CN114098944A - Full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions and control method thereof - Google Patents
Full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions and control method thereof Download PDFInfo
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- CN114098944A CN114098944A CN202111325856.2A CN202111325856A CN114098944A CN 114098944 A CN114098944 A CN 114098944A CN 202111325856 A CN202111325856 A CN 202111325856A CN 114098944 A CN114098944 A CN 114098944A
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
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Abstract
A full-automatic intelligent liquid nitrogen gun with multiple sensors, integrated driving and control functions for skin cryotherapy and a control method thereof belong to the medical apparatus for liquid nitrogen cryotherapy. The problems that the prior art is low in liquid nitrogen flow control accuracy, liquid nitrogen waste is caused and the like are solved. The opening adjusting unit adjusts the opening area according to the deviation of the actual flow rate and the target flow rate of the nitrogen to adjust the flow rate of the nitrogen at the nozzle. The micro turbine flow meter measures the nitrogen flow as feedback for closed loop control. The heat transfer adjusting unit transfers heat required by vaporization of liquid nitrogen into the system by controlling air flow of the heat transfer layer. When the liquid nitrogen gun starts to work, the electromagnetic valve is opened, the micro vacuum pump pumps low-temperature air and pumps external normal-temperature air into the heat transfer layer, and heat transfer regulation is realized; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is closed, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, the heat transfer layer is at negative pressure, and heat is reduced and transferred to liquid nitrogen, so that waste is reduced.
Description
Technical Field
The invention relates to a full-automatic intelligent liquid nitrogen gun for skin cryotherapy and a control method thereof, belonging to medical instruments, in particular to medical instruments for liquid nitrogen low-temperature cryotherapy.
Background
A liquid nitrogen gun, also called a liquid nitrogen cryotherapy apparatus, is a device for implementing cryotherapy. The liquid nitrogen freezing treatment utilizes the low temperature generated by liquid nitrogen to necrose the pathological tissue, thereby achieving the purpose of treatment. The liquid nitrogen cryotherapy has therapeutic effects on various dermatoses such as verruca plana, molluscum contagiosum, keloid, chronic eczema, neurodermatitis, clavus, lichen planus, prurigo nodulitis, and seborrheic dermatitis. The existing liquid nitrogen freezing treatment medical apparatus has various specifications and specifications, and can be mainly divided into a contact type freezing treatment apparatus and a non-contact type freezing treatment apparatus. The contact type liquid nitrogen cryotherapy instrument needs liquid nitrogen to directly contact the cold head in the cold head, and the cold head directly contacts the skin to carry out cryotherapy through heat transfer between the cold head and the pathological change skin.
Chinese utility model patent (publication No. CN2141263Y) portable liquid nitrogen cryotherapy ware is mainly by a cup casing, can with cup casing sealing connection's sealed lid, lay the liquid ammonia splendid attire household utensils in the casing and connect the interior outer segment transfer line of intercommunication by the universal ball joint formula that sets up in sealed lid body to constitute, be equipped with one on cup casing body and make in the liquid nitrogen splendid attire household utensils draw with external atmosphere keep the through-hole that can be pointed the shutoff of normal open, through the liquid nitrogen vaporization in the liquid nitrogen splendid attire household utensils, increase the pressure in its gas phase space and pass through liquid nitrogen transfer line extrusion blowout, the contact skin of eruption carries out cryotherapy. Chinese utility model patent (publication No. CN211023067U) a liquid nitrogen gun includes the kettle body and sets up the pot lid on the kettle body, be equipped with nozzle, drain pipe and pressure device on the pot lid, pressure device is used for increasing the atmospheric pressure of the internal portion of kettle and makes the liquid nitrogen spout via drain pipe and nozzle. Chinese utility model patent (publication No. CN207855772U) a liquid nitrogen gun of adjustable spout, the disclosed technical scheme is provided with rotatable air adjusting nut at the interlude of rifle head, cooperates the size that changes the gas passage hole through the gas passage hole in the nut and the gas passage hole of rifle head inner cross-section, and manual regulation air adjusting nut makes the liquid nitrogen gas flow diameter that erupts change. The utility model discloses a shower nozzle subassembly among liquid nitrogen cryotherapy appearance adsorbs the different grade type shower nozzle with magnet in the chinese utility model patent (publication number CN212326554U), can conveniently deposit and change freezing head. The Chinese utility model patent (publication No. CN210931775U) discloses a liquid nitrogen sprayer with a spray rod with adjustable length, which comprises a spray rod, a storage container and a pressurizer, wherein the storage container is filled with liquid nitrogen; the pressurizer comprises an outer heat exchange unit and an inner heat exchange unit, the inner heat exchange unit is arranged in the storage container, the outer heat exchange unit is arranged outside the storage container, the outer heat exchange unit is communicated with the inner heat exchange unit through a pipeline, a nitrogen inlet pipeline is arranged on the outer heat exchange unit, a nitrogen outlet pipeline is arranged on the inner heat exchange unit, the spray rod is communicated with the inner heat exchange unit through the nitrogen outlet pipeline, and opening and closing valves are arranged on the nitrogen inlet pipeline and the nitrogen outlet pipeline; the spray rod comprises an inner rod and an outer rod, the inner rod and the outer rod are connected in a sealing mode, and the inner rod slides in the outer rod to control liquid nitrogen spraying. Chinese utility model patent (publication No. CN212547146U) a multi-functional liquid nitrogen cryotherapy ware, controller among the disclosed technical scheme is equipped with manual trigger, manual trigger upper end is connected through the sealed lid on activity joint and the liquid nitrogen container, nearly activity joint department is equipped with hemisphere type sealing plug, it is open state or is the encapsulated situation with the valve correspondence of freezing pole nitrogen gas discharge pipe export to seal the gland bush exhaust hole correspondence on the liquid nitrogen container, manual trigger lower extreme is free, be equipped with reset spring and electric heating circuit switch, when pressing manual trigger lower extreme, hemisphere type sealing plug will seal gland bush exhaust hole and seal, circuit switch puts through when increasing the dynamics, the resistance heater ohmic heating in freezing pole cold-proof layer resistance heater and the liquid nitrogen container increases liquid nitrogen vaporization rate. The liquid nitrogen gun in the technical schemes has low accuracy on liquid nitrogen flow and causes liquid nitrogen waste during clinical application, thereby influencing the treatment efficiency and treatment effect of liquid nitrogen cryotherapy.
In particular, the main disadvantages of the current contact type liquid nitrogen cryotherapeutic apparatus are: 1. the cold head covers the skin with pathological changes in the treatment process, and the skin with pathological changes is difficult to observe in time. 2. In order to ensure the freezing effect of the contact type freezing head, the freezing head has good heat exchange capacity, and the freezing rod has good heat preservation capacity, so that the process technology of the freezing head and the freezing rod is complex, and the cost is high. The non-contact liquid nitrogen cryotherapy instrument increases the pressure intensity in the gas phase space of the non-contact liquid nitrogen cryotherapy instrument through the vaporization of liquid nitrogen in a liquid nitrogen container, extrudes the liquid nitrogen out through a liquid conveying pipe, and the ejected liquid nitrogen contacts the skin to carry out cryotherapy. The main defects of the existing non-contact liquid nitrogen cryotherapy apparatus are as follows: 1. the size of a liquid nitrogen nozzle is difficult to control, inaccurate treatment target points are easily caused, non-treatment target points are damaged, and the adaptability to different types of skin diseases in different position spaces or action areas is low. 2. The flow of liquid nitrogen and the flow can not be accurately controlled, so that the cryotherapy effect is reduced. 3. The liquid nitrogen vaporization rate is not controlled, and a large amount of liquid nitrogen vaporization loss waste is caused before and after the freezing treatment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
the invention aims to provide a full-automatic intelligent type skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions and a control method thereof, and aims to solve the problems that the original liquid nitrogen cryotherapy device provided in the background art is manually operated or semi-automatically operated by a person, so that the control accuracy of liquid nitrogen flow is low, liquid nitrogen is wasted, and the treatment efficiency and the treatment effect of liquid nitrogen cryotherapy are influenced.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions, which comprises a spray head, a liquid nitrogen container, an opening adjusting unit, a heat transfer adjusting unit, a pressure relief mechanism and a sensor group, wherein the spray head is connected with the liquid nitrogen container through a pipeline; the opening adjusting unit is used for adjusting the opening area of the container cover of the liquid nitrogen container according to the deviation of the actual flow and the target flow of the liquid nitrogen and/or the nitrogen to control the flow of the liquid nitrogen and/or the nitrogen at the nozzle of the spray head; the sensor group comprises a micro turbine flowmeter, a plurality of temperature sensors and a plurality of air pressure sensors; the micro turbine flowmeter is arranged on the opening adjusting unit and used for measuring the nitrogen flow at the inlet of the spray head as feedback to carry out closed-loop control; the plurality of temperature sensors comprise a liquid phase temperature sensor arranged at the lower part in the inner container, a gas phase temperature sensor arranged on the inner surface of the container cover of the liquid nitrogen container, an inlet end temperature sensor arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing into the air circulation heat transfer channel on the side wall of the liquid nitrogen container main body, and an outlet end temperature sensor arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing out of the air circulation heat transfer channel on the side wall of the liquid nitrogen container main body; the plurality of air pressure sensors comprise a heat transfer layer pressure sensor arranged in an air circulation heat transfer channel on the side wall of the liquid nitrogen container body and an internal pressure sensor arranged on the inner surface of the container cover of the liquid nitrogen container; the heat transfer adjusting unit is used for transferring heat required by vaporization of liquid nitrogen into the inner container of the liquid nitrogen container main body by controlling air flow of the heat transfer layer on the side wall of the liquid nitrogen container main body; the heat transfer adjusting unit is also used for keeping the heat transfer layer in the side wall of the liquid nitrogen container main body in a vacuum state so as to prevent the liquid nitrogen of the inner container from absorbing heat and gasifying; the pressure relief mechanism is used for automatically releasing air to ensure safety when the air pressure in the liquid nitrogen container exceeds a safety range; the pressure relief mechanism is arranged on a liquid nitrogen injection pipe on the container cover of the liquid nitrogen container.
The invention relates to a control method of a full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions, wherein the input of a control system is target flow, and a target flow value is input by an operator through a small keyboard or is input from the outside of the system according to visual information. Calculating the rotation angle of an opening adjusting motor through the difference value of the target flow and the actual flow, wherein the motor drives a rocker to adjust the opening area to adjust the nitrogen flow, and a micro turbine flowmeter detects and feeds back the nitrogen flow at the nozzle; calculating the mass of liquid nitrogen required to be consumed in pressurizing and conveying according to the flow deviation, the density of liquid nitrogen in the device in the current state and the density of nitrogen, and further calculating the heat required by vaporization of the liquid nitrogen; when the liquid nitrogen gun works, the electromagnetic valve is in an open state, the volume of air required by heat transfer is calculated according to the required heat and the temperature change of the air flowing through the heat transfer layer, the required rotation angle of the motor of the micro vacuum pump is calculated, the micro vacuum pump is controlled to pump low-temperature air out and pump external air into the heat transfer layer, and heat transfer regulation is realized; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is in a closed state, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, and at the moment, the heat transfer layer is at a negative pressure, so that heat transfer to the liquid nitrogen is reduced.
The invention has the following beneficial technical effects:
the full-automatic intelligent type skin cryotherapy liquid nitrogen gun is provided with an opening adjusting unit, a heat transfer adjusting unit, a pressure relief mechanism and a sensor group, wherein the opening adjusting unit adjusts the area of an opening according to the deviation of the actual flow and the target flow of nitrogen so as to adjust the flow of nitrogen at a nozzle. The micro turbine flow meter measures the nitrogen flow as feedback for closed loop control. The heat transfer adjusting unit transfers heat required by vaporization of liquid nitrogen into the system by controlling air flow of the heat transfer layer. When the liquid nitrogen gun starts to work, the electromagnetic valve is opened, the micro vacuum pump pumps low-temperature air and pumps external normal-temperature air into the heat transfer layer, and heat transfer regulation is realized; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is closed, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, at the moment, the heat transfer layer is at negative pressure, and heat is reduced to be transferred to liquid nitrogen, so that waste is reduced. The pressure relief mechanism automatically releases air to ensure safety when the air pressure in the liquid nitrogen container exceeds a safety range, and has the function of conveniently filling liquid nitrogen. The invention can carry out treatment operation on the device through the mechanical arm, and improves the accuracy and the efficiency of the liquid nitrogen freezing treatment device. The invention accurately controls the flow of the liquid nitrogen, reduces the waste of the liquid nitrogen, and improves the treatment efficiency and the treatment effect of the liquid nitrogen cryotherapy.
The opening adjusting unit provided by the invention adjusts the opening area according to the deviation of the actual flow and the target flow of the nitrogen so as to adjust the flow of the nitrogen at the nozzle. The micro turbine flow meter measures the nitrogen flow as feedback for closed loop control. The heat transfer adjusting unit transfers heat required by vaporization of liquid nitrogen into the system by controlling air flow of the heat transfer layer. When the liquid nitrogen gun starts to work, the electromagnetic valve is opened, the micro vacuum pump pumps low-temperature air and external normal-temperature air into the heat transfer layer, and heat transfer regulation is realized; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is closed, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, at the moment, the heat transfer layer is at negative pressure, and heat is reduced to be transferred to liquid nitrogen, so that waste is reduced. 5. The pressure relief mechanism automatically releases air to ensure safety when the air pressure in the liquid nitrogen container exceeds a safety range, and has the function of conveniently filling liquid nitrogen.
The central circle of a rocker of the opening adjusting unit and a cylindrical boss at the upper end of the container cover are coaxial and six cylindrical bosses of the opening adjusting unit are matched upwards, and the six cylindrical bosses at the upper end of the rocker are respectively matched with notches of the six blades; the square bosses of the six blades are respectively matched with the notches on the sliding grooves, the motor bracket is arranged on the container cover through bolts, and the motor is arranged below the motor bracket; the motor shaft end gear is meshed with an inner gear of the rocker, the motor drives the rocker, and the rocker drives the blades to move to control the opening area. The initial position limit switch and the limit position limit switch are arranged on the upper surface of the container cover, and the T-shaped end of the rocker respectively touches the initial position limit switch and the limit position limit switch at the rocker positions of the minimum area and the maximum area of the adjusting opening so as to protect the motor.
The heat exchange spiral plate is arranged in the heat transfer layer to ensure that air in the heat transfer layer flows downwards in a spiral manner; when the electromagnetic valve is opened, the micro vacuum pump pumps low-temperature air out of the heat transfer layer through the outlet end quick connector, the three-way connector, the air outlet pipe and the micro vacuum pump and pumps external normal-temperature air into the heat transfer layer (a spiral air circulation heat transfer channel is formed in an annular space) through the electromagnetic valve, the air inlet pipe and the inlet end quick connector to realize heat transfer regulation; when the electromagnetic valve is closed, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, the heat transfer layer is at a negative pressure, and heat is reduced and transferred to liquid nitrogen, so that waste is reduced.
The input to the control system is a target flow value, which may be entered into a keypad by an operator or externally by the system based on visual information. And calculating the rotation angle of the opening adjusting motor through the difference value of the target flow and the actual flow, driving the rocker to adjust the opening area by the motor to adjust the nitrogen flow, and detecting and feeding back the nitrogen flow at the nozzle by the micro turbine flowmeter. And calculating the mass of the liquid nitrogen required to be consumed by the pressurized conveying according to the flow deviation, the density of the liquid nitrogen in the device in the current state and the density of the nitrogen, and further calculating the heat required by the vaporization of the liquid nitrogen. When the liquid nitrogen gun works, the electromagnetic valve is in an open state, and the volume of air required by heat transfer is calculated according to the required heat and the temperature change of the air flowing through the heat transfer layer. And calculating the required rotation angle of the motor of the micro vacuum pump, controlling the micro vacuum pump to pump low-temperature air out and pump external air into the heat transfer layer, and realizing heat transfer regulation. When the liquid nitrogen gun receives a stop signal, the electromagnetic valve is in a closed state, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, and the micro vacuum pump stops working. The heat transfer layer is at negative pressure, so that heat transfer to liquid nitrogen is reduced, and waste is reduced.
Drawings
FIG. 1 is a schematic top view of the present invention, and FIG. 2 is a front cross-sectional view of the present invention (i.e., FIG. 2 is a cross-sectional view A-A of FIG. 1);
fig. 3 is a front view schematically showing an opening adjusting unit (opening adjusting mechanism), fig. 4 is a plan view of fig. 3, and fig. 5 is a sectional view taken along line B-B of fig. 4;
FIG. 6 is a schematic diagram of installation of a sensor inside a liquid nitrogen container (viewed from above a container cover), and FIG. 7 is a schematic diagram of installation of a sensor inside a liquid nitrogen container (front view);
FIG. 8 is a schematic structural view (top view) of a pressure relief mechanism, and FIG. 9 is a cross-sectional view taken along line C-C of FIG. 8;
fig. 10 is a schematic diagram of a rocker structure of the opening adjusting unit, wherein: a represents a front view, and b is a top view;
fig. 11 is a top view of the blade (blade structure diagram), and fig. 12 is a left side view of fig. 11;
FIG. 13 is a front view of a baffle in the lower portion of the micro turbine flow meter, and FIG. 14 is a top view of FIG. 13;
fig. 15 is a schematic view (front view) of a chute structure on the opening adjusting unit, and fig. 16 is a top view of fig. 15;
FIG. 17 is a schematic view of a mechanical interface configuration, and FIG. 18 is a left side view of FIG. 17;
FIG. 19 is a perspective view of a heat exchange spiral plate; fig. 20 is a view showing a principle of the regulation of the opening in the opening regulating unit;
FIG. 21 is a schematic view (perspective) of the mechanical interface and handle mounting; FIG. 22 is a schematic view of the mechanical interface mounted to the end of a robotic arm; FIG. 23 is a schematic diagram of a USB interface of the single chip microcomputer;
FIG. 24 is a control block diagram of the present invention (control method of the present invention); FIG. 25 is a block diagram of the hardware configuration of the present invention (manual operation); FIG. 26 is a block diagram of the hardware architecture (robotic operation) of the present invention; fig. 27 is a flowchart of a procedure of the present invention (corresponding to fig. 24).
In the figure: 1-spray head, 2-micro turbine flowmeter, 3-support, 4-container cover, 5-electrical interface, 6-sealing ring, 7-inner container, 8-heat exchange spiral plate, 9-heat transfer layer, 10-outer shell, 11-infusion tube, 12-liquid phase temperature sensor, 13-liquid phase temperature sensor mounting rack, 14-heat transfer layer pressure sensor, 15-outlet end quick connector, 16-three-way connector, 17-outlet end temperature sensor, 18-micro vacuum pump, 19-inlet end quick connector, 20-mechanical interface, 21-inlet end temperature sensor, 22-vacuum pump support, 23-air outlet pipe, 24-air inlet pipe, 25-electromagnetic valve, 26-battery and power supply interface, 25-electromagnetic valve, and the like, 27-single chip microcomputer, 28-motor, 29-motor support, 30-rocker, 31-chute, 32-blade, 33-gas phase temperature sensor, 34-initial position limit switch, 35-limit position limit switch, 36-internal pressure sensor, 37-elbow, 38-pressure relief end cover, 39-plug, 40-spring, 41-thin shaft, 42-thin shaft end cover, 43-handle, 44-keypad, 45-small screen, 46-mechanical arm end joint, 47-visual sensor, 48-computer, 49-single chip microcomputer USB interface, 50-USB data line.
The specific implementation mode is as follows:
referring to fig. 1 to 27, the implementation of the fully automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions and the control method thereof according to the present invention is explained as follows:
the first embodiment is as follows: as shown in fig. 1-20, the full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors and integrated driving and control functions comprises a spray head 1, a liquid nitrogen container, an opening adjusting unit, a heat transfer adjusting unit, a pressure relief mechanism and a sensor group; the opening adjusting unit is used for adjusting the opening area of the container cover of the liquid nitrogen container according to the deviation of the actual flow and the target flow of the liquid nitrogen and/or the nitrogen to control the flow of the liquid nitrogen and/or the nitrogen at the nozzle of the spray head; the sensor group comprises a micro turbine flowmeter 2, a plurality of temperature sensors and a plurality of air pressure sensors; the micro turbine flowmeter 2 is arranged on the opening adjusting unit and used for measuring the nitrogen flow at the inlet of the spray head 1 as feedback to carry out closed-loop control; the temperature sensors comprise a liquid phase temperature sensor 12 arranged at the inner lower part of the inner container 7, a gas phase temperature sensor 33 arranged on the inner surface of the container cover of the liquid nitrogen container, an inlet end temperature sensor 21 arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing into the air circulation heat transfer channel of the side wall of the liquid nitrogen container main body, and an outlet end temperature sensor 17 arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing out of the air circulation heat transfer channel of the side wall of the liquid nitrogen container main body; the plurality of air pressure sensors comprise a heat transfer layer pressure sensor 14 arranged in an air circulation heat transfer channel on the side wall of the liquid nitrogen container body, and an internal pressure sensor 36 arranged on the inner surface of the container cover of the liquid nitrogen container;
the heat transfer adjusting unit is used for transferring heat required by vaporization of the liquid nitrogen into the inner container 7 of the liquid nitrogen container main body by controlling air flow of the heat transfer layer on the side wall of the liquid nitrogen container main body; the heat transfer adjusting unit is also used for keeping the heat transfer layer in the side wall of the liquid nitrogen container main body in a vacuum state so as to prevent the liquid nitrogen of the inner container 7 from absorbing heat and gasifying;
the pressure relief mechanism is used for automatically releasing air to ensure safety when the air pressure in the liquid nitrogen container exceeds a safety range; the pressure relief mechanism is mounted on the liquid nitrogen injection pipe 37 on the liquid nitrogen container cover 4.
When the liquid nitrogen gun starts to work, the electromagnetic valve is opened, the micro vacuum pump pumps low-temperature air and external normal-temperature air into the heat transfer layer, and heat transfer regulation is realized; when the liquid nitrogen gun is ready to stop working, the electromagnetic valve is closed, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, at the moment, the heat transfer layer is in negative pressure, and heat is reduced to be transferred to liquid nitrogen, so that waste is reduced.
The second embodiment is as follows: as shown in fig. 1-2 and 19, in the present embodiment, the liquid nitrogen container includes a container cover 4, a packing 6, and a liquid nitrogen container body, and the container cover 4 is fitted to an opening of the liquid nitrogen container body through the packing 6; the liquid nitrogen container main body comprises an inner container 7, a heat exchange spiral plate 8 and a shell 10, the heat exchange spiral plate 8 is installed between the inner container 7 and the shell 10, the heat exchange spiral plate 8 enables an annular space between the inner container 7 and the shell 10 to form a spiral air circulation heat transfer channel 9 (the heat exchange spiral plate 8 is installed between the inner container 7 and the shell 10, the heat exchange spiral plate 8 enables air between the inner container 7 and the shell 10 to flow downwards in a spiral mode), and a liquid nitrogen injection pipe 37 and a liquid nitrogen output pipe 11 are installed on the container cover 4. The liquid nitrogen output pipe 11 is fastened on the inner side of the container cover 4 by threads; the sealing ring 6 is pressed in a groove on the upper edge of the inner container, and the container cover 4 and the inner container 7 are coaxially fastened on the inner container 7 by bolts. Other components and connection relationships are the same as those in the first embodiment.
The third concrete implementation mode: as shown in fig. 1 to 5, 9 to 12, and 20, in the present embodiment, the opening adjusting unit includes a motor 28, a motor bracket 29, a rocker 30, a flange 31, a set of blades 32, an initial position limit switch 34, and a limit position limit switch 35; the motor bracket 29 is arranged on the container cover 4 through bolts, and the motor 28 is arranged below the motor bracket 29; the rocker 30 comprises a blade control ring 30-1, a fan ring 30-2 and a limit switch touch end 30-3, wherein the blade control ring 30-1 is positioned between the limit switch touch end 30-3 and the fan ring 30-2 and is connected together or integrally formed, and inner teeth are arranged on the inner wall of the outer ring of the fan ring 30-2; the end face of the boss end of the flange plate 31 is provided with regular polygon sliding grooves 31-1 with the number of edges being consistent with the number of the blades 32, and the flange plate 31 is provided with a step through hole communicated with a central hole on the container cover 4; a set of blades 32 is arranged between the flange 31 and the vessel cover 4; the number of blades 32 in a set may be selected to be six;
the central hole of the blade control ring 30-1 of the rocker 30 is coaxial with the cylindrical boss at the upper end of the container cover 4, the blade control ring 30-1 is sleeved on the cylindrical boss at the upper end of the central hole and the container cover (4), and the cylindrical bosses 30-1-1 at the upper end of the blade control ring 30-1, the number of which is the same as that of the blades 32, are respectively matched with the notches (waist-shaped) 32-1 of a group of blades 32 one by one; the square boss 32-2 on each blade 32 is respectively matched with the notches of the corresponding sides on the regular polygon sliding chute 31-1, a shaft end gear of a motor 28 arranged on the motor bracket 29 is meshed with the internal teeth on the rocker 30, the motor 28 drives the rocker 30 to rotate, and the rocker 30 drives the blades 32 to move to control the opening area of a central hole on the container cover 4;
an initial position limit switch 34 and a limit position limit switch 35 are installed on the upper surface of the container cover 4, and when the adjustment opening area reaches the minimum area and the maximum area of the rocker 30, respectively, a limit switch contact end 30-3 (T-shaped end) of the rocker 30 contacts the initial position limit switch 34 and the limit position limit switch 35, respectively, to protect the motor 28.
Other components and connection relationships are the same as those in the first or second embodiment.
The fourth concrete implementation mode: as shown in fig. 1-2, in the present embodiment, the heat transfer adjusting unit includes an outlet port quick coupling 15, a three-way coupling 16, a micro vacuum pump 18, an inlet port quick coupling 19, a vacuum pump bracket 22, an outlet air pipe 23, an inlet air pipe 24 and an electromagnetic valve 25; the vacuum pump bracket 22 is installed on the upper side of the casing 10 through bolts; an inlet end quick coupling 19 and an outlet end quick coupling 15 are installed at the upper and lower sides of the housing 10, respectively; the micro vacuum pump 18 and the electromagnetic valve 25 are respectively arranged on the vacuum pump bracket 22, and the air exhaust end of the micro vacuum pump 18 is communicated with the lower end of the heat transfer layer 9 through the air outlet pipe 23, the three-way joint 16 and the outlet end quick joint 15; one port of the electromagnetic valve 25 is communicated with the upper end of the spiral air circulation heat transfer channel 9 through an air inlet pipe 24 and an inlet end quick joint 19; when the electromagnetic valve 25 is opened, the micro vacuum pump 18 pumps low-temperature air out of the spiral air circulation heat transfer channel 9 through the outlet end quick connector 15, the three-way connector 16, the air outlet pipe 23 and the micro vacuum pump 18, and pumps outside normal-temperature air into the spiral air circulation heat transfer channel 9 through the electromagnetic valve 25, the air inlet pipe 24 and the inlet end quick connector 19, so that heat transfer regulation is realized; when the electromagnetic valve 25 is closed, the micro vacuum pump 18 continuously pumps the air in the spiral air circulation heat transfer channel 9 until the pressure of the spiral air circulation heat transfer channel 9 reaches a specified value, the micro vacuum pump 18 stops working, at the moment, the heat transfer layer 9 is in negative pressure, and heat transfer to liquid nitrogen is reduced, so that waste is reduced. When the electromagnetic valve 25 is opened, the heat transfer passage 9 is communicated with the atmosphere through the intake air pipe 24. When the electromagnetic valve 25 is closed, the heat transfer passage 9 cannot communicate with the atmosphere through the intake air pipe 24. Other components and connection relationships are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: as shown in fig. 1 to 7, in the present embodiment, for the sensor group, the inlet end of the micro turbine flowmeter 2 is mounted on the bracket 3 by bolts, and the bracket is mounted on the container cover 4; the liquid phase temperature sensor 12 is arranged at the lower end of the infusion tube 11 through a liquid phase temperature sensor mounting frame 13; the internal pressure sensor 36 and the gas phase temperature sensor 33 are mounted inside the container cover 4 with bolts; the heat transfer layer pressure sensor 14 is arranged at the bottom of the inner side of the shell 10; an inlet end temperature sensor 21 is arranged on a vacuum pump bracket 22; an outlet end temperature sensor 17 is mounted on the three-way joint 16. The micro turbine flowmeter 2 is used for detecting and feeding back the flow of the nozzle and is a feedback device of a flow control loop; the liquid phase temperature sensor 12 and the gas phase temperature sensor 33 respectively measure the temperature of liquid nitrogen and nitrogen in the liquid nitrogen container so as to estimate the density of the liquid nitrogen and the pressure data collected by the internal pressure sensor 36 for pressurization conveying calculation; the inlet end temperature sensor 21 and the outlet end temperature sensor 17 measure the air temperature at the inlet end and the outlet end of the heat transfer layer 9, respectively, and the difference between the two is used for air volume calculation; the heat transfer layer pressure sensor 14 measures the pressure of the heat transfer layer in the closed state of the electromagnetic valve 25 and feeds back the pressure, which is the basis for controlling the micro vacuum pump 18 to stop operating in this state. Other components and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: as shown in fig. 8 to 9, in the present embodiment, the pressure relief mechanism includes an elbow 37, a pressure relief end cap 38, a plug 39, a spring 40, a thin shaft 41, and a thin shaft end cap 42; the unthreaded end of the elbow pipe 37 is coaxially matched with a corresponding hole of the container cover 4 and then welded; the pressure relief end cap 38 is threaded onto the threaded end of the elbow 37; the thin shaft end cap 42 is coupled to the pressure relief end cap 38 by threads; the threaded end of the thin shaft 41 is in threaded connection with the plug 39, and the smooth end of the thin shaft is coaxially matched with the upper end hole of the thin shaft end cover 42; the two ends of the spring 40 sleeved on the thin shaft 41 respectively abut against the plane of the plug 39 and the thin shaft end cover 42, and the plug 39 is pressed on the lower end opening of the pressure relief end cover 38; when the air pressure in the liquid nitrogen container exceeds a safety value, high-pressure nitrogen in the liquid nitrogen container jacks up the plug 39 and is discharged from the lower end opening of the pressure relief end cover 38 until the air pressure in the liquid nitrogen container returns to a safety range, and the plug 39 is rebounded by the spring 40 to block the lower end opening of the pressure relief end cover 38 again. Other components and connection relationships are the same as those in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: as shown in fig. 1-2, in the present embodiment, the nozzle 1 is attached to the outlet end of the micro flow meter, and the nozzles 1 having different diameters can be replaced to adapt to skin affected surfaces having large differences. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: as shown in fig. 1-2 and 17-18 and fig. 21-23, in this embodiment, the liquid nitrogen gun further includes a mechanical interface 20 mounted on the housing 10; during manual operation, a handle 43 is arranged on the mechanical interface 20, a small keyboard 44 is arranged on the handle 43 for inputting signals manually, and a small screen 45 is arranged on the handle 43 for an operator to check current data; when the robot operates automatically, the mechanical interface 20 is arranged on a mechanical arm 46 carrying a vision sensor 47, a singlechip USB interface 49 on the liquid nitrogen gun is connected and communicated with a computer 48 through a USB data line 50, and information collected by the vision sensor 47 is processed by the computer 48 and then a control signal is automatically input to the liquid nitrogen gun. Other components and connection relations are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiment.
The specific implementation method nine: in the embodiment, the input of the control system is the target flow, and the target flow value is, but not limited to, input by an operator through a keypad or input from the outside of the system according to visual information.
The detailed implementation mode is ten: as shown in fig. 24 to 27, the method for controlling a fully automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions according to the present embodiment includes: calculating the rotation angle of an opening adjusting motor according to the difference value between the target flow and the actual flow, driving a rocker (30) by a motor (28) to adjust the opening area to adjust the nitrogen flow, and detecting and feeding back the nitrogen flow at the nozzle by a micro turbine flowmeter (2); calculating the mass of liquid nitrogen required to be consumed in pressurizing and conveying according to the flow deviation, the density of liquid nitrogen in the device in the current state and the density of nitrogen, and further calculating the heat required by vaporization of the liquid nitrogen; when the liquid nitrogen gun works, the electromagnetic valve (25) is in an open state, the volume of air required by heat transfer is calculated according to the required heat and the temperature change of the air flowing through the heat transfer layer, the required rotation angle of the motor of the micro vacuum pump is calculated, and the micro vacuum pump (18) is controlled to pump low-temperature air out and pump external air into the heat transfer layer to realize heat transfer regulation; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is in a closed state, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, at the moment, the heat transfer layer is in negative pressure, and heat is reduced to be transferred to liquid nitrogen, so that waste is reduced.
The implementation of the liquid nitrogen gun and the control method thereof is explained as follows:
the inlet end of the micro turbine flowmeter 2 is arranged on a bracket 3 by bolts, and the bracket is arranged on a container cover 4; the liquid phase temperature sensor 12 is arranged at the lower end of the infusion tube 11 through a liquid phase temperature sensor mounting frame 13; the internal pressure sensor 36 and the gas phase temperature sensor 33 are mounted inside the container cover 4 with bolts; the heat transfer layer pressure sensor 14 is arranged at the bottom of the inner side of the shell 10; an inlet end temperature sensor 21 is arranged on a vacuum pump bracket 22; an outlet end temperature sensor 17 is mounted on the three-way joint 16. The micro turbine flowmeter 2 is used for detecting and feeding back the flow of the nozzle and is a feedback device of a flow control loop; the liquid phase temperature sensor 12 and the gas phase temperature sensor 33 respectively measure the temperature of liquid nitrogen and nitrogen in the liquid nitrogen container so as to estimate the density of the liquid nitrogen and the pressure data collected by the internal pressure sensor 36 for pressurization conveying calculation; the inlet end temperature sensor 21 and the outlet end temperature sensor 17 measure the air temperature at the inlet end and the outlet end of the heat transfer layer 9, respectively, and the difference between the two is used for air volume calculation; the heat transfer layer pressure sensor 14 measures the pressure of the heat transfer layer in the closed state of the electromagnetic valve 25 and feeds back the pressure, which is the basis for controlling the micro vacuum pump 18 to stop operating in this state.
When the air pressure in the liquid nitrogen container exceeds a safety value, high-pressure nitrogen in the liquid nitrogen container jacks up the plug 39 and is discharged from the lower end opening of the pressure relief end cover 38 until the air pressure in the liquid nitrogen container returns to a safety range, and the plug 39 is rebounded by the spring 40 to block the lower end opening of the pressure relief end cover 38 again.
The nozzle 1 is arranged at the outlet end of the micro flowmeter, and the nozzles 1 with different diameters can be replaced to adapt to skin sore surfaces with larger differences. The mechanical interface 20 is mounted on the housing 10. During manual operation, a handle 43 is arranged on the mechanical interface 20, a small keyboard 44 is arranged on the handle 43 for inputting signals manually, and a small screen 45 is arranged on the handle 43 for an operator to check current data; when the robot operates automatically, the mechanical interface 20 is arranged on a mechanical arm 46 carrying a vision sensor 47, a singlechip USB interface 49 on the liquid nitrogen gun is connected and communicated with a computer 48 through a USB data line 50, and information collected by the vision sensor 47 is processed by the computer 48 and then a control signal is automatically input to the liquid nitrogen gun.
When the pressure relief end cover is used, the pressure relief end cover is unscrewed, and liquid nitrogen is filled into the liquid nitrogen container from the opening of the elbow. And after the filling is finished, the pressure relief end cover is screwed back to the elbow.
Inputting target nitrogen flow q from outside through keyboard or flow value for processing machine vision informationd。
Target nitrogen flow qdObtaining the flow deviation q by subtracting the actual flow qe。
Detecting whether there is a stop signal, and if there is no stop signal, according to the flow deviation qeDevice internal liquid nitrogen density rho calculated by reading sensor datalAnd nitrogen density ρgCalculating the theoretical nitrogen flow q of the current state by carrying out pressurization conveying0And the mass m of liquid nitrogen consumed by pressurized transportationh. The calculation process is that a nitrogen volume V calculation formula (2) after t time in the liquid nitrogen container and a nitrogen substance amount n calculation formula (3) are substituted into an ideal gas state equation (1) to obtain an equation (4). Equation (4) and equation (5) are combined to obtain the volume V of the evaporated liquid nitrogen in the t timeeThe mass of the nitrogen gas generated by vaporization subtracted from the mass of the evaporated liquid nitrogen in the formula (6) is the mass m of the discharged liquid nitrogenpAnd (4) evaporating the liquid nitrogen at the position of the flowmeter, and converting the mass of the liquid nitrogen discharged by the formula (8) into the volume flow of the nitrogen. Equation (9) is the calculated mass of vaporized liquid nitrogen for heat transfer control calculation.
PV＝nRT (1)
V＝V0+Vet (2)
n＝n0+net (3)
P(V0+Vet)＝(n0+net)RT (4)
P0V0＝n0RT0 (5)
mp＝Veρl-Veρg (7)
mh＝Veρl (9)
V0Initial gas volume, m3；
VeVolume of liquid nitrogen evaporated, m3；
n0-amount of initial nitrogen species, mol;
ne-amount of mass of vaporized liquid nitrogen, mol;
P0-initial gas phase pressure, Pa;
p-equilibrium gas phase pressure, Pa;
r is the molar gas constant, J/(mol.K);
T0-initial gas temperature, K;
t-equilibrium gas temperature, K;
m is gas molar volume, mol/L;
ρlinternal liquid nitrogen density, g/m3；
ρgInternal nitrogen density, g/m3；
ρNExternal Nitrogen Density, g/m3；
S2Flow cross-sectional area of the flowmeter, m3；
mh-mass of evaporated liquid nitrogen, g;
mpmass of nitrogen theoretically discharged for the current state, g;
q0current state nitrogen theoretical flow, m3/s。
The formula (10) (11) is a general state equation of the latent heat of vaporization for calculating the latent heat of vaporization Δ h of the liquid nitrogen in the current state, and the latent heat of vaporization of the liquid nitrogen in the current state is substituted for the formula (12) to calculate the heat quantity Q required for vaporization of the liquid nitrogen.
Q＝Δh·mh (12)
Tb-normal boiling point, ° c;
Tc-critical temperature, ° c;
T(r,c-b)-the fluid corresponds to the state temperature, deg.c;
delta h is the latent heat of vaporization of liquid nitrogen in the current state, J/g;
mhmass of vaporized liquid nitrogen, g;
q-the heat absorbed by vaporization of liquid nitrogen, J.
The solenoid valve is opened.
Air volume calculation
The volume of air required for heat transfer is calculated by substituting equation (13) for equation (14) based on the required heat quantity Q and the temperature change DeltaT of air flowing through the heat transfer layer.
ΔT＝TInto-TGo out (13)
Q＝CmairΔT (14)
Q-heat flowing into the system, J;
Tinto-inlet air temperature, ° c;
Tgo out-outlet air temperature, ° c;
mair-the mass of air flowing through the heat transfer layer, g;
ρairdensity of air, g/m3。
And calculating the rotation angle required by the motor of the micro vacuum pump, and pumping low-temperature air out and pumping external air into the heat transfer layer by the micro vacuum pump to realize heat transfer regulation.
The difference q between the target flow and the actual flow is obtainedeAnd substituting the amount of change S in the opening area into the flow equation (16) to obtain equation (17) to calculate the flow rate. The current rocker angle theta is calculated according to a cam mechanism passing formula (18) formed by the rocker, the blade and the sliding chute0Corresponding to the opening area S0Will S0And S is substituted for the formula (19) to obtain the opening area S1The rotation angle theta to be reached by the rocker is calculated by the equation (20)1。
q＝KAΔpm (16)
qe＝KSΔpm (17)
S1＝S0+S (19)
A-regulating port flow area, m2；
Δ p — differential pressure before and after the regulation orifice, Pa;
k is the throttling coefficient;
m-a coefficient determined by the shape and structure of the adjustment orifice;
qedifference between target flow and actual flow, m3/s；
S0Amount of change in opening area, m2
S0Current opening area, m2；
S1The area of the opening to be achieved, m2；
r is radius of boss circumference array on rocker, m;
θ0-current rocker angle, °;
θ1-the rocker angle, degree, to be reached.
The motor drives the rocker to adjust the opening area to adjust the nitrogen flow, and the micro turbine flowmeter detects and feeds back the nitrogen flow q at the nozzle.
When the liquid nitrogen gun receives a stop signal, the opening adjusting motor returns to the initial position to close the opening adjusting mechanism, the electromagnetic valve is in a closed state, the data P of the pressure sensor of the heat transfer layer is read, the micro vacuum pump continuously pumps out air in the heat transfer layer until the P is smaller than a specified value, and the micro vacuum pump stops working. The heat transfer layer is at negative pressure, so that heat transfer to liquid nitrogen is reduced, and waste is reduced.
Claims (10)
1. A full-automatic intelligent liquid nitrogen gun for skin cryotherapy with multiple sensors and integrated driving and control functions comprises a spray head (1), a liquid nitrogen container, an opening adjusting unit, a heat transfer adjusting unit, a pressure relief mechanism and a sensor group; it is characterized in that the preparation method is characterized in that,
the opening adjusting unit is used for adjusting the opening area of the container cover of the liquid nitrogen container according to the deviation of the actual flow and the target flow of the liquid nitrogen and/or the nitrogen to control the flow of the liquid nitrogen and/or the nitrogen at the nozzle of the spray head;
the sensor group comprises a micro turbine flowmeter (2), a plurality of temperature sensors and a plurality of air pressure sensors; the micro turbine flowmeter (2) is arranged on the opening adjusting unit and used for measuring the nitrogen flow at the inlet of the spray head (1) as feedback to carry out closed-loop control; the temperature sensors comprise a liquid phase temperature sensor (12) arranged at the inner lower part of the inner container (7), a gas phase temperature sensor (33) arranged on the inner surface of the container cover of the liquid nitrogen container, an inlet end temperature sensor (21) arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing into an air circulation heat transfer channel in the side wall of the liquid nitrogen container main body, and an outlet end temperature sensor (17) arranged on the heat transfer adjusting unit and used for measuring the temperature of air flowing out of the air circulation heat transfer channel in the side wall of the liquid nitrogen container main body; the plurality of air pressure sensors comprise a heat transfer layer pressure sensor (14) arranged in an air circulation heat transfer channel on the side wall of the liquid nitrogen container body and an internal pressure sensor (36) arranged on the inner surface of the container cover of the liquid nitrogen container;
the heat transfer adjusting unit is used for transferring heat required by vaporization of liquid nitrogen into the inner container (7) of the liquid nitrogen container main body by controlling air flow of the heat transfer layer on the side wall of the liquid nitrogen container main body; the heat transfer adjusting unit is also used for keeping the inner heat transfer layer of the side wall of the liquid nitrogen container main body in a vacuum state so as to prevent the liquid nitrogen of the inner container (7) from absorbing heat and gasifying;
the pressure relief mechanism is used for automatically releasing air to ensure safety when the air pressure in the liquid nitrogen container exceeds a safety range; the pressure relief mechanism is arranged on a liquid nitrogen injection pipe (37) on a liquid nitrogen container cover (4).
2. The full-automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions as claimed in claim 1, wherein the liquid nitrogen container comprises a container cover (4), a sealing ring (6) and a liquid nitrogen container body, the container cover (4) is assembled on an opening of the liquid nitrogen container body through the sealing ring (6); the liquid nitrogen container main body comprises an inner container (7), a heat exchange spiral plate (8) and a shell (10), the heat exchange spiral plate (8) is installed between the inner container (7) and the shell (10), the annular space between the inner container (7) and the shell (10) is made to form a spiral air circulation heat transfer channel (9) (the heat exchange spiral plate 8 is installed between the inner container (7) and the shell (10), the heat exchange spiral plate 8 enables air to flow downwards in the spiral mode between the inner container (7) and the shell (10), and a liquid nitrogen injection pipe (37) and a liquid nitrogen output pipe (11) are installed on the container cover (4).
3. The fully automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and controlling functions as claimed in claim 1 or 2, characterized in that the opening adjusting unit comprises a motor (28), a motor bracket (29), a rocker (30), a flange (31), a set of blades (32), an initial position limit switch (34) and a limit position limit switch (35); the motor bracket (29) is arranged on the container cover (4); the rocker (30) comprises a blade control ring 30-1, a fan ring 30-2 and a limit switch touch end 30-3, wherein the blade control ring 30-1 is positioned between the limit switch touch end 30-3 and the fan ring 30-2 and is connected together or integrally formed, and inner teeth are arranged on the inner wall of the outer ring of the fan ring 30-2; regular polygon sliding grooves (31-1) with the number of edges being consistent with the number of the blades (32) are arranged on the end surface of the boss end of the flange plate (31), and a step through hole communicated with a central hole in the container cover (4) is arranged on the flange plate (31); a group of blades (32) is arranged between the flange plate (31) and the container cover (4);
the central hole of the blade control ring 30-1 of the rocker (30) is coaxial with the cylindrical boss at the upper end of the container cover (4), the blade control ring 30-1 is sleeved on the cylindrical boss at the upper end of the central hole and the container cover (4), and the cylindrical bosses (30-1-1) at the upper end of the blade control ring 30-1, the number of which is consistent with that of the blades (32), are respectively matched with the notches (waist-shaped) (32-1) of a group of blades (32) one by one; a square boss (32-2) on each blade (32) is respectively matched with a notch on a corresponding side of the regular polygon sliding groove (31-1), a shaft end gear of a motor (28) arranged on a motor support (29) is meshed with internal teeth on a rocker (30), the motor (28) drives the rocker (30) to rotate, and the rocker (30) drives the blades (32) to move to control the opening area of a central hole on the container cover (4);
an initial position limit switch (34) and a limit position limit switch (35) are arranged on the upper surface of the container cover (4), and when the adjusting opening area reaches the positions of the rocker (30) with the minimum area and the maximum area respectively, a limit switch touch end 30-3 (T-shaped end) of the rocker (30) touches the initial position limit switch (34) and the limit position limit switch (35) respectively so as to protect the motor (28).
4. The full-automatic intelligent liquid nitrogen gun for skin cryotherapy with integrated multi-sensor, driving and controlling functions as claimed in claim 3, wherein the heat transfer adjusting unit comprises an outlet end quick connector (15), a three-way connector (16), a micro vacuum pump (18), an inlet end quick connector (19), a vacuum pump bracket (22), an outlet air pipe (23), an inlet air pipe (24) and an electromagnetic valve (25); the vacuum pump bracket (22) is arranged on the upper side of the shell (10); an inlet end quick connector (19) and an outlet end quick connector (15) are respectively arranged on the upper side and the lower side of the shell (10); the micro vacuum pump (18) and the electromagnetic valve (25) are respectively arranged on the vacuum pump bracket (22), and the air exhaust end of the micro vacuum pump (18) is communicated with the lower end of the heat transfer layer (9) through the air outlet pipe (23), the three-way joint (16) and the outlet end quick joint (15); one port of the electromagnetic valve (25) is communicated with the upper end of the spiral air circulation heat transfer channel (9) through an air inlet pipe (24) and an inlet end quick joint (19); when the electromagnetic valve (25) is opened, the micro vacuum pump (18) pumps low-temperature air out of the spiral air circulation heat transfer channel (9) through the outlet end quick connector (15), the three-way connector (16), the air outlet pipe (23) and the micro vacuum pump (18) and pumps outside normal-temperature air into the spiral air circulation heat transfer channel (9) through the electromagnetic valve (25), the air inlet pipe (24) and the inlet end quick connector (19) to realize heat transfer regulation; when the electromagnetic valve (25) is closed, the micro vacuum pump (18) continuously pumps air in the spiral air circulation heat transfer channel (9) until the pressure of the spiral air circulation heat transfer channel (9) reaches a specified value, the micro vacuum pump (18) stops working, at the moment, the heat transfer layer (9) is in negative pressure, and heat transfer to liquid nitrogen is reduced.
5. The fully automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions as claimed in claim 4, characterized in that for said sensor group, the inlet end of the micro turbine flowmeter (2) is mounted on the bracket (3) which is mounted on the container cover (4); the liquid phase temperature sensor (12) is arranged at the lower end of the infusion tube (11) through a liquid phase temperature sensor mounting rack (13); the internal pressure sensor (36) and the gas phase temperature sensor (33) are arranged on the inner side of the container cover (4) by bolts; the heat transfer layer pressure sensor (14) is arranged at the bottom of the inner side of the shell (10); an inlet end temperature sensor (21) is arranged on a vacuum pump bracket (22); an outlet end temperature sensor (17) is arranged on the three-way joint (16). The micro turbine flowmeter (2) is used for detecting and feeding back the flow of the nozzle and is a feedback device of a flow control loop; the liquid phase temperature sensor (12) and the gas phase temperature sensor (33) respectively measure the temperature of liquid nitrogen and nitrogen in the liquid nitrogen container to estimate the density of the liquid nitrogen and the pressure data collected by the internal pressure sensor (36) are used for pressurization conveying calculation; an inlet end temperature sensor (21) and an outlet end temperature sensor (17) respectively measure the air temperature at the inlet end and the outlet end of the heat transfer layer (9), and the difference value of the two is used for calculating the air volume; the heat transfer layer pressure sensor (14) measures and feeds back the pressure of the heat transfer layer in the closed state of the electromagnetic valve (25), and is the basis for controlling the micro vacuum pump (18) to stop working in the state.
6. The full-automatic intelligent liquid nitrogen gun for skin cryotherapy with integrated multi-sensor, driving and controlling functions according to claim 5, wherein the pressure relief mechanism comprises an elbow (37), a pressure relief end cap (38), a plug (39), a spring (40), a thin shaft (41) and a thin shaft end cap (42); the unthreaded end of the bent pipe (37) is coaxially matched with a corresponding hole of the container cover (4) and then welded; the pressure relief end cover (38) is connected with the threaded end of the elbow (37) through threads; the thin shaft end cover (42) is connected to the pressure relief end cover (38) through threads; the threaded end of the thin shaft (41) is in threaded connection with the plug (39), and the smooth end of the thin shaft is coaxially matched with the upper end hole of the thin shaft end cover (42); the spring (40) is sleeved on the thin shaft (41), two ends of the spring respectively abut against the plane of the plug (39) and the thin shaft end cover (42), and the plug (39) is pressed on the lower end opening of the pressure relief end cover (38); when the air pressure in the liquid nitrogen container exceeds a safety value, high-pressure nitrogen in the liquid nitrogen container jacks up the plug (39) and is discharged from the opening at the lower end of the pressure relief end cover (38) until the air pressure in the liquid nitrogen container returns to a safety range, the plug (39) is rebounded by the spring (40), and the opening at the lower end of the pressure relief end cover (38) is blocked again.
7. The full-automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions as claimed in claim 6, wherein the spray head (1) is installed at the outlet end of the micro-flowmeter, and spray heads (1) with different diameters can be replaced to adapt to skin sore surfaces with larger differences.
8. The fully automatic intelligent integrated multi-sensor, drive and control functions liquid nitrogen gun for skin cryotherapy according to claim 7, characterized in that it further comprises a mechanical interface (20) mounted on the housing (10); during manual operation, a handle (43) is arranged on the mechanical interface (20), a small keyboard (44) is arranged on the handle (43) for inputting signals manually, and a small screen (45) is arranged on the handle (43) for an operator to check current data; when the robot operates automatically, the mechanical interface (20) is arranged on a mechanical arm (46) carrying a visual sensor (47), a single chip microcomputer USB interface (49) on the liquid nitrogen gun is connected and communicated with a computer (48) through a USB data line (50), and information collected by the visual sensor (47) is processed by the computer (48) and then a control signal is automatically input to the liquid nitrogen gun.
9. The control method of the full-automatic intelligent skin cryotherapy liquid nitrogen gun with multiple sensors, integrated driving and controlling functions is characterized in that the input of a control system is target flow, and the target flow value is input by an operator through a small keyboard or is input from the outside of the system according to visual information.
10. The method for controlling the full-automatic intelligent skin cryotherapy liquid nitrogen gun with integrated multi-sensor, driving and control functions according to claim 9, wherein the method comprises the following steps:
calculating the rotation angle of an opening adjusting motor according to the difference value between the target flow and the actual flow, driving a rocker (30) by a motor (28) to adjust the opening area to adjust the nitrogen flow, and detecting and feeding back the nitrogen flow at the nozzle by a micro turbine flowmeter (2); calculating the mass of liquid nitrogen required to be consumed in pressurizing and conveying according to the flow deviation, the density of liquid nitrogen in the device in the current state and the density of nitrogen, and further calculating the heat required by vaporization of the liquid nitrogen; when the liquid nitrogen gun works, the electromagnetic valve (25) is in an open state, the volume of air required by heat transfer is calculated according to the required heat and the temperature change of the air flowing through the heat transfer layer, the required rotation angle of the motor of the micro vacuum pump is calculated, and the micro vacuum pump (18) is controlled to pump low-temperature air out and pump external air into the heat transfer layer to realize heat transfer regulation; when the liquid nitrogen gun receives a stop signal, the electromagnetic valve is in a closed state, the micro vacuum pump continuously pumps out air in the heat transfer layer until the pressure of the heat transfer layer reaches a specified value, the micro vacuum pump stops working, and at the moment, the heat transfer layer is at a negative pressure, so that heat transfer to the liquid nitrogen is reduced.
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| CN114631892A (en) * | 2022-03-15 | 2022-06-17 | 哈尔滨工业大学 | Intelligent skin disease medical robot system capable of automatically diagnosing and treating |
| CN114800583A (en) * | 2022-04-18 | 2022-07-29 | 浙江大学 | Two-phase driving flexible paw |
| CN117942152A (en) * | 2024-02-20 | 2024-04-30 | 首都医科大学附属北京天坛医院 | Controllable steady voltage constant temperature's liquid nitrogen therapeutic instrument |
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| CN114800583B (en) * | 2022-04-18 | 2023-09-26 | 浙江大学 | Two-phase driving flexible paw |
| CN117942152A (en) * | 2024-02-20 | 2024-04-30 | 首都医科大学附属北京天坛医院 | Controllable steady voltage constant temperature's liquid nitrogen therapeutic instrument |
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