Decompression traction device capable of accurately positioning angle and control method

Abstract

The invention relates to a pressure reduction traction device capable of accurately positioning an angle and a control method, the pressure reduction traction device comprises a guide wheel, a sensor wheel, a force value sensor and a force value sensor connecting seat, the traction device comprises a driving device, and a traction belt is wound on the driving device and sequentially passes through the guide wheel and the sensor wheel; the guide wheel and the sensor wheel are rotationally connected with the force value sensor connecting seat, and a force value sensor is fixedly arranged on the sensor wheel; the angle adjusting device is connected with the angle adjusting linear driver and comprises an angle driver, a roller, a side plate and an angle encoder, the angle driver and the roller are coaxially installed on the side plate and rotationally connected with the side plate, the angle encoder is fixed to the angle driver, and the traction belt penetrates out of the angle driver through the bottom of the roller; and the force value sensor and the angle encoder are connected with a controller. The traction force can completely act on the diseased joint, the traction force is adjustable, and a better treatment effect is achieved through a control method.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical instrument equipment, in particular to a decompression traction device with accurate angle positioning. BACKGROUND

[0002] At present, the treatment methods of cervical spondylosis and lumbar disc herniation include surgical treatment and non-surgical treatment. Surgical treatment is a kind of invasive method, which has strict indications and is not the first choice. Non-surgical treatment plays an important role in the treatment of cervical spondylosis and lumbar disc herniation, and has definite curative effect. Among them, decompression traction is one of the preferred methods for early treatment of cervical spondylosis and lumbar disc herniation. Decompression traction can relieve muscle spasm, relieve pain symptoms, increase intervertebral space and intervertebral foramen, so as to facilitate the reduction of nucleus pulposus and fibrous ring tissue that has been extruded, reduce the compression and stimulation of nerve root and vertebral artery, thereby promoting the absorption of nerve root edema and improving the blood supply of vertebral artery, promoting blood circulation, helping to resolve local congestion, swelling and hyperplasia, relaxing the adhesion of joint capsule, improving the physiological curvature of cervical spine, adjusting the dislocation of small joint and spondylolisthesis, and restoring the internal and external balance of cervical spine and the normal function of cervical spine that has been damaged.

[0003] At present, the decompression traction device is mainly horizontal traction and manual adjustment of traction angle. There are traction devices with automatic angle adjustment. The angle adjustment is obtained according to the angle calculated by trigonometric function (the angle obtained by using trigonometric function to convert according to the length of one straight side and the length of the inclined side of a triangle). The traction angle obtained by this method will change with the change of traction position, resulting in error between the traction angle and the actual angle, so that the whole traction force cannot be applied to the diseased joint to affect the treatment effect. SUMMARY

[0004] In order to solve the problem of insufficient control precision of traction angle of the existing decompression traction device, a decompression traction device with accurate angle positioning and a control method are provided. The angle encoder is used to detect the angle change of the angle driver and the traction belt, so that the traction angle can be monitored in real time, the accurate traction is ensured without the influence of patient position, the traction force can be applied to the diseased joint, the traction force can be adjusted, and better treatment effect can be achieved through the control method.

[0005] To achieve the above object, the first aspect of the present application provides an angle precise positioning decompression traction device, comprising a support frame, a traction belt and a traction equipment, the traction equipment is fixed in the support frame, the traction equipment is used to drive the traction belt, further comprising a force value sensor assembly, an angle adjusting device and an angle adjusting linear driver, the force value sensor assembly comprises a guide wheel, a sensor wheel, a force value sensor and a force value sensor connecting seat, the traction equipment comprises a driving equipment, the traction belt is wound on the driving equipment, the traction belt passes through the guide wheel and the sensor wheel in sequence, and passes out of the support frame through the angle adjusting device, the guide wheel and the sensor wheel are rotationally connected with the force value sensor connecting seat, and the force value sensor is fixedly arranged on the sensor wheel; The angle adjusting device is connected with the angle adjusting linear driver, the angle adjusting device comprises an angle driver, a roller, a side plate and an angle encoder, the angle driver and the roller are coaxially installed on the side plate and rotationally connected with the side plate, and the angle encoder is fixed with the angle driver, and the traction belt passes through the bottom of the roller and out of the angle driver; The force value sensor and the angle encoder are connected with a controller, the controller is electrically connected with the driving equipment and the angle adjusting linear driver, and the controller is in communication connection with a display module.

[0006] Further, the force value sensor assembly further comprises a baffle, the baffle is two mirror image concave-shaped plate bodies, the two concave-shaped plate bodies are oppositely arranged, the guide wheel comprises guide wheels A and B, and the guide wheels A and B are rotationally connected with the two concave-shaped plate bodies respectively. The force value sensor connecting seat comprises a front fixed plate and a rear fixed plate, the front fixed plate is a few-shaped structure, the middle part of the front fixed plate is rotationally connected with the sensor wheel, and the end part of the front fixed plate is fixedly connected with the force value sensor. The rear fixed plate is a square plate, the rear fixed plate is fixed with the baffle, and the front end of the rear fixed plate is fixed with the force value sensor.

[0007] The guide wheels A and B are positioned and installed through the concave-shaped mirror image baffles, the transmission path of the traction belt is stable, and detection errors caused by deviation of the traction belt are avoided; the force value sensor connecting seat is split into a few-shaped front fixed plate and a square rear fixed plate, the front fixed plate meets the rotation requirement of the sensor wheel, the rear fixed plate realizes stable connection with the baffle, the force value sensor can accurately capture the pressure signal of the sensor wheel, the overall structural stability of the force value sensor assembly is improved, and force detection deviation caused by loosening of components is reduced.

[0008] Further, a one-shaped through slot is formed in the middle part of the baffle corresponding to the front fixed plate, and the one-shaped through slot is used for limiting the front fixed plate when moving.

[0009] The I-shaped through slot in the middle of the baffle provides movement limiting for the front fixed plate, can constrain the displacement direction of the front fixed plate under the action of the traction force, avoids the displacement of the front fixed plate from causing the contact misalignment of the sensor wheel and the traction belt, and further ensures the accuracy of the detection data of the force sensor, Further, the angle adjusting device further comprises an angle adjusting device connecting plate, an angle adjusting linear driver connecting seat and a traction connecting ring, the angle adjusting device connecting plate is a square plate, symmetrically provided with a sliding block at the corner of the angle adjusting device connecting plate, a plurality of sliding blocks are slidably connected with a slide rail, and limit plates are arranged at the two ends of the slide rail, and the upper end of the slide rail is fixedly connected with the support frame through the limit plates; The side of the angle adjusting device connecting plate away from the sliding block is fixedly connected with the angle adjusting linear driver connecting seat, and the angle adjusting linear driver connecting seat is fixedly connected to the upper portion of the angle adjusting device connecting plate; The angle adjusting linear driver connecting seat is fixedly connected with the angle adjusting linear driver.

[0010] When the patient pulls the traction belt due to posture change, and the angle driver deviates from the initial position, the angle adjusting linear driver drives the angle adjusting device connecting plate to rise or fall by elongation or shortening, and then changes the angle of the angle driver and the traction belt, compensates the angle, and makes the angle return to the initial value, so as to ensure that the traction force is fully applied to the diseased joint.

[0011] Further, the angle driver comprises a side plate and a connecting plate, the side plate comprises a circular portion and a square portion, the circular portion and the square portion are connected in a circular arc transition manner, the connecting plate is a square structure, a I-shaped through hole is formed in the middle of the connecting plate, and the side plates are symmetrically arranged on the two sides of the connecting plate; The inner side of the circular portion is rotatably connected with the side plate, and an angle encoder is fixedly arranged on the outer side of one of the circular portions; The traction belt passes through the I-shaped through hole to connect the traction connecting ring.

[0012] The rotation connection between the circular portion and the side plate ensures smooth rotation of the angle driver, the cooperation between the square portion and the connecting plate improves the structural strength, the I-shaped through hole in the middle of the connecting plate provides a stable passing channel for the traction belt to avoid deviation of the traction belt during transmission, the angle encoder is fixed on the outer side of the circular portion, can directly and synchronously capture the rotation angle of the angle driver, and ensures the real-time and accuracy of angle detection, and provides reliable data support for accurate angle adjustment.

[0013] Further, a shell is arranged on the outer side of the angle driver, and a notch is formed in the shell corresponding to the traction belt; The support frame is a square frame, a surrounding plate is arranged on the outer side of the support frame, the surrounding plate comprises a front surrounding plate, a long strip-shaped through hole is formed in the front surrounding plate corresponding to the shell, and the long strip-shaped through hole is used for movement limiting of the angle driver.

[0014] The shell outside the angle driver can prevent dust and collision for the internal components, prolong the service life of the angle encoder and the angle driver, and improve the overall safety of the lifting device of the surrounding plate outside the support frame. The long hole of the front surrounding plate provides a limit for the movement of the angle driver, avoids excessive displacement of the angle driver during angle adjustment, and prevents the traction belt from loosening or breaking, thereby ensuring the stability and safety of the traction process.

[0015] Further, the surrounding plate comprises a bottom plate, and a plurality of moving wheels are arranged on the bottom plate.

[0016] The second aspect of the present application provides a control method of a pressure reduction traction device with accurate angle positioning, comprising: Step 1: The controller receives the angle value sent by the angle encoder and compares the angle value with the set value. When the angle value is greater than the set value, the controller performs PID calculation according to the angle value and the set value to obtain a first speed, and the controller controls the angle adjustment linear driver to descend at the first speed. When the angle value is less than the set value, the controller performs PID calculation according to the angle value and the set value to obtain a second speed, and the controller controls the angle adjustment linear driver to ascend at the second speed. When the angle value is equal to the set value, the controller controls the angle adjustment linear driver to stop. Step 2: The controller receives the sensing force value sent by the force value sensor and compares the sensing force value with the set traction value. When the sensing force value is greater than the set traction value, the controller performs PID calculation according to the sensing force value and the set traction value to obtain a first rotation speed, and the controller controls the driving device to rotate forward at the first rotation speed. When the sensing force value is less than the set traction value, the controller performs PID calculation according to the sensing force value and the set traction value to obtain a second rotation speed, and the controller controls the driving device to rotate reversely at the second rotation speed. When the sensing force value is equal to the set traction value, the controller controls the driving device to stop rotating.

[0017] The PID algorithm is used to realize closed-loop control of angle and force. During angle adjustment, the speed of the linear driver is dynamically adjusted according to the deviation between the actual angle and the set value. During force control, the rotation speed of the driving device is dynamically adjusted according to the deviation between the actual traction force and the set value, thereby avoiding the hysteresis and overshoot problems in the prior art. Further, modes 1-8 are set according to steps 1 and 2: Mode 1: linearly increases to the set traction value, and then linearly decreases to zero after the intermittent time. After the intermittent time ends, the traction force again linearly reaches the set traction value, and the cycle is repeated. After the traction time ends, the linear traction value decreases to zero. Mode 2: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the interval time is reached, the traction force is linearly reduced to 50% of the set traction value. After the interval time ends, the traction force is again linearly increased to the set traction value. When the traction time ends, the traction force is linearly reduced to zero. Mode 3: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the interval time is reached, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value. After the interval time ends, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. This cycle continues until the traction time ends, at which point reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value to end. Mode 4: Set the traction value to 50%. After the interval time ends, the traction force is again linearly increased to the set traction value. This cycle continues until the traction time ends, at which point the traction force is linearly reduced to zero. Mode 5: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the interval time is reached, the traction force is linearly reduced to 50% of the set traction value. After the interval time ends, the traction force is again linearly increased to the set traction value. When the traction time ends, the traction force is linearly reduced to zero. Mode 6: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the interval time is reached, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 50% traction value. After the interval time ends, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. This cycle continues until the traction time ends, at which point reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value to end.

[0018] Mode 7: The interval time is zero. After starting traction, reach the set traction value linearly. When the traction time ends, the traction force is linearly reduced to zero.

[0019] Mode 8: The interval time is zero. After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the traction time ends, the traction force is linearly reduced to zero.

[0020] 8 kinds of traction modes cover various scenes such as 'linear force, stage force, intermittent adjustment and no intermittent traction', and can be flexibly selected according to the patient's condition (such as early mild protrusion, medium-term muscle spasm) and tolerance (such as elderly patients, young patients).

[0021] Through the above technical solutions, the present application has the following beneficial effects: 1. The present application realizes the dual precise control of the traction angle and the force, the angle encoder can capture the actual angle change of the traction belt in real time, avoids the error of the trigonometric function conversion in the prior art, and when the patient's activity deviates the angle driver, the angle adjustment linear driver can quickly compensate the angle deviation through lifting, and ensures that the traction angle always matches the set value. The force sensor directly senses the traction force through the sensor wheel, combined with the stable transmission path design, ensures the accuracy of the force detection, and finally makes the traction force fully act on the diseased joint. Ensure the treatment effect.

[0022] 2. The control method of the present application constructs a closed-loop adjustment system of 'angle and force' based on the PID algorithm, can dynamically adjust the speed of the angle adjustment linear driver and the rotating speed of the driving device according to the real-time feedback of the angle encoder and the force sensor, avoids the adjustment lag and overshoot problem, realizes the stable matching of the angle and the force; At the same time, the designed 8 kinds of traction modes cover the treatment needs of patients with different conditions and tolerance, through the individualized force rhythm and intermittent logic, not only improve the adaptability of treatment, but also further optimize the treatment effect. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is one of the structural schematic diagrams of the angle precise positioning decompression traction device of the present application; Figure 2 It is the second structural schematic diagram of the angle precise positioning decompression traction device of the present application; Figure 3 It is the structural schematic diagram of the force sensor assembly of the angle precise positioning decompression traction device of the present application; Figure 4 It is the angle adjustment device structural schematic diagram of the angle precise positioning decompression traction device of the present application; Figure 5 It is the combined structure schematic diagram of the force sensor assembly and the angle adjustment device of the angle precise positioning decompression traction device of the present application; Figure 6 It is the angle driver structural schematic diagram of the angle precise positioning decompression traction device of the present application; Figure 7 It is the operation schematic diagram of the angle precise positioning decompression traction device of the present application.

[0024] Reference numerals: 1 is the drive device, 2 is the force sensor assembly, 3 is the traction belt, 4 is the angle adjustment linear actuator, 5 is the angle adjustment device, 6 is the slider, 7 is the slide rail, 8 is the support frame, 9 is the display module, 10 is the controller, 11 is the housing, 12 is the enclosure, 201 is the guide wheel A, 202 is the guide wheel B, 203 is the sensor wheel, 204 is the force sensor, 205 is the force sensor connector, 206 is the baffle, 501 is the angle adjustment device connector plate, 502 is the side plate, 503 is the roller, 504 is the traction connecting ring, 505 is the angle actuator, 506 is the angle encoder, 507 is the angle adjustment linear actuator connector, 5051 is the side plate, and 5052 is the connecting plate. Detailed Implementation

[0025] Example 1 like Figures 1-7 As shown, a pressure-reducing traction device with precise angle positioning includes a support frame 8, a traction belt 3, and a traction device. The traction device is fixed inside the support frame 8 and is used to drive the traction belt 3. It also includes a force sensor assembly 2, an angle adjustment device 5, and an angle adjustment linear actuator 4. The force sensor assembly 2 includes a guide wheel, a sensor wheel 203, a force sensor 204, and a force sensor connecting seat 205. The traction device includes a drive device 1, on which the traction belt 3 is wound. The traction belt 3 passes through the guide wheel and the sensor wheel 203 in sequence, and passes through the angle adjustment device 5 to exit the support frame 8. The guide wheel and the sensor wheel 203 are rotatably connected to the force sensor connecting seat 205. The force sensor 204 is fixedly installed on the sensor wheel 203. The angle adjustment device 5 is connected to the angle adjustment linear driver 4. The angle adjustment device 5 includes an angle driver 505, a roller 503, a side plate 502 and an angle encoder 506. The angle driver 505 and the roller 503 are coaxially mounted on the side plate 502 and are rotatably connected to the side plate 502. The angle encoder 506 is fixed to the angle driver 505. The traction belt 3 passes through the bottom of the roller 503 and exits from the angle driver 505. The force sensor 204 and the angle encoder 506 are connected to a controller 10, which is electrically connected to the drive device 1 and the angle adjustment linear drive 4. The controller 10 is also communicatively connected to a display module 9.

[0026] The force sensor assembly 2 also includes a baffle 206, which is two concave plates arranged in a mirror image, with the two concave plates facing away from each other. The guide wheel includes a guide wheel A201 and a guide wheel B202, which are rotatably connected to the two concave plates respectively. The force value sensor connecting seat 205 comprises a front fixed plate and a rear fixed plate, the front fixed plate is a few character-shaped structure, the middle part of the front fixed plate is rotationally connected with the sensor wheel 203, and the end part of the front fixed plate is fixedly connected with the force value sensor 204; The rear fixed plate is a square plate, the rear fixed plate is fixed with the baffle 206, and the front end of the rear fixed plate is fixed with the force value sensor 204.

[0027] The middle part of the baffle 206 is provided with a character-shaped through slot corresponding to the front fixed plate, and the character-shaped through slot is used for limiting the front fixed plate when moving.

[0028] The angle adjusting device 5 further comprises an angle adjusting device connecting plate 5052, an angle adjusting linear driver connecting seat 507 and a traction connecting ring 504, the angle adjusting device connecting plate 5052 is a square plate, symmetrically provided with a sliding block 6 at the corner of the angle adjusting device connecting plate 5052, a plurality of sliding blocks 6 are slidably connected with a sliding rail 7, and the sliding rail 7 is provided with a limiting plate at both ends, and the upper end of the sliding rail 7 is fixedly connected with a supporting frame 8 through the limiting plate; The angle adjusting device connecting plate 5052 is fixedly connected with the angle adjusting linear driver connecting seat 507 on the side away from the sliding block 6, and the angle adjusting linear driver connecting seat 507 is fixed on the upper part of the angle adjusting device connecting plate 5052; The angle adjusting linear driver connecting seat 507 is fixedly connected with the angle adjusting linear driver 4.

[0029] The angle driver 505 comprises a side plate 5051 and a connecting plate 5052, the side plate 5051 comprises a circular part and a square part, the circular part and the square part are arc transitionally connected, the connecting plate 5052 is a square structure, a character-shaped through hole is formed in the middle part of the connecting plate 5052, and the side plates 5051 are symmetrically arranged on both sides of the connecting plate 5052; The inner side of the circular part is rotationally connected with the side plate 502, and an angle encoder 506 is fixedly arranged on the outer side of one circular part; The traction belt 3 passes through the character-shaped through hole to connect the traction connecting ring 504.

[0030] The outer side of the angle driver 505 is provided with a shell 11, and the shell 11 is provided with a notch corresponding to the traction belt 3; The supporting frame 8 is a square frame, the outer side of the supporting frame 8 is provided with a surrounding plate 12, the surrounding plate 12 comprises a front surrounding plate, the front surrounding plate is provided with an elongated hole corresponding to the shell 11, and the elongated hole is used for limiting the movement of the angle driver 505.

[0031] The surrounding plate 12 comprises a bottom plate, and a plurality of moving wheels are arranged on the bottom plate.

[0032] In operation, the angle accurate positioning decompression traction device needs to be equipped with a bed body, and the patient lies on the bed, and the treatment part is connected with the traction connecting ring 504 through the rope sleeve. The treatment can be waist treatment or neck treatment. In the embodiment, the force value sensor 204 is a tension sensor, the angle adjusting linear driver 4 is an electric push rod, and the driving device 1 comprises a motor and a speed reducer. The controller 10 is a display module 9.

[0033] The medical staff inputs the treatment parameters including the target traction angle, the target traction force, the traction time length and the like core parameters into the controller 10 through the display module 9, and the controller completes the initialization setting after receiving the parameters.

[0034] One end of the traction belt 3 is wound on the driving device 1, sequentially passes through the guide wheel A 201, the sensor wheel 203 and the guide wheel B 202, passes through the bottom of the roller 503 of the angle adjusting device 5 to the letter-shaped through hole of the angle driver 505, and finally is fixed with the patient's rope sleeve through the traction connecting ring 504, so that the transmission path of the traction belt is smooth and does not jam.

[0035] The controller 10 sends an initial angle adjusting instruction to the angle adjusting linear driver 4, the angle adjusting linear driver 4 drives the angle adjusting device connecting plate 501 to act through the angle adjusting linear driver connecting seat 507, and then adjusts the overall height of the angle adjusting device 5.

[0036] The angle driver 505 is coaxially installed with the roller 503, and the angle change of the traction belt 3 directly drives the angle driver 505 to rotate, and the angle encoder 506 fixed with the angle driver synchronously captures the rotation angle, converts the real-time angle signal into an electric signal and transmits it to the controller 10.

[0037] The controller 10 compares the real-time angle with the target angle and adjusts according to the control method.

[0038] The controller 10 sends a traction instruction to the driving device 1, the motor drives the traction belt 3 to tighten after being decelerated by the speed reducer, and applies a traction force to the treatment part of the patient.

[0039] In the process of tightening the traction belt 3, the sensor wheel 203 will be pressed, and the force value sensor 204 on the sensor wheel 203 converts the pressure signal into traction force data and feeds back to the controller 10 in real time.

[0040] In this process, the letter-shaped through slot of the baffle 206 limits the front fixed plate of the force value sensor connecting seat 205, so as to avoid the misalignment of the sensor wheel and the traction belt caused by the deviation of the front fixed plate, and ensure the traction force detection accuracy.

[0041] In the traction process, if the patient's body movement drags the traction belt 3, the angle driver 505 will be rotated again, the angle encoder 506 captures the angle deviation data in real time and feeds back to the controller 10.

[0042] The controller 10 adjusts the height of the angle adjusting linear driver 4 to compensate for the rotation angle of the angle driver 505, so that the angle of the angle driver 505 is restored.

[0043] At the same time, the force value sensor 204 continuously monitors the change of the traction force. If the traction force fluctuates due to the patient's activity, the controller synchronously adjusts the motor speed of the driving device 1 to quickly restore the traction force to the target value, ensuring that the traction force always accurately acts on the affected joint.

[0044] A control method of an angle-accurately-positioned decompression traction device, comprising the following steps: 1. The controller 10 receives the angle value sent by the angle encoder 506, and compares the angle value with the set value. When the angle value is greater than the set value, the controller 10 performs PID calculation according to the angle value and the set value to obtain a first speed, and the controller 10 controls the angle adjusting linear driver 4 to descend at the first speed; When the angle value is less than the set value, the controller 10 performs PID calculation according to the angle value and the set value to obtain a second speed, and the controller 10 controls the angle adjusting linear driver 4 to ascend at the second speed; When the angle value is equal to the set value, the controller 10 controls the angle adjusting linear driver 4 to stop; 2. The controller 10 receives the sensing force value sent by the force value sensor 204, and compares the sensing force value with the set traction value. When the sensing force value is greater than the set traction value, the controller 10 performs PID calculation according to the sensing force value and the set traction value to obtain a first speed, and the controller 10 controls the driving device 1 to rotate forward at the first speed; When the sensing force value is less than the set traction value, the controller 10 performs PID calculation according to the sensing force value and the set traction value to obtain a second speed, and the controller 10 controls the driving device 1 to rotate reversely at the second speed; When the sensing force value is equal to the set traction value, the controller 10 controls the driving device 1 to stop rotating.

[0045] According to steps 1 and 2, modes 1-8 are set: Mode 1: linearly increases to the set traction value, and then linearly decreases to zero after reaching the intermittent time. After the intermittent time ends, the traction force again linearly reaches the set traction value, and this cycle continues until the traction time ends, and the linear traction value decreases to zero; Mode 2: reaches 60% of the set traction value after starting traction, stops for 5 seconds, reaches 80% of the set traction value, stops for 5 seconds, and finally reaches the set traction value. When reaching the intermittent time, the traction force linearly decreases to zero. After the intermittent time ends, the traction force again linearly reaches the set traction value, and this cycle continues until the traction time ends, and the linear traction value decreases to zero; Mode 3: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the intermittent time is reached, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value, stop. After the intermittent time ends, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. Repeat this cycle until the traction time ends, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value to end. Mode 4: Set the traction value to 50%. After the intermittent time ends, the traction force again linearly reaches the set traction value. Repeat this cycle until the traction time ends, and the linear traction value decreases to zero. Mode 5: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the intermittent time is reached, the traction force linearly decreases to 50% of the set traction value. After the intermittent time ends, the traction force again linearly reaches the set traction value. When the traction time ends, the linear traction value decreases to zero. Mode 6: After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the intermittent time is reached, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 50% of the traction value, stop. After the intermittent time ends, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. Repeat this cycle until the traction time ends, reach 80% of the set traction value, stop for 5 seconds, reach 60% of the set traction value, stop for 5 seconds, and reach 0 traction value to end.

[0046] Mode 7: The intermittent time is zero. After starting traction, linearly reach the set traction value. When the traction time ends, the linear traction value decreases to zero.

[0047] Mode 8: The intermittent time is zero. After starting traction, reach 60% of the set traction value, stop for 5 seconds, reach 80% of the set traction value, stop for 5 seconds, and finally reach the set traction value. When the traction time ends, the linear traction value decreases to zero.

[0048] The above-described embodiments are only preferred embodiments of the present application and are not intended to limit the scope of the present application. Any equivalent changes or modifications made to the structure, features, and principles described in the scope of the present application should be included in the scope of the present application.

Claims

1. A pressure-reducing traction device with precise angle positioning, comprising a support frame (8), a traction belt (3), and a traction device, wherein the traction device is fixed within the support frame (8) and is used to drive the traction belt (3), characterized in that, It also includes a force sensor assembly (2), an angle adjustment device (5), and an angle adjustment linear actuator (4). The force sensor assembly (2) includes a guide wheel, a sensor wheel (203), a force sensor (204), and a force sensor connector (205). The traction device includes a drive device (1). A traction belt (3) is wound on the drive device (1). The traction belt (3) passes through the guide wheel and the sensor wheel (203) in sequence, and passes through the angle adjustment device (5) and out of the support frame (8). The guide wheel and the sensor wheel (203) are rotatably connected to the force sensor connector (205). The force sensor (204) is fixedly installed on the sensor wheel (203). The angle adjustment device (5) is connected to the angle adjustment linear driver (4). The angle adjustment device (5) includes an angle driver (505), a roller (503), a side plate (502), and an angle encoder (506). The angle driver (505) and the roller (503) are coaxially mounted on the side plate (502) and are rotatably connected to the side plate (502). The angle encoder (506) is fixed to the angle driver (505). The traction belt (3) passes through the bottom of the roller (503) and exits from the angle driver (505). The force sensor (204) and the angle encoder (506) are connected to a controller (10), which is electrically connected to the drive device (1) and the angle adjustment linear drive (4). The controller (10) is also communicatively connected to a display module (9).

2. The pressure-reducing traction device with precise angle positioning according to claim 1, characterized in that, The force sensor assembly (2) also includes a baffle (206), which is two concave plates arranged in a mirror image, the two concave plates being arranged back to back, and the guide wheel including guide wheel A (201) and guide wheel B (202), the guide wheel A (201) and guide wheel B (202) being rotatably connected to the two concave plates respectively; The force sensor connector (205) includes a front fixing plate and a rear fixing plate. The front fixing plate has a Z-shaped structure. The sensor wheel (203) is rotatably connected to the middle of the front fixing plate, and the force sensor (204) is fixedly connected to the end of the front fixing plate. The rear fixing plate is a square plate, and the rear fixing plate is fixed to the baffle (206). The front end of the rear fixing plate is fixed to the force sensor (204).

3. The pressure-reducing traction device with precise angle positioning according to claim 1, characterized in that, A straight through groove is provided in the middle of the baffle (206) corresponding to the front fixed plate. The straight through groove is used to limit the movement of the front fixed plate.

4. The pressure-reducing traction device with precise angle positioning according to claim 1, characterized in that, The angle adjustment device (5) also includes an angle adjustment device connecting plate (5052), an angle adjustment linear driver connecting seat (507), and a traction connecting ring (504). The angle adjustment device connecting plate (5052) is a square plate. Slider (6) is symmetrically arranged at the corners of the angle adjustment device connecting plate (5052). Multiple sliders (6) are slidably connected to slide rails (7). Limit plates are provided at both ends of the slide rails (7). The upper end of the slide rails (7) is fixedly connected to the support frame (8) through the limit plates. Angle adjustment device connecting plate (5052) is fixedly connected to angle adjustment linear driver connecting seat (507) on the side away from slider (6), and the angle adjustment linear driver connecting seat (507) is fixed on the upper part of angle adjustment device connecting plate (5052); Angle adjustment linear actuator connector (507) is fixedly connected to angle adjustment linear actuator (4).

5. The pressure-reducing traction device with precise angle positioning according to claim 4, characterized in that, The angle actuator (505) includes a side plate (5051) and a connecting plate (5052). The side plate (5051) includes a circular part and a square part, which are connected by an arc transition. The connecting plate (5052) has a square structure and a through hole in the middle of the connecting plate (5052). The side plates (5051) are symmetrically arranged on both sides of the connecting plate (5052). The inner side of the circular part is rotatably connected to the side plate (502), and an angle encoder (506) is fixedly installed on the outer side of one of the circular parts. The traction belt (3) passes through a through hole and connects to the traction connecting ring (504).

6. The pressure-reducing traction device with precise angle positioning according to claim 1, characterized in that, The angle actuator (505) is provided with a housing (11) on the outside, and the housing (11) has a notch corresponding to the traction belt (3); The support frame (8) is a square frame, and a surrounding plate (12) is provided on the outside of the support frame (8). The surrounding plate (12) includes a front surrounding plate, and the front surrounding plate has an elongated through hole corresponding to the housing (11). The elongated through hole is used to limit the movement of the angle actuator (505).

7. The pressure-reducing traction device with precise angle positioning according to claim 6, characterized in that, The enclosure (12) includes a base plate on which a plurality of casters are provided.

8. A control method for a pressure-reducing traction device with precise angle positioning according to any one of claims 1-7, characterized in that, include: Step 1: The controller (10) receives the angle value sent by the angle encoder (506) and compares the angle value with the set value. When the angle value is greater than the set value, the controller (10) performs PID calculation based on the angle value and the set value to obtain the first speed. The controller (10) controls the angle adjustment linear drive (4) to descend at the first speed. When the angle value is less than the set value, the controller (10) performs PID calculation based on the angle value and the set value to obtain the second speed. The controller (10) controls the angle adjustment linear drive (4) to rise at the second speed. When the angle value equals the set value, the controller (10) controls the angle adjustment linear drive (4) to stop; Step 2: The controller (10) receives the sensing force value sent by the force sensor (204) and compares the sensing force value with the set traction value. When the sensing force value is greater than the set traction value, the controller (10) performs PID calculation based on the sensing force value and the set traction value to obtain the first rotation speed. The controller (10) controls the drive device (1) to rotate in the forward direction at the first rotation speed. When the sensing force value is less than the set traction value, the controller (10) performs PID calculation based on the sensing force value and the set traction value to obtain the second speed. The controller (10) then controls the drive device (1) to rotate in the opposite direction at the second speed. When the sensing force value equals the set traction value, the controller (10) controls the drive device (1) to stop rotating.

9. The control method for a pressure-reducing traction device with precise angle positioning according to claim 8, characterized in that, Set up modes 1-8 according to steps 1 and 2: Mode 1: The traction force increases linearly to the set traction value. After the interval time is reached, the traction force decreases linearly to zero. After the interval time ends, the traction force again increases linearly to the set traction value. This cycle repeats until the traction time ends and the traction value decreases linearly to zero. Mode 2: After starting traction, the traction force reaches 60% of the set traction value, pauses for 5 seconds, reaches 80% of the set traction value, pauses for 5 seconds, and finally reaches the set traction value. When the interval time is reached, the traction force decreases linearly to zero. After the interval time ends, the traction force again reaches the set traction value linearly. This cycle continues until the traction time ends and the traction value decreases linearly to zero. Mode 3: After starting traction, when it reaches 60% of the set traction value, pause for 5 seconds; when it reaches 80% of the set traction value, pause for 5 seconds; and finally reach the set traction value. After the interval time, when it reaches 80% of the set traction value, pause for 5 seconds; when it reaches 60% of the set traction value, pause for 5 seconds; when it reaches 0, stop. After the interval time ends, when traction reaches 60% of the set traction value, pause for 5 seconds; when it reaches 80% of the set traction value, pause for 5 seconds; and finally reach the set traction value, repeat this cycle. After the traction time ends, when it reaches 80% of the set traction value, pause for 5 seconds; when it reaches 60% of the set traction value, pause for 5 seconds; and finally reach 0, the traction value ends. Mode 4: Set the traction value to 50%. After the interval ends, the traction force will linearly reach the set traction value again. This cycle will continue until the traction time ends and the traction value linearly decreases to zero. Mode 5: After starting traction, the traction force reaches 60% of the set traction value, pauses for 5 seconds, reaches 80% of the set traction value, pauses for 5 seconds, and finally reaches the set traction value. When the interval time is reached, the traction force decreases linearly to 50% of the set traction value. After the interval time ends, the traction force again reaches the set traction value linearly. After the traction time ends, the traction value decreases linearly to zero. Mode 6: After starting traction, when it reaches 60% of the set traction value, pause for 5 seconds; when it reaches 80% of the set traction value, pause for 5 seconds; and finally reach the set traction value. After the interval time, when it reaches 80% of the set traction value, pause for 5 seconds; when it reaches 60% of the set traction value, pause for 5 seconds; when it reaches 50% of the traction value, stop. After the interval time ends, when it reaches 60% of the set traction value, pause for 5 seconds; when it reaches 80% of the set traction value, pause for 5 seconds; and finally reach the set traction value, repeat this cycle. After the traction time ends, when it reaches 80% of the set traction value, pause for 5 seconds; when it reaches 60% of the set traction value, pause for 5 seconds; and finally reach 0% of the traction value, the process ends. Mode 7: The interval time is zero. After the traction starts, the migration value is linearly reached and then linearly reduced to zero after the traction time ends. Mode 8: The interval time is zero. After starting traction, it reaches 60% of the set traction value, stops for 5 seconds, reaches 80% of the set traction value, stops for 5 seconds, and finally reaches the set traction value. After the traction time ends, the traction value decreases to zero linearly.

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