is very convenient, during moxa-moxibustion physical therapy, doctor
Teacher can operate other robot and carry out path simulation, and multiple equipment can be operated in a people, improve working efficiency.
The difference of embodiment two, the present embodiment and embodiment is, as shown in figure 4, joint cooperation robot 1 and moxa-moxibustion
There are two mechanism 2 is respectively provided with, and two joint cooperation robot 1 is respectively arranged at the left and right sides of human body, two moxa-moxibustion mechanisms 2 difference
It is installed on the grasping end of two joint cooperation robot 1.Doctor can hold two joint cooperation machines when carrying out path simulation simultaneously
The grasping end of device people 1 moves, and the path of two joint cooperation robots 1 is non-interference, so as to utilize two passes
Section cooperation robot 1 cooperates the synchronous moxa-moxibustion physical therapy for carrying out two acupuncture points of moxa-moxibustion mechanism 2, to reduce required for entire moxa-moxibustion process
Time, improve physical therapy efficiency.Meanwhile the acupuncture point of if desired moxa-moxibustion physical therapy is less, then can only a selection single joint cooperate machine
Device people 1 carries out using improving the diversity of moxa-moxibustion Physical therapy schemes.
Embodiment three, the present embodiment are to provide a kind of operating method of moxa-moxibustion smart collaboration of embodiment robot, such as scheme
1, shown in Fig. 2 and Fig. 3, include the following steps:
(1) grasping end that doctor holds joint cooperation robot 1 carries out stroke simulation, is recorded and saved by teaching system 3
Path coordinate parameter, and when being often moved to the acupuncture point for needing moxa-moxibustion, doctor just controls acupuncture point path point ACK button 7 and is confirmed as cave
Position path point, until each needs the acupuncture point of moxa-moxibustion to be sequentially identified and finishes；
(2) doctor's operation control system 5 sets timer 6 according to moxibustion time demand to each acupuncture point path point
Timing time is recorded in timer 6 after setting, meanwhile, moxa-moxibustion temperature size is set to each acupuncture point path point, by temperature control
Device 12 is adjusted；
(3) starting joint cooperation robot 1, control system 5 will execute in the travel feedback of record to executing agency 4, by
Joint cooperation robot 1 is moved according to the stroke that doctor simulates, and when being moved to acupuncture point path point, control system 5 is controlled
The pause of executing agency 4 executes and starts 6 timing of timer, to carry out the moxa-moxibustion physical therapy in the stipulated time to the acupuncture point；
(4) after 6 timing of timer, control system 5 controls executing agency 4 and continues to execute to next acupuncture point path click-through
Path in teaching system 3, is thus all finished by row moxa-moxibustion physical therapy step by step, completes moxa-moxibustion physical therapy；
(5) after moxa-moxibustion whole, joint cooperation robot 1 is reset to initial position, and moxa-moxibustion mechanism 2 closes, physical therapy
Person stands up to leave.
Wherein, joint cooperation robot 1 be located at human body two sides setting there are two when, doctor by both hands drive two
Joint cooperates, and robot 1 is synchronous to carry out path simulation, and two joint cooperation 1 path forms of robot are not done mutually in simulation process
It relates to.It is provided with physiotherapy couch between two joint cooperation robots 1, physical therapy person lies in and carries out moxa-moxibustion physical therapy work on physiotherapy couch, and two
Joint cooperates robot 1 in initial position, and the grasping end of shutdown cooperation robot is outside physiotherapy couch, in order to physical therapy person's
It lies down and stands up.
Working principle: after doctor's simulaed path, joint cooperation robot 1 is moved according to the path of simulation, by
The acupuncture point of doctor's judgement is more accurate, so that accurately moxa-moxibustion physical therapy can be carried out to acupuncture point in moxa-moxibustion, improves moxa-moxibustion physical therapy effect
Fruit, meanwhile, doctor need to only simulate a path, and moxa-moxibustion process automation carries out, doctor without participating in again, so as to by
One doctor operates multiple equipment and carries out using raising working efficiency.By doctor determine moxa-moxibustion physical therapy acupuncture point, moxibustion time and
Moxa-moxibustion temperature, it is more professional, accurate to be determined compared to robot itself using other modes, has and improves moxa-moxibustion physiotheraping effect
The advantages of.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of moxa-moxibustion smart collaboration robot, which is characterized in that including be no less than one joint cooperate robot (1) and
It is set to the moxa-moxibustion mechanism (2) of joint cooperation robot (1) grasping end, joint cooperation robot (1) is connected with for remembering
It records and the teaching system (3) of storing path coordinate parameters, the teaching system (3) records each acupuncture point position and corresponding generation cave
Position path point, joint cooperation robot (1) is interior to be provided with for executing agency mobile with movable joint cooperation robot (1)
(4), the executing agency (4) is connected with control system (5), and the teaching system (3) connect with control system (5) and by path
It is sent in control system (5), control system (5) control executing agency (4) is held according to the path that teaching system (3) is fed back
Row, the interior timer (6) being provided with for controlling each Moxibustion on Acupoints time of the control system (5), the joint cooperation machine
When device people (1) is moved to acupuncture point path point, the timer (6) starts and feeds back in control system (5), is by the control
(5) control of uniting executing agency (4) pause executes, after the timer (6) timing, control system (5) control
Executing agency (4) processed continues to execute.
2. a kind of moxa-moxibustion smart collaboration robot according to claim 1, which is characterized in that joint cooperation robot
(1) acupuncture point path point ACK button (7), the acupuncture point path point ACK button (7) and teaching are provided on grasping end side wall
System (3) connection, and when pressing acupuncture point path point ACK button (7), the teaching system (3) records the acupuncture point position
And it is generated as acupuncture point path point.
3. a kind of moxa-moxibustion smart collaboration robot according to claim 2, which is characterized in that joint cooperation robot
(1) be additionally provided with acupuncture point path point delete button (8) on grasping end side wall, the acupuncture point path point delete button (8) with show
Teaching system (3) connection, and when pressing acupuncture point path point delete button (8), the teaching system (3) is by upper acupuncture point road
Diameter point deletion.
4. a kind of moxa-moxibustion smart collaboration robot according to claim 1, which is characterized in that joint cooperation robot
(1) and there are two moxa-moxibustion mechanism (2) is respectively set, two joints cooperations robot (1) are respectively arranged at the left and right of human body
Two sides.
5. a kind of moxa-moxibustion smart collaboration robot according to claim 1, which is characterized in that joint cooperation robot
(1) distance-sensor (9) and tester for torque (10), the distance-sensor (9) and tester for torque are provided on
(10) it is all connected on control system (5), is provided with the distance between moxa-moxibustion mechanism (2) and human body on the control system (5)
The torsion threshold value of threshold value and tester for torque (10), the distance-sensor (9) and tester for torque (10) detected value are super
When crossing threshold value, the control system (5) controls executing agency (4) pause and executes.
6. a kind of moxa-moxibustion smart collaboration robot according to claim 5, which is characterized in that on the moxa-moxibustion mechanism (2)
It is provided with the temp probe (11) for detecting moxa-moxibustion temperature and the temperature controller (12) for controlling moxa-moxibustion temperature, the temperature
Probe (11) and temperature controller (12) are connect with control system (5), are provided with temperature threshold in the control system (5), institute
When stating temp probe (11) and detecting that temperature is more than temperature threshold, the control system (5) control temperature controller (12) starting.
7. a kind of moxa-moxibustion smart collaboration robot according to claim 1, which is characterized in that the moxa-moxibustion mechanism (2) can
Disassembly is set to the grasping end of joint cooperation robot (1).
8. a kind of moxa-moxibustion smart collaboration robot according to claim 1, which is characterized in that joint cooperation robot
(1) six axis joint robots are set as.
9. a kind of operating method of the moxa-moxibustion smart collaboration robot as described in claim 1-8 any one, which is characterized in that
Include the following steps:
(1) grasping end that doctor holds joint cooperation robot (1) carries out stroke simulation, is recorded and saved by teaching system (3)
Path coordinate parameter, and when being often moved to the acupuncture point for needing moxa-moxibustion, doctor just controls acupuncture point path point ACK button (7) and is confirmed as
Acupuncture point path point, until each needs the acupuncture point of moxa-moxibustion to be sequentially identified and finishes；
(2) doctor's operation control system (5) set timer (6) according to moxibustion time demand to each acupuncture point path point
Timing time is recorded in timer (6) after setting；
(3) starting joint cooperation robot (1), control system (5) will execute in the travel feedback of record to executing agency (4),
It is moved by joint cooperation robot (1) according to the stroke that doctor simulates, when being moved to acupuncture point path point, control system
(5) control executing agency (4) pause executes and starts timer (6) timing, to carry out the moxa-moxibustion in the stipulated time to the acupuncture point
Physical therapy；
(4) after timer (6) timing, control system (5) control executing agency (4) is continued to execute to next acupuncture point path point
Moxa-moxibustion physical therapy is carried out, thus the path in teaching system (3) is all finished step by step, completes moxa-moxibustion physical therapy；
(5) after moxa-moxibustion whole, joint cooperation robot (1) is reset to initial position, and the moxa-moxibustion mechanism (2) closes,
Physical therapy person stands up to leave.
10. a kind of operating method of moxa-moxibustion smart collaboration robot according to claim 9, which is characterized in that the pass
Section cooperation robot (1) be located at the setting of human body two sides there are two when, doctor drives two joints cooperation machines by both hands
People (1) is synchronous to carry out path simulation, and two joint cooperation robot (1) path forms are non-interference in simulation process.
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| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN111098314A (en) * | 2020-01-05 | 2020-05-05 | 天津大学 | Intelligent heat-sensitive moxibustion system based on cooperative robot |
| CN112386476A (en) * | 2020-10-30 | 2021-02-23 | 西安医心演绎医疗科技有限公司 | Intelligent eye moxibustion robot |
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