CN102389296B - Pulse reoccurrence device and reoccurring method thereof - Google Patents
Pulse reoccurrence device and reoccurring method thereof Download PDFInfo
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- CN102389296B CN102389296B CN 201110204683 CN201110204683A CN102389296B CN 102389296 B CN102389296 B CN 102389296B CN 201110204683 CN201110204683 CN 201110204683 CN 201110204683 A CN201110204683 A CN 201110204683A CN 102389296 B CN102389296 B CN 102389296B
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Abstract
The invention discloses a pulse reoccurrence device and a reoccurring method thereof. The device comprises a hydraulic loop and a control circuit, wherein the hydraulic loop comprises an electromechanical integral pump, an electro-hydraulic servo valve, a diverter valve, a bionic wrist and an oil tank which are connected sequentially, wherein pressure sensors are arranged inside and on corresponding positions of cun, guan and chi on the bionic wrist; when an external force acts on one of the positions corresponding to cun, guan and chi of the upper part of the bionic wrist, the corresponding pressure sensor outputs an analog pressure signal, and the control circuit calls a pulse signal to be reoccurred under trigger of the output analog pressure signal output by the pressure sensor, and the pulse signal which is subjected to digital-to-analog conversion and amplification serves as a drive signal of the electro-hydraulic servo valve to drive the hydraulic loop to generate a corresponding hydraulic waveform, so that true reoccurrence of pulse is realized.
Description
Technical field
The present invention relates to a kind of pulse wave spectrum equipment, relate in particular to a kind of pulse reproducing apparatus and reproducing method thereof.
Background technology
Judge that by pulse condition human health status is important diagnostic means of the traditional Chinese medical science.It is the method for coming patient's health status is carried out analysis and judgement by the beat pulse at three positions of finger touch patient wrist portion radial artery cun,guan,chi that the traditional Chinese medical science is felt the pulse.It mainly is to rely on Chinese physician's subjective sensation to carry out that the traditional Chinese medical science is felt the pulse.Continuous progress along with science and technology, can gather patient's pulse condition and show pulse pressure in time the electropulsograph of change curve be developed and in real work life, used, thereby will obtain the pulse pressure related data by communication network transmission and utilize the reproducing apparatus real-time Simulation to go out corresponding pulse condition, again by the traditional Chinese medical science then according to the long-range judgement patient's of pulse pressure situation of change of reproducing apparatus simulation pulse condition become a kind of may.And pulse condition reproduction result's accuracy is directly related with the performance of pulse reproducing apparatus.Therefore, the pulse reproducing apparatus that research and development can true reappearance patient pulse condition becomes the current realization traditional Chinese medical science one of problem of solution that long-range pulse-taking is needed badly.
Summary of the invention
The object of the present invention is to provide a kind of pulse reproducing apparatus and reproducing method thereof that can true reappearance patient pulse condition.
For achieving the above object, one aspect of the present invention provides a kind of pulse reproducing apparatus, described hydraulic circuit comprises electromechanical pump, electrohydraulic servo valve, flow divider, bionical wrist and the fuel tank that links to each other successively, described bionical wrist is separately installed with a pressure transducer on inherent corresponding with three positions of cun,guan,chi on the described bionical wrist position, when external force acts on one of the position corresponding with three positions of described cun,guan,chi on described bionical wrist top, corresponding pressure transducer output simulated pressure signal;
Described control circuit comprises: an A/D module is used for the simulated pressure conversion of signals of described pressure transducer output is become digital pressure signal output; Host computer is used for receiving the digital pressure signal that a described A/D module sends, and transfers pulse signal output to be reappeared according to described digital pressure signal correspondence; The D/A modular converter is used for obtaining the pulse signal that described host computer sends, and converts thereof into the output of simulation pulse signal; Amplifying circuit is used for obtaining the simulation pulse signal that described D/A modular converter sends, and it is amplified the driving signal of exporting as described electrohydraulic servo valve the back produce corresponding hydraulic pressure waveform to drive described hydraulic circuit.
Pulse reproducing apparatus of the present invention, described bionical wrist comprises rubber-like profile layer, described profile layer bottom is provided with simulated blood vessel, described simulated blood vessel bottom is provided with bionical tendon layer, described bionical tendon layer bottom is provided with bionical skeletal layer, be equipped with in the described bionical skeletal layer three with described bionical wrist cun, close, the vertical lifting device of position, three positions of chi correspondence, each described vertical lifting device top is equipped with a described pressure transducer, the bottom connection of the top of each described pressure transducer and described bionical tendon layer touches, described vertical lifting device is used for adjusting the very little of described bionical wrist, close, the height at three positions of chi, make it the human body corresponding with pulse signal to be reappeared cun, close, the matched at three positions of chi.
Pulse reproducing apparatus of the present invention, each described vertical lifting device comprises that an embedding is fixed in the motor of described bionical skeletal layer bottom, fixedly there is leading screw the upper end of described machine shaft, the described leading screw top sleeve that has been threaded, be with the sleeve fixed mount of cooperation on the described sleeve, described sleeve fixed mount is fixed in the described bionical skeletal layer, and described sleeve only can slide up and down with respect to described sleeve fixed mount.
Pulse reproducing apparatus of the present invention, described flow divider has a valve body, have the fuel feed hole that runs through its left and right sides on the described valve body, described fuel feed hole right-end openings is tightly connected by an end of the first oil circuit joint and a hard pipeline and described simulated blood vessel successively, described valve body top vertically has the installing hole that connects with described fuel feed hole, described installing hole female thread is connected with spool, described mounting hole site is equipped with the loam cake that is threaded in the part of described spool top, have the tap hole with described installing hole and the perforation of described fuel feed hole on the position corresponding with described installing hole, described valve body bottom, described tap hole lower ending opening is sealedly connected with the 3rd oil circuit joint, also have spill port on the described valve body, described spill port runs through bottom and the right side of described valve body, the right openings of described spill port is tightly connected by the other end of the second oil circuit joint and another hard pipeline and described simulated blood vessel successively, and the bottom opening of described spill port is sealedly connected with the 4th oil circuit joint.
Pulse reproducing apparatus of the present invention, described bionical skeletal layer bottom embeds fixedly motor fixing frame, and described motor is installed on the described motor fixing frame.
Pulse reproducing apparatus of the present invention, described profile layer is the flexibel polyurethane elastomer, its thickness is about 10mm; Described bionical tendon layer is flexible polyurethane foam, and its thickness is about 5mm; Described bionical skeletal layer is RPUF, and its thickness is about 34～44mm; Described simulated blood vessel is the silica gel tube that internal diameter is about 2mm, and the range of described sleeve is ± 5mm.
Pulse reproducing apparatus of the present invention, described D/A modular converter comprises:
Single-chip microcomputer, be used for to receive described host computer transmission pulse signal and send it to digital to analog converter;
Digital to analog converter is used for converting described pulse signal the output of to simulation pulse signal;
Communication interface is used for the communication between the described single-chip microcomputer of realization and the described host computer.
Pulse reproducing apparatus of the present invention, described control circuit also comprises:
Be installed in for the pressure transmitter on the pipeline that connects described bionical wrist and described fuel tank, be transformed into corresponding simulating reproduction pulse signal for the hydraulic pressure waveform that will flow through described bionical wrist;
The 2nd A/D module is used for that described simulation reproduction pulse signal is transformed into numeral reproduction pulse signal and is sent to described host computer, for described host computer relative analysis.
Pulse reproducing apparatus of the present invention, described hydraulic circuit also comprises:
Be installed in for the oil filter on the pipeline that connects described electromechanical pump and described fuel tank, be used for the interior impurity of hydraulic oil of the described hydraulic circuit of filtering.
On the one hand, the present invention also provides a kind of pulse reproducing method of above-mentioned pulse reproducing apparatus, may further comprise the steps again:
Pressure transducer is exported the simulated pressure signal under external force;
The one A/D module becomes digital pressure signal output with the simulated pressure conversion of signals of pressure transducer output;
After host computer receives the digital pressure signal of A/D module transmission, trigger and transfer the pulse signal output that prestores;
The D/A modular converter obtains the pulse signal that host computer sends, and converts thereof into the output of simulation pulse signal;
Amplifying circuit obtains the simulation pulse signal that the D/A modular converter sends, and it is amplified the driving signal of exporting as electrohydraulic servo valve the back produce corresponding hydraulic pressure waveform to drive hydraulic circuit.
Pulse reproducing apparatus of the present invention comprises hydraulic circuit and control circuit, wherein, hydraulic circuit comprises electromechanical pump, electrohydraulic servo valve, flow divider, bionical wrist and the fuel tank that links to each other successively, bionical wrist is separately installed with a pressure transducer on inherent corresponding with three positions of cun,guan,chi on the bionical wrist position, when external force acts on one of the position corresponding with three positions of cun,guan,chi on bionical wrist top, corresponding pressure transducer output simulated pressure signal.Control circuit comprises: an A/D module is used for the simulated pressure conversion of signals of pressure transducer output is become digital pressure signal output; Host computer is used for receiving the digital pressure signal that an A/D module sends, and transfers pulse signal output to be reappeared according to the digital pressure signal correspondence; The D/A modular converter is used for obtaining the pulse signal that host computer sends, and converts thereof into the output of simulation pulse signal; Amplifying circuit is used for obtaining the simulation pulse signal that the D/A modular converter sends, and it is amplified the driving signal of exporting as electrohydraulic servo valve the back produce corresponding hydraulic pressure waveform to drive hydraulic circuit.Thereby realize the true reproduction of pulse.
Description of drawings
Fig. 1 is the hydraulic circuit diagram of the hydraulic circuit in the pulse reproducing apparatus of one embodiment of the invention;
Fig. 2 is the structural representation of pulse reproducing apparatus among Fig. 1;
Fig. 3 is the bionical wrist of pulse reproducing apparatus among Fig. 1 and the perspective view of flow divider;
Fig. 4 looks up structural representation (omitting profile layer, emulation tendon layer and bionical skeletal layer) for the bionical wrist of pulse reproducing apparatus among Fig. 3 and flow divider;
Fig. 5 is that the A-A of the bionical wrist of pulse reproducing apparatus among Fig. 4 and flow divider is to the sectional structure sketch map;
Fig. 6 is that the B-B of the bionical wrist of pulse reproducing apparatus among Fig. 4 and flow divider is to the sectional structure sketch map;
Fig. 7 is that the C-C of the bionical wrist of pulse reproducing apparatus among Fig. 4 and flow divider is to the sectional structure sketch map;
Fig. 8 looks sectional structure enlarged diagram (omission flow divider) for the master of the bionical wrist of pulse reproducing apparatus among Fig. 3;
Fig. 9 is the E-E section structure enlarged diagram of the bionical wrist of pulse reproducing apparatus among Fig. 8;
Figure 10 is the F-F section structure enlarged diagram of the bionical wrist of pulse reproducing apparatus among Fig. 8;
Figure 11 is the D/A modular converter of pulse reproducing apparatus among Fig. 1 and the circuit theory diagrams of amplifying circuit.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail:
The pulse reproducing apparatus of present embodiment comprises hydraulic circuit and control circuit, and with reference to shown in Figure 1, wherein, hydraulic circuit mainly comprises the hydraulic circuit of the formations such as electromechanical pump 9, electrohydraulic servo valve 6, flow divider 3, bionical wrist 1 and fuel tank 8 that link to each other successively.Wherein, the oil-out of fuel tank 8 links to each other by the oil-in of pipeline with electromechanical pump 9, the oil-out of electromechanical pump 9 links to each other by the oil-in of pipeline with electrohydraulic servo valve 6, the oil-out of electrohydraulic servo valve 6 links to each other by the oil-in of pipeline with flow divider 3, the overfall of flow divider 3 links to each other with an oil return opening of fuel tank 8 by pipeline, the oil-out of flow divider 3 links to each other with an end of bionical wrist 1 by pipeline, and the other end of bionical wrist 1 links to each other with another oil return opening of fuel tank 8 by pipeline.In conjunction with shown in Figure 2, on the pipeline of connection flow divider 3 and electrohydraulic servo valve 6 Pressure gauge 7 is installed, be used for conveniently checking the real-time pressure of hydraulic circuit, on the pipeline of connection electromechanical pump 9 and fuel tank 8 oil filter 10 is installed, usually often contain particulate contamination in the hydraulic oil, if do not install wearing and tearing, guiding valve clamping stagnation, orifice obstruction that oil filter 10 causes each relative motion component surface of hydraulic circuit easily additional, the system works reliability greatly reduced.Fuel tank 8 is used for oil storage, heat radiation, and electromechanical pump 9 works to form hydraulic circuit as power part always after then starting, and flow divider 3 is used for regulator solution hydraulic circuit pressure, guarantees security of system.
Continuation is with reference to figure 1, control circuit comprises: connect a pressure transmitter 11 (for example model is the pressure transmitter of CGYL-202) of installing by a tee T on the pipeline of bionical wrist 1 and fuel tank 8, the hydraulic pressure waveform that is used for flowing through bionical wrist 1 is transformed into corresponding simulating and reappears pulse signal.Be installed in three the integrated pulse transducers 12 (for example model is the integrated pulse transducer of HK2000G) on the bottom of bionical wrist 1, on the mutual spacing of these three integrated pulse transducers 12 and the bionical wrist 1 cun, close, position, three positions of chi correspondence, as external force act on the bionical wrist 1 cun, close, during one of three positions of chi, its corresponding integrated pulse transducer 12 output simulated pressure signals, for guarantee these three integrated pulse transducers 12 can only have simultaneously one in running order, require the priority of the integrated pulse transducer 12 corresponding with the CUN position on the bionical wrist 1 the highest, the priority of the integrated pulse transducer 12 corresponding with the position, pass on the bionical wrist 1 is taken second place, and the priority of the integrated pulse transducer 12 corresponding with the chi position on the bionical wrist 1 is minimum.Three A/D modules, each A/D module are used for the simulated pressure conversion of signals of integrated pulse transducer 12 outputs of correspondence is become digital pressure signal output.Host computer is used for receiving the digital pressure signal that an A/D module sends, and transfers pulse signal output to be reappeared according to the digital pressure signal correspondence.The D/A modular converter is used for obtaining the pulse signal that host computer sends, and converts thereof into the output of simulation pulse signal.Amplifying circuit is used for obtaining the simulation pulse signal that the D/A modular converter sends, and it is amplified the driving signal of exporting as electrohydraulic servo valve 6 back produce corresponding hydraulic pressure waveform to drive hydraulic circuit.The 2nd A/D module is used for simulate the reproduction pulse signal and is transformed into numeral reproduction pulse signal and is sent to host computer, for the host computer relative analysis, reappears effect with check.
Extremely shown in Figure 10 in conjunction with Fig. 3 and Fig. 8, bionical wrist 1 comprises rubber-like profile layer 101, and this profile layer 101 is the flexibel polyurethane elastomer, and its average thickness is about 10mm.Profile layer 101 bottom are provided with simulated blood vessel 102, and this simulated blood vessel 102 is silica gel tubes that internal diameter is about 2mm.Simulated blood vessel 102 bottoms are provided with bionical tendon layer 103, and this bionical tendon layer 103 is flexible polyurethane foam, and its thickness is about 5mm.Bionical tendon layer 103 bottom are provided with bionical skeletal layer 104, and this bionical skeletal layer 104 is RPUF, and its thickness is about 34～44mm.Three its mutual spacings vertical lifting device 2 corresponding with the relative position at three positions of cun,guan,chi (being three circle positions among Fig. 3) of bionical wrist 1 is installed in the bionical skeletal layer 104, vertical lifting device 2 is used for the height at three positions of cun,guan,chi of the bionical wrist 1 of adjustment, make it the matched at three positions of cun,guan,chi of the human body corresponding with pulse signal to be reappeared, so that can more accurate more real reproduction pulse.Each vertical lifting device 2 top is pasted with an integrated pulse transducer 12, and the bottom connection of the top of each integrated pulse transducer 12 and bionical tendon layer 103 touches.Each vertical lifting device 2 comprises that an embedding is fixed in the motor 201 of bionical skeletal layer 104 bottoms, motor 201 is installed on the motor fixing frame 5, motor fixing frame 5 embeds and is fixed in bionical skeletal layer 104 bottoms, fixedly there is leading screw 202 upper end of motor 201 rotating shafts, the leading screw 202 tops profile that is threaded is eight prismatic sleeves 203, be with the sleeve fixed mount 204 of cooperation on the sleeve 203, sleeve fixed mount 204 is fixed in the bionical skeletal layer 104, sleeve 203 only can slide up and down with respect to sleeve fixed mount 204, and the range of sleeve 203 can reach ± 5mm.
Extremely shown in Figure 7 in conjunction with Fig. 3 and Fig. 4, flow divider 3 has a valve body 301, have the fuel feed hole 302 that runs through its left and right sides on the valve body 301, fuel feed hole 302 right-end openings are tightly connected by an end of the first oil circuit joint 401 and a hard pipeline and simulated blood vessel successively, valve body 301 tops vertically have the installing hole 303 that connects with fuel feed hole 302, installing hole 303 female threads are connected with spool 304, the top of spool 304 is provided with in-line or cross open slot, the part that installing hole 303 is positioned at spool 304 tops is equipped with the loam cake 305 that is threaded, loam cake 305 tops are provided with in-line or cross open slot, when needs are adjusted flow divider 3 flows, after at first screwing out loam cake 305 in the open slot with screwdriver insertion loam cake 305, screw spool 304 with the open slot of screwdriver insertion spool 304 again, spool 304 is moved up or down at installing hole 303, thereby the adjustment shunt volume refills loam cake 305 after adjustment finishes.Valve body 301 bottoms and installing hole 303 have the tap hole 306 that connects with installing hole 303 and fuel feed hole 302 on the corresponding position, tap hole 306 lower ending openings are sealedly connected with the 3rd oil circuit joint 403, also have spill port 307 on the valve body 301, spill port 307 runs through bottom and the right side of valve body 301, the right openings of spill port 307 is tightly connected by the other end of the second oil circuit joint 402 and another hard pipeline and simulated blood vessel successively, and the bottom opening of spill port 307 is sealedly connected with the 4th oil circuit joint 404.
In conjunction with shown in Figure 11, wherein, the D/A modular converter comprises that model is that the digital to analog converter of DAC1208 and peripheral circuit thereof, model are that the single-chip microcomputer of ATmega128L-8AC and peripheral circuit thereof and model are that the USB of CP2012 changes the communication interface that serial port chip and peripheral circuit thereof constitute.Wherein, single-chip microcomputer be used for to receive host computer transmission pulse signal and send it to digital to analog converter; Digital to analog converter is used for converting pulse signal the output of to simulation pulse signal; Communication interface is used for the communication between realization single-chip microcomputer and the host computer, and the 2nd, the 3rd pin of single-chip microcomputer corresponding the 26th, the 25th pin with USB commentaries on classics serial port chip respectively links to each other.The 44th of single-chip microcomputer～the 51st pin is corresponding respectively to link to each other with the 19th, the 20th, the 4th, the 5th, the 6th, the 7th, the 8th, the 9th pin of digital to analog converter, and the 35th of single-chip microcomputer～the 41st pin is corresponding respectively to link to each other with the 18th, the 17th, the 16th, the 15th, the 23rd, the 2nd, the 1st pin of digital to analog converter.
In conjunction with shown in Figure 11, amplifying circuit comprises the first amplifier A2, the second amplifier A3, the 3rd amplifier A4, four high guaily unit A5, the 5th amplifier A6, the 6th amplifier A7, audion Q1 and audion Q2, the reverse input end of the first amplifier A2 links to each other with the outfan of digital to analog converter by resistance R 9, the input in the same way of the first amplifier A2 is by resistance R 6 ground connection, the reverse input end of the first amplifier A2 links to each other with the outfan of the first amplifier A2 with the RC circuit that capacitor C 9 constitutes by resistance R 14, the outfan of the first amplifier A2 links to each other with the reverse input end of the second amplifier A3 by resistance R 7, the positive power source terminal of the first amplifier A2 and negative power end respectively correspondence connect+15V and-15V connects power supply, the input end grounding in the same way of the second amplifier A3, the reverse input end of the second amplifier A3 links to each other with the outfan of the second amplifier A3 with potentiometer R4 by the resistance R 3 of series connection, the outfan of the second amplifier A3 links to each other with the reverse input end of the 3rd amplifier A4 by resistance R 10, the input end grounding in the same way of the 3rd amplifier A4, the reverse input end of the 3rd amplifier A4 links to each other with the outfan of the 3rd amplifier A4 by resistance R 13, the outfan of the 3rd amplifier A4 is the resistance R 13 by connecting successively, resistance R 12 links to each other with the adjustable end of potentiometer R15, the other two ends of potentiometer R15 respectively correspondence connect+15V and-15V connects power supply, the resistance R 8 of the outfan of the 3rd amplifier A4 by connecting successively, resistance R 25 links to each other with the reverse input end of the 5th amplifier A6, the reverse input end of four high guaily unit A5 links to each other with its outfan, the input in the same way of four high guaily unit A5 links to each other with the adjustable end of adjustable potentiometer R24, the other two-terminal-grounding of adjustable potentiometer R24, the outfan of four high guaily unit A5 links to each other with the reverse input end of resistance R 25 with the 5th amplifier A6 by the diode D1 of reversal connection successively, the input in the same way of the 6th amplifier A7 links to each other with the adjustable end of adjustable potentiometer R24 by resistance R 23, be connected with resistance R 20 between the input in the same way of the 6th amplifier A7 and its outfan, the reverse input end ground connection of the 6th amplifier A7, the positive power source terminal of the 6th amplifier A7 and negative power end respectively correspondence connect+15V and-15V connects power supply, the outfan of the 6th amplifier A7 is successively by diode D2, resistance R 25 links to each other with the reverse input end of the 5th amplifier A6, the reverse input end of the 5th amplifier A6 is successively by resistance R 26 and resistance R 27 ground connection, be connected to the 2nd RC circuit that is constituted by resistance R 21 and capacitor C 11 between the reverse input end of the 5th amplifier A6 and its outfan, the input end grounding in the same way of the 5th amplifier A6, the outfan of the 5th amplifier A6 is successively by resistance R 17 and capacitor C 10 ground connection, the outfan of the 5th amplifier A6 is successively by resistance R 17, resistance R 18 links to each other with the emitter stage of audion Q1 and the emitter stage of audion Q2, the base stage of audion Q1 is by capacitor C 11 ground connection, the colelctor electrode of audion Q1 connects+the 15V power supply by resistance R 16, the base stage of audion Q2 is by capacitor C 11 ground connection, the colelctor electrode of audion Q2 connects-the 15V power supply by resistance R 22, and the emitter stage of the emitter stage of audion Q1 and audion Q2 is successively by resistance R 19, the coil L2 of electrohydraulic servo valve, resistance R 5 and resistance R 27 ground connection.
The pulse reproduction process of above-mentioned pulse reproducing apparatus is as follows:
According to the height at three positions of cun,guan,chi of the corresponding human body of pulse signal to be reappeared and adjust the height at three positions of the good cun,guan,chi of bionical wrist by the vertical lifting device after, when the doctor presses one of three positions of cun,guan,chi on the bionical wrist, finger pressure passes on the corresponding integrated pulse transducer by bionical wrist, this integrated pulse transducer output simulated pressure signal, a corresponding A/D module becomes digital pressure signal output with the simulated pressure conversion of signals of integrated pulse transducer output; After host computer receives the digital pressure signal of A/D module transmission, trigger and transfer the pulse signal output that prestores; The D/A modular converter obtains the pulse signal that host computer sends, and converts thereof into the output of simulation pulse signal; Amplifying circuit obtains the simulation pulse signal that the D/A modular converter sends, supply the doctor to diagnose with the hydraulic pressure waveform that drives hydraulic circuit generation correspondence the driving signal of exporting after its amplification as electrohydraulic servo valve, after this position diagnosis finishes, press in three positions of cun,guan,chi on the bionical wrist two other position more in the same way respectively and diagnose, thereby reach the reproduction purpose of pulse.If waiting to reappear pulse signal, the reproduction next one then repeats above-mentioned steps.
Above embodiment is described preferred implementation of the present invention; be not that scope of the present invention is limited; design under the prerequisite of spirit not breaking away from the present invention; various distortion and improvement that the common engineers and technicians in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (10)
1. a pulse reproducing apparatus is characterized in that, comprises hydraulic circuit and control circuit;
Described hydraulic circuit comprises electromechanical pump (9), electrohydraulic servo valve (6), flow divider (3), bionical wrist (1) and the fuel tank (8) that links to each other successively, described bionical wrist (1) is separately installed with a pressure transducer (12) on the inherent position corresponding with three positions of cun,guan,chi on the described bionical wrist (1), when external force acts on one of the position corresponding with three positions of described cun,guan,chi on described bionical wrist (1) top, corresponding pressure transducer (12) output simulated pressure signal;
Described control circuit comprises: an A/D module is used for the simulated pressure conversion of signals of described pressure transducer (12) output is become digital pressure signal output; Host computer is used for receiving the digital pressure signal that a described A/D module sends, and transfers pulse signal output to be reappeared according to described digital pressure signal correspondence; The D/A modular converter is used for obtaining the pulse signal that described host computer sends, and converts thereof into the output of simulation pulse signal; Amplifying circuit is used for obtaining the simulation pulse signal that described D/A modular converter sends, and it is amplified the driving signal of exporting as described electrohydraulic servo valve (6) back produce corresponding hydraulic pressure waveform to drive described hydraulic circuit.
2. pulse reproducing apparatus according to claim 1, it is characterized in that, described bionical wrist (1) comprises rubber-like profile layer (101), described profile layer (101) bottom is provided with simulated blood vessel (102), described simulated blood vessel (102) bottom is provided with bionical tendon layer (103), described bionical tendon layer (103) bottom is provided with bionical skeletal layer (104), be equipped with in the described bionical skeletal layer (104) three with described bionical wrist (1) cun, close, the vertical lifting device (2) of position, three positions of chi correspondence, each described vertical lifting device (2) top is equipped with a described pressure transducer (12), the bottom connection of the top of each described pressure transducer (12) and described bionical tendon layer (103) touches, described vertical lifting device (2) is used for adjusting the very little of described bionical wrist (1), close, the height at three positions of chi, make it the human body corresponding with pulse signal to be reappeared cun, close, the matched at three positions of chi.
3. pulse reproducing apparatus according to claim 2, it is characterized in that, each described vertical lifting device (2) comprises that an embedding is fixed in the motor (201) of described bionical skeletal layer (104) bottom, fixedly there is leading screw (202) upper end of described motor (201) rotating shaft, described leading screw (202) the top sleeve (203) that has been threaded, be with the sleeve fixed mount (204) of cooperation on the described sleeve (203), described sleeve fixed mount (204) is fixed in the described bionical skeletal layer (104), and described sleeve (203) only can slide up and down with respect to described sleeve fixed mount (204).
4. pulse reproducing apparatus according to claim 3, it is characterized in that, described flow divider (3) has a valve body (301), have the fuel feed hole (302) that runs through its left and right sides on the described valve body (301), described fuel feed hole (302) right-end openings is tightly connected by an end of the first oil circuit joint (401) and a hard pipeline and described simulated blood vessel (102) successively, described valve body (301) top vertically has the installing hole (303) that connects with described fuel feed hole (302), described installing hole (303) female thread is connected with spool (304), the part that described installing hole (303) is positioned at described spool (304) top is equipped with the loam cake (305) that is threaded, have the tap hole (306) with described installing hole (303) and described fuel feed hole (302) perforation on the position corresponding with described installing hole (303), described valve body (301) bottom, described tap hole (306) lower ending opening is sealedly connected with the 3rd oil circuit joint (403), also have spill port (307) on the described valve body (301), described spill port (307) runs through bottom and the right side of described valve body (301), the right openings of described spill port (307) is tightly connected by the other end of the second oil circuit joint (402) and another hard pipeline and described simulated blood vessel (102) successively, and the bottom opening of described spill port (307) is sealedly connected with the 4th oil circuit joint (404).
5. pulse reproducing apparatus according to claim 4 is characterized in that, described bionical skeletal layer (104) bottom embeds fixedly motor fixing frame (5), and described motor (201) is installed on the described motor fixing frame (5).
6. pulse reproducing apparatus according to claim 5 is characterized in that, described profile layer (101) is the flexibel polyurethane elastomer, and its thickness is 10mm; Described bionical tendon layer (103) is flexible polyurethane foam, and its thickness is 5mm; Described bionical skeletal layer (104) is RPUF, and its thickness is 34～44mm; Described simulated blood vessel (102) is that internal diameter is the silica gel tube of 2mm, and the range of described sleeve (203) is ± 5mm.
7. pulse reproducing apparatus according to claim 6 is characterized in that, described D/A modular converter comprises:
Single-chip microcomputer, be used for to receive described host computer transmission pulse signal and send it to digital to analog converter;
Digital to analog converter is used for converting the pulse signal that described single-chip microcomputer sends the output of to simulation pulse signal;
Communication interface is used for the communication between the described single-chip microcomputer of realization and the described host computer.
8. pulse reproducing apparatus according to claim 7 is characterized in that, described control circuit also comprises:
Be installed in for the pressure transmitter (11) on the pipeline that connects described bionical wrist (1) and described fuel tank (8), be transformed into corresponding simulating reproduction pulse signal for the hydraulic pressure waveform that will flow through described bionical wrist (1);
The 2nd A/D module is used for that described simulation reproduction pulse signal is transformed into numeral reproduction pulse signal and is sent to described host computer, for described host computer relative analysis.
9. pulse reproducing apparatus according to claim 8 is characterized in that, described hydraulic circuit also comprises:
Be installed in for the oil filter (10) on the pipeline that connects described electromechanical pump (9) and described fuel tank (8), be used for the interior impurity of hydraulic oil of the described hydraulic circuit of filtering.
10. the pulse reproducing method of any described pulse reproducing apparatus of claim 1 to 9 is characterized in that, may further comprise the steps:
Pressure transducer is exported the simulated pressure signal under external force;
The one A/D module becomes digital pressure signal output with the simulated pressure conversion of signals of pressure transducer output;
After host computer receives the digital pressure signal of A/D module transmission, trigger and transfer the pulse signal output that prestores;
The D/A modular converter obtains the pulse signal that host computer sends, and converts thereof into the output of simulation pulse signal;
Amplifying circuit obtains the simulation pulse signal that the D/A modular converter sends, and it is amplified the driving signal of exporting as electrohydraulic servo valve the back produce corresponding hydraulic pressure waveform to drive hydraulic circuit.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110204683 CN102389296B (en) | 2011-07-21 | 2011-07-21 | Pulse reoccurrence device and reoccurring method thereof |
| HK12103646.8A HK1162900A1 (en) | 2011-07-21 | 2012-04-12 | Human pulse reproduction device and its reproduction method |
| PCT/CN2012/074349 WO2013010391A1 (en) | 2011-07-21 | 2012-04-19 | Pulse reproduction device and reproduction method therefor |
| TW101122010A TW201304740A (en) | 2011-07-21 | 2012-06-20 | Pulse reproduction device and reproduction method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110204683 CN102389296B (en) | 2011-07-21 | 2011-07-21 | Pulse reoccurrence device and reoccurring method thereof |
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| CN (1) | CN102389296B (en) |
| HK (1) | HK1162900A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104157199B (en) * | 2013-05-13 | 2016-08-10 | 上海中医药大学 | A kind of using method of pulse signal analogue simulation generator |
| CN104116500B (en) * | 2013-11-14 | 2016-01-20 | 广州思沛烁越医疗用品有限公司 | In the medical Multifunctional pulse phase diagnostic equipment |
| CN103839471A (en) * | 2014-01-08 | 2014-06-04 | 牛欣 | Pulse-taking property quantified feedback training device and method |
| CN105433914B (en) * | 2014-08-12 | 2018-12-18 | 上海华博信息服务有限公司 | A kind of long-distance intelligent pulse-taking instrument |
| CN106571092A (en) * | 2015-10-09 | 2017-04-19 | 天津天堰科技股份有限公司 | Pulse pulsation simulator |
| CN106373474B (en) * | 2016-11-08 | 2021-10-08 | 天津天堰科技股份有限公司 | Pulse condition simulator |
| CN106773606B (en) * | 2016-11-28 | 2019-02-19 | 深圳市奋达科技股份有限公司 | A kind of test device and its test method of product heart rate function |
| CN107157455B (en) * | 2017-06-26 | 2023-11-21 | 四川君德利远程医疗科技有限公司 | Pulse condition simulation terminal with fingering acquisition |
| TWI714394B (en) * | 2019-12-17 | 2020-12-21 | 友達光電股份有限公司 | Physiological signal measuring device |
| CN113470494A (en) * | 2021-06-07 | 2021-10-01 | 北京博哥科技合伙企业(有限合伙) | Pulse manifestation reappears device and simulation teaching system |
| CN113990166B (en) * | 2021-11-13 | 2024-04-19 | 沈阳天仁合一科技有限公司 | Open bionic blood circulation system |
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| CN202342024U (en) * | 2011-07-21 | 2012-07-25 | 邵光震 | Pulse reproduction device |
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| CN101606840A (en) * | 2009-07-15 | 2009-12-23 | 北京交通大学 | A kind of remote interaction detecting system of pulse condition |
| CN202342024U (en) * | 2011-07-21 | 2012-07-25 | 邵光震 | Pulse reproduction device |
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| TW201304740A (en) | 2013-02-01 |
| TWI478693B (en) | 2015-04-01 |
| HK1162900A1 (en) | 2012-09-07 |
| CN102389296A (en) | 2012-03-28 |
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