CN108354809A - It is a kind of controllable from dynamic auxiliary expectoration device and its control method - Google Patents
It is a kind of controllable from dynamic auxiliary expectoration device and its control method Download PDFInfo
- Publication number
- CN108354809A CN108354809A CN201810005517.8A CN201810005517A CN108354809A CN 108354809 A CN108354809 A CN 108354809A CN 201810005517 A CN201810005517 A CN 201810005517A CN 108354809 A CN108354809 A CN 108354809A
- Authority
- CN
- China
- Prior art keywords
- rear cover
- sliding block
- controller
- patient
- controllable
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Abstract
The invention belongs to medical instruments field, specifically disclose a kind of controllable from dynamic auxiliary expectoration device and its control method, which includes sensor unit, beating structure, drive mechanism and controller；Beating structure is arranged on drive mechanism；The back that sensor unit is used to obtain position and patient of the beating structure on drive mechanism passes to controller at a distance from drive mechanism, and by the two information；Drive mechanism realizes control of the beating structure along the straight reciprocating motion track at back according to controller；Beating structure changes motion state according to the instruction of controller and beats dynamics for being tapped to human body back.The present invention imitates action when nurse's expectoration using the TRAJECTORY CONTROL in two degree of freedom, and learnt to carry out adaptive beating to different height patients using sensor collection data, it is easy to operate to reach the function of being directed to arbitrary patient and assist expectoration, high degree of automation, controllability are strong.
Description
Technical field
The invention belongs to medical instruments fields, and in particular to a kind of controllable from dynamic auxiliary expectoration device and its controlling party
Method.
Background technology
The disease of respiratory system can cause secretion to increase, if failing timely to understand these secretion, will lead
Air flue is caused to block, breathing acting increases, and causes to breathe muscular fatigue, finally results even in respiratory failure, therefore patient
Need the secretion being timely discharged in respiratory tract.And main 2 points of the premise that the secretion of respiratory tract can be removed in time, one
Being patient has cough ability, second is that secretion has mobility.The ability if patient does not cough cannot do work to help point
The discharge of secretion.It is viscous on respiratory tract if secretion cannot flow, patient can be caused to do work insufficient and secretion can not be arranged
Go out.In this case, the vibration of lungs can be caused by knocking back, this vibration for delivery to air flue and can draw
Airway secretions vibration is played, to increase the mobility of secretion.In this way, the secretion of flowing can stimulate airway mucus to cause
Cough reflex, to achieve the purpose that knocking back induces cough, removing airway secretions.
The expectoration mode used in Hospitals at Present is mainly nursing staff in person with hand or hand-held expectoration cup come knocking patient
Back.Discontinuity when will appear beating in this way is to affect the effect of expectoration, and in addition this is also greatly improved
The labor intensity of nursing staff, and nursing staff understands the phenomenon that generating hand fatigue because of long-time knocking.Therefore, a kind of
The expectoration device of high degree of automation is badly in need of now.
Also there is more expectoration device both at home and abroad now.The expectoration knocking head of vibration can be automatically generated by having, but
Nursing staff's hand-held device is still needed to pat the back of patient in this way.Also some buckle backs clap phlegm machine, will vibrate
Head pats the back of patient in auxiliary vest, but knocking head can only be patted in fixed position, cannot achieve nursing
The effect that personnel pat from bottom to top, to which the more quick expectoration of patient can not be helped to one upward power of secretion.
In addition, many expectoration devices are required for patient's bunk bed to complete corresponding expectoration step, but patient can be greatly caused in this way
Inconvenience, especially for handicapped patient.Therefore, the experience of this kind of expectoration device is poor.
Invention content
The purpose of the present invention is overcoming problems of the prior art, and provides and a kind of controllable filled from dynamic auxiliary expectoration
It sets and its control method.Device can be mounted on electric hospital bed lower section by the present invention, the back of human body is bonded, to make patient
Automatic expectoration can be realized in bed, and expectoration dynamics is adjustable.The workload of nurse greatly is alleviated, and improves expectoration
Convenient and efficiency.
The technical proposal for solving the technical problem of the invention is as follows：It is a kind of controllable from dynamic auxiliary expectoration device, peace
On electric hospital bed, for assisting patient's expectoration, including sensor unit, beating structure, drive mechanism and controller；
The beating structure is arranged on drive mechanism；
The sensor unit is used to obtain back and the biography of position and patient of the beating structure on drive mechanism
The distance of dynamic structure, and the two information is passed into controller；
The drive mechanism realizes control of the beating structure along the straight reciprocating motion track at back according to controller；
The beating structure for being tapped to human body back, and according to the instruction of controller change motion state and
Beat dynamics.
Further, the drive mechanism includes lead screw, protecgulum, rear cover, stepper motor, sliding block, a sliding rail；It is described
The both ends of lead screw are supported on protecgulum and are covered with after respectively, and stepper motor drives lead screw rotation, sliding block to be slidably arranged on sliding rail, silk
Bar passes through sliding block, and along sliding rail linear slide, stepper motor is electrically connected with the controller driving sliding block.
Further, the beating structure includes motor rear cover, front motor cover, pats component, coil windings, the line
Circle winding is fixed in motor rear cover, and front motor cover is fixed on motor rear cover, pats one end of component after front motor cover
It is arranged in coil windings, realizes that pat component moves up and down in coil windings, the motor rear cover is fixed on sliding block, line
Circle winding is electrically connected with the controller.
Further, the beating component includes tup and is fixedly connected on the iron core of tup bottom, and the iron core is set
It sets in coil windings, the tup is made of silica gel, and knot constitutes umbrella.
Further, sponge sheet is set between motor rear cover and sliding block.
Further, the sensor unit includes ultrasonic sensor and array of pressure sensors, supersonic sensing
The transmitter and receiver of device are installed on sliding block, and transmitter transmitting ultrasonic wave is received by the receiver after rear cover reflects, from
And the distance between sliding block and rear cover are obtained in real time；The array of pressure sensors is arranged in electric hospital bed mattress, control
Position of the back at a distance of rear cover of patient is calculated according to the collected pressure data of pressure sensor for device.
Further, it is provided with the threaded hole for fixing protecgulum on the protecgulum, covers and is provided with for solid after described
Determine the threaded hole of rear cover, protecgulum and rear cover, which are connected by screw, is fixed on electric hospital bed back.
Further, the protecgulum and the rear cover can be mounted in entire electric hospital bed top half, before described
Lid is mounted on bottom, and the rear cover is mounted on top.
It is a further object of the present invention to provide a kind of controllable control method from dynamic auxiliary expectoration device, feature exists
In including the following steps：
Step (1) starter, stepper motor, which is powered, starts to work, and band movable slider is from initial position (sick bed lumbar region)
Start to move upwards；Meanwhile coil windings are powered and generate magnetic field, component vibration is patted in driving, is realized and is patted；
In the operation of step (2) device, ultrasonic sensor starts measurement sliding block to the distance D of rear cover1, and fed back
To controller；Pressure sensor measurement simultaneously obtains arriving the distance D of rear cover at the top of patient's back2, and it is fed back to controller；
Controller is according to D1、D2And the distance between protecgulum and rear cover D3, to judge whether sliding block reaches the top position of patient's back
It sets；When judging to be not up at the top of patient's back, sliding block continues up, and beating structure works on；When judging sliding block
When reaching at the top of patient's back, controller Driving Stepping Motor is inverted, and sliding block is made to move downward；
Step (3) sliding block starts after moving downward, and controller sends out instruction, eliminates the electric signal for being conveyed to coil windings,
Beating component is set to be stopped, to no longer be patted during sliding block moves downward；
Step (4) receives distance D of the sliding block relative to rear cover when controller1For maximum value when, controller drive stepping
Motor is rotated forward, and sliding block moves upwards, while so that coil windings is initially powered up and being generated magnetic field, allow pat component start to vibrate into
Row is patted；
So constantly circulation step (2) arrives step (4) step to step (5), to imitate nursing staff constantly from the bottom up
The movement locus of beating.
Further, the D1And D2It obtains in the following manner：
(1) distance D of the sliding block to rear cover1：
D1=340*T/2
Wherein 340 be the aerial speed of sound, and unit m/s, T are the time interval that ultrasonic wave is emitted to receiving, single
Position is s；
(2) the distance D of rear cover is arrived at the top of patient's back2：
The electric current of pressure and generation suffered by pressure sensor is linear, therefore can be by measuring the electric current i generated
Corresponding pressure p is obtained, if the measurement range of pressure sensor is pA~pB, unit pa；Corresponding electric current is iA~
iB, unit A；Therefore pressure value can be obtained and be：
All pressure sensors are distributed in the way of matrix in mattress, if the often interval between row pressure sensor
For dm, a shared m rows pressure sensor.There is n pressure sensor in often going, the pressure value phase to measure n sensor
Add, finds wherein minimum a line：
It is hereby achieved that the line number where neck is i rows, it, can to substantially estimate back top place behavior i+1
To obtain back top distance D at the top of bed2：
D2=(i+1) * d.
The beneficial effects of the invention are as follows：
(1) present invention realizes beating in two degree of freedom by the collective effect of drive mechanism and beating structure.
And the data obtained using sensor, real-time control stepper motor and the opening and closing for beating motor, to successfully imitate caregiver
The effect of expectoration is improved so as to ensure that secretion can effectively be discharged in beating track during member's expectoration from top to bottom
Rate.
(2) present invention is mountable to electric hospital bed dorsal area, can be with to when sick bed allows people to sit up
Expectoration operation directly is carried out to patient, leaving the bed without patient carries out expectoration to designated position and go to bed again, greatly reduces trouble
The movement of person enables the inconvenient patient moved easily to realize expectoration.In addition, nursing staff carries out without hand-held knocking head
Buckle back operates, and greatly alleviates the labor intensity of nursing staff.
(3) present invention can be controlled by remote controler and computer simultaneously, therefore patient oneself can think expectoration again
When by manipulating remote controler realize expectoration, improve the promptness of expectoration.Nursing staff can also pass through computer remote control
Expectoration processed improves the convenience and efficiency of expectoration.
(4) present invention can control the speed of service of drive mechanism by controller, moreover it is possible to pass through shaking for beating structure
Dynamic frequency adjusts the dynamics of buckle back, and buckle back is carried out so as to give different dynamics for the patients of different ability to bears,
So as to towards more patients, improve the Experience Degree of patient.
Description of the drawings
Fig. 1 is the overall structure figure of the embodiment of the present invention；
Fig. 2 is the structure chart for beating device of the embodiment of the present invention；
Fig. 3 is the beating part structure diagram of the embodiment of the present invention；
Fig. 4 is human body percussion schematic diagram；
Fig. 5 is logic control flow process figure；
The block schematic illustration of Fig. 6 embodiment of the present invention；
Above-mentioned reference numeral：1 stepper motor, 2 protecgulums, 3 lead screws, 4 sliding blocks, 5 sponge sheets, 6 rear covers, 7 motor rear covers, 8 electricity
Machine protecgulum, 9 pat component, 10 sliding rails, 11 coil windings, 901 tups, 902 iron cores.
Specific implementation mode
Present invention is further described in detail below in conjunction with the accompanying drawings.
The present invention provides a kind of controllable from dynamic auxiliary expectoration device, it is mounted on electric hospital bed, for assisting patient
Expectoration, including sensor unit, beating structure, drive mechanism and controller；The beating structure is arranged on drive mechanism；
Back and drive mechanism of the sensor unit for obtaining position and patient of the beating structure on drive mechanism
Distance, and the two information is passed into controller；The drive mechanism realizes beating structure along back according to controller
The control of straight reciprocating motion track；The beating structure is used to tap human body back, and according to the finger of controller
It enables and changes motion state and beat dynamics.Arduino microcontrollers may be used in controller in the present embodiment, but not limited to this.
As shown in Figure 1, drive mechanism includes a lead screw 3, protecgulum 2, rear cover 6, stepper motor 1, sliding block 4, sliding rail 10；Institute
The both ends for stating lead screw 3 are supported on respectively on protecgulum 2 and rear cover 6, and stepper motor 1 drives lead screw 3 to rotate, and sliding block 4 is slidably arranged in
On sliding rail 10, lead screw 3 passes through sliding block 4, and along sliding rail linear slide, stepper motor 1 is electrically connected with the controller driving sliding block 4.
As shown in Fig. 2, beating structure includes motor rear cover 7, front motor cover 8, pats component 9, coil windings 11, the line
Circle winding 11 is fixed in motor rear cover 7, and front motor cover 8 is fixed on motor rear cover 7, and the one end for patting component 9 passes through motor
It is arranged in coil windings 11 after protecgulum 8, realizes that pat component 9 moves up and down in coil windings 11, the motor rear cover 7 is solid
It is scheduled on sliding block 4, coil windings 11 are electrically connected with the controller.
As shown in figure 3, it includes tup 901 and the iron core 902 for being fixedly connected on tup bottom to pat component 9, iron core 902 is set
It sets in coil windings 10.Tup 901 is made of silica gel, knot constitute umbrella, for increase pat area, iron core 902 be used for
The magnetic field that coil windings 11 generate generates interaction, and is rigidly connected with tup 901, to drive tup 901 to be vibrated,
Realize the function of patting.
Sponge sheet 5 is set between motor rear cover 7 and sliding block 4, and sponge piece 5 is produced to reduce to pat when component 9 vibrates
Raw noise, while reducing and patting component 9 to the shock dynamics of sliding block 4, improve the service life used.
Sensor unit includes ultrasonic sensor and array of pressure sensors, the transmitter of ultrasonic sensor and reception
Device is installed on sliding block 4, and transmitter emits ultrasonic wave and is received by the receiver after the reflection of rear cover 6, to obtain sliding block 4 in real time
The distance between rear cover 6；The array of pressure sensors is arranged in electric hospital bed mattress, and controller is according to pressure sensing
The back of patient is calculated at a distance of the position of rear cover 6 in the collected pressure data of device.Using the data of these location informations,
The autonomous TRAJECTORY CONTROL for different height crowds may be implemented.
It is provided with the threaded hole for fixing protecgulum 2 on protecgulum 2, the threaded hole for fixing rear cover 6 is provided on rear cover 6, it is preceding
Lid 2 and rear cover 6, which are connected by screw, is fixed on electric hospital bed back.Protecgulum 2 and rear cover 6 can be mounted in entire electric hospital bed
Top half, protecgulum 2 are mounted on bottom, and rear cover 6 is mounted on top.So as to allow the beating structure directly to suffer from bed
The lower back of person moves, and patient is allowed to can be carried out expectoration in bed, eliminates the process of patient's bunk bed, such as Fig. 4
It is shown.
As shown in Figure 5 and Figure 6, the present invention realizes that the process of auxiliary expectoration is as follows to patient：
(1) starter, stepper motor 1, which is powered, starts to work, and band movable slider 4 is opened from initial position (sick bed lumbar region)
Beginning moves upwards；Meanwhile coil windings 11 are powered and generate magnetic field, driving tup vibration is realized and is patted.
(2) in device operation, ultrasonic sensor starts measurement sliding block to the distance D of rear cover1, and it is fed back to control
Device processed.Pressure sensor measurement simultaneously obtains arriving the distance D of rear cover at the top of patient's back2, and it is fed back to controller.Control
Device is according to D1、D2And the distance between protecgulum 2 and rear cover 6 D3, to judge whether sliding block 4 reaches the top position of patient's back.
When judging to be not up at the top of patient's back, sliding block 4 continues up, and beating structure works on.When judging that sliding block 4 reached
When at the top of to patient's back, controller Driving Stepping Motor 1 is inverted, and sliding block 4 is made to move downward.
(3) sliding block 4 starts after moving downward, and controller sends out instruction, eliminates the electric signal for being conveyed to coil windings 11, makes
It pats component 9 to be stopped, to no longer be patted during sliding block 4 moves downward.
(4) when controller receive sliding block 4 relative to rear cover 6 distance be maximum value when, controller Driving Stepping Motor 1
Rotated forward, sliding block 4 moves upwards, while so that coil windings 11 is initially powered up and generating magnetic field, allow pat component 9 start to vibrate into
Row is patted.
(5) so constantly cycle (2) arrives (4) step, to imitate the movement rail that nursing staff constantly pats from the bottom up
Mark.
It enables a device to serve the same role using this action for imitating practical expectoration, to substitute well
Fall the expectoration work of nursing staff.The workload for greatly alleviating nursing staff in this way also improves the efficiency of expectoration work
And convenience.
The principle that location information is obtained using sensor unit is specific as follows：
(1) distance D of the sliding block to rear cover1：
D1=340*T/2
Wherein 340 be the aerial speed of sound, and unit m/s, T are the time interval that ultrasonic wave is emitted to receiving, single
Position is s.
(2) the distance D of rear cover is arrived at the top of patient's back2：
The electric current of pressure and generation suffered by pressure sensor is linear, therefore can be by measuring the electric current i generated
Corresponding pressure p is obtained, if the measurement range of pressure sensor is pA~pB, unit pa；Corresponding electric current is iA~
iB, unit A；Therefore pressure value can be obtained and be：
All pressure sensors are distributed in the way of matrix in mattress, if the often interval between row pressure sensor
For dm, a shared m rows pressure sensor.There is n pressure sensor in often going, the pressure value phase to measure n sensor
Add, finds wherein minimum a line：
It is hereby achieved that the line number where neck is i rows, it, can to substantially estimate back top place behavior i+1
To obtain back top distance D at the top of bed2：
D2=(i+1) * d
(3) according to D1、D2And the distance between protecgulum 2 and rear cover 6 D3, can be determined using corresponding logical construction
The signal of controller exports, to realize the trajectory planning for height crowd.
Corresponding motor is controlled by digital signal, realizes the control patted on track.Wherein dynamics is from remote controler
The dynamics gear read, signal of different sizes is conveyed according to different gears, is changed to control the duty ratio of signal
Pat frequency.The adjustable beating of realization dynamics.It is rotating forward that the digital signal of stepper motor 1, which is 1, and sliding block 4 moves from bottom to top；
Corresponding, -1 is reversion, and sliding block 4 moves from the top down.It beats motor to start to pat when there is output, stop when output is 0
It pats, to realize required TRAJECTORY CONTROL.
In order to enable more humane, automation of the invention and facilitation, are controlled and are adjusted using remote controler or computer
Controller in expectoration device.Device can be mounted on electric hospital bed lower section simultaneously, the back of human body is bonded, to make trouble
Person can realize automatic expectoration in bed, and expectoration dynamics is adjustable.The workload of nurse greatly is alleviated, and improves expectoration
Convenient and efficiency.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (10)
1. it is a kind of controllable from dynamic auxiliary expectoration device, it is mounted on electric hospital bed, for assisting patient's expectoration, feature to exist
In：Including sensor unit, beating structure, drive mechanism and controller；
The beating structure is arranged on drive mechanism；
The sensor unit is used to obtain the back of position and patient of the beating structure on drive mechanism and transmission is tied
The distance of structure, and the two information is passed into controller；
The drive mechanism realizes control of the beating structure along the straight reciprocating motion track at back according to controller；
The beating structure changes motion state according to the instruction of controller and beats for being tapped to human body back
Dynamics.
2. according to claim 1 controllable from dynamic auxiliary expectoration device, it is characterised in that：The drive mechanism includes
Piece lead screw, protecgulum, rear cover, stepper motor, sliding block, a sliding rail；The both ends of the lead screw are supported on protecgulum and are covered with after respectively, walk
Stepper motor drives lead screw rotation, and sliding block is slidably arranged on sliding rail, and lead screw passes through sliding block, driving sliding block along sliding rail linear slide,
Stepper motor is electrically connected with the controller.
3. according to claim 2 controllable from dynamic auxiliary expectoration device, it is characterised in that：The beating structure includes
Motor rear cover, pats component, coil windings at front motor cover, and the coil windings are fixed in motor rear cover, and front motor cover is fixed
On motor rear cover, the one end for patting component is arranged after front motor cover in coil windings, realizes and pats component in coil
It is moved up and down in winding, the motor rear cover is fixed on sliding block, and coil windings are electrically connected with the controller.
4. according to claim 3 controllable from dynamic auxiliary expectoration device, it is characterised in that：The beating component includes
Tup and the iron core for being fixedly connected on tup bottom, the iron core are arranged in coil windings, and the tup is made of silica gel,
Knot constitutes umbrella.
5. according to claim 4 controllable from dynamic auxiliary expectoration device, it is characterised in that：Motor rear cover and sliding block it
Between sponge sheet is set.
6. according to claim 5 controllable from dynamic auxiliary expectoration device, it is characterised in that：The sensor unit packet
Ultrasonic sensor and array of pressure sensors are included, the transmitter and receiver of ultrasonic sensor are installed on sliding block, hair
Emitter transmitting ultrasonic wave is received by the receiver after rear cover reflects, to obtain the distance between sliding block and rear cover in real time；It is described
Array of pressure sensors is arranged in electric hospital bed mattress, and controller is counted according to the collected pressure data of pressure sensor
Calculation obtains position of the back at a distance of rear cover of patient.
7. according to claim 6 controllable from dynamic auxiliary expectoration device, it is characterised in that：It is provided with use on the protecgulum
In the threaded hole of fixed protecgulum, the threaded hole being provided with for fixing rear cover is covered after described, protecgulum and rear cover pass through screw
It is fastened on electric hospital bed back.
8. according to claim 7 controllable from dynamic auxiliary expectoration device, it is characterised in that：The protecgulum and described
Rear cover can be mounted in entire electric hospital bed top half, and the protecgulum is mounted on bottom, and the rear cover is mounted on top.
9. a kind of utilizing the controllable control method from dynamic auxiliary expectoration device according to any one of claims 8, which is characterized in that including
Following steps：
Step (1) starter, stepper motor, which is powered, starts to work, and band movable slider is since initial position (sick bed lumbar region)
It moves upwards；Meanwhile coil windings are powered and generate magnetic field, component vibration is patted in driving, is realized and is patted；
In the operation of step (2) device, ultrasonic sensor starts measurement sliding block to the distance D of rear cover1, and it is fed back to control
Device processed；Pressure sensor measurement simultaneously obtains arriving the distance D of rear cover at the top of patient's back2, and it is fed back to controller；Control
Device is according to D1、D2And the distance between protecgulum and rear cover D3, to judge whether sliding block reaches the top position of patient's back；When
When judging to be not up at the top of patient's back, sliding block continues up, and beating structure works on；When judging that sliding block has reached trouble
When at the top of person's back, controller Driving Stepping Motor is inverted, and sliding block is made to move downward；
Step (3) sliding block starts after moving downward, and controller sends out instruction, eliminates the electric signal for being conveyed to coil windings, makes bat
It beats component to be stopped, to no longer be patted during sliding block moves downward；
Step (4) receives distance D of the sliding block relative to rear cover when controller1For maximum value when, controller Driving Stepping Motor into
Row rotates forward, and sliding block moves upwards, while so that coil windings is initially powered up and generating magnetic field, allows beating component to start vibration and is clapped
It beats；
So constantly circulation step (2) arrives step (4) step to step (5), is constantly patted from the bottom up to imitate nursing staff
Movement locus.
10. control method according to claim 9, it is characterised in that：The D1And D2It obtains in the following manner：
(1) distance D of the sliding block to rear cover1：
D1=340*T/2
Wherein 340 be the aerial speed of sound, and unit m/s, T are the time interval that ultrasonic wave is emitted to receiving, and unit is
s；
(2) the distance D of rear cover is arrived at the top of patient's back2：
The electric current of pressure and generation suffered by pressure sensor is linear, therefore can be obtained by measuring the electric current i generated
Corresponding pressure p is obtained, if the measurement range of pressure sensor is pA~pB, unit pa；Corresponding electric current is iA~iB, single
Position A；Therefore pressure value can be obtained and be：
All pressure sensors are distributed in the way of matrix in mattress, if often between row pressure sensor between be divided into
Dm, a shared m rows pressure sensor；There is n pressure sensor in often going, the pressure value to measure n pressure sensor
It is added, finds wherein minimum a line：
It is hereby achieved that the line number where neck is i rows, to substantially estimate back top place behavior i+1, can obtain
To back top distance D at the top of bed2：
D2=(i+1) * d.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810005517.8A CN108354809A (en) | 2018-01-03 | 2018-01-03 | It is a kind of controllable from dynamic auxiliary expectoration device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810005517.8A CN108354809A (en) | 2018-01-03 | 2018-01-03 | It is a kind of controllable from dynamic auxiliary expectoration device and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108354809A true CN108354809A (en) | 2018-08-03 |
Family
ID=63010577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810005517.8A Pending CN108354809A (en) | 2018-01-03 | 2018-01-03 | It is a kind of controllable from dynamic auxiliary expectoration device and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108354809A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109125037A (en) * | 2018-09-26 | 2019-01-04 | 济南普若培森智能科技有限公司 | A kind of auxiliary expectoration device and method with intelligent monitoring function |
| CN111419672A (en) * | 2020-03-16 | 2020-07-17 | 深圳市南山区蛇口人民医院 | Intelligent robot and integrated intelligent bed for lung sputum excretion |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1292672A (en) * | 1999-01-11 | 2001-04-25 | 家族株式会社 | Massaging machine |
| CN201030021Y (en) * | 2005-05-26 | 2008-03-05 | 松下电工株式会社 | Massager device |
| CN201578551U (en) * | 2010-01-12 | 2010-09-15 | 刘新 | Acupoint-attacking and heating massager |
| CN103462793A (en) * | 2013-09-16 | 2013-12-25 | 丁煜 | Heart sutra massager |
| CN204121386U (en) * | 2014-09-28 | 2015-01-28 | 何召峰 | The artificial massage manipulation apparatus of a kind of simulation |
| CN104873372A (en) * | 2015-05-04 | 2015-09-02 | 浙江大学 | Intelligently-controlled sputum eliminating device and intelligently-controlled sputum eliminating method |
| CN107456334A (en) * | 2017-09-19 | 2017-12-12 | 河南城建学院 | A kind of rehabilitation bed that back of the body counteracting bedsores function is kowtowed with automatic turn-over body |
-
2018
- 2018-01-03 CN CN201810005517.8A patent/CN108354809A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1292672A (en) * | 1999-01-11 | 2001-04-25 | 家族株式会社 | Massaging machine |
| CN201030021Y (en) * | 2005-05-26 | 2008-03-05 | 松下电工株式会社 | Massager device |
| CN201578551U (en) * | 2010-01-12 | 2010-09-15 | 刘新 | Acupoint-attacking and heating massager |
| CN103462793A (en) * | 2013-09-16 | 2013-12-25 | 丁煜 | Heart sutra massager |
| CN204121386U (en) * | 2014-09-28 | 2015-01-28 | 何召峰 | The artificial massage manipulation apparatus of a kind of simulation |
| CN104873372A (en) * | 2015-05-04 | 2015-09-02 | 浙江大学 | Intelligently-controlled sputum eliminating device and intelligently-controlled sputum eliminating method |
| CN107456334A (en) * | 2017-09-19 | 2017-12-12 | 河南城建学院 | A kind of rehabilitation bed that back of the body counteracting bedsores function is kowtowed with automatic turn-over body |
Non-Patent Citations (1)
| Title |
|---|
| 冯建光: "《失智失能老年人日常护理指导手册》", 31 October 2014, 上海：上海浦江教育出版社有限公司 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109125037A (en) * | 2018-09-26 | 2019-01-04 | 济南普若培森智能科技有限公司 | A kind of auxiliary expectoration device and method with intelligent monitoring function |
| CN111419672A (en) * | 2020-03-16 | 2020-07-17 | 深圳市南山区蛇口人民医院 | Intelligent robot and integrated intelligent bed for lung sputum excretion |
| CN111419672B (en) * | 2020-03-16 | 2022-04-29 | 深圳市南山区蛇口人民医院 | Intelligent robot and integrated intelligent bed for lung sputum excretion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103142383B (en) | The passive implementation method of master of healthy sports-training apparatus | |
| CN103736256B (en) | A kind of human body respiration exercise equipment and respiratory training feedback method | |
| CN108309689A (en) | A kind of gradual recovery training method based on exoskeleton robot | |
| CN108354809A (en) | It is a kind of controllable from dynamic auxiliary expectoration device and its control method | |
| CN102039031A (en) | Multifunctional rehabilitation system for hands based on virtual reality | |
| CN203154224U (en) | Novel vibratory sputum-ejection apparatus | |
| CN202589731U (en) | Intelligent snoring relieving device | |
| CN109125030A (en) | A kind of leg rehabilitation training massage armchair | |
| CN106668962B (en) | A kind of respiratory tract sputum clears up system and method automatically | |
| CN109718471A (en) | It is a kind of for treating the healing robot and control method of aphetite disorder | |
| CN104921907B (en) | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device | |
| CN108553311A (en) | Bionical lactation robot | |
| CN109091372B (en) | Old person's phlegm device that clears lung | |
| WO2016082258A1 (en) | Device for collecting sperm | |
| CN101991475B (en) | Air pressure type base frequency-adjusted electronic artificial throat | |
| CN111973430A (en) | Disconnect-type intelligence massage neck ring | |
| CN105287167A (en) | Intelligent upper limb rehabilitation training device | |
| CN205672197U (en) | A kind of oral cavity muscle rehabilitation exercise device | |
| CN208552475U (en) | A kind of dedicated physiotherapy equipment of Neurology facial paralysis patient | |
| CN2146245Y (en) | Automatic tapping apparatus | |
| WO2012088965A1 (en) | Sound and light device controlled by baby and control method thereof | |
| CN114983777A (en) | Department of neurology self-training device | |
| EP4209204A1 (en) | Intelligent mouth opening rehabilitation apparatus | |
| KR20110047395A (en) | A pillow of preventing a snore | |
| CN203619849U (en) | Respiratory tract cleaning system with control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180803 |
|
| RJ01 | Rejection of invention patent application after publication |