CN107643766A - The control system and control method of a kind of Multifunction bathing chair - Google Patents
The control system and control method of a kind of Multifunction bathing chair Download PDFInfo
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- CN107643766A CN107643766A CN201610575666.9A CN201610575666A CN107643766A CN 107643766 A CN107643766 A CN 107643766A CN 201610575666 A CN201610575666 A CN 201610575666A CN 107643766 A CN107643766 A CN 107643766A
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Abstract
The present invention provides a kind of control system and control method of Multifunction bathing chair, and the system consists of the following components：Signal input part, central processing module, limit switch, servo-driven module, user prompt module, executing agency；Its basic function is：Central processing module is responsible for the control information of reception signal input, control signal is sent to servo-driven module after being arranged to information, low-voltage signal is converted into the physical quantitys such as the voltage x current available for direct-driving motor and exported to executing agency by servo-driven module.Executing agency is by each several part motor and supporting machinery structure composition, the final lifting that bath chair can be achieved, the action of backboard pitching and the linkage pitching of backboard handrail.Limit switch is attached to two main rotary joints of bath chair, for detecting whether lifting reaches the limit of position with pitching, one switching signal amount of central processing module is fed back to if reaching, so as to which halt system acts.
Description
Technical field
The invention belongs to Multifunction bathing chair technical field, the control system and control method of a kind of Multifunction bathing chair are designed
Background technology
Multifunction bathing chair be a kind of assistance nursing staff handicapped people is carried, bathing, the service such as massage
Electromechanical integration equipment.Multifunction bathing chair can adjust height of seat, the backboard anglec of rotation by equipment such as motor, electric pushrods
So as to assist height, sitting posture and the capital that lies of adjustment old man, just nursing staff is serviced.The situation in bathroom environment is analyzed, it is more
Following difficult point be present in function bath chair control：
(1) bathroom is high-temperature high-humidity environment, and the safety and reliability of control system and control method is had higher requirements；
(2) bathroom relative closure, visibility is relatively outdoor low, and noise is larger, the difficult interface of control system and nursing staff；
(3) domestic care institutions vibrations need daily caregiver's number more, and the odd-numbered day longevity of service attendant amount of Multifunction bathing chair is big,
If go wrong need the very first time ensure personnel's safe escape and change rapidly part maintenance；
Existing Multifunction bathing chair kind equipment is only by water-proofing treatment in control system and control method aspect
Electrically propelled chair, deep design was not carried out for this special working condition of bathing, was brought in actual applications very
More problems.If publication date is on 05 07th, 2014, in Publication No. CN103777646A Chinese patent, discloses one kind and wash
The control system and control method of chair are bathed, the control system includes：Processing module, controlling switch component, automatically controlled lock assembly, the back of the body
By motor, position detecting module；Wherein processing module be single-chip microcomputer, controlling switch be waterproof relay module, position detection mould
Block is arranged on bath chair basic machine, feeds back to processing module for detectable limit position signalling, automatically controlled lock assembly be used for
Handrail connection realizes linkage function, leans against the pitch rotation that motor is used to realize backboard and main body.The control system can be fine
Realization to bath chair main body mechanical structure lifting, backboard rotation with handrail linkage control.But the lifting position-limit of the system leans on
Push-rod electric machine reach the limit of machinery behind position it is locked, so as to start overcurrent protection to realize, it is and dangerous；The patent does not disclose
Logical relation between each function, the angle only realized from function, which accounts for reliability and security, is worth discussion, and
The difficult point in terms of man-machine interaction is not considered.
In summary, it is high for the high reliability of this particular job environment in bathroom there is presently no a kind of clear logic
The control system and control method of security.
The content of the invention
In consideration of it, it is an object of the invention to provide a kind of control of the Multifunction bathing chair with high reliability high security
System and control method, working time and the working strength of nursing staff can be mitigated, reduce nursing staff's training time, protecting
Preferably serviced in the case of demonstrate,proving safety for handicapped people, possess more various friendly man-machine interaction form, running into
Safety, complete machine more easy care can be ensured during emergency.
To realize this purpose, the present invention provides a kind of control system of Multifunction bathing chair, and the Multifunction bathing chair includes：The back of the body
Portion's attitude-adjusting system, driven by a motor, torque is amplified by recliner, drives two parallel four-bar mechanisms, adjustable
The angle of whole back and seat, converts sitting posture and lying posture；Seat riser, including electric pushrod bindiny mechanism and
Parallel screw body is lifted, both are connected by support rail, and the actuating station of four-bar mechanism is seat, and mechanism passes through axle with backboard
Connection；Armrest linkage mechanism, driven by two motors, and motor is converted into the straight line fortune of linkage pin by rack-and-pinion
Dynamic, handrail is connected with backboard when pin ejects, and can be rotated together under the drive of back posture adjustment mechanism, linkage pin recovery
When handrail separated with backboard；Bobbin movement mechanism, the chassis of chair is I-shaped pipe steel frame construction, is the branch of whole chair
Support component, chair front end uses two universal wheels, behind use two directional wheels, be moved easily and turn to；Pedal protection machine
Structure, it is symmetrically distributed in chair front end both sides, deployable and pack up by rotating mechanism, is available for the people on chair to step on during expansion
Step on, while play a part of preventing from dropping；Braking mechanism, the brake system of trailing wheel directional wheel are real by a set crank link structure
Now brake.The invention belongs to a kind of intelligent nursing robot, realize Omni-mobile, be freely lifted, pose adjustment and brake
The function such as fixed, can mitigate staff's burden, and auxiliary is completed to carry the work such as old man, bathing, massage.
The control system includes signal input part, central processing module, limit switch, servo-driven module, Yong Huti
Show module, executing agency；
The central processing module is used for working condition where the feedback signal differentiation of limit switch can be retrieved in start；
The central processing module be used for arbitrary operational state under receive signal input part control " rising " or " under
During drop " order, control signal is sent to servo-driven module (lifting unit controller), servo by specific communications protocol
Drive module is by exporting the flexible of certain voltage and current control electric pushrod, and if receiving pole in motion process
Extreme position signal does not continue to stop action to lifting unit controller transmission stop signal to during control command；
The central processing module is additionally operable to, when receiving the order of control " backboard is faced upward " of signal input part, to control
Signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module is certain by exporting
Voltage and electric current first control in control motor reclaim linkage pin, handrail is disconnected with backboard, then control backboard motor
Rotation so as to realize that backboard is faced upward, and if limit position signal is received in motion process or do not continue to control life
Sending stop signal to motor driver when making stops action；
The central processing module is additionally operable to the order in the control " linkage of backboard handrail is faced upward " for receiving signal input part
When, control signal is sent to servo-driven module (motor driver) by specific communications protocol, servo-driven module leads to
Cross export during certain voltage first controls with electric current control motor go out set bar langrage, handrail is connected with backboard, then control the back of the body
The rotation of board motor so as to realize backboard handrail linkage face upward, and if received in motion process limit position signal or not after
Sending stop signal to motor driver when continued access receives control command stops action；
The central processing module is additionally operable to, when receiving the order of " linkage of backboard handrail is bowed " or " backboard is bowed ", to control
Signal processed is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module passes through output one
The rotation of fixed voltage Yu current control backboard motor is so as to realize that the linkage of backboard handrail is bowed or backboard is bowed motion, arrival orthostatic position
The limit position signal of " backboard bow limit switch " is received when putting, sending stop signal to motor driver stops action,
Wait remaining operational order；
Preferably, the limit switch includes " pitching is spacing ", " lifting is spacing " and " set bar langrage goes out limit switch "
Three sets of (totally 6) travel switches；
Preferably, the electric pushrod is water-proof electric push rod；
Preferably, the central processing module is the control module based on STM32 microprocessors, for retrieving user instruction
With limit switch signal and by it to send a signal to servo-driven module according to particular communication agreement after processing；
Preferably, the lifting unit controller is the control module based on STM32 microprocessors, for receiving centre
The signal of module is managed, conversion of the low-voltage signal to high-pressure physics amount is completed, to physical quantity controls such as electric pushrod output voltage electric currents
Rising, decline, startup, the stopping of electric pushrod processed；
Preferably, the integrated stepper motor driver of the motor driver, for receiving the letter of central processing module
Number, conversion of the low-voltage signal to high-pressure physics amount is completed, electric pushrod is controlled to physical quantitys such as electric pushrod output voltage electric currents
Rising, decline, startup, stopping；
Preferably, the signal input part includes integrated hand controller and visualization Input Software, can be at mobile phone plane plate end
Using being communicated by bluetooth with CPU, it is identical that hand controller with Input Software function unanimously corresponds to button effect；
Preferably, user prompt module is made up of the buzzer circuit for being integrated in CPU, it is upper establish machine by cable when
Short twice prompting custom systems of ring have been started up, and in the system described in claim 1, when central processing module connects every time
Short ring twice is reminding custom systems just when receiving signal (including the command signal of user's input and feedback signal of limit switch)
In response signal；
The present invention also provides a kind of Multifunction bathing chair control method, it is characterised in that the control method mainly includes three
Kind working condition：Erectility, pitching mode of operation, backboard handrail linkage work pattern；
Central processing module can retrieve working condition where the feedback signal differentiation of limit switch in start, and " backboard is bowed
Limit switch has feedback signal ", then it is arranged to " erectility "；When " backboard bow limit switch " does not have feedback signal, if " connection
Dynamic pin ejection limit switch " has feedback signal, then is arranged to " backboard handrail linkage work pattern ", on the contrary then be arranged to " bow
Face upward mode of operation "；
The control " rising " or " decline " order of signal input part are received under central processing module arbitrary operational state
When, control signal is sent to servo-driven module (lifting unit controller), servo-drive mould by specific communications protocol
Block is by exporting the flexible of certain voltage and current control electric pushrod, and if receiving extreme position in motion process
Signal (" push rod lifting position-limit switch feedback signal " and " push rod descending spacing switch feedback signal ") does not continue to control
Sending stop signal to lifting unit controller during system order stops action；
Central processing module when receiving the order of control " backboard is faced upward " of signal input part, is incited somebody to action under " erectility "
Control signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module passes through output
Control motor reclaims linkage pin during certain voltage first controls with electric current, handrail is disconnected with backboard, then control backboard
So as to realize that backboard is faced upward, system enters " pitching mode of operation " for the rotation of motor, and if receiving the limit in motion process
Position signalling (" backboard faces upward limit switch feedback signal ") does not continue to during control command stop to motor driver transmission
Stop signal stops action, and the control " backboard is faced upward " of signal input part or " backboard is bowed " are being received under " pitching mode of operation "
Order when, control signal is sent to servo-driven module (motor driver), servo-drive by specific communications protocol
Module is by exporting the rotation of certain voltage and current control backboard motor so as to realize backboard pitching, and in motion process
Received in if limit position signal (" backboard bow limit switch feedback signal " and " backboard faces upward limit switch feedback signal ") or
Do not continue to stop action to motor driver transmission stop signal to during control command；
Central processing module is receiving the control " linkage of backboard handrail is faced upward " of signal input part under " erectility "
During order, control signal is sent to servo-driven module (motor driver), servo-drive mould by specific communications protocol
Control motor goes out set bar langrage during block is first controlled with electric current by exporting certain voltage, handrail is connected with backboard, then control
So as to realize that the linkage of backboard handrail is faced upward, system enters " backboard handrail linkage work pattern " for the rotation of backboard motor processed, and
If limit position signal (" backboard faces upward limit switch feedback signal ") is received in motion process or does not continue to control life
Sending stop signal to motor driver when making stops action, and signal is being received under " backboard handrail linkage work pattern "
When the control " backboard handrail linkage face upward " of input or the order of " linkage of backboard handrail is bowed ", by control signal by specifically leading to
News agreement is sent to servo-driven module (motor driver), and servo-driven module is by exporting certain voltage and current control
The rotation of backboard motor links pitching so as to realize backboard handrail, and if receiving limit position signal in motion process
(" backboard bow limit switch feedback signal " and " backboard faces upward limit switch feedback signal ") or when not continuing to control command
Sending stop signal to motor driver stops action；
When central processing module receives the order of " linkage of backboard handrail is bowed " or " backboard is bowed " under non-" erectility ",
Control signal is sent to servo-driven module (motor driver) by specific communications protocol, servo-driven module passes through defeated
Go out the rotation of certain voltage and current control backboard motor and bow so as to realizing the linkage of backboard handrail or backboard is bowed motion, reach directly
The limit position signal of " backboard bow limit switch " is received during vertical position, sending stop signal to motor driver stops action
Only, remaining operational order is waited；
As can be seen here, control system of the present invention with control method by elevating function with backboard pitching function soft or hard
Part aspect distinguishes, and ensures the independence and security of elevating function, is running into emergency circumstances, by individually designed lifting
Control unit can normally start entire lowering first, and problem can be slowly investigated after handicapped person's safe escape.Carrying on the back
" pitching mode of operation " and " backboard handrail link pitching " are interlock logic in plate motor function, the ability only under " erectility "
Switching, improves the stability of complete machine operating system, avoids due to the problem of maloperation is brought.Employ buzzer and remind nursing
People system starts shooting to be operated with response.Basic machine have it is spacing on the premise of add 3 sets of limit switches, make whole system
Realize institute it is functional with action on, that is, possess mechanical position limitation also possess it is automatically controlled spacing, at the same time, with electric pushrod, backboard
The limit switch mounting means of the performer independence such as motor can facilitate maintenance personal to carry out the replacement of device, complete machine is easily pacified
Fill easy care.
Brief description of the drawings
In order to illustrate more clearly of technical scheme involved in the present invention, below to institute in embodiment or description of the prior art
The accompanying drawing used is briefly described, it is clear that, drawings in the following description are embodiments of the invention, for this area
Those of ordinary skill for, on the premise of not paying creative work, can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is that a kind of concrete structure of Multifunction bathing chair in the embodiment of the present invention and control system subelement installation are illustrated
Figure；
Fig. 2 is control system subelement scheme of installation in the Multifunction bathing chair back side in the embodiment of the present invention；
Fig. 3 is Multifunction bathing chair control system module diagram in the embodiment of the present invention；
Fig. 4 is the schematic diagram of Multifunction bathing chair control method in the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, the implementation of the present invention will be gathered below
Accompanying drawing in example, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, belongs to protection scope of the present invention.
Embodiment one
The present embodiment provides a kind of control system of Multifunction bathing chair, and Fig. 1 illustrates the concrete structure of the Multifunction bathing chair
With part control system component, Fig. 2 is Multifunction bathing chair rear view, illustrates part control system component, and Fig. 3 is more work(
Chair control system module diagram can be bathed.As shown in Figure 1 to Figure 2, the Multifunction bathing chair includes back posture adjustment mechanism, seat
Elevating mechanism and armrest linkage mechanism.Wherein back posture adjustment mechanism includes backboard 1, backboard motor (containing recliner) 26, turned
Bar and follower lever 12；Seat riser includes electric pushrod 2, bottom support bar, quadric chain and bottom rotary drive bar
15.Armrest linkage mechanism includes handrail 5, middle control motor 27, linkage pin 24, set bar langrage and goes out limit switch 25.
As shown in Figure 1 to Figure 3, control system includes signal input part 31, limit switch 32, central processing module 33, use
Family reminding module 34, servo-driven module 35 and executing agency 36.
Wherein signal input part 31 can be wired handle controller in actual applications, or visual use
Family operation interface, communicated by wired or wireless mode with central processing module 33；Limit switch 32 is bowed spacing including backboard
Switch 13, backboard face upward limit switch 11, push rod lifting position-limit switch 14, push rod descending spacing switch 16 and set bar langrage rising limit
Bit switch 25；Central processing module 33 can be the STM32 microprocessor control modules 21 installed in backboard in actual applications,
Wherein also it is integrated with user prompt module 34；Servo-driven module 35 includes controlling motor 27 and backboard motor 26 in being used to drive
Motor driver 28, lifting unit controller 22；Executing agency 36 includes backboard motor (containing recliner) 26, above-mentioned back posture
Mechanical structure portion, electric pushrod 2 in adjustment mechanism, the mechanical structure portion in above-mentioned seat riser, middle control motor
27th, the mechanical part in above-mentioned armrest linkage mechanism.
The specific implementation of control system 3 described further below.
Central processing module 33 can retrieve the working condition where the feedback signal differentiation of limit switch 32 in start.
Limit switch 32 is contact waterproof micro switch, and one end connects the I/O mouths of central processing module 33, and the other end is common
Ground, not in contact with when I/O mouths can detect high level input quantity, contact when I/O mouths can detect low level input quantity, center
Processing module 33 can detect the working condition of limit switch 32 accordingly and then determine working condition residing for Multifunction bathing chair.
The control " rising " or " decline " of signal input part 31 are received under the arbitrary operational state of central processing module 33
During order, control signal is sent to servo-driven module 35 (lifting unit controller 22) by specific communications protocol, watched
Drive module 35 is taken by exporting the flexible of certain voltage and current control electric pushrod 2, and if being connect in motion process
Receive limit position signal or do not continue to stop action to lifting unit controller transmission stop signal to during control command
Only；
In practice, servo-driven module 35 includes lifting unit controller 22 and motor driver 28, wherein lifting is single
Cell controller 22 is STM32 microprocessor control modules, and the major function of the module is to receive central processing by serial communication
The signal for being used to control electric pushrod 2 that unit 33 is sent, low level signal, which is converted into, can control electric pushrod 2 to move
The physical quantity such as voltage x current, so as to control the flexible of electric pushrod 2, it is possible to achieve forward and reverse startup of electric pushrod 2, stop
Only, the function of self-locking.During elevating movement, bottom rotary drive bar 15 is switched under 14 and push rod with push rod lifting position-limit
Lower limit bit switch 16 produces relative angular displacement, and push rod lifting position-limit switch 14 is touched when rising to extreme position, is being dropped to
Push rod descending spacing switch 16 is touched during extreme position, CPU 33 can receive signal in both cases,
So as to send stop signal to lifting unit controller 22, lifting unit processor 22 can disconnect the power supply of electric pushrod 2, make electronic
Push rod 2 stops.
Central processing module 33, will when receiving the order of the control of signal input part 31 " backboard is faced upward " or " backboard is bowed "
Control signal is sent to servo-driven module 35 (motor driver 28) by specific communications protocol, and servo-driven module 35 is logical
Cross to export and motor 27 is controlled during certain voltage first controls with electric current reclaim linkage pin 24, depart from handrail 5 and backboard 1 and connect
Connect, then control the rotation of backboard motor 26 so as to realize the pitching of backboard 1, and if received in motion process extreme position letter
Number or do not continue to during control command to motor driver 28 send stop signal stop action；
Central processing module 33 is receiving the control of signal input part " linkage of backboard handrail is faced upward " or " backboard handrail linkage
Bow " order when, control signal is sent to servo-driven module 35 (motor driver 28) by specific communications protocol, watched
Taking control motor 27 during drive module 35 is first controlled with electric current by exporting certain voltage ejects linkage pin 24, makes handrail 5
It is connected with backboard 1, then controls the rotation of backboard motor 26 so as to realize the linkage pitching of the handrail 5 of backboard 1, and in motion process
If receive limit position signal or do not continue to make action to the transmission of motor driver 28 stop signal to during control command
Stop；
In practice, 28 integrated motor driver of motor driver, is internally integrated the modules such as DSP, can pass through CAN
The modes such as bus SPI protocol are communicated with central processing module 33, are received control motor 27 in control and are moved with backboard motor 26
Signal, low level signal is converted into the rotating that motor 27 and backboard motor 26 are controlled in the control of the physical quantitys such as voltage x current
Dynamic, stopping and speed change.
In practice, central processing module 33 passes through control signal specific when receiving the order of " backboard is faced upward "
Communications protocol is sent to servo-driven module 35 (motor driver 28), first inverts middle control motor 27, middle control rotor band
There is gear, size drives the section of rack of linkage pin 24 to be reclaimed to backboard inner side, it is ensured that linkage pin 24 is in recovery state,
Rack length passes through particular design, if being in control motor 27 in recovery state will not move with carry-over bar.After 3 seconds, in
Entreat processing module 33 to control motor 27 stop signal its power-off in sending to motor driver 28 to stop, now at backboard 1 and handrail 5
In released state, then sending the reverse signal of backboard motor 26 rotates backward it, and backboard motor 26 drives its mill auxiliaries knot
Structure, which rotates, makes backboard 1 swing back.In motion process, bull stick and follower lever 12 and backboard bow limit switch 13 and backboard faces upward spacing open
Closing 11 can produce relative angular displacement, and when swing back extreme position, bull stick and follower lever 12 can encounter backboard and face upward limit switch 11,
The latter sends signal to CPU 33, and CPU 33 sends stop signal to motor driver 28, and motor drives
Dynamic device 28 can disconnect the power supply of backboard motor 26, make its stopping.
In practice, central processing module 33 leads to control signal when receiving the order of " linkage of backboard handrail is faced upward "
Cross specific communications protocol and be sent to servo-driven module 35 (motor driver 28), first rotate forward middle control motor 27, middle control electricity
Machine rotor carries gear, and size drives the section of rack of linkage pin 24 to go out to backboard medial shell, it is ensured that linkage pin 24 is in
Ejection state, rack length pass through particular design, if being in control motor 27 in ejection state will not move with carry-over bar.
After 3 seconds, central processing module 33 controls the stop signal of motor 27 in being sent to motor driver 28, and it powers off stopping, the both sides of handrail 5
Respectively there is a hole, can just penetrate this hole when the pin 24 that links ejects, handrail 5 is connected with backboard 1, now backboard 1 and handrail 5
In connection status, subsequent central processing module 33, which sends the reverse signal of backboard motor 26, rotates backward it, backboard motor 26
Driving its mill auxiliaries structure to rotate makes backboard 1 be swung back with handrail 5.In motion process, bull stick is bowed with follower lever 12 with backboard
Limit switch 13 and backboard, which face upward limit switch 11, can produce relative angular displacement, bull stick and follower lever 12 when swinging back extreme position
Backboard can be encountered and face upward limit switch 11, the latter sends signal to CPU 33, and CPU 33 drives to motor
Device 28 sends stop signal, and motor driver 28 can disconnect the power supply of backboard motor 26, make its stopping.
Central processing module 33 leads to control signal when receiving the order of " linkage of backboard handrail is bowed " or " backboard is bowed "
Cross specific communications protocol and be sent to servo-driven module (motor driver), servo-driven module is by exporting certain voltage
Motion that rotation with current control backboard motor is bowed so as to realizing the linkage of backboard handrail or backboard is bowed, receive during arrival stand up position
To the limit position signal of " backboard bow limit switch ", sending stop signal to motor driver stops action, waits remaining
Operational order；
In practice, the working condition of " backboard handrail linkage bow " or " backboard is bowed " establish " linkage of backboard handrail is faced upward " or
On the basis of " backboard is faced upward ", now the working condition of Multifunction bathing chair without centering control motor 27 again it has been determined that grasped
Make, in this two kinds of courses of work, backboard motor 26, which drives its mill auxiliaries structure to rotate, makes backboard 1 lean forward (if " backboard
Bow " then handrail 5 separated with backboard 1, if " backboard handrail linkage bow ", then handrail 5 is connected common rotation with backboard 1.) moving
During, bull stick and follower lever 12 and backboard bow limit switch 13 and backboard faces upward limit switch 11 and can produce relative angular displacement,
When leaning forward extreme position, bull stick and follower lever 12 can encounter backboard and bow limit switch 13, and the latter sends to CPU 33
Signal, CPU 33 send stop signal to motor driver 28, and motor driver 28 can disconnect the electricity of backboard motor 26
Source, make its stopping.
In practice, above-mentioned central processing module can be the control module based on STM32 microprocessors；
In practice, nursing staff can help handicapped people on Multifunction bathing chair, and can pass through the bath
Chair is transported to handicapped people, and the height and the anglec of rotation of the bath chair can be adjusted by the control system, assists shield
The work such as reason personnel move, massaged, bathing acupuncture.
Embodiment two
The present embodiment provides a kind of control method of Multifunction bathing chair, the structure of the Multifunction bathing chair with embodiment one
Multifunctional bathing structure of chair is identical, as shown in figure 4, the control method has used multiple Status Flags to realize patrolling between function
Volume, wherein Flag indicates to be switched for three kinds of working conditions, 0 be erectility, 1 is pitching mode of operation, 2 is that backboard handrail joins
Start building operation mode, initial Flag values can be confirmed when system starts, the signal meeting of limit switch in service function implementation procedure
Flag is set to change so as to convert mode of operation.Font represents the state for backboard motor, 0 for it is static, 1 to face upward in motion, 2 are
Bow in motion, this flag bit is used to preventing user misoperation (as layback is leaned forward while is pressed), 0 is defaulted as during start, in user
Control command can make font change and perform different service subprograms during operation.Similar also up marks therewith
Position, 0 for it is static, 1 be in ascending motion, 2 be in descending motion.A whole set of control method is established in a set of service cycle, and every 0.2
Second is once.Flag=0 " saying represents assignment in figure such as ", and Flag marks are assigned to by 0, " Flag==0 " expression judgements, if
Flag is 0 and carries out the follow-up program of arrow.
Control mainly has three kinds of working conditions：Erectility, pitching mode of operation, backboard handrail linkage work pattern；In
Centre processing module can be retrieved in start limit switch feedback signal differentiate where working condition, " backboard limit switch of bowing has
Feedback signal ", then it is arranged to " erectility "；When " backboard bow limit switch " does not have feedback signal, if " set bar langrage goes out
Limit switch " has feedback signal, then is arranged to " backboard handrail linkage work pattern ", on the contrary then be arranged to " pitching Working mould
Formula "；
When the control " rising " or " decline " order of signal input part are received under above-mentioned any working condition, it will control
Signal is sent to servo-driven module (lifting unit controller) by specific communications protocol, and servo-driven module passes through output
Certain voltage is flexible with current control electric pushrod, and if receiving limit position signal (" push rod in motion process
Lifting position-limit switch feedback signal " and " push rod descending spacing switch feedback signal ") or when not continuing to control command to
Lifting unit controller, which sends stop signal, stops action；
Under " erectility " when receiving the order of control " backboard is faced upward " of signal input part, control signal is passed through
Specific communications protocol is sent to servo-driven module (motor driver), servo-driven module by export certain voltage with
Control motor reclaims linkage pin during electric current first controls, and handrail is disconnected with backboard, then control the rotation of backboard motor from
And realize that backboard is faced upward, system enter " pitching mode of operation ", and if received in motion process limit position signal (" back of the body
Plate faces upward limit switch feedback signal ") or do not continue to make action to motor driver transmission stop signal to during control command
Stop, will under " pitching mode of operation " when receiving the order of the control " backboard is faced upward " of signal input part or " backboard is bowed "
Control signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module passes through output
The rotation of certain voltage Yu current control backboard motor is so as to realize backboard pitching, and if receiving pole in motion process
Extreme position signal (" backboard bow limit switch feedback signal " and " backboard faces upward limit switch feedback signal ") does not continue to
Sending stop signal to motor driver during control command stops action；
Under " erectility " when receiving the order of control " linkage of backboard handrail is faced upward " of signal input part, it will control
Signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module is certain by exporting
Voltage first controlled with electric current in control motor go out set bar langrage, handrail is connected with backboard, then control backboard motor turn
Dynamic to be faced upward so as to realize that backboard handrail links, system enters " backboard handrail linkage work pattern ", and if being connect in motion process
Driven when receiving limit position signal (" backboard faces upward limit switch feedback signal ") or not continuing to control command to motor
Device, which sends stop signal, stops action, and the control of signal input part is being received under " backboard handrail linkage work pattern "
During the order of " linkage of backboard handrail is faced upward " or " linkage of backboard handrail is bowed ", control signal is sent to by specific communications protocol
Servo-driven module (motor driver), servo-driven module is by exporting turning for certain voltage and current control backboard motor
It is dynamic so as to realize that backboard handrail links pitching, and if receiving limit position signal in motion process (" backboard being bowed spacing open
Close feedback signal " and " backboard faces upward limit switch feedback signal ") or do not continue to send out to motor driver during control command
Stop signal is sent to stop action；
When the order of " linkage of backboard handrail is bowed " or " backboard is bowed " is received under non-" erectility ", control signal is led to
Cross specific communications protocol and be sent to servo-driven module (motor driver), servo-driven module is by exporting certain voltage
Motion that rotation with current control backboard motor is bowed so as to realizing the linkage of backboard handrail or backboard is bowed, receive during arrival stand up position
To the limit position signal of " backboard bow limit switch ", sending stop signal to motor driver stops action, waits remaining
Operational order；
As can be seen here, control system of the present invention with control method by elevating function with backboard pitching function soft or hard
Part aspect distinguishes, and ensures the independence and security of elevating function, is running into emergency circumstances, by individually designed lifting
Control unit can normally start entire lowering first, and problem can be slowly investigated after handicapped person's safe escape.Carrying on the back
" pitching mode of operation " and " backboard handrail link pitching " are interlock logic in plate motor function, the ability only under " erectility "
Switching, improves the stability of complete machine operating system, avoids due to the problem of maloperation is brought.Employ buzzer and remind nursing
People system starts shooting to be operated with response.Basic machine have it is spacing on the premise of add 3 sets of limit switches, make whole system
Realize institute it is functional with action on, that is, possess mechanical position limitation also possess it is automatically controlled spacing, at the same time, with electric pushrod, backboard
The limit switch mounting means of the performer independence such as motor can facilitate maintenance personal to carry out the replacement of device, complete machine is easily pacified
Fill easy care.
As can be seen here, described above is only the preferred embodiment of the present invention, it is noted that for the general of the art
For logical technical staff, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improve and
Retouching also should be in protection scope of the present invention.
Claims (10)
1. a kind of control system of Multifunction bathing chair, it is characterised in that the Multifunction bathing chair includes：Back posture adjustment mechanism,
Driven by motor, torque is amplified by recliner, drives two parallel four-bar mechanisms, can adjust whole back and
The angle of seat, convert sitting posture and lying posture；Seat riser, including electric pushrod bindiny mechanism and lifting parallel four-bar machine
Structure, both are connected by support rail, and the actuating station of four-bar mechanism is seat, and mechanism passes through axis connection with backboard；Handrail links
Mechanism, driven by two motors, but motor is converted into the linear motion of linkage pin by rack-and-pinion, when pin ejects
Handrail is connected with backboard, can be rotated together under the drive of back posture adjustment mechanism, handrail and backboard when linkage pin reclaims
Separation；Bobbin movement mechanism, the chassis of chair is I-shaped pipe steel frame construction, is the supporting member of whole chair, chair
Front end uses two universal wheels, behind use two directional wheels, be moved easily and turn to；Pedal protection mechanism, its symmetrical point
Cloth is deployable and pack up by rotating mechanism in chair front end both sides, is available for the people on chair to trample during expansion, while play anti-
The effect only dropped；Braking mechanism, the brake system of trailing wheel directional wheel is realized by a set crank link structure brakes.The present invention
Belong to a kind of intelligent nursing robot, realize Omni-mobile, be freely lifted, function, the energy such as pose adjustment and brake are fixed
Enough mitigate staff's burden, auxiliary is completed to carry the work such as old man, bathing, massage.
The control system includes：Signal input part, central processing module, limit switch, servo-driven module, user prompt mould
Block, executing agency；
The central processing module is used for working condition where the feedback signal differentiation of limit switch can be retrieved in start；
The central processing module be additionally operable to receive under arbitrary operational state signal input part control " rising " or " under
During drop " order, control signal is sent to servo-driven module (lifting unit controller), servo by specific communications protocol
Drive module is by exporting the flexible of certain voltage and current control electric pushrod, and if receiving pole in motion process
Extreme position signal does not continue to stop action to lifting unit controller transmission stop signal to during control command；
The central processing module is additionally operable to when receiving the order of control " backboard is faced upward " of signal input part, by control signal
Servo-driven module (motor driver) is sent to by specific communications protocol, servo-driven module is by exporting certain electricity
Control motor reclaims linkage pin during pressure first controls with electric current, handrail is disconnected with backboard, then controls turning for backboard motor
It is dynamic so as to realize that backboard is faced upward, and if when receiving limit position signal in motion process or not continuing to control command
Sending stop signal to motor driver stops action；
The central processing module is additionally operable to when receiving the order of control " linkage of backboard handrail is faced upward " of signal input part, will
Control signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module passes through output
Control motor goes out set bar langrage during certain voltage first controls with electric current, handrail is connected with backboard, then control backboard motor
Rotation so as to realize backboard handrail linkage face upward, and if receiving limit position signal in motion process or not continuing to
Stop action to stop signal is sent to motor driver during control command；
The central processing module is additionally operable to, when receiving the order of " linkage of backboard handrail is bowed " or " backboard is bowed ", control be believed
Number servo-driven module (motor driver) is sent to by specific communications protocol, servo-driven module is certain by exporting
Motion that the rotation of voltage and current control backboard motor is bowed so as to realizing the linkage of backboard handrail or backboard is bowed, during arrival stand up position
The limit position signal of " backboard bow limit switch " is received, sending stop signal to motor driver stops action, waits
Remaining operational order.
2. the system as claimed in claim 1, it is characterised in that limit switch includes " pitching is spacing ", " lifting is spacing " and " connection
Three sets of (totally 6) travel switches of dynamic pin ejection limit switch ".
3. the system as claimed in claim 1, it is characterised in that the electric pushrod is water-proof electric push rod.
4. the system as claimed in claim 1, the central processing module is the control module based on STM32 microprocessors, is used
In retrieval user instruction and limit switch signal and by its with processing after servo sent a signal to according to particular communication agreement driven
Dynamic model block.
5. the system as claimed in claim 1, the lifting unit controller is the control module based on STM32 microprocessors,
For receiving the signal of central processing module, conversion of the low-voltage signal to high-pressure physics amount is completed, to electric pushrod output voltage
The physical quantitys such as electric current control rising, decline, startup, the stopping of electric pushrod.
6. the system as claimed in claim 1, the integrated stepper motor driver of motor driver, for receiving center
The signal of processing module, conversion of the low-voltage signal to high-pressure physics amount is completed, to physical quantitys such as electric pushrod output voltage electric currents
Control rising, decline, startup, the stopping of electric pushrod.
7. the system as claimed in claim 1, signal input part includes integrated hand controller and visualization Input Software, can be in hand
Machine flat board end is applied, and is communicated by bluetooth with CPU, and hand controller unanimously corresponds to button effect with Input Software function
It is identical.
8. the system as claimed in claim 1, user prompt module is made up of the buzzer circuit for being integrated in CPU,
It is upper establish machine by cable when short twice prompting custom systems of ring have been started up, and in the system described in claim 1, work as centre
Carried when reason module receives signal (including the command signal of user's input and feedback signal of limit switch) every time under short ring two
Awake custom system is just in response signal.
9. a kind of Multifunction bathing chair control method, it is characterised in that the control method mainly includes three kinds of working conditions：Uprightly
State, pitching mode of operation, backboard handrail linkage work pattern；
Central processing module can retrieve working condition where the feedback signal differentiation of limit switch in start, and " backboard is bowed spacing
Switch has feedback signal ", then it is arranged to " erectility "；When " backboard bow limit switch " does not have feedback signal, if " set bar
Langrage goes out limit switch " there is feedback signal, then it is arranged to " backboard handrail linkage work pattern ", it is on the contrary then be arranged to " pitching work
Operation mode "；
, will when the control " rising " or " decline " order of signal input part are received under central processing module arbitrary operational state
Control signal is sent to servo-driven module (lifting unit controller) by specific communications protocol, and servo-driven module passes through
The flexible of certain voltage and current control electric pushrod is exported, and if receiving limit position signal in motion process
(" push rod lifting position-limit switch feedback signal " and " push rod descending spacing switch feedback signal ") or control life is not continued to
Sending stop signal to lifting unit controller when making stops action；
Central processing module when receiving the order of control " backboard is faced upward " of signal input part, will control under " erectility "
Signal is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module is certain by exporting
Voltage and electric current first control in control motor reclaim linkage pin, handrail is disconnected with backboard, then control backboard motor
Rotation so as to realize that backboard is faced upward, system enters " pitching mode of operation ", and if receiving extreme position in motion process
Signal (" backboard faces upward limit switch feedback signal ") sends when not continuing to control command to motor driver and stops letter
Number stop action, the control " backboard is faced upward " of signal input part or the life of " backboard is bowed " are being received under " pitching mode of operation "
When making, control signal is sent to servo-driven module (motor driver), servo-driven module by specific communications protocol
By exporting rotation of certain voltage with current control backboard motor so as to realize backboard pitching, and if in motion process
Receive limit position signal (" backboard bow limit switch feedback signal " and " backboard faces upward limit switch feedback signal ") or not after
Sending stop signal to motor driver when continued access receives control command stops action；
Central processing module is under " erectility " in the order for the control " linkage of backboard handrail is faced upward " for receiving signal input part
When, control signal is sent to servo-driven module (motor driver) by specific communications protocol, servo-driven module leads to
Cross export during certain voltage first controls with electric current control motor go out set bar langrage, handrail is connected with backboard, then control the back of the body
So as to realize that the linkage of backboard handrail is faced upward, system enters " backboard handrail linkage work pattern ", and is moving for the rotation of board motor
When if limit position signal (" backboard faces upward limit switch feedback signal ") is received during or not continuing to control command
Sending stop signal to motor driver stops action, and signal input is being received under " backboard handrail linkage work pattern "
When the control " backboard handrail linkage face upward " at end or the order of " linkage of backboard handrail is bowed ", by control signal by specifically communicating
Agreement is sent to servo-driven module (motor driver), and servo-driven module is carried on the back by exporting certain voltage with current control
The rotation of board motor so as to realize backboard handrail link pitching, and if received in motion process limit position signal (" back of the body
Plate is bowed limit switch feedback signal " and " backboard faces upward limit switch feedback signal ") or when not continuing to control command to electricity
Machine driver, which sends stop signal, stops action；
When central processing module receives the order of " linkage of backboard handrail is bowed " or " backboard is bowed " under non-" erectility ", it will control
Signal processed is sent to servo-driven module (motor driver) by specific communications protocol, and servo-driven module passes through output one
The rotation of fixed voltage Yu current control backboard motor is so as to realize that the linkage of backboard handrail is bowed or backboard is bowed motion, arrival orthostatic position
The limit position signal of " backboard bow limit switch " is received when putting, sending stop signal to motor driver stops action,
Wait remaining operational order.
10. method as claimed in claim 9, this method dorsulum pitching function includes three kinds of working conditions, every kind of work shape
Only limit above-mentioned specific input signal under state to act, remaining input signal does not act system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610575666.9A CN107643766A (en) | 2016-07-20 | 2016-07-20 | The control system and control method of a kind of Multifunction bathing chair |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610575666.9A CN107643766A (en) | 2016-07-20 | 2016-07-20 | The control system and control method of a kind of Multifunction bathing chair |
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| CN107643766A true CN107643766A (en) | 2018-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610575666.9A Pending CN107643766A (en) | 2016-07-20 | 2016-07-20 | The control system and control method of a kind of Multifunction bathing chair |
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| CN113799671A (en) * | 2021-10-29 | 2021-12-17 | 延锋国际座椅系统有限公司 | Control method for electrically adjusting automobile seat armrest |
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Application publication date: 20180130 |