CN111449831A - Traditional Chinese medicine bag external application equipment for digestive system department and use method - Google Patents
Traditional Chinese medicine bag external application equipment for digestive system department and use method Download PDFInfo
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- CN111449831A CN111449831A CN202010272991.4A CN202010272991A CN111449831A CN 111449831 A CN111449831 A CN 111449831A CN 202010272991 A CN202010272991 A CN 202010272991A CN 111449831 A CN111449831 A CN 111449831A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0001—Body part
- A61F2007/0018—Trunk or parts thereof
- A61F2007/0022—Abdomen
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Abstract
The invention provides an external application device of a traditional Chinese medicine bag for a digestive system department, which comprises: a movable and lifting device; the mechanical arm is fixedly connected to the movable and lifting device, and the working end of the mechanical arm is provided with an external application traditional Chinese medicine bag; and the controller is arranged on the movable lifting device or the mechanical arm and is respectively and electrically connected with the mechanical arm, the power supply and the movable lifting device. The automatic hot compress is realized through the control of the controller, the control is convenient, and compared with the prior art that the heated traditional Chinese medicine bag is hot compressed on the abdomen of a patient for a long time by medical care personnel, the automatic hot compress is more time-saving and labor-saving for the medical care personnel; and the problem that the hot compress effect is affected due to uneven hot compress easily caused when medical care personnel are tired excessively is solved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to traditional Chinese medicine bag external application equipment for department of gastroenterology and a using method.
Background
The digestive system department is the clinical third-level subject which mainly studies diseases of esophagus, stomach, small intestine, large intestine, liver, gallbladder and pancreas, etc. The digestive system diseases are various, the medical knowledge is wide, and the operation is complex and fine. For some patients suffering from chronic miscellaneous diseases in digestive system, the treatment mainly depends on oral administration, but the drug effect is slow, the toxic and side effects are great, the rehabilitation of the patients can be accelerated by combining the internal treatment and the external treatment, and the purpose of treating both symptoms and root causes can be achieved. The external treatment is generally that the traditional Chinese medicine bag is externally applied to the abdomen of a patient, and the traditional Chinese medicine bag needs to be heated before being used, so that the traditional Chinese medicine bag is heated uniformly and then is hot-compressed on the abdomen of the patient for a long time. In the prior art, generally, medical staff thermally compress a heated traditional Chinese medicine bag on the abdomen of a patient, and the problems are as follows:
1. the medical staff has the defects of time and labor consumption; 2. when the medical care personnel are tired excessively, the hot compress is uneven, and the hot compress effect is affected.
Disclosure of Invention
The invention provides an external application device of a traditional Chinese medicine bag for a digestive system department, which is used for solving at least one of the technical problems.
A traditional Chinese medicine bag external application equipment for department of gastroenterology comprises:
a movable and lifting device;
the mechanical arm is fixedly connected to the movable and lifting device, and the working end of the mechanical arm is provided with an external application traditional Chinese medicine bag;
and the controller is arranged on the movable lifting device or the mechanical arm and is respectively and electrically connected with the mechanical arm, the power supply and the movable lifting device.
Preferably, the movable and lifting means comprises:
the lower end of the mounting seat is provided with a plurality of movable wheels;
the second lifting assembly is fixedly connected to the upper end of the mounting seat;
the second horizontal connecting plate is fixedly connected to the upper end of the second lifting assembly;
the second lifting assembly comprises:
the two bracket assemblies are symmetrically arranged on the mounting seat in the front-back direction;
the bracket assembly includes:
the lower end of the trapezoidal bracket is fixedly connected to the front side or the rear side of the upper end of the mounting seat;
the first horizontal connecting plate is fixedly connected to the middle part of the inner side of the trapezoidal bracket, the left end and the right end of the first horizontal connecting plate are respectively and fixedly connected with the left inner side wall and the right inner side wall of the trapezoidal bracket, and vertical through holes are correspondingly formed in the upper ends of the first mounting seat and the trapezoidal bracket;
the first electric cylinder is fixedly connected to the upper end of the mounting seat and located in the vertical through hole, the second horizontal connecting plate is located above the trapezoidal support, the lower end of the second horizontal connecting plate is fixedly connected to the end of the telescopic end of the first electric cylinder, and the first electric cylinder is electrically connected with the controller.
Preferably, the second lifting assembly further comprises:
the two first connecting assemblies are connected to the left side and the right side of the upper part of the trapezoidal bracket;
the first connection assembly includes:
the fixing ring is fixedly sleeved on the left side or the right side of the upper part of the trapezoidal bracket;
the lower end of the first electric telescopic rod is rotationally connected with the fixing ring, and the first electric telescopic rod is electrically connected with the controller;
one end of the first connecting rod is fixedly connected to the upper end of the first electric telescopic rod;
the first fixing block is fixedly connected to the lower end of the second mounting plate, and the other end of the first connecting rod is rotatably connected with the first fixing block;
the upper end of the first spring is fixedly connected with the first fixing block, and the lower end of the first spring is fixedly connected with the first electric telescopic rod or the first connecting rod;
the first buffer sleeve is arranged in the vertical through hole in the first connecting plate, and the first electric cylinder is positioned in the first buffer sleeve;
the second spring is sleeved on the outer side of the first electric cylinder and is fixedly connected with the first buffer sleeve;
and the second buffer sleeve is arranged in the vertical through hole at the upper end of the trapezoidal support, and the first electric cylinder is positioned in the first buffer sleeve.
Preferably, the robot arm includes: the lower end of the vertical bracket is fixedly connected to the upper end of the movable and lifting device, and a third horizontal connecting plate is arranged on the left side of the upper end of the vertical bracket;
rotating assembly, first lifting unit, removal subassembly, all with the controller electricity is connected, it connects to remove the subassembly on the third horizontal connecting plate, first lifting unit connects remove the subassembly work end, rotating assembly connects at first lifting unit work end.
Preferably, the moving assembly includes:
the horizontal sliding rail is arranged at the lower end of the third horizontal connecting plate and extends along the left-right direction;
the first reel and the second reel are respectively positioned on the left side and the right side of the horizontal sliding rail, and the first reel is an electric wheel;
the pull rope between the first reel and the second reel is parallel to the horizontal slide rail, and the upper part of the pull rope between the first reel and the second reel passes through the horizontal slide rail;
the sliding block is in sliding fit with the horizontal sliding rail, and the lower part of the pull rope between the first reel and the second reel is fixedly connected with the left side and the right side of the sliding block;
the first lifting assembly comprises:
the two second electric cylinders or the second electric telescopic rods are fixedly connected to the lower end of the sliding block at intervals left and right;
the telescopic end at the lower end of the second electric cylinder or the second electric telescopic rod is fixedly connected with the upper end of the second fixed block;
the rotating assembly includes:
the U-shaped block is fixedly connected to the lower end of the second fixed block;
the upper end of the vertical rotating rod is rotatably connected with the second fixing block, the lower end of the vertical rotating rod is rotatably connected with the lower end of the U-shaped block, and the external application traditional Chinese medicine bag is connected to the lower end of the vertical rotating rod;
the driving motor is fixedly connected to the inner side of the U-shaped block, and an output shaft of the driving motor is arranged downwards vertically;
the first gear is fixedly connected to an output shaft of the driving motor;
the second gear is fixedly connected to the vertical rotating rod, and the first gear and the second gear are in meshing transmission;
the electric wheels, the driving motor, the second electric cylinder or the second electric telescopic rod are all electrically connected with the controller.
Preferably, the external application traditional Chinese medicine bag is connected with the mechanical arm through a second connecting assembly;
the second connection assembly includes:
the upper end of the n-shaped bracket is fixedly connected with the working end of the mechanical arm;
the lower end of the mounting plate is fixedly connected with an external application traditional Chinese medicine bag;
the upper end of the mounting plate is positioned at the inner side of the n-shaped bracket, and horizontal through holes are correspondingly formed in the two sides of the n-shaped bracket and the mounting plate;
and the bolt penetrates through the horizontal through hole to connect the mounting plate with the n-shaped support, and the bolt is connected with a nut.
Preferably, first lifting unit goes up and down through the drive of electronic jar, external application equipment still includes:
the distance sensor is arranged on the mechanical arm and is electrically connected with the controller; the controller comprises a timing module and is also electrically connected with the alarm;
the controller controls the moving assembly, the first lifting assembly and the rotating assembly to work according to the distance information detected by the distance sensor;
the controller is connected with the electric cylinder through a driving circuit, and the distance sensor is electrically connected with the controller through a signal processing circuit;
the signal processing circuit includes:
one end of the seventh resistor is connected with the power supply, and the other end of the seventh resistor is connected with the output end of the distance sensor;
one end of the fourth resistor is connected with the output end of the distance sensor;
a base electrode of the third triode is connected with the other end of the fourth resistor, and an emitting electrode of the third triode is connected with the first power supply;
one end of the sixth resistor is connected with the output end of the distance sensor;
a collector of the first triode is connected with the other end of the sixth resistor, a base of the first triode is connected with a collector of the third triode, and an emitter of the first triode is connected with an emitter of the third triode and a first power supply;
one end of the first capacitor is connected with the collector of the first triode, and the other end of the first capacitor is grounded;
one end of the third resistor is connected with the collector of the third triode, and the other end of the third resistor is grounded;
the collector of the second triode is connected with the collector of the first triode and the controller, and the emitter of the second triode is connected with the emitter of the first triode;
one end of the fifth resistor is connected with the base electrode of the second triode, and the other end of the fifth resistor is connected with the second power supply;
the drive circuit includes:
one end of a coil of the first relay is connected with a fourth power supply, and the other end of the coil of the first relay is connected with a controller;
one end of a coil of the second relay is connected with a third power supply, and the other end of the coil of the second relay is connected with the controller;
the first fixed contact of the first relay is connected with the first fixed contact of the second relay and is connected with the controller through a first resistor, the second fixed contact of the first relay is connected with a fourth power supply, the second fixed contact of the second relay is connected with a third power supply, the movable contact of the first relay is connected with the first end of the electric cylinder, and the movable contact of the second relay is connected with the second end of the electric cylinder;
the negative electrode of the first diode is connected with the second end of the electric cylinder;
the first end of the second capacitor is connected with the first end of the electric cylinder, and the second end of the second capacitor is connected with the second end of the electric cylinder;
the cathode of the second diode is connected with the first end of the second capacitor;
and one end of the second resistor is connected with the anode of the first diode and the anode of the second diode, and the other end of the second resistor is grounded.
Preferably, the external application device further comprises: the first distance sensor is connected to the first lifting assembly and used for acquiring vertical distance information between the position of the first distance sensor and the abdomen of the patient in real time;
the second distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information of the first lifting assembly from the vertical support;
the third distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information between the two sides of the abdomen of the patient and the vertical support;
the camera is connected to the mechanical arm and used for collecting abdominal image information of a patient, and the first distance sensor, the second distance sensor, the third distance sensor and the camera are electrically connected with the controller respectively;
the external application traditional Chinese medicine bag is connected to the working end of the rotating assembly through an inclination angle adjusting device, the inclination angle adjusting device is provided with an inclination angle detecting device, and the inclination angle detecting device is used for detecting inclination angle information of the external application traditional Chinese medicine bag and the horizontal direction;
the controller intelligently controls the inclination angle adjusting device, the rotating assembly, the first lifting assembly and the moving assembly to work according to the vertical distance information, the horizontal distance between the first lifting assembly and the vertical support, the horizontal distance information between the two sides of the abdomen of the patient and the vertical support, the image information and the inclination angle information, and comprises the following steps:
step 1: the controller controls the camera to collect the abdomen image of the patient, obtains the outline information of the abdomen of the patient and constructs a coordinate system;
step 2: calculating a target moving speed of the moving assembly through formula (1);
wherein X is the current X-axis position of the Chinese medicinal bag for external application0Is X at the previous moment of the Chinese medicinal bagAxial position, Y is the current Y-axial position of the Chinese medicinal bag for external application0The Y-axis position of the traditional Chinese medicine package at the previous moment in external application is X, Y, which is obtained by comparing the horizontal distance from the first lifting assembly to the vertical support and the horizontal distance information from the two sides of the abdomen of the patient to the vertical support with the abdomen contour information, wherein a is the total size of the abdomen in the contour information in the X direction, B is the total size of the abdomen in the contour curve in the Y direction, C is a correction coefficient, T is the time interval between the current moment and the previous moment, and D is the inclination angle detected by the detection device;
and step 3: calculating the correction coefficient according to equation (2)
ln () is the logarithm with the natural constant E as the base, E is the temperature of the external application Chinese medicinal bag, M is the weight of the external application Chinese medicinal bag, and K is the heat conduction coefficient of the external application Chinese medicinal bag;
(4) the controller controls the inclination angle adjusting device and the first lifting assembly to work, so that the externally-applied traditional Chinese medicine bag is attached to the abdomen of the patient, the moving assembly is controlled to move at the target moving speed, and the controller rotates once after the movement in each time interval is finished.
A use method of the traditional Chinese medicine bag external application equipment for the department of gastroenterology is characterized in that the external application equipment further comprises a handheld control terminal, and the handheld control terminal is in wireless connection with the controller;
the method comprises the following steps:
step 1: mounting the externally applied traditional Chinese medicine bag on a mechanical arm;
step 2: moving the external application equipment to be close to the edge of the bed body by moving the movable and lifting device, and controlling the movable and lifting device to lift so that the mechanical arm is positioned above the bed body;
and step 3: the handheld control terminal controls the external application equipment to start to work, so that the external application traditional Chinese medicine bag is externally applied to the abdomen of the patient.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic structural diagram of the movable and elevating device in fig. 1.
Fig. 3 is a circuit diagram of a driving circuit and a signal processing circuit.
In the figure: 1. a movable and lifting device; 11. a mounting seat; 12. a second lifting assembly; 121. a bracket assembly; 1211. a trapezoidal bracket; 1212. a first horizontal connecting plate; 1213. a vertical through hole; 1214. a first electric cylinder; 1215. a first connection assembly; 12151. a fixing ring; 12152. a first electric telescopic rod; 12153. a first connecting rod; 12154. a first fixed block; 12155. a first spring; 126. a first cushion collar; 1217. a second spring; 1218. a second cushion collar; 13. a second horizontal connecting plate; 14. a moving wheel; 2. a mechanical arm; 21. a moving assembly; 211. a horizontal slide rail; 212. a first reel; 213. a second reel; 214. pulling a rope; 215. a slider; 22. a vertical support; 23. a third horizontal connecting plate; 24. a rotating assembly; 241. a U-shaped block; 242. a vertical rotating rod; 243. a drive motor; 244. a first gear; 245. a second gear; 25. a first lifting assembly; 251. a second electric cylinder or a second electric telescopic rod; 252. a second fixed block; 3. a second connection assembly; 31. an n-shaped bracket; 32. mounting a plate; 33. a bolt; 4. externally applying the traditional Chinese medicine bag; r1, a first resistor; r2, a second resistor; r3, third resistor; r4, fourth resistor; r5, fifth resistor; r6, sixth resistor; r7, seventh resistor; c1, a first capacitance; c2, a second capacitor; q1, the first triode; q2, third triode; q3, the second triode; v1, a first power supply; v2, second power supply; v3, third power supply; v4, fourth power supply; d1, a first diode; d2, a second diode; j1, a first relay; j2, second relay.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The embodiment of the invention provides an external application device of a traditional Chinese medicine bag for a digestive system department, which is shown in a figure 1-2 and comprises:
a mobile and lifting device 1;
the mechanical arm 2 is fixedly connected to the movable and lifting device 1, and an external application traditional Chinese medicine bag 4 is installed at the working end of the mechanical arm 2;
and the controller is arranged on the movable and lifting device 1 or the mechanical arm 2 and is respectively and electrically connected with the mechanical arm, the power supply and the movable and lifting device 1. The power supply can be a storage battery or an external power supply and is connected with the external power supply through a plug;
the working principle of the technical scheme is as follows:
when the movable and lifting device 1 is arranged to move the whole external application equipment (for example, the whole equipment can move on the ground by arranging the moving wheels at the bottom end of the movable and lifting device 1), when the external application equipment is used, the whole external application equipment is moved to one side of a device (such as a bed body) for lying of a patient, and then the external application traditional Chinese medicine bag is installed on a mechanical arm (such as installation of medical staff);
and the controller can control the movable lifting device 1 to lift to drive the mechanical arm on the movable lifting device to lift, and the height of the whole mechanical arm is adjusted, so that the mechanical arm is positioned right above the device (such as a bed body) for lying of a patient, and the mechanical arm of the controller can drive the externally-applied Chinese medicine bag to move (such as move and further lift to adjust the position of the externally-applied Chinese medicine bag) to realize the hot compress of the abdomen of the patient.
The beneficial effects of the above technical scheme are: according to the technical scheme, automatic hot compress is realized through control of the controller, the control is convenient, and compared with the prior art that a heated traditional Chinese medicine bag is hot compressed on the abdomen of a patient for a long time by medical personnel, the hot compress bag is more time-saving and labor-saving for the medical personnel; and the problem that the hot compress effect is affected due to uneven hot compress easily caused when medical care personnel are tired excessively is solved.
And set up whole equipment into can be at ground movable among the above-mentioned technical scheme, can move to different bed bodies department, rather than with special treatment bed fixed connection, avoid influencing patient's treatment when special treatment bed position is not enough to more convenient to use.
In one embodiment, as shown in fig. 1-2, the movable and lifting device 1 comprises:
the mounting seat 11, the lower end of the mounting seat 11 is provided with a plurality of moving wheels 14; preferably, the moving wheel can be a universal wheel;
the second lifting assembly 12 is fixedly connected to the upper end of the mounting seat 11;
the second horizontal connecting plate 13 is fixedly connected to the upper end of the second lifting assembly 12;
the second lifting assembly 12 comprises:
two bracket assemblies 121 symmetrically arranged on the mounting base 11 in front and back; (FIG. 1 is a front view, and FIG. 1 is a rear view)
The bracket assembly 121 includes:
a ladder mount 1211 having a lower end fixedly coupled to a front side or a rear side of an upper end of the mount base 11; (FIG. 1 is a front view, i.e., front side)
The first horizontal connecting plate 1212 is fixedly connected to the middle of the inner side of the trapezoidal bracket 1211, the left and right ends of the first horizontal connecting plate 1212 are respectively and fixedly connected with the left and right inner side walls of the trapezoidal bracket 1211, and the upper ends of the first mounting seat 11 and the trapezoidal bracket 1211 are correspondingly provided with vertical through holes 1213;
a first electric cylinder 1214 fixedly connected to the upper end of the mounting seat 11, wherein the first electric cylinder 1214 is located in the vertical through hole 1213, the second horizontal connecting plate 13 is located above the ladder support 1211, the lower end of the second horizontal connecting plate 13 is fixedly connected to the end of the telescopic end of the first electric cylinder 1214, and the first electric cylinder is electrically connected to the controller. Electric cylinder all can replace for electric telescopic handle in this application.
The working principle and the beneficial effects of the technical scheme are as follows: the trapezoidal brackets are symmetrically arranged at the front and the back of the upper end of the base, and the trapezoidal brackets have good structural stability and are convenient for reliably supporting the second horizontal connecting plate; set up electronic jar and be used for driving first horizontal connecting plate and go up and down to drive the arm on the second horizontal connecting plate and go up and down, and set up electronic jar and pass first horizontal connecting plate and trapezoidal support upper end and be used for auxiliary stay, prevent electronic jar slope, improve the structural stability of first electronic jar.
In one embodiment, as shown in fig. 1-2, the second lifting assembly 12 further comprises:
two first connection members 1215 connected to the left and right sides of the upper portion of the ladder support 1211;
the first connection component 1215 includes:
a fixing ring 12151 fixedly sleeved on the left or right side of the upper part of the trapezoidal bracket 1211;
a first electric telescopic rod 12152, the lower end of which is rotatably connected (e.g. rotatably connected by a pin) to the fixed ring 12151, the first electric telescopic rod being electrically connected to the controller;
one end of the first connecting rod 12153 is fixedly connected to the upper end of the first electric telescopic rod 12152; the telescopic end of the first electric telescopic rod faces upwards, namely the first connecting rod is fixedly connected with the telescopic end of the electric telescopic rod;
a first fixed block 12154 fixedly connected to the lower end of the second mounting plate 32, and the other end of the first connecting rod 12153 rotatably connected to the first fixed block 12154;
the upper end of the first spring 12155 is fixedly connected with the first fixed block, and the lower end of the first spring is fixedly connected with the first electric telescopic rod or the first connecting rod;
a first cushion collar 126 (e.g., made of an elastic material or an existing damping collar) disposed in the vertical through hole 1213 of the first connecting plate, wherein the first electric cylinder 1214 is disposed in the first cushion collar 126;
a second spring 1217 sleeved outside the first electric cylinder 1214, wherein the second spring 1217 is fixedly connected with the first cushion collar 126;
and a second buffer sleeve 1218 which is arranged in the vertical through hole at the upper end of the trapezoid support, wherein the first electric cylinder 1214 is positioned in the first buffer sleeve 126.
The working principle and the beneficial effects of the technical scheme are as follows: the controller controls the first electric cylinder to extend upwards and simultaneously controls the first electric telescopic rod to extend upwards, the first electric cylinder is supported in the middle of the lower end of the second horizontal connecting plate, the first electric telescopic rods on the left side and the right side and the first connecting rod assist in supporting the left side and the right side of the lower end of the second horizontal connecting plate, the structural stability of the second horizontal connecting plate is improved, and the second horizontal connecting plate is prevented from toppling over through first connection;
the first spring is arranged for buffering the support at the left side and the right side; the first cushion collar, the second cushion collar, and the second spring are provided to perform the above-described supporting function (provided in this embodiment based on the above-described embodiment) and the cushioning function for the first electric cylinder.
In one embodiment, as shown in fig. 1, the robot arm 2 includes: the lower end of the vertical support 22 is fixedly connected to the upper end of the movable and lifting device 1, and a third horizontal connecting plate 23 is arranged on the left side of the upper end of the vertical support 22; preferably, a diagonal brace may be provided between the third horizontal connecting plate and the vertical support.
Rotating assembly 24, first lifting unit 25, removal subassembly 21 all with the controller electricity is connected, it connects to remove the subassembly on the third horizontal connecting plate 23, first lifting unit 25 is connected remove the subassembly work end, rotating assembly 24 is connected at first lifting unit 25 work end.
The working principle and the beneficial effects of the technical scheme are as follows: set up the removal subassembly for drive the package horizontal migration in the external application, and set up the runner assembly and be used for driving the package horizontal rotation in the external application, be convenient for adjust the horizontal position of package in the external application in the hot compress to satisfy the user demand of the abdominal patient of different surface areas, and play the effect of kneading, in order to improve the hot compress effect. The first lifting component is arranged to further lift to adjust the position of the externally applied traditional Chinese medicine bag, so that the use is more convenient.
In one embodiment, as shown in fig. 1, the moving assembly 21 includes:
the horizontal sliding rail 211 is arranged at the lower end of the third horizontal connecting plate 23, and the horizontal sliding rail 211 extends along the left-right direction;
a first reel 212 and a second reel 213 respectively positioned on the left and right sides of the horizontal slide rail 211, the first reel 212 being an electric wheel;
a pull rope 214, the first reel 212 and the second reel 213 being connected by the pull rope 214, the pull rope 214 between the first reel 212 and the second reel 213 being parallel to the horizontal slide rail 211, an upper portion of the pull rope 214 between the first reel 212 and the second reel 213 passing through the horizontal slide rail 211;
a slider 215 which is slidably engaged with the horizontal slide rail, and a lower portion of the pull rope 214 between the first reel 212 and the second reel 213 is fixedly connected to left and right sides of the slider 215; in an embodiment, the externally-applied traditional Chinese medicine bag can be made into a cuboid shape so as to realize patients with different surface sizes, and the direction of the externally-applied traditional Chinese medicine bag can be adjusted by rotating the rotating component;
the first elevating assembly 25 includes:
two second electric cylinders or second electric telescopic rods 251 which are fixedly connected to the lower end of the sliding block 215 at intervals left and right;
a second fixed block 252, to which the lower end of the second electric cylinder or the second electric telescopic rod 251 is fixedly connected at its lower end;
the rotating assembly 24 includes:
a U-shaped block 241 fixedly coupled to a lower end of the second fixing block 252;
the upper end of the vertical rotating rod 242 is rotatably connected with the second fixing block, the lower end of the vertical rotating rod 242 is rotatably connected with the lower end of the U-shaped block 241, and the external application traditional Chinese medicine bag 4 is connected to the lower end of the vertical rotating rod 242;
a driving motor 243 fixedly connected to the inner side of the U-shaped block 241, wherein an output shaft of the driving motor 243 is arranged vertically downward;
a first gear 244 fixedly connected to an output shaft of the driving motor 243;
the second gear 245 is fixedly connected to the vertical rotating rod 242, and the first gear 244 is in meshing transmission with the second gear 245;
the electric wheels, the driving motor, the second electric cylinder or the second electric telescopic rod are all electrically connected with the controller.
The working principle and the beneficial effects of the technical scheme are as follows: set up the removal subassembly for drive the package horizontal migration in the external application, and set up the runner assembly and be used for driving the package horizontal rotation in the external application, be convenient for adjust the horizontal position of package in the external application in the hot compress to satisfy the user demand of the abdominal patient of different surface areas, and play the effect of kneading, in order to improve the hot compress effect. The first lifting component is arranged to further lift to adjust the position of the externally applied traditional Chinese medicine bag, so that the use is more convenient.
In the moving assembly, when the position of the externally-applied traditional Chinese medicine bag needs to be moved horizontally, the controller controls different rotating directions of the first reel, so that the pull rope connected to the reel drives the sliding block to move left and right in the horizontal sliding rail;
the rotating assembly has the advantage of simple structure, and the upper end and the lower end of the vertical rotating rod are rotatably supported through the second fixed block and the U-shaped block, so that the stability of the rotating structure is improved; the second lifting structure has the advantage of simple structure.
In one embodiment, as shown in fig. 1, the external application traditional Chinese medicine bag 4 is connected with the mechanical arm 2 through a second connecting component 3;
the second connecting assembly 3 includes:
the upper end of the n-shaped bracket 31 is fixedly connected with the working end of the mechanical arm 2;
the lower end of the mounting plate 32 is fixedly connected with an external application traditional Chinese medicine bag 4;
the upper end of the mounting plate 32 is positioned at the inner side of the n-shaped support 31, and horizontal through holes are correspondingly formed in the two sides of the n-shaped support 31 and the mounting plate 32;
and the bolt 33 penetrates through the horizontal through hole to connect the mounting plate 32 with the n-shaped bracket 31, and a nut is connected to the bolt.
The working principle and the beneficial effects of the technical scheme are as follows: the external application traditional Chinese medicine bag is simple in structure and convenient to disassemble and install.
In one embodiment, the first lifting assembly 25 is driven by an electric cylinder to lift, and the dressing apparatus further includes:
the distance sensors are arranged on the upper peripheral side of the mechanical arm 2 and are electrically connected with the controller;
the controller comprises a timing module and is also electrically connected with the alarm;
the distance sensor is used for detecting distance information from a patient in real time, and the controller controls the moving assembly, the first lifting assembly 25 and the rotating assembly 24 to work according to the distance information detected by the distance sensor;
the controller is connected with the electric cylinder through a driving circuit, and the distance sensor is electrically connected with the controller through a signal processing circuit;
as shown in fig. 3, the signal processing circuit includes:
one end of the seventh resistor R7 is connected with the power supply, and the other end of the seventh resistor R7 is connected with the output end of the distance sensor;
one end of the fourth resistor R4 is connected with the output end of the distance sensor;
a base electrode of the third triode Q3 is connected with the other end of the fourth resistor R4, and an emitting electrode of the third triode Q3 is connected with the first power supply V1;
one end of the sixth resistor R6 is connected with the output end of the distance sensor;
a collector of the first triode Q1 is connected with the other end of the sixth resistor R6, a base of the first triode Q1 is connected with a collector of the third triode Q3, and an emitter of the first triode Q3 is connected with an emitter of the third triode Q3 and a first power supply V1;
one end of the first capacitor C1 is connected with the collector of the first triode Q1, and the other end of the first capacitor C1 is grounded;
one end of the third resistor R3 is connected with the collector of the third triode Q3, and the other end of the third resistor R3 is grounded;
a collector of the second triode Q2 is connected with a collector of the first triode Q1 and the controller, and an emitter of the second triode Q2 is connected with an emitter of the first triode Q1;
one end of the fifth resistor R5 is connected with the base electrode of the second triode Q2, and the other end of the fifth resistor R5 is connected with the second power supply V2;
the drive circuit includes:
a first relay J1, wherein one end of a coil of the first relay J1 is connected with a fourth power supply V4, and the other end of the coil of the first relay J1 is connected with a controller;
a second relay J2, wherein one end of a coil of the second relay J2 is connected with a third power supply V3, and the other end of the coil of the second relay J2 is connected with a controller;
a first fixed contact of the first relay J1 is connected with a first fixed contact of a second relay J2 and is connected with a controller through a first resistor R1, a second fixed contact of the first relay J1 is connected with a fourth power supply V4, a second fixed contact of the second relay J2 is connected with a third power supply V3, a movable contact of the first relay J1 is connected with a first end of an electric cylinder, and a movable contact of the second relay J2 is connected with a second end of the electric cylinder;
a first diode D1, the negative pole of which is connected with the second end of the electric cylinder;
a second capacitor C2, wherein the first end is connected with the first end of the electric cylinder, and the second end is connected with the second end of the electric cylinder;
the cathode of the second diode D2 is connected with the first end of the second capacitor C2;
one end of the second resistor R2 is connected to the anode of the first diode D1 and the anode of the second diode D2, and the other end is grounded.
The working principle and the beneficial effects of the technical scheme are as follows: set up the removal subassembly for drive the package horizontal migration in the external application, and set up the runner assembly and be used for driving the package horizontal rotation in the external application, be convenient for adjust the horizontal position of package in the external application in the hot compress to satisfy the user demand of the abdominal patient of different surface areas, and play the effect of kneading, in order to improve the hot compress effect. The first lifting component is arranged to further lift to adjust the position of the externally applied traditional Chinese medicine bag, so that the use is more convenient.
The distance sensor is used for detecting distance information from a patient in real time, a distance standard value is preset in the controller, and when the distance value corresponding to the distance information is larger than the distance standard value, the controller controls the alarm to give an alarm so as to avoid crushing the abdomen of the patient;
the timing module is used for timing the hot compress process, can realize automatic stop of hot compress after the hot compress is carried out for a preset time, and is convenient to use;
the controller controls the moving assembly, the first lifting assembly 25 and the rotating assembly 24 to work according to distance information detected by the distance sensor, the height of the moving assembly from the top end of the bed body when the moving assembly is laid on the bed body is different due to different abdominal shapes of different patients, the moving assembly detects the distance information from the upper surface of the abdomen of the patient in real time in the moving process through the distance sensor, and the controller controls the distance information to control the first lifting assembly to drive the externally-applied traditional Chinese medicine bag to lift up and down, so that the externally-applied traditional Chinese medicine bag always fits the patient, and the hot compress effect is guaranteed;
in the driving circuit, the controller controls the first relay and the second relay to be switched on or switched off so as to adjust the current direction of the electric cylinder to realize the lifting of the electric cylinder, and the interference of reverse current is eliminated through the actions of D1, D2 and C1 at the moment of switching the current direction, so that the first electric cylinder works reliably, and the electric cylinder is reliable in work. In the signal processing circuit, R6 and C1 are used for detecting whether signals output by the distance sensor are short-circuited or not, C1 filters the signals output by the distance sensor, Q3 and Q1 are used for detecting whether the signals output by the distance sensor are open-circuited or not, and Q2 is used for judging whether V4 normally supplies power to the signal processing circuit or not.
The external application equipment still includes: the first distance sensor is connected to the first lifting assembly and used for acquiring vertical distance information between the position of the first distance sensor and the abdomen of the patient in real time;
the second distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information of the first lifting assembly from the vertical support;
the third distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information between the two sides of the abdomen of the patient and the vertical support;
the camera is connected to the mechanical arm and used for collecting abdominal image information of a patient, and the first distance sensor, the second distance sensor, the third distance sensor and the camera are electrically connected with the controller respectively;
the external application traditional Chinese medicine bag is connected to the working end of the rotating assembly through an inclination angle adjusting device, the inclination angle adjusting device is provided with an inclination angle detecting device, and the inclination angle detecting device is used for detecting inclination angle information of the external application traditional Chinese medicine bag and the horizontal direction;
the controller intelligently controls the inclination angle adjusting device, the rotating assembly, the first lifting assembly and the moving assembly to work according to the vertical distance information, the horizontal distance between the first lifting assembly and the vertical support, the horizontal distance information between the two sides of the abdomen of the patient and the vertical support, the image information and the inclination angle information, and comprises the following steps:
step 1: the controller controls the camera to acquire the abdomen image of the patient, acquires the outline (such as a three-dimensional outline) information of the abdomen of the patient, and constructs a coordinate system (comprising X, Y, Z three axes);
step 2: calculating a target moving speed of the moving assembly through formula (1);
wherein X is the current X-axis position of the Chinese medicinal bag for external application0Is the X-axis position of the Chinese medicinal bag at the previous moment, Y is the current Y-axis position of the Chinese medicinal bag for external application, and Y is0The Y-axis position of the traditional Chinese medicine package at the previous moment in external application is X, Y, which is obtained by comparing the horizontal distance from the first lifting assembly to the vertical support and the horizontal distance information from the two sides of the abdomen of the patient to the vertical support with the abdomen contour information, wherein a is the total size of the abdomen in the contour information in the X direction, B is the total size of the abdomen in the contour curve in the Y direction, C is a correction coefficient, T is the time interval between the current moment and the previous moment, and D is the inclination angle detected by the detection device;
and step 3: calculating the correction coefficient according to equation (2)
ln () is the logarithm with the natural constant E as the base, E is the temperature of the external application Chinese medicine bag (detectable by a sensor), M is the weight of the external application Chinese medicine bag (detectable by a sensor), and K is the heat conduction coefficient of the external application Chinese medicine bag (preset and set according to the heat conduction coefficient of the Chinese medicine bag material);
(4) the controller controls the inclination angle adjusting device and the first lifting assembly to work, so that the externally-applied traditional Chinese medicine bag is attached to the abdomen of the patient, the moving assembly is controlled to move at the target moving speed, and the controller rotates once after the movement in each time interval is finished.
The working principle and the beneficial effects of the technical scheme are as follows:
set up the removal subassembly for drive the package horizontal migration in the external application, and set up the runner assembly and be used for driving the package horizontal rotation in the external application, be convenient for adjust the horizontal position of package in the external application in the hot compress to satisfy the user demand of the abdominal patient of different surface areas, and play the effect of kneading, in order to improve the hot compress effect. The first lifting component is arranged to further lift to adjust the position of the externally applied traditional Chinese medicine bag, so that the use is more convenient.
According to the technical scheme, the controller controls the camera to collect the abdomen image of the patient, the abdomen outline information of the patient is obtained, a coordinate system is established, and the first lifting assembly (the external application traditional Chinese medicine bag) is located at the specific position of the coordinate system in real time according to the comparison between the horizontal distance between the real-time first lifting assembly and the vertical support, the horizontal distance between the two sides of the abdomen of the patient and the vertical support and the abdomen outline information, so that the inclination angle adjusting device, the rotating assembly, the first lifting assembly and the moving assembly are intelligently controlled to work according to the factors of the specific condition (the abdomen outline) of the patient, the specific position of the external application equipment relative to the patient (the horizontal distance between the two sides of the abdomen of the patient and the vertical support) and the real-time specific position of the external application traditional Chinese medicine bag, the control;
and set up angle adjusting device for the dressing of traditional chinese medicine package laminating patient's belly, when playing to rub through removing and rotating, guarantee real-time laminating, in order to guarantee the hot compress effect, and control moves the subassembly and removes with the target translation rate that considers above-mentioned factor and obtain, and control is more reliable.
A use method of the traditional Chinese medicine bag external application equipment for the department of gastroenterology is characterized in that the external application equipment further comprises a handheld control terminal, and the handheld control terminal is in wireless connection with the controller;
the method comprises the following steps:
step 1: mounting the externally applied traditional Chinese medicine bag on a mechanical arm;
step 2: moving the external application equipment to be close to the edge of the bed body by moving the movable and lifting device, and controlling the movable and lifting device to lift so that the mechanical arm is positioned above the bed body;
and step 3: the handheld control terminal controls the external application equipment to start to work, so that the external application traditional Chinese medicine bag is externally applied to the abdomen of the patient. Have the convenient effect of control through hand-held type control terminal, in the hot compress process, accessible patient self needs self-control.
The working principle of the technical scheme is as follows:
when the movable and lifting device 1 is arranged to move the whole external application equipment (for example, the whole equipment can move on the ground by arranging the moving wheels at the bottom end of the movable and lifting device 1), when the external application equipment is used, the whole external application equipment is moved to one side of a device (such as a bed body) for lying of a patient, and then the external application traditional Chinese medicine bag is installed on a mechanical arm (such as installation of medical staff);
and the controller can control the movable lifting device 1 to lift to drive the mechanical arm on the movable lifting device to lift, and the height of the whole mechanical arm is adjusted, so that the mechanical arm is positioned right above the device (such as a bed body) for lying of a patient, and the mechanical arm of the controller can drive the externally-applied Chinese medicine bag to move (such as move and further lift to adjust the position of the externally-applied Chinese medicine bag) to realize the hot compress of the abdomen of the patient.
The beneficial effects of the above technical scheme are: according to the technical scheme, automatic hot compress is realized through control of the controller, the control is convenient, and compared with the prior art that a heated traditional Chinese medicine bag is hot compressed on the abdomen of a patient for a long time by medical personnel, the hot compress bag is more time-saving and labor-saving for the medical personnel; and the problem that the hot compress effect is affected due to uneven hot compress easily caused when medical care personnel are tired excessively is solved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A traditional Chinese medicine bag external application device for department of gastroenterology is characterized by comprising:
a mobile and lifting device (1);
the mechanical arm (2) is fixedly connected to the movable and lifting device (1), and the working end of the mechanical arm (2) is provided with an external application traditional Chinese medicine bag (4);
and the controller is arranged on the movable and lifting device (1) or the mechanical arm (2), and is respectively and electrically connected with the mechanical arm (2), the power supply and the movable and lifting device (1).
2. An external application device of traditional Chinese medicine bags for department of gastroenterology according to claim 1, wherein the movable and lifting means (1) comprises:
the lower end of the mounting seat (11) is provided with a plurality of movable wheels (14);
the second lifting component (12) is fixedly connected to the upper end of the mounting seat (11);
the second horizontal connecting plate (13) is fixedly connected to the upper end of the second lifting assembly (12);
the second lifting assembly (12) comprises:
the two bracket assemblies (121) are symmetrically arranged on the mounting base (11) from front to back;
the bracket assembly (121) comprises:
the lower end of the trapezoid support (1211) is fixedly connected to the front side or the rear side of the upper end of the mounting seat (11);
the first horizontal connecting plate (1212) is fixedly connected to the middle of the inner side of the trapezoid support (1211), the left end and the right end of the first horizontal connecting plate (1212) are respectively and fixedly connected with the left inner side wall and the right inner side wall of the trapezoid support (1211), and vertical through holes (1213) are correspondingly formed in the upper ends of the first mounting seat (11) and the trapezoid support (1211);
the first electric cylinder (1214) is fixedly connected to the upper end of the mounting seat (11), the first electric cylinder (1214) is located in the vertical through hole (1213), the second horizontal connecting plate (13) is located above the trapezoid support (1211), the lower end of the second horizontal connecting plate (13) is fixedly connected to the end head of the telescopic end of the first electric cylinder (1214), and the first electric cylinder (1214) is electrically connected with the controller.
3. The external application device of the traditional Chinese medicine bag for the department of gastroenterology according to claim 2,
the second lifting assembly (12) further comprises:
two first connection members (1215) connected to the left and right sides of the upper portion of the trapezoid support (1211);
the first connection assembly (1215) includes:
a fixing ring (12151) fixedly sleeved on the left side or the right side of the upper part of the trapezoidal bracket (1211);
a first electric telescopic rod (12152), the lower end of which is rotationally connected with the fixed ring (12151), and the first electric telescopic rod (12152) is electrically connected with the controller;
one end of the first connecting rod (12153) is fixedly connected to the upper end of the first electric telescopic rod (12152);
the first fixed block (12154) is fixedly connected to the lower end of the second mounting plate (32), and the other end of the first connecting rod (12153) is rotatably connected with the first fixed block (12154);
the upper end of the first spring (12155) is fixedly connected with the first fixed block (12154), and the lower end of the first spring (12155) is fixedly connected with the first electric telescopic rod (12152) or the first connecting rod (12153);
a first cushion collar (126) disposed within a vertical through hole (1213) in the first connecting plate, the first electric cylinder (1214) being located within the first cushion collar (126);
the second spring (1217) is sleeved outside the first electric cylinder (1214), and the second spring (1217) is fixedly connected with the first buffer sleeve (126);
and the second buffer sleeve (1218) is arranged in a vertical through hole (1213) at the upper end of the trapezoid support (1211), and the first electric cylinder (1214) is positioned in the first buffer sleeve (126).
4. The external application device of the traditional Chinese medicine bag for the department of gastroenterology according to claim 1,
the robot arm (2) comprises: the lower end of the vertical support (22) is fixedly connected to the upper end of the movable and lifting device (1), and a third horizontal connecting plate (23) is arranged on the left side of the upper end of the vertical support (22);
rotating assembly (24), first lifting unit (25), removal subassembly (21), all with the controller electricity is connected, remove subassembly (21) and connect on third horizontal connecting plate (23), first lifting unit (25) are connected remove subassembly (21) work end, rotating assembly (24) are connected at first lifting unit (25) work end.
5. The external application device of the traditional Chinese medicine bag for the department of gastroenterology according to claim 4,
the moving assembly (21) comprises:
the horizontal sliding rail (211) is arranged at the lower end of the third horizontal connecting plate (23), and the horizontal sliding rail (211) extends along the left-right direction;
a first reel (212) and a second reel (213) which are respectively positioned on the left side and the right side of the horizontal slide rail (211), wherein the first reel (212) is an electric wheel;
a pull rope (214), the first reel (212) and the second reel (213) are connected through the pull rope (214), the pull rope (214) between the first reel (212) and the second reel (213) is parallel to the horizontal slide rail (211), and the upper part of the pull rope (214) between the first reel (212) and the second reel (213) passes through the horizontal slide rail (211);
the sliding block (215) is in sliding fit with the horizontal sliding rail (211), and the lower part of the pull rope (214) between the first reel (212) and the second reel (213) is fixedly connected with the left side and the right side of the sliding block (215);
the first lifting assembly (25) comprises:
two second electric cylinders or second electric telescopic rods (251) are fixedly connected to the lower end of the sliding block (215) at intervals left and right;
the telescopic end at the lower end of the second electric cylinder or the second electric telescopic rod (251) is fixedly connected with the upper end of the second fixing block (252);
the rotating assembly (24) comprises:
the U-shaped block (241) is fixedly connected to the lower end of the second fixed block (252);
the upper end of the vertical rotating rod (242) is rotatably connected with the second fixing block (252), the lower end of the vertical rotating rod is rotatably connected with the lower end of the U-shaped block (241), and the external application traditional Chinese medicine bag (4) is connected to the lower end of the vertical rotating rod (242);
the driving motor (243) is fixedly connected to the inner side of the U-shaped block (241), and an output shaft of the driving motor (243) is arranged vertically downwards;
a first gear (244) fixedly connected to an output shaft of the driving motor (243);
the second gear (245) is fixedly connected to the vertical rotating rod (242), and the first gear (244) is in meshing transmission with the second gear (245);
the electric wheels, the driving motor (243), the second electric cylinder or the second electric telescopic rod (251) are electrically connected with the controller.
6. The external application equipment of the traditional Chinese medicine bag for the department of gastroenterology according to claim 5, wherein the external application traditional Chinese medicine bag (4) is connected with the mechanical arm (2) through a second connecting component (3);
the second connecting assembly (3) comprises:
the upper end of the n-shaped bracket (31) is fixedly connected with the working end of the mechanical arm (2);
the lower end of the mounting plate (32) is fixedly connected with an external application traditional Chinese medicine bag (4);
the upper end of the mounting plate (32) is positioned on the inner side of the n-shaped support (31), and horizontal through holes are correspondingly formed in the two sides of the n-shaped support (31) and the mounting plate (32);
and the bolt (33) penetrates through the horizontal through hole to connect the mounting plate (32) with the n-shaped support (31), and a nut is connected to the bolt (33).
7. The external application device of a traditional Chinese medicine bag for department of gastroenterology according to claim 4, wherein the first lifting assembly (25) is driven by an electric cylinder to lift, and the external application device further comprises:
the distance sensor is arranged on the mechanical arm (2) and is electrically connected with the controller; the controller comprises a timing module and is also electrically connected with the alarm;
the distance sensor is used for detecting distance information from a patient in real time, and the controller controls the moving assembly, the first lifting assembly (25) and the rotating assembly (24) to work according to the distance information detected by the distance sensor;
the controller is connected with the electric cylinder through a driving circuit, and the distance sensor is electrically connected with the controller through a signal processing circuit;
the signal processing circuit includes:
a seventh resistor (R7), one end of which is connected with the power supply and the other end of which is connected with the output end of the distance sensor;
a fourth resistor (R4), one end of which is connected with the output end of the distance sensor;
a third triode (Q2), the base of which is connected with the other end of the fourth resistor (R4), and the emitter of which is connected with the first power supply (V1);
a sixth resistor (R6), one end of which is connected with the output end of the distance sensor;
the collector of the first triode (Q1) is connected with the other end of the sixth resistor (R6), the base of the first triode is connected with the collector of the third triode (Q2), and the emitter of the first triode (Q2) is connected with the emitter of the third triode (Q2) and the first power supply (V1);
a first capacitor (C1), one end of which is connected with the collector of the first triode (Q1), and the other end of which is grounded;
one end of the third resistor (R3) is connected with the collector of the third triode (Q2), and the other end of the third resistor (R3) is grounded;
the collector of the second triode (Q3) is connected with the collector of the first triode (Q1) and the controller, and the emitter of the second triode (Q3) is connected with the emitter of the first triode (Q1);
a fifth resistor (R5), one end of which is connected with the base of the second triode (Q3), and the other end of which is connected with the second power supply (V2);
the drive circuit includes:
a first relay (J1), wherein one end of a coil of the first relay (J1) is connected with a fourth power supply (V4), and the other end of the coil of the first relay (J1) is connected with a controller;
a second relay (J2), wherein one end of a coil of the second relay (J2) is connected with a third power supply (V3), and the other end of the coil of the second relay (J2) is connected with a controller;
a first fixed contact of the first relay (J1) is connected with a first fixed contact of a second relay (J2) and is connected with a controller through a first resistor (R1), a second fixed contact of the first relay (J1) is connected with a fourth power supply (V4), a second fixed contact of the second relay (J2) is connected with a third power supply (V3), a movable contact of the first relay (J1) is connected with a first end of an electric cylinder, and a movable contact of the second relay (J2) is connected with a second end of the electric cylinder;
a first diode (D1), the negative pole of which is connected with the second end of the electric cylinder;
a second capacitor (C2), wherein the first end is connected with the first end of the electric cylinder, and the second end is connected with the second end of the electric cylinder;
a second diode (D2), the cathode of which is connected with the first end of the second capacitor (C2);
and a second resistor (R2) having one end connected to the anode of the first diode (D1) and the anode of the second diode (D2), and the other end grounded.
8. The external application device of the traditional Chinese medicine bag for the department of gastroenterology according to claim 4,
the external application equipment still includes: the first distance sensor is connected to the first lifting assembly and used for acquiring vertical distance information between the position of the first distance sensor and the abdomen of the patient in real time;
the second distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information of the first lifting assembly from the vertical support;
the third distance sensor is connected to the first lifting assembly and used for detecting horizontal distance information between the two sides of the abdomen of the patient and the vertical support;
the camera is connected to the mechanical arm and used for collecting abdominal image information of a patient, and the first distance sensor, the second distance sensor, the third distance sensor and the camera are electrically connected with the controller respectively;
the external application traditional Chinese medicine bag is connected to the working end of the rotating assembly through an inclination angle adjusting device, the inclination angle adjusting device is provided with an inclination angle detecting device, and the inclination angle detecting device is used for detecting inclination angle information of the external application traditional Chinese medicine bag and the horizontal direction;
the controller intelligently controls the inclination angle adjusting device, the rotating assembly, the first lifting assembly and the moving assembly to work according to the vertical distance information, the horizontal distance between the first lifting assembly and the vertical support, the horizontal distance information between the two sides of the abdomen of the patient and the vertical support, the image information and the inclination angle information, and comprises the following steps:
step 1: the controller controls the camera to collect the abdomen image of the patient, obtains the outline information of the abdomen of the patient and constructs a coordinate system;
step 2: calculating a target moving speed of the moving assembly through formula (1);
wherein X is the current X-axis position of the Chinese medicinal bag for external application0Is the X-axis position of the Chinese medicinal bag at the previous moment, Y is the current Y-axis position of the Chinese medicinal bag for external application, and Y is0The Y-axis position of the traditional Chinese medicine package at the previous moment in external application is X, Y, which is obtained by comparing the horizontal distance from the first lifting assembly to the vertical support and the horizontal distance information from the two sides of the abdomen of the patient to the vertical support with the abdomen contour information, wherein a is the total size of the abdomen in the contour information in the X direction, B is the total size of the abdomen in the contour curve in the Y direction, C is a correction coefficient, T is the time interval between the current moment and the previous moment, and D is the inclination angle detected by the detection device;
and step 3: calculating the correction coefficient according to equation (2)
ln () is the logarithm with the natural constant E as the base, E is the temperature of the external application Chinese medicinal bag, M is the weight of the external application Chinese medicinal bag, and K is the heat conduction coefficient of the external application Chinese medicinal bag;
(4) the controller controls the inclination angle adjusting device and the first lifting assembly to work, so that the externally-applied traditional Chinese medicine bag is attached to the abdomen of the patient, the moving assembly is controlled to move at the target moving speed, and the controller rotates once after the movement in each time interval is finished.
9. The use method of the traditional Chinese medicine bag external application equipment for the department of gastroenterology according to any one of claims 1 to 8, wherein the external application equipment further comprises a handheld control terminal, and the handheld control terminal is wirelessly connected with the controller;
the method comprises the following steps:
step 1: mounting the externally applied traditional Chinese medicine bag on a mechanical arm;
step 2: moving the external application equipment to be close to the edge of the bed body by moving the movable and lifting device, and controlling the movable and lifting device to lift so that the mechanical arm is positioned above the bed body;
and step 3: the handheld control terminal controls the external application equipment to start to work, so that the external application traditional Chinese medicine bag is externally applied to the abdomen of the patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010272991.4A CN111449831A (en) | 2020-04-09 | 2020-04-09 | Traditional Chinese medicine bag external application equipment for digestive system department and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010272991.4A CN111449831A (en) | 2020-04-09 | 2020-04-09 | Traditional Chinese medicine bag external application equipment for digestive system department and use method |
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| Publication Number | Publication Date |
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| CN111449831A true CN111449831A (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010272991.4A Withdrawn CN111449831A (en) | 2020-04-09 | 2020-04-09 | Traditional Chinese medicine bag external application equipment for digestive system department and use method |
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| CN (1) | CN111449831A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904702A (en) * | 2020-08-17 | 2020-11-10 | 河南中医药大学 | Traditional chinese medical science nursing is with medicine hot compress device |
-
2020
- 2020-04-09 CN CN202010272991.4A patent/CN111449831A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904702A (en) * | 2020-08-17 | 2020-11-10 | 河南中医药大学 | Traditional chinese medical science nursing is with medicine hot compress device |
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Application publication date: 20200728 |