CN111904397A

CN111904397A - Finger-tip constant-pressure pulse diagnosis instrument signal acquisition system with controllable pressure

Info

Publication number: CN111904397A
Application number: CN202010817675.0A
Authority: CN
Inventors: 陈占春; 陈峰峰; 姚爱英; 王一飞
Original assignee: Taiyuan University of Technology
Current assignee: Taiyuan University of Technology
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-11-10

Abstract

The invention discloses a signal acquisition system of a finger-tip constant-pressure pulse diagnosis instrument, which can control the output pressure and comprises a micro motor, a high reduction ratio gear set, a coupler, a micro torque sensor and a pressure lever. The system is completed by three groups of structures in a cooperation mode. The device is used for providing constant pressure at the finger tip at the tail end of the compression bar to collect pulse signals for the finger tip. In the device, a torque sensor is used for monitoring a torque value, a pressure value of a finger end is converted according to the length of a pressure rod and the torque, a motor is controlled through a feedback signal, different torque values are set to meet different pressure requirements of the finger end, and the constant output pressure value is maintained through reverse self-locking of a worm gear in a high-reduction-ratio gear set. The device has the advantages that the worm and gear speed reducer is applied to the pulse diagnosis instrument, the pulse diagnosis instrument is powered on only by the motor when working, power is cut off when the required pressure is reached, and the motions of the three groups of structures are not interfered with each other and are controlled independently.

Description

Finger-tip constant-pressure pulse diagnosis instrument signal acquisition system with controllable pressure

Technical Field

The invention relates to application of a worm gear and a torque sensor in electromechanical control to a pulse diagnosis instrument, in particular to a finger end constant-pressure pulse diagnosis instrument signal acquisition system which can control the pressure and realize the constant-pressure maintaining work of the finger end output of the pulse diagnosis instrument by using the reverse self-locking property of a worm gear set and the information feedback of the torque sensor to control a motor.

Background

The pulse-taking instrument is mainly embodied in realizing the objectification of the pulse-taking of the traditional Chinese medicine. Pulse diagnosis is one of the four diagnostic methods in diagnostics of traditional Chinese medicine, and is a unique diagnostic method. It mainly utilizes the finger sense to analyze the "position, number, form and potential" characteristics of pulse, etc. to utilize the functional state of human body so as to implement the goal of non-invasive diagnosis, and has positive significance for diagnosis and treatment of diseases. However, the pulse condition is caused by diseases, the cause of the pulse condition is complex, many scholars analyze and map the common pulse condition by a scientific and technological means on the basis of the knowledge of the ancient people on the pulse condition, so that the pulse condition image identification enters quantitative analysis, various sensors for acquiring signals of the pulse condition are designed, time domain frequency domain sharing and fuzzy mathematics are applied to pulse condition diagnosis, and research is carried out through multi-angle and multi-information, so that the objective research and analysis of the pulse condition are continuously promoted.

Patent publication No. CN209252848U discloses a mechanical finger for pulse diagnosis instrument, which obtains accurate pulse condition information by controlling the angle of the sensor. However, the device has large volume and relatively complex structure, and a plurality of mechanical fingers cannot work simultaneously.

In the research and implementation of the torque sensing control system based on the hall element, the output torque of the motor is detected through the torque sensor, the output torque of the motor is adjusted by analyzing the difference of the output torque of the motor in different states, and finally the motor is controlled to achieve the assistance effect, so that the motor can achieve the optimal effect under any condition, and the best effect can be achieved by using the minimum force.

The patent with application publication number CN110125805A discloses a system for outputting constant torque by using a torque motor in automatic waxing and an application thereof, which can realize the requirement of outputting constant torque. However, the system requires the motor to be kept in a power-on state when outputting constant torque, so that not only is the energy consumption increased, but also the service life of the system is shortened when the motor is in a locked-rotor state.

Patent application publication No. CN109770870A discloses a pulse diagnosis instrument mechanical finger, and the finger simple structure is less. However, the mechanical finger has no sensor for measuring force, and can not control the pulse sensor and the pressure of the hand.

The patent with the publication number of CN20915963U discloses a mechanical finger of a pulse diagnosis instrument, which has a simple structure, a plurality of sensors, high alignment speed and high accuracy, but the finger cannot measure the pressure between the sensors and the hand, and cannot realize constant pressure output during operation.

Aiming at the defects of the pulse diagnosis instrument, the finger end constant-pressure pulse diagnosis instrument signal acquisition system capable of controlling the pressure can control the pressure of the finger end and ensure the constant pressure during working. And the bionic principle is adopted, the tail ends of the three rods are used for simulating three fingers, the size of a signal acquisition part is small, and the structure is simple.

Disclosure of Invention

The invention aims to provide a pressure-controllable signal acquisition system of a finger-end constant-pressure pulse diagnosis instrument, which aims to output three different pressures of light, medium and heavy respectively at three finger ends of the pulse diagnosis instrument, and the finger ends do not interfere with each other and work independently.

The invention adopts the following technical scheme:

a finger tip constant pressure pulse diagnosis method capable of controlling pressure magnitude collects pulse signals by simulating human finger tips to provide three different constant pressures of light pressure, medium pressure and heavy pressure, and the three different pressures are not interfered with each other and work independently.

The pressure is obtained by converting the length of the compression bar and the torque.

A pulse diagnosis instrument signal acquisition system for realizing a finger-end constant-pressure pulse diagnosis method with controllable pressure comprises an upper bracket, a lower bracket and three groups of pulse signal acquisition systems, wherein the upper bracket and the lower bracket are vertically connected;

the pulse signal acquisition system comprises a micro motor, a micro gearbox, a torque sensor and a pressure lever, wherein the micro motor is connected with and drives the micro gearbox, an output shaft of the micro gearbox is hinged with the head end of the pressure lever, the tail end of the pressure lever is used as a pulse diagnosis finger end, and the torque sensor is installed on the output shaft of the type gearbox; the motion circles at the tail ends of the compression rods of the three groups of pulse signal acquisition systems are basically overlapped.

The finger end of the pressure lever is provided with a pressure sensor which can detect pressure and check the torque conversion pressure.

The micro motor is TS-32G370 in model and the working speed is 8250 revolutions per minute.

The miniature gearbox adopts a worm gear reducer, and the gear transmission ratio of the reducer is 1650: 1.

The torque sensor is a JNT-S sensor in the model, and the measurement range of the sensor is 0-1000 NM.

One of the compression bars of the three pulse signal acquisition systems is 200mm in length and 15mm in diameter, and the other two compression bars are 100mm in length and 15mm in diameter.

The movable angle of the 200mm long pressure rod is 60 degrees, and the movable angle of the 100mm long pressure rod is 30 degrees.

The invention has two parts to realize the control of the output force, the first part is detected and controlled by the torque sensor, the torque on the shaft is controlled by the rotation and stop of the feedback control motor of the sensor, and then the pressure of the tail end of the pressure rod is controlled; the second part is the reverse self-locking capability of the turbine with high transmission ratio, and after the motor is powered off and does not have power output, the transmission shaft can still keep the required pressure value to continuously work due to the reverse self-locking of the worm and gear. The motor in the pulse diagnosis instrument of the design only needs to work when the force changes, so that the power-on time is greatly reduced, and more energy is saved in the using process.

Drawings

FIG. 1 is a three-dimensional model diagram of the present invention;

FIG. 2 is a schematic view of the structure of the motor and the reduction box;

FIG. 3 is a schematic diagram of a torque sensor configuration;

FIG. 4 is a schematic structural diagram of a second compression bar and a third compression bar of 100 mm;

FIG. 5 is a schematic structural view of a 200mm compression bar;

FIG. 6 is a schematic view of a reducer coupling between the reduction gearbox and the sensor;

FIG. 7 is a schematic view of an upper bracket structure;

FIG. 8 is a schematic view of the lower frame structure;

FIG. 9 is a schematic of a three-dimensional model of a single system;

in the figure: 1-a reducing coupling, 2-an upper bracket, 3-a micro motor, 4-a micro gearbox, 5-a lower bracket, 6-a torque sensor, 7-a first pressure lever, 8-a second pressure lever, 9-a finger end sensor and 10-a third pressure lever;

201-step support, 202-mounting plate I and 203-mounting plate II;

501-bottom plate, 502-boss diagnosis seat, 503-support rod.

Detailed Description

The embodiments of the invention will be further explained with reference to the accompanying drawings:

the pulse diagnosis method disclosed by the invention realizes the increase and stop of the finger tip pressure by controlling the rotation and stop of the micro motor, and adopts the reverse self-locking of the worm gear in the gear set to prevent the finger tip pressure from decreasing, so that the finger tip pressure is kept constant. In this design, the motor is a direct power element; the high reduction ratio gear set is an indirect power element and converts high-speed small torque into low-speed large torque for output; the finger end at the tail end of the pressure rod is a pressure output part, and the pressure values required by the three finger ends are detected by the torque sensor and are subjected to feedback control. The pulse diagnosis instrument needs light, medium and heavy three different pressure values at the finger end during working, the pressure values and the working time of the three finger ends are different, the torque sensors are adopted to detect the pressure values on the shafts respectively and feed back the pressure values to the control system, the pressure values are compared with the pressure values set on the three shafts, the motor is powered off when the requirement is met, and the required pressure value is maintained by the rod. When the pulse feeling work is stopped, the motor rotates reversely, and the pressure rod returns.

The invention applies the reverse self-locking of the worm gear reducer to the pulse feeling instrument.

The finger tip pressure measurement is obtained by converting the torque value measured by the torque sensor, and the pressure sensor does not need to be connected in series at the finger tip.

The pulse-taking signal acquisition system comprises an upper bracket, a lower bracket and three groups of pulse signal acquisition systems, wherein the upper bracket and the lower bracket are vertically connected with each other, and the three groups of pulse signal acquisition systems are arranged on the upper bracket; the pulse signal acquisition system comprises a micro motor, a micro gearbox, a torque sensor and a pressure lever, wherein the micro motor is connected with and drives the micro gearbox, an output shaft of the micro gearbox is hinged with the head end of the pressure lever, the tail end of the pressure lever is used as a pulse diagnosis finger end, and the torque sensor is installed on the output shaft of the type gearbox; the motion circles at the tail ends of the compression rods of the three groups of pulse signal acquisition systems are basically overlapped.

The micro motor forms a power element, the micro speed reducer with high transmission ratio forms a power conversion element, the torque sensor forms a detection and adjustment element, the pressure rod forms a motion conversion element, and the finger end at the tail end of the pressure rod serves as an execution element. Setting the torque value required by each shaft of the pulse diagnosis instrument, and then when the torque on the shaft where the sensor is positioned reaches the pressure value, the motor is powered off, the worm gear and the worm maintain the constant torque on the transmission shaft, and the pressure value converted by the pressure lever is kept constant.

The shaft in fig. 2 is the output shaft of the reduction box, the shaft is a low-speed high-torque shaft, the integral driving force of the system is output, and the shaft is connected with the thin end of the reducing coupling. The motor and the reduction box are integrated, and the connection between the motor and the support is connected with the upper support through four threads outside the reduction box.

Fig. 3 is a torque sensor, the diameters of two ends of the torque sensor are the same, one end of the torque sensor is connected with the thick end of the reducing coupling, and the other end of the torque sensor is connected with a pressure lever.

Fig. 7 is a schematic structural diagram of an upper bracket, wherein the upper bracket is made into a step shape to prevent the long pressure rod from moving and limiting and influencing the rotation movement of the long pressure rod. The two groups of short pressure bar pulse signal acquisition systems are symmetrically arranged on the low step of the step support through the mounting plate, and the long pressure bar pulse signal acquisition systems are arranged on the high step through the mounting plate. The micro motor and the micro gearbox are fixed on the outer side of the mounting plate, and one end of the torque sensor vertically penetrates through the mounting plate and is connected with an output shaft of the speed reducer.

Fig. 8 is a schematic structural diagram of a lower bracket, wherein a support rod is vertically fixed with an upper bracket, and a boss of the lower bracket is a position for placing a pressed object, and the motion circles of the tail ends of the three rods are required to be coincident or close to each other at the plane.

The equipment can enable the three pressure rods to output different pressures simultaneously when pulse feeling is carried out, and the three pressure rods work independently and do not interfere with each other.

The motor of the pulse diagnosis instrument only needs to be electrified when the work is started and finished, and the service life of the motor is prolonged.

Three systems for controlling the three finger ends work independently, the torque value on each shaft is calculated according to the required pressure and the length of the pressure lever, and the torque corresponding to the light pressure value, the medium pressure value and the heavy pressure value is set, so that the three finger ends can output three constant pressures of light pressure, medium pressure and heavy pressure respectively.

When the wrist pressing device works, the motor rotates to drive the sensor and the pressing rod to rotate, when the finger end of the pressing rod touches the wrist, the rotation quantity of the pressing rod rapidly decreases, the torque value on the shaft increases, the motor is powered off when the set torque is reached, and the worm and gear are self-locked to provide the pressure value required by the finger end.

When the motor rotates, the rotating speed is reduced to 5 revolutions per minute through the speed reduction of the reduction gearbox to obtain large torque, the output rotation is transmitted to the pressure rod through the coupler and the torque sensor, and the rotation of the pressure rod is driven. When the depression bar pressed the object, the terminal displacement volume of depression bar can be ignored, so terminal pressure value can rise, and epaxial moment of torsion also can rise through the transmission of depression bar, and torque sensor detects epaxial moment of torsion and reaches control motor stall after requiring, but the worm gear of gear train can reverse auto-lock, and the axle can not the reversal, consequently keeps fixed pressure value work.

Claims

1. A finger tip constant-pressure pulse diagnosis method capable of controlling pressure is characterized in that pulse signals are collected by simulating finger tips of a human body to provide three different constant pressures of light pressure, medium pressure and heavy pressure, and the three different pressures are not interfered with one another and work independently.

2. The method for finger-tip constant pressure pulse diagnosis with controllable pressure magnitude according to claim 1, wherein the pressure is obtained by converting the length of the compression bar and the magnitude of the torque.

3. A pulse diagnosis instrument signal acquisition system for realizing a finger-end constant-pressure pulse diagnosis method with controllable pressure is characterized by comprising an upper bracket, a lower bracket and three groups of pulse signal acquisition systems, wherein the upper bracket and the lower bracket are vertically connected;

4. The system for acquiring signals of a pulse diagnosis instrument for realizing the finger-end constant-pressure pulse diagnosis method with controllable pressure according to claim 3, wherein a pressure sensor is installed at the finger end of the pressure lever.

5. The system of claim 4, wherein the micro motor is TS-32G370 in type and the operating speed is 8250 rpm.

6. The pulse diagnosis instrument signal acquisition system for realizing the finger-tip constant-pressure pulse diagnosis method with controllable pressure according to claim 5, wherein the miniature gearbox adopts a worm gear reducer, and the gear transmission ratio of the reducer is 1650: 1.

7. The system for acquiring signals of a pulse diagnosis instrument for realizing the finger-end constant-pressure pulse diagnosis method with controllable pressure according to claim 6, wherein the torque sensor is a JNT-S sensor, and the sensor measurement range is 0-1000 NM.

8. The system of claim 7, wherein one of the three groups of pulse signal acquisition systems has a length of 200mm and a diameter of 15mm, and the other two pressure rods have a length of 100mm and a diameter of 15 mm.

9. The system of claim 8, wherein the 200mm long pressing rod has an active angle of 60 ° and the 100mm long pressing rod has an active angle of 30 °.