CN104133406A - Automatic control system for pressure adjustment of massage bed - Google Patents
Automatic control system for pressure adjustment of massage bed Download PDFInfo
- Publication number
- CN104133406A CN104133406A CN201410367912.2A CN201410367912A CN104133406A CN 104133406 A CN104133406 A CN 104133406A CN 201410367912 A CN201410367912 A CN 201410367912A CN 104133406 A CN104133406 A CN 104133406A
- Authority
- CN
- China
- Prior art keywords
- massage
- converter
- chip microcomputer
- ball
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Massaging Devices (AREA)
Abstract
The invention discloses an automatic control system for pressure of a massage bed. The automatic control system comprises a master control module and a massage bed device. A pressure sensor and a spiral lifter are arranged on set portions of the massage bed device. The master control module comprises a single-chip microcomputer, an A/D converter, a D/A converter 1 and a D/A converter 2, wherein the A/D converter, the D/A converter 1 and the D/A converter 2 are connected with the single-chip microcomputer. The D/A converter 1 is connected with a massage ball drive motor M1. The input end of the A/D converter is connected with the sensor. The output end of the D/A converter 2 is connected with a drive motor M2 of the spiral lifter. The single-chip microcomputer processes pressure signals of the pressure sensor by means of an integral separation type PID scheme, drives the lifter motor according to processing results, adjusts the height of a massage ball and controls the pressure of the massage ball. The automatic control system achieves the technical objective of stable control of the pressure between the massage ball of the massage bed and the back of a human body and improves the automation level of the massage bed.
Description
Technical field
The present invention relates to a kind of automatic control system, the closed loop automatic control system that particularly a kind of massage pressure for massage bed can arrange.
Background technology
At present, Chinese traditional massage is extensively admitted by people, by massage, stimulates human acupoint, reaches medicinal health care function.In existing massage means, minute manual massage and apparatus massage.Wherein manual massage's means are limited at the aspects such as impulsive force, duration of massage, and it is large to massage this technology degree of correlation, affects the treatment; Although traditional apparatus massage means have solved the deficiency of manual massage's means, its pressure is difficult for manual control, because traditional apparatus massage means or other massage means all do not have massage pressure automaton.Due to above reason, desirable not to the utmost in the curative effect of other popular apparatus massage means of health care circle at present, require further improvement raising.
Summary of the invention
Deficiency when the object of the invention is to overcome pressure in existing massage bed technology and adjusting, for massage bed adds a kind of pressure automatic control system, by set position setting pressure sensor, lifter and single-chip computer control system on massage bed, reach the object of massage bed self-control pressure.
Technical solution problem of the present invention adopts following technical scheme:
A kind of automatic control system of adjusting for massage bed pressure, comprise single-chip microcomputer and massage bed device, it is characterized in that: an input end of described single-chip microcomputer connects human-computer interaction interface, corresponding output terminal connects the input end of D/A converter 1 with it, described D/A converter 1 output terminal that connects connects massage ball drive motor M1, and the parameter signal of the relevant massage ball massage force that described single-chip microcomputer is set human-computer interaction interface, time etc. is converted into simulating signal by D/A converter 1 and drives massage ball vibration work, another input end of described single-chip microcomputer connects A/D converter output terminal, described A/D converter input end is mounted on the sensor that massage bed is set position, corresponding output terminal connects the input end of D/A converter 2 with it, described D/A converter 2 output terminals are mounted on the drive motor M2 that massage bed is set the helical riser at position, described pressure sensor is converted into digital data transmission to single-chip microcomputer by the massage ball massage force of implementing to collect by A/D converter, described single-chip microcomputer adopts integral-separated PID scheme to process this signal, and result is converted into simulating signal driving lifter motor by D/A converter 2.
Described massage bed device comprises massage ball, described massage ball is arranged on solid hyperbolic camber beam upper end, described solid hyperbolic camber beam lower end is fixedly mounted on transmission rocking bar, described transmission rocking bar is nested in the inner casing of joint ball head bearing as the ball rod of joint ball head bearing, described transmission rocking bar bottom is placed in the transmission rocking bar guide pin bushing mating, described transmission rocking bar lower end connects volute spring, and described spring lower end is disposed with pressure pad and pressure transducer; Described transmission rocking bar guide pin bushing is placed in a sideslip groove 1 of parallelogram chute, in opposite side parallel groove 2, be provided with helical riser, the top of described helical riser screw mandrel is installed with cruciform and supports the vertical arm hold up arm, and described cruciform supports the spherical shell bar fixed installation of horizontal arm and the described joint ball head bearing of holding up arm; The screw mandrel of described helical riser moves up and down and coordinates adjusts massage bed height, and then the real-time pressure f of adjustment massage ball massage human body, when the deviation of the actual pressure f ' feeding back and setting value F within the specific limits after, the lifting action of lifter stops, thereby reaches the object of accurate control massage ball and human body back pressure.
Described Integral disconection PID algorithm, its workflow comprises the following steps:
(1), described Single Chip Microcomputer (SCM) program receives the massage parameter that comprises massage ball massage force F that described human-computer interaction interface equipment is inputted, the line parameter initialization of going forward side by side, the action of driving massage ball;
(2), described Single Chip Microcomputer (SCM) program accepts real-time massage bed pressure f ', and calculate the actual deviation e (kT) of F and f ' and setting threshold e
0relatively, as e (kT)≤e
0adoption rate-integration-differential (PID) control algolithm is calculated output quantity and is controlled parameter renewal, as e (kT)>=e
0adoption rate-differential (PD) control algolithm is calculated output quantity and is controlled parameter renewal.
Described transmission rocking bar lower end is thin rod shape, and described thin bar is through in volute spring, its length short with volute spring length.
Described parallelogram chute is positioned on base.
The present invention's beneficial effect is against existing technologies:
1, this programme adopts, at the setting position of massage bed device, pressure transducer and helical riser is set, and the intelligence that realizes massage bed device massage force in conjunction with single-chip computer control system regulates and controls;
2, this programme adopts integral separation type PID control method, helical riser can steady pressure without frequent just transfer, make this programme control more stable for the pressure of massage ball, simultaneously, reduced the lifting frequency of helical riser, lifter is worn and torn in continuous working little, the life-span is long.
Accompanying drawing explanation
Fig. 1 is the automatic control schematic diagram of massage bed involved in the present invention;
Fig. 2 is massage bed mechanical construction drawing involved in the present invention;
Fig. 3 is integral-separated pid stream journey figure involved in the present invention;
Wherein, in Fig. 2,1 is massage bed, and 2 is massage ball, 3 is hyperbolic camber beam, and 4 is transmission rocking bar, and 5 is joint ball head bearing, 6 is joint ball head bearing spherical shell bar, and 7 is transmission rocking bar guide pin bushing, and 8 is volute spring, 9 is pressure pad, and 10 is pressure transducer, and 11 is a sideslip groove 1 of parallelogram chute, 12 is base, and 13 is that a sideslip groove 2,14 of parallelogram chute is helical riser and motor, 15 is helical riser screw mandrel, and 16 hold up arm for cruciform supports;
Embodiment
Referring to Fig. 2, a kind of automatic control system of adjusting for massage bed pressure, comprise main control module and massage bed device, as shown in Figure 1, the main control module of described control system comprises single-chip microcomputer, an input end of described single-chip microcomputer connects human-computer interaction interface, corresponding output terminal connects the input end of D/A converter 1 with it, described D/A converter 1 output terminal that connects connects massage ball drive motor M1, the relevant massage ball massage force that described single-chip microcomputer is set human-computer interaction interface, the parameter signal of time etc. is converted into simulating signal by D/A converter 1 and drives massage ball vibration work, another input end of described single-chip microcomputer connects A/D converter output terminal, described A/D converter input end is mounted on the sensor that massage bed is set position, corresponding output terminal connects the input end of D/A converter 2 with it, described D/A converter 2 output terminals are mounted on the drive motor M2 that massage bed is set the helical riser at position, described pressure sensor is converted into digital data transmission to single-chip microcomputer by the massage ball massage force of implementing to collect by A/D converter, described single-chip microcomputer adopts integral-separated PID scheme to process this signal, and result is converted into simulating signal driving lifter motor by D/A converter 2.
Described massage bed device comprises massage ball 2, described massage ball 2 is arranged on solid hyperbolic camber beam 3 upper ends, described solid hyperbolic camber beam 3 lower ends are fixedly mounted on transmission rocking bar 4, described transmission rocking bar 4 is nested in the inner casing of joint ball head bearing 5 as the ball rod of joint ball head bearing, described transmission rocking bar 5 bottoms are placed in the transmission rocking bar guide pin bushing 7 mating, described transmission rocking bar 7 lower ends connect volute spring 8, and described volute spring 8 lower ends are disposed with pressure pad 9 and pressure transducer 10; Described transmission rocking bar guide pin bushing 7 is placed in a sideslip groove 1 11 of parallelogram chute, in opposite side parallel groove 2,13 are provided with helical riser 14, the top of described helical riser screw mandrel 15 is installed with cruciform and supports the vertical arm hold up arm 16, and described cruciform supports spherical shell bar 6 fixed installations of horizontal arm and the described joint ball head bearing 5 of holding up arm 16; The screw mandrel 15 of described helical riser 14 moves up and down and coordinates adjusts massage bed height, and then the real-time pressure f of adjustment massage ball massage human body, when the deviation of the actual pressure f ' feeding back and setting value F within the specific limits after, the lifting action of helical riser stops, thereby reaches the object of accurate control massage ball and human body back pressure.
Referring to Fig. 3, concrete control algolithm: employing be pid control algorithm, the actual pressure value of coming more given pressure set points and sensor feedback to return by single-chip microcomputer, utilize its deviate to control rising and the decline of lifter, thereby reach the object of accurate control massage ball and human body back pressure.When the deviation of the actual pressure feeding back and setting value within the specific limits after, stop the lifting action of lifter, massage ball and human body back pressure reach balance.Wherein
1, proportional component: scaling up COEFFICIENT K
p, can make that system acting is sensitive, reaction velocity accelerates.But K
pbigger than normal, can cause shaking number of times and add, the adjusting time lengthens; K
pexcessive, system is unstable.Also have, increase K
perror can only be reduced, steady-state error can not be eliminated completely.
2, integral element: can eliminate the steady-state error of system, improve the precision of system.The power of integral action depends on integration time constant T
i, T
ilarger, integral action is more weak, otherwise stronger.
3, differentiation element: the variation tendency of energy stock dividends signal, and before becoming in the value of deviation signal too greatly, in system, introduce an early stage corrected signal effectively, and then accelerate the responsiveness of system, reduce the adjusting time.
Claims (4)
1. an automatic control system of adjusting for massage bed pressure, comprise main control module, it is characterized in that: described main control module comprises single-chip microcomputer, an input end of described single-chip microcomputer connects human-computer interaction interface, corresponding output terminal connects the input end of D/A converter 1 with it, described D/A converter 1 output terminal that connects connects massage ball drive motor M1, another input end of described single-chip microcomputer connects A/D converter output terminal, described A/D converter input end is mounted on the sensor that massage bed is set position, corresponding output terminal connects the input end of D/A converter 2 with it, described D/A converter 2 output terminals are mounted on the drive motor M2 that massage bed is set the helical riser at position, the parameter signal of the relevant massage ball massage force that described single-chip microcomputer is set human-computer interaction interface, massage time is converted into simulating signal by D/A converter 1 and drives massage ball vibration work, described pressure sensor is converted into digital data transmission to single-chip microcomputer by the massage ball massage force of implementing to collect by A/D converter, described single-chip microcomputer adopts integral-separated PID scheme to process this signal, and result is converted into simulating signal driving lifter motor by D/A converter 2,
Described massage bed device comprises massage ball, described massage ball is arranged on solid hyperbolic camber beam upper end, described solid hyperbolic camber beam lower end is fixedly mounted on transmission rocking bar, on described transmission rocking bar, part is nested in the inner casing of joint ball head bearing as the ball rod of joint ball head bearing, described transmission rocking bar bottom is placed in the transmission rocking bar guide pin bushing mating, described transmission rocking bar lower end connects volute spring, and described spring lower end is disposed with pressure pad and pressure transducer; Described transmission rocking bar guide pin bushing is placed in a sideslip groove 1 of parallelogram chute, in opposite side parallel groove 2, be provided with helical riser, the top of described helical riser screw mandrel is installed with cruciform and supports the vertical arm hold up arm, and described cruciform supports the spherical shell bar fixed installation of horizontal arm and the described joint ball head bearing of holding up arm.
2. a kind of automatic control system of adjusting for massage bed pressure according to claim 1, is characterized in that: described Integral disconection PID algorithm, and its workflow comprises the following steps:
(1), described Single Chip Microcomputer (SCM) program receives the massage parameter that comprises massage ball massage force F that described human-computer interaction interface equipment is inputted, the line parameter initialization of going forward side by side, the action of driving massage ball;
(2), described Single Chip Microcomputer (SCM) program accepts real-time massage bed pressure f, and calculates the actual deviation e (kT) of F and f, and and setting threshold e
0relatively, as e (kT)≤e
0adoption rate-integration-differential (PID) control algolithm is calculated output quantity and is controlled parameter renewal, as e (kT)>=e
0adoption rate-differential (PD) control algolithm is calculated output quantity and is controlled parameter renewal.
3. a kind of automatic control system of adjusting for massage bed pressure according to claim 1, is characterized in that: described transmission rocking bar lower end is thin rod shape, and described thin bar is through in volute spring, and it is shorter in length than volute spring length.
4. a kind of automatic control system of adjusting for massage bed pressure according to claim 1, is characterized in that:
Described parallelogram chute is positioned on base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410367912.2A CN104133406B (en) | 2014-07-29 | 2014-07-29 | A kind of automatic control system adjusted for massage bed pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410367912.2A CN104133406B (en) | 2014-07-29 | 2014-07-29 | A kind of automatic control system adjusted for massage bed pressure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104133406A true CN104133406A (en) | 2014-11-05 |
| CN104133406B CN104133406B (en) | 2016-08-31 |
Family
ID=51806126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410367912.2A Active CN104133406B (en) | 2014-07-29 | 2014-07-29 | A kind of automatic control system adjusted for massage bed pressure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104133406B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104771300A (en) * | 2015-04-30 | 2015-07-15 | 深圳市前海安测信息技术有限公司 | Massage pillow for sleep health management and control method thereof |
| CN104800061A (en) * | 2015-04-30 | 2015-07-29 | 深圳市前海安测信息技术有限公司 | Massage pillow for managing sleeping quality and control method of massage pillow |
| CN104921507A (en) * | 2015-06-29 | 2015-09-23 | 安娜 | Adjustable electromagnetic elastic device |
| CN105965497A (en) * | 2016-06-23 | 2016-09-28 | 安庆市好迈网络信息技术有限公司 | Intelligent robot drive device for hand massage |
| CN106038255A (en) * | 2016-06-23 | 2016-10-26 | 安庆市好迈网络信息技术有限公司 | Dedicated transmission device for hand massage intelligent robot |
| CN106038254A (en) * | 2016-06-23 | 2016-10-26 | 安庆市好迈网络信息技术有限公司 | Intelligent medical care hand massage robot |
| CN106309095A (en) * | 2015-07-01 | 2017-01-11 | 康知园（杭州）健身器材有限公司 | Massage mechanism with massage head capable of moving back-and-forth and side-to-side |
| CN107536689A (en) * | 2016-06-28 | 2018-01-05 | 吴向阳 | A kind of massage bed |
| CN112807189A (en) * | 2019-11-18 | 2021-05-18 | 上海荣泰健康科技股份有限公司 | Massage chair and massage chair control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6685659B2 (en) * | 2001-08-09 | 2004-02-03 | Steven C. Webb | Individual controlled body massage device |
| CN2664651Y (en) * | 2003-10-24 | 2004-12-22 | 胡柱根 | Armature voltage negative feedback type control device for motor of massage chair/mat |
| CN201701453U (en) * | 2010-04-02 | 2011-01-12 | 深圳嘉阳兴科技有限公司 | Pressure sensitive control massager |
| CN203694079U (en) * | 2013-12-12 | 2014-07-09 | 张军 | Master-slave massage robot |
| CN103830087B (en) * | 2014-03-05 | 2015-06-10 | 河北工业大学 | Tap massaging robot |
-
2014
- 2014-07-29 CN CN201410367912.2A patent/CN104133406B/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104771300A (en) * | 2015-04-30 | 2015-07-15 | 深圳市前海安测信息技术有限公司 | Massage pillow for sleep health management and control method thereof |
| CN104800061A (en) * | 2015-04-30 | 2015-07-29 | 深圳市前海安测信息技术有限公司 | Massage pillow for managing sleeping quality and control method of massage pillow |
| CN104921507A (en) * | 2015-06-29 | 2015-09-23 | 安娜 | Adjustable electromagnetic elastic device |
| CN106309095A (en) * | 2015-07-01 | 2017-01-11 | 康知园（杭州）健身器材有限公司 | Massage mechanism with massage head capable of moving back-and-forth and side-to-side |
| CN106309095B (en) * | 2015-07-01 | 2019-07-12 | 康知园（杭州）健身器材有限公司 | The manipulation massaging mechanism that massage head can be moved back and forth all around |
| CN105965497A (en) * | 2016-06-23 | 2016-09-28 | 安庆市好迈网络信息技术有限公司 | Intelligent robot drive device for hand massage |
| CN106038255A (en) * | 2016-06-23 | 2016-10-26 | 安庆市好迈网络信息技术有限公司 | Dedicated transmission device for hand massage intelligent robot |
| CN106038254A (en) * | 2016-06-23 | 2016-10-26 | 安庆市好迈网络信息技术有限公司 | Intelligent medical care hand massage robot |
| CN105965497B (en) * | 2016-06-23 | 2017-12-05 | 威海御膳坊生物科技有限公司 | A kind of hand massage intelligent robot drive device |
| CN107536689A (en) * | 2016-06-28 | 2018-01-05 | 吴向阳 | A kind of massage bed |
| CN112807189A (en) * | 2019-11-18 | 2021-05-18 | 上海荣泰健康科技股份有限公司 | Massage chair and massage chair control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104133406B (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104133406A (en) | Automatic control system for pressure adjustment of massage bed | |
| CN109199730B (en) | Bionic body position adjusting bed based on multipoint molding principle | |
| CN103830087A (en) | Tap massaging robot | |
| CN105755278A (en) | Automatic tapping control method and automatic tapping control device for heating furnace | |
| CN201407030Y (en) | Homocentric intelligent water distribution downhole test and modification apparatus | |
| CN1070745C (en) | Liquid level control system for conticaster mould | |
| EP1918912A3 (en) | Head controller, storage device and head controlling method | |
| CN104474668B (en) | Lower limb gait rehabilitation training self-adaption weight reducing mechanism and control method thereof | |
| CN109857054A (en) | A kind of electric steering engine Automatic Zero Set and its adjusting zero method | |
| CN103148009A (en) | Automatic control system of fan | |
| CN109159107A (en) | A kind of robot palletizer with movable heat dissipation pedestal | |
| CN102996486A (en) | Fan control device | |
| CN110075391A (en) | A kind of adaptive transfusion system based on PID control | |
| CN110547219A (en) | robot interaction platform for non-primate extension grasping movement research | |
| CN105807714A (en) | False tooth machine tool thermal error online temperature compensation method | |
| CN102267008A (en) | Precise control mechanism of welding pressure | |
| CN205464103U (en) | Half accuse spring aircraft nose | |
| CN205485486U (en) | Automatic integrated control system who angles machine of squid | |
| CN210538104U (en) | Calf feeder | |
| CN111388948A (en) | Lower limb rehabilitation training system and method with multiple training modes | |
| CN106826837B (en) | Non-line-of-sight control system of underwater robot | |
| CN205705435U (en) | A kind of lowering or hoisting gear and can the tablet machine of fine adjustment material | |
| CN202387828U (en) | Automatic gold foil beating device | |
| CN209314555U (en) | A kind of Manual quantitative feeder of horses raising | |
| CN205101097U (en) | Novel coolant liquid is added device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |