CN110916285B

CN110916285B - Diabetic foot support device

Info

Publication number: CN110916285B
Application number: CN201911341353.7A
Authority: CN
Inventors: 于一江; 徐星; 殷学超
Original assignee: Huai'an Traditional Chinese Medicine Hospital
Current assignee: Huai'an Traditional Chinese Medicine Hospital
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2022-02-11
Anticipated expiration: 2039-12-24
Also published as: CN110916285A

Abstract

The present invention relates to a diabetic foot support device, comprising: comprises a shoe-shaped shell (1), a central controller (2), a bottom supporting pad (3), an air bag pad (4), a pressure dispersion pad (5), a surface contact pad (8), a toe cap pressure sensor (6), a vamp pressure sensor (7) and an air pump (10); the shoe-shaped housing (1) comprises a foot receiving portion which can be adjusted in height in accordance with the pressure detected by the vamp pressure sensor (7), and the airbag cushion (4) can be adjusted in air pressure in accordance with the pressure detected by the surface contact pad (8).

Description

Diabetic foot support device

Technical Field

The invention relates to medical care equipment, in particular to a diabetic foot supporting device.

Background

With the development of social economy and the change of living standard and dietary habits of people, the incidence rate of diabetes mellitus is increased year by year. The recent epidemiological research result in China shows that the prevalence rate of diabetes in China reaches 11.6 percent, which is higher than the average level of the world by 6.4 percent. Diabetic complications have become one of the killers that endanger people's life and health. In recent years, the harm of diabetic foot is more and more paid attention by people, and is one of chronic complications causing disability and death of diabetic patients. The occurrence of diabetic foot ulcers reduces the quality of life for the diabetic. Neuropathy peripheral neuropathy is one of the most common causes of diabetic foot ulcers. Neuropathy causes numbness of the limbs of the patient, reduces the ability to feel external stimuli and injuries, and reduces the self-protective ability. The incidence of peripheral neuropathy increases with the age of the patient and the course of their diabetes. In the current nursing of diabetic feet, the feet can be protected by providing a supporting device for the diabetic feet.

The existing diabetic foot supporting device has the following defects that the diseased foot is isolated and supported to play a protective role in a wrapping and supporting mode: 1) the problem of over-pressure of the supporting device on the local part of the affected group is easily caused due to the sensory disturbance of the affected foot, thereby causing damage; 2) the size of the bracket is generally not adjustable; or for some flexible stents, the size of the stent is only adjusted by the patient's feel, which also tends to cause excessive compression or abrasion of the foot resulting from an improperly sized stent.

Therefore, it is desirable to provide a diabetic foot supporting device capable of realizing intelligent size adjustment of the bracket size and real-time monitoring and adjustment of the compression condition of the key part of the diseased foot.

Disclosure of Invention

The technical problem to be solved by the invention is the defect of the existing diabetic foot supporting device: 1) the problem of over-pressure of the supporting device on the local part of the affected group is easily caused due to the sensory disturbance of the affected foot, thereby causing damage; 2) the size of the bracket is generally not adjustable; or for some flexible stents, the size of the stent is only adjusted by the patient's feel, which also tends to cause excessive compression or abrasion of the foot resulting from an improperly sized stent.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a diabetic foot support device, comprising: it includes: comprises a shoe-shaped shell 1, a central controller 2, a bottom supporting pad 3, an air bag pad 4, a pressure dispersion pad 5, a surface contact pad 8, a toe cap pressure sensor 6, a vamp pressure sensor 7 and an air pump 10; the shoe type housing 1 includes a foot receiving portion capable of height adjustment according to the pressure detected by the upper pressure sensor 7, and the airbag cushion 4 capable of air pressure adjustment according to the pressure detected by the surface contact pad 8.

Further, the shoe type casing 1 includes an ankle supporting part 1-1 and a foot receiving part.

Further, the foot receiving part includes an upper receiving part 1-2, a lower receiving part 1-4, and a middle expansion part 1-3.

Further, the upper receiving part 1-2 is coupled to the end of the push rod of the linear actuator 1-5, and the lower receiving part 1-4 is coupled to the fixed end of the linear actuator 1-5.

Further, the number of the linear actuators 1-5 is at least 4, which are respectively provided in front of and behind the left and right side surfaces of the shoe type housing 1.

Further, inside the foot receiving portion, from bottom to top, the bottom support cushion 3, the airbag cushion 4, the pressure dispersion cushion 5, and the surface contact cushion 8 are provided in this order.

Further, the bottom support pad 3 further has a plurality of air holes distributed in an array.

Further, the upper surface of the airbag cushion 4 and the lower surface of the pressure dispersion cushion 5 are fixedly connected by means of adhesion.

Further, the pressure dispersion pad 5 is formed with cutting streets formed in an array.

Further, the cutting streets of the array may be a plurality of linear cutting streets arranged in parallel or a plurality of linear cutting streets arranged in a grid.

The diabetic foot supporting device provided by the invention has the following beneficial effects: the size of the intelligent regulation of the size of the bracket can be realized, and the real-time monitoring and adjustment of the pressed condition of the critical part of the diseased foot can be realized.

Drawings

FIG. 1 is a schematic structural view of a diabetic foot support apparatus provided by the present invention.

FIG. 2 is a schematic cross-sectional view of a diabetic foot support apparatus provided by the present invention.

Fig. 3 is a partial enlarged view of the pressure dispersion pad cutting distribution, in which fig. 3a is a parallel arrangement and fig. 3b is a grid arrangement.

Fig. 4 is a schematic view of a pressure deformation state of the pressure dispersion pad, wherein fig. 4a is a parallel non-compressed state and fig. 4b is a compressed state.

Detailed Description

The present invention will now be described in more detail with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the beneficial results of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

In the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific details must be set forth in order to achieve the developer's specific goals.

In order to make the objects and features of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is to be noted that the drawings are in a very simplified form and are intended to use non-precision ratios for the purpose of facilitating and clearly facilitating the description of the embodiments of the invention.

As shown in fig. 1 and 2, the diabetic foot support device provided by the present invention comprises a shoe type housing 1, a central controller 2, a bottom support pad 3, an airbag pad 4, a pressure dispersion pad 5, a surface contact pad 8, a toe pressure sensor 6, a vamp pressure sensor 7, and an air pump 10.

Referring to fig. 1, a shoe type casing 1 includes an ankle supporting part 1-1 and a foot receiving part. The material of the structural body (the ankle supporting part 1-1 and the foot receiving part) of the shoe type outer shell 1 is a composite material. The fabric has a core material formed by magnesium-aluminum alloy or carbon fiber material and a flexible fabric material such as polyester fiber and the like wrapped outside the core material. Which can simultaneously achieve the effects of light weight, high strength and wearing comfort.

Wherein the foot receiving part includes an upper receiving part 1-2, a lower receiving part 1-4 and a middle expansion part 1-3. The outer surfaces of the upper receiving part 1-2 and the lower receiving part 1-4 are respectively connected to both ends of the plurality of linear actuators 1-5, and specifically, the upper receiving part 1-2 may be connected to the end of a push rod of the linear actuator 1-5, and the lower receiving part 1-4 is connected to the fixed end of the linear actuator 1-5; or the opposite way. The upper and lower receiving parts 1-2 and 1-4 can be separated from and brought close to each other by the linear actuator 1-5. The middle expansion part 1-3 can produce stretching and compressing effects during the process of separating and approaching the upper and lower receiving parts 1-2 and 1-4 from each other.

In particular, the intermediate telescoping section 1-3 may be a plurality of foldable material layers that are at least partially straightened and lengthened when stretched; when compressed, the multi-layer material is at least partially folded and the material shortens. Preferably, the intermediate telescoping portion 1-3 may be formed in a bellows-like manner or other form capable of performing the above-described function. The material of the intermediate telescoping section 1-3 may be a plastic material having a pre-formed folded shape.

A central controller 2 is installed on the outer side (i.e., the side on the outside of the leg when a person wears) of the ankle supporting part 1-1 of the shoe type housing 1, and the central controller 2 is connected to a driving part of the linear actuator 1-5 so as to drive a push rod of the linear actuator 1-5 to move up or down, thereby driving the middle stretching part 1-3 to stretch and contract. The connection mode can be wired connection or wireless connection. The control method of the linear actuators 1-5 by the central controller 2 will be described in detail below, and will not be described herein.

Preferably, the number of the linear drivers 1-5 is at least 4, which are respectively arranged in front of and behind the left and right sides of the shoe-shaped shell 1, so that the stress is uniform when the middle telescopic parts 1-3 are driven to be telescopic.

FIG. 2 is a schematic cross-sectional view of a diabetic foot support apparatus provided by the present invention. Referring to fig. 2, a bottom support cushion 3, an airbag cushion 4, a pressure dispersion cushion 5, and a surface contact cushion 8 are provided in this order from the bottom up inside the foot receiving portion.

Wherein, the bottom support pad 3 is a macromolecule elastic pad, the thickness of the bottom support pad is 4-7mm, and the compression modulus is controlled to be 45-70%. If the thickness is too thick or the compressive modulus is too low, the compression force on the foot during wearing may be too high, while if the thickness is too low or the compressive modulus is too high, the support force of the pad may be too low, and the foot wear may be increased.

This bottom supporting pad 3 still has a plurality of array distribution's bleeder vent, can realize the ventilation to the foot, has further reduced the risk of infection.

An air bag cushion 4 and a pressure dispersion cushion 5 are arranged on the bottom supporting cushion 3, and the upper surface of the air bag cushion 4 and the lower surface of the pressure dispersion cushion 5 are fixedly connected through bonding. The airbag cushion 4 is a hollow thin airbag, and a vent pipe can be arranged near the rear end (i.e. at the position corresponding to the heel), and the vent pipe is connected with a small-sized air pump 10, so that the gas can be discharged and input, and the gas in the airbag cushion can be adjusted. A pressure distribution pad 5 is fixedly connected to the upper surface of the airbag cushion 4, the pressure distribution pad 5 is formed of a layer made of an elastic resin or an elastic fabric material, and is formed by forming an array of cut lines on the layer made of the elastic resin or the elastic fabric material, and a groove corresponding to the cut line of the pressure distribution pad 5 is also formed on the upper portion of the airbag cushion 4 so as not to penetrate therethrough. Through setting up above-mentioned recess make gasbag pad 4 produce the deformation more easily when receiving pressure to drive the slope of the cylinder that is formed by the cutting street cutting on its top fixed connection's the pressure dispersion pad 5 more easily, thereby be favorable to dispersing pressure more.

Preferably, the cutting streets of the array may be a plurality of straight cutting streets arranged in parallel or a plurality of straight cutting streets arranged in a grid, as shown in fig. 3. In which fig. 3a is a parallel arrangement and fig. 3b is a grid arrangement.

As shown in fig. 4, since the airbag cushion 4 having a certain elasticity is fixedly connected below the pressure distribution cushion 5 and the pressure distribution cushion 5 has a cut-off arrangement, the airbag cushion 4 below the pressure distribution cushion 5 is deformed after receiving a pressure, and a plurality of vertical columns of the pressure distribution cushion 5 can be inclined sideways, thereby distributing a downward pressure to avoid an excessive pressure on a local sole of a foot.

A surface contact pad 8 is provided on the upper surface of the pressure dispersion pad 5, and a plurality of pressure sensors 9 are provided inside the surface contact pad 8 near the upper surface, connected to the central controller 2, and capable of monitoring pressures of a plurality of areas of a step in real time and transmitting the pressures to the central controller 2.

Preferably, the airbag cushion 4 can be divided into a plurality of independent airbag cavities corresponding to the positions of the plurality of pressure sensors 9 according to the positions, the independent airbag cavities do not interfere with each other, and independent inflation and deflation and air pressure adjustment can be realized. The plurality of independent airbag chambers may be independently connected to the air pump 10 through independent air passages and valves, thereby realizing independent control of the single airbag chamber.

When the central controller 2 detects that the pressure value of at least one of the pressure sensors 9 exceeds the threshold value, the air pump of the air bag cavity of the area corresponding to the pressure sensor 9 is driven to exhaust air, so that the pressure of the area is reduced, and the exhaust air is stopped when the pressure value is reduced below the threshold value.

The upper pressure sensor 7 is arranged on the upper wall of the inner side of the front top end of the shoe-shaped shell 1, the sensor can monitor the pressure of the upper to the foot in real time and transmit the data to the central controller 2, and when the pressure value exceeds a preset threshold value, the central controller 2 drives the push rods of the linear drivers 1-5 to move upwards, so that the stretching of the middle telescopic part is realized, and the inner space of the shell 1 is increased. When the vamp pressure drops below a threshold value, operation of the linear actuator 1-5 is stopped.

The inner side surface of the front end face of the shoe-shaped shell 1 is provided with a toe cap pressure sensor 6 which can monitor the pressure of the vamp on the toe in real time and transmit the data to the central controller 2, and when the pressure value exceeds a preset threshold value, the central controller 2 drives an alarm integrated with the central controller 2 to give an alarm to prompt a user to replace a support or a sock.

The pressure sensor 9, the toe cap pressure sensor 6, the vamp pressure sensor 7, the air pump 10 and the linear drivers 1-5 are all connected to the central controller 2 and perform data transmission and control.

The control method of the diabetic foot support device provided by the application is described in detail as follows:

the first step, after starting up, initializing, specifically may be:

the central controller 2 controls the air pump 10 to inflate the airbag cushion 4 to a preset initial pressure, and the central controller 2 controls the linear actuators 1-5 to extend and contract to a preset initial length.

The second step, after the user wears this support, detect each pressure after wearing through a plurality of pressure sensor 9, toe cap pressure sensor 6 and vamp pressure sensor 7, accomplish initial adjustment according to the pressure measurement result, specifically can be:

when the detection value of at least one of the pressure sensors 9 exceeds a preset bottom alarm threshold value, the central controller 2 controls the air bag cavity of the air bag cushion 4 in the area corresponding to the pressure sensor 9 to exhaust until the pressure value of the pressure sensor 9 is smaller than the preset bottom alarm threshold value.

When the detection value of the toe cap pressure sensor 6 exceeds a preset toe cap alarm threshold value, the central controller 2 drives an alarm integrated with the central controller 2 to alarm, and a user is prompted to replace a support or socks.

When the pressure value of the vamp exceeds the preset vamp alarm threshold value, the central controller 2 drives the push rods of the linear drivers 1-5 to move upwards, so that the middle telescopic part is stretched, and the internal space of the shell 1 is increased. When the vamp pressure is reduced below a preset vamp alarm threshold, the linear driver 1-5 is stopped.

And thirdly, continuously monitoring the detection values of the pressure sensors 9, the toe pressure sensor 6 and the vamp pressure sensor 7 in the long-time use process, wherein the detection values can be as follows:

the average pressure values for a period of time (for example, 5 to 10 minutes) for the monitoring values of the pressure sensor 9, the toe pressure sensor 6 and the vamp pressure sensor 7 exceed the preset accumulated alarm threshold value, the following operations are performed by the central controller 2:

when the detection value of at least one of the pressure sensors 9 exceeds a preset bottom accumulated alarm threshold value, the central controller 2 controls the air bag cavity of the air bag cushion 4 in the area corresponding to the pressure sensor 9 to exhaust until the pressure value of the pressure sensor 9 is smaller than the preset bottom accumulated alarm threshold value.

When the detection value of the toe cap pressure sensor 6 exceeds a preset toe cap accumulated alarm threshold value, the central controller 2 drives an alarm integrated with the central controller 2 to alarm, and a user is prompted to replace a support or socks.

When the pressure value of the vamp exceeds the preset vamp accumulated alarm threshold value, the central controller 2 drives the push rods of the linear drivers 1-5 to move upwards, so that the middle telescopic part is stretched, and the internal space of the shell 1 is increased. When the vamp pressure is reduced to be lower than the preset vamp accumulated alarm threshold value, the linear driver 1-5 stops working.

The scientific monitoring of the foot pressure can be realized by distinguishing the alarm threshold value during initialization and the accumulated alarm threshold value during use, and the false alarm condition caused by the accident force in a short time during use is prevented.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A method of controlling a diabetic foot support device, comprising:

the diabetic foot supporting device comprises a shoe-shaped shell, a central controller, a bottom supporting pad, an air bag pad, a pressure dispersion pad, a surface contact pad, a toe cap pressure sensor, a vamp pressure sensor and an air pump;

the shoe-shaped shell comprises an ankle supporting part and a foot accommodating part; the main material of the structure of the shoe-shaped shell is a composite material; the fabric comprises a core material formed by magnesium-aluminum alloy or carbon fiber material and a flexible fabric material wrapped outside the core material, wherein the flexible fabric material is polyester fiber;

the foot accommodating part comprises an upper accommodating part, a lower accommodating part and a middle telescopic part; the outer surfaces of the upper and lower receiving parts are connected to both ends of the plurality of linear drivers, respectively; specifically, the upper accommodating part is connected to the tail end of a push rod of the linear driver, and the lower accommodating part is connected to the fixed end of the linear driver; the upper accommodating part and the lower accommodating part are driven by the linear driver to separate and approach each other; the middle telescopic part generates stretching and compressing effects in the process of mutually separating and approaching the upper accommodating part and the lower accommodating part;

the middle expansion part is a plurality of layers of foldable material, and when the layers of foldable material are stretched, the layers of material are at least partially straightened and lengthened; when compressed, the multi-layer material is at least partially folded and the material shortens; the middle telescopic part is made of a plastic material with a prefabricated folding shape;

a central controller is arranged on the outer side surface of the ankle supporting part of the shoe-shaped shell, and the central controller is connected with a driving part of the linear driver so as to drive a push rod of the linear driver to move upwards or downwards and further drive the middle telescopic part to stretch and contract; the connection mode is wired connection or wireless connection;

the number of the linear drivers is at least 4, and the linear drivers are respectively arranged in front of and behind the left side surface and the right side surface of the shoe-shaped shell, so that the stress is uniform when the middle telescopic part is driven to stretch;

a bottom support pad, an airbag pad, a pressure dispersion pad and a surface contact pad are sequentially arranged in the foot accommodating part from bottom to top;

wherein, the bottom supporting pad is a macromolecule elastic pad, the thickness of the bottom supporting pad is 4-7mm, and the compression modulus of the bottom supporting pad is controlled to be 45-70%; if the thickness is too thick or the compression modulus is too low, the extrusion force on the foot is too large in the wearing process, and if the thickness is too small or the compression modulus is too high, the supporting force of the pad is too low, and the foot abrasion is increased;

the bottom supporting pad is also provided with a plurality of air holes distributed in an array manner, so that the ventilation of the foot can be realized, and the risk of infection is further reduced;

the upper surface of the air bag cushion and the lower surface of the pressure dispersion cushion are fixedly connected in a bonding mode; the air bag cushion is a hollow thin air bag, a vent pipe is arranged near the rear end and is connected with a small air pump, so that the discharge and the input of air are realized, and the air regulation of the air bag cushion is realized; a pressure dispersion pad is fixedly connected to the upper surface of the airbag cushion, the pressure dispersion pad is made of a layer made of elastic resin or elastic fabric material, the pressure dispersion pad is formed by forming cutting lines in an array on the layer made of the elastic resin or the elastic fabric material, and grooves which are not penetrated and correspond to the cutting lines of the pressure dispersion pad are also formed on the upper part of the airbag cushion; the groove enables the air bag cushion to be easily deformed when being pressed, so that the inclination of a cylinder formed by cutting of the cutting channel on the pressure dispersion cushion fixedly connected above the air bag cushion is easily driven, and the pressure dispersion is facilitated;

the cutting channels of the array are a plurality of linear cutting channels which are arranged in parallel or a plurality of linear cutting channels which are arranged in a grid; the air bag cushion below the pressure dispersion cushion deforms after being subjected to pressure, and a plurality of vertical columns of the pressure dispersion cushion can incline to the side, so that downward pressure of a part is dispersed, and excessive local pressure of a sole is avoided;

the upper surface of the pressure dispersion pad is provided with a surface contact pad, the inner part of the surface contact pad is provided with a plurality of pressure sensors at positions close to the upper surface, the pressure sensors are connected with the central controller and can monitor the pressure of a plurality of areas of the step in real time and transmit the pressure to the central controller;

the airbag cushion is divided into a plurality of independent airbag cavities corresponding to the positions of the pressure sensors according to the positions of the pressure sensors, the independent airbag cavities are not interfered with one another, and independent inflation and deflation and air pressure adjustment can be realized; the independent air bag cavities are independently connected to the air pump through independent air passages and valves, so that independent control over the single air bag cavity is achieved;

when the central controller detects that the pressure value of at least one of the pressure sensors exceeds a threshold value, the central controller drives the air pump of the air bag cavity in the area corresponding to the pressure sensor to exhaust air, so that the pressure in the area is reduced, and the exhaust is stopped when the pressure value is reduced to be below the threshold value;

the upper pressure sensor is arranged on the upper wall of the inner side of the front top end of the shoe-shaped shell, the sensor can monitor the pressure of the shoe upper on the foot in real time and transmit the data to the central controller, and when the pressure value exceeds a preset threshold value, the central controller drives the push rod of the linear driver to move upwards, so that the stretching of the middle telescopic part is realized, and the inner space of the shell is increased; stopping operation of the linear actuator when the vamp pressure drops below a threshold value;

the inner side surface of the front end surface of the shoe-shaped shell is provided with a toe cap pressure sensor which can monitor the pressure of the vamp on the toe cap in real time and transmit the data to the central controller, and when the pressure value exceeds a preset threshold value, the central controller drives an alarm integrated with the central controller to give an alarm to prompt a user to replace a bracket or a sock;

the pressure sensor, the toe cap pressure sensor, the vamp pressure sensor, the air pump and the linear driver are all connected to the central controller and carry out data transmission and control;

the control method of the diabetic foot support device comprises the following steps:

the method comprises the following steps of firstly, initializing after starting up, specifically:

the central controller controls the air pump to inflate the airbag cushion to a preset initial pressure, and the central controller controls the linear driver to stretch to a preset initial length;

the second step, after the user wore this support, through a plurality of pressure sensor, toe cap pressure sensor and vamp pressure sensor each pressure after detecting the dress, accomplish initial adjustment according to the pressure measurement result, specifically do:

when the detection value of at least one of the pressure sensors exceeds a preset bottom alarm threshold value, the central controller controls the air bag cavity of the air bag pad in the area corresponding to the pressure sensor to exhaust until the pressure value of the pressure sensor is smaller than the preset bottom alarm threshold value;

when the detection value of the toe pressure sensor exceeds a preset toe alarm threshold value, the central controller drives an alarm integrated with the central controller to alarm, and a user is prompted to replace a support or socks;

when the pressure value of the vamp exceeds a preset vamp alarm threshold value, the central controller drives a push rod of the linear driver to move upwards, so that the middle telescopic part is stretched, and the inner space of the shell is increased; when the pressure of the vamp is reduced to be lower than a preset vamp alarm threshold value, stopping the linear driver;

and thirdly, continuously monitoring the detection values of the pressure sensors, the toe cap pressure sensors and the vamp pressure sensors in the long-time use process, and specifically comprising the following steps:

and aiming at the condition that the average pressure values of the monitoring values of the pressure sensor, the toe cap pressure sensor and the vamp pressure sensor in a time period exceed a preset accumulated alarm threshold value, the following operations are carried out through the central controller:

when the detection value of at least one of the pressure sensors exceeds a preset bottom accumulated alarm threshold value, the central controller controls the air bag cavity of the air bag pad in the area corresponding to the pressure sensor to exhaust until the pressure value of the pressure sensor is smaller than the preset bottom accumulated alarm threshold value;

when the detection value of the toe pressure sensor exceeds a preset toe accumulated alarm threshold value, the central controller drives an alarm integrated with the central controller to alarm, and a user is prompted to replace a support or socks;

when the pressure value of the vamp exceeds a preset vamp accumulated alarm threshold value, the central controller drives the push rod of the linear driver to move upwards, so that the middle telescopic part is stretched, and the inner space of the shell is increased; when the pressure of the vamp is reduced to be lower than a preset vamp accumulated alarm threshold value, stopping the linear driver;

wherein the alarm threshold value at initialization and the accumulated alarm threshold value in the using process are distinguished.