Armrest device for bed-chair all-in-one machine, control system and control method

Abstract

The invention discloses an armrest device for a bed-chair all-in-one machine, a control system and a control method.The armrest device comprises an armrest overturning frame and an armrest fixing frame, the armrest fixing frame and the armrest overturning frame are rotationally connected through an overturning mechanism, and an arc-shaped armrest frame is installed at the top of the armrest overturning frame; the turnover mechanism comprises a turnover motor, a first speed reducer, a first coupler and a rotating shaft, an output shaft of the turnover motor is connected with the rotating shaft through the first speed reducer and the first coupler, the rotating shaft is sleeved with a rotating block, a fixing block is installed in the handrail fixing frame, and the handrail turnover frame is installed on the rotating block. And a locking mechanism is arranged between the armrest overturning frame and the fixing block. The turnover motor of the turnover mechanism finishes turnover of the handrail turnover frame in a limited space under the action of the handrail controller; through the control system and the control method, detection of the turnover state of the handrail and control over the variable speed of the motor are achieved, and therefore safe and accurate turnover of the handrail is achieved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation nursing technology, and more specifically, to an armrest device, a control system and a control method for a bed-chair integrated machine. Background Art

[0002] It is known that manual lifting or hydraulic damping lifting is widely used for the armrests of nursing beds on the market. The manual lifting structure is relatively simple and requires manual operation. After the armrest is raised, it is easy to produce a large amount of shaking, and the armrest has a small load-bearing capacity. The hydraulic damping lifting structure is complex, the manufacturing cost is high, and it requires manual control. It can be seen that the above two lifting schemes both require manual operation. In many cases, the care recipient himself does not have the ability to operate, which can easily cause safety risks without the help of nursing staff.

[0003] Therefore, an armrest device, a control system and a control method for a bed-chair integrated machine are proposed as a further improvement. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide an armrest device, a control system and a control method for a bed-chair all-in-one machine to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a device for an armrest of a bed-chair integrated machine, the device comprising: an armrest flip frame and an armrest fixing frame, the bottom of the armrest fixing frame is fixed on the bed-chair integrated machine, the armrest fixing frame is rotatably connected with the armrest flip frame through a flip mechanism, and the top of the armrest flip frame is fixedly installed with an arc-shaped armrest frame for contacting a carrier;

[0006] The flipping mechanism includes: a flipping motor, a first reducer, a first coupling and a rotating shaft, the flipping motor is fixedly installed inside the armrest fixing frame, the output shaft of the flipping motor is fixedly connected to the rotating shaft through the first reducer and the first coupling, a rotating block is fixedly sleeved on the surface of the rotating shaft, a fixed block is fixedly installed inside the armrest fixing frame, the rotating shaft rotates inside the fixed block, the bottom of the armrest flipping frame is fixedly installed on the rotating block, and a locking mechanism is arranged between the armrest flipping frame and the fixed block.

[0007] Furthermore, the locking mechanism comprises: a telescopic motor, a second reducer, a second coupling, a rotating screw, a screw fixing seat, a movable slider and a tapered limit pin;

[0008] The telescopic motor is fixedly installed inside the armrest flip frame, and the output shaft of the telescopic motor is fixedly connected to the rotating screw through the second reducer and the second coupling. The screw fixing seat is fixedly installed in the middle part of the armrest flip frame, and the rotating screw passes through the screw fixing seat and is threadedly connected to the movable slider. The rotating screw is rotatably connected to the screw fixing seat, and at least two conical limit pins are fixedly installed on the bottom of the movable slider. A sliding groove corresponding to the conical limit pin is opened on the rotating block, and at least two of the conical limit pins slide in the corresponding sliding grooves. A limit hole corresponding to the conical limit pin is opened on the surface of the fixed block, and at least two of the conical limit pins are inserted into the corresponding limit holes.

[0009] Furthermore, a pressure array sensor is fixedly mounted on the upper surface of the arc-shaped handrail frame;

[0010] A first limit sensor is fixedly mounted on the armrest fixing frame;

[0011] A second limit sensor is fixedly mounted on the rotating block;

[0012] A third limit sensor is fixedly mounted on one side of the screw rod fixing seat close to the movable sliding block.

[0013] A control system for an armrest device of a bed-chair integrated machine, comprising the device for an armrest of a bed-chair integrated machine,

[0014] The system comprises: a limit signal conditioning circuit module, an armrest controller, an armrest motor driver and a pressure sensor signal acquisition circuit module;

[0015] The signal output ends of the first limit sensor, the second limit sensor and the third limit sensor are all connected to the signal input ends corresponding to the limit signal conditioning circuit module; the signal output end of the limit signal conditioning circuit module is connected to the signal input end corresponding to the armrest controller; the armrest controller is respectively connected to the pressure sensor signal acquisition circuit module and the armrest motor driver signal; the armrest motor driver is respectively connected to the flip motor and the telescopic motor signal; the pressure sensor signal acquisition circuit module is connected to the pressure array sensor signal.

[0016] Furthermore, the power input terminals of the limit signal conditioning circuit module, the armrest controller, the armrest motor driver and the pressure sensor signal acquisition circuit module are all connected to the power output terminals corresponding to the system power circuit.

[0017] Furthermore, the armrest controller is connected to the core processor signal of the mobile wheelchair via a CAN bus;

[0018] The output end of the handrail controller is connected to the signal input end of the alarm circuit.

[0019] A control method for an armrest device and control system for a bed-chair integrated machine, comprising the device and control system, the control method comprising: a position detection method for the current position of the armrest, a method for calibrating the position of the armrest, and a method for controlling the movement of the armrest turning up and turning down;

[0020] The position detection method is specifically as follows:

[0021] A1: Before the armrest flip frame executes the flip motion command, it must first obtain the Hall pulse count values ​​n1 and n2 of the flip motor and telescopic motor and the status of the first limit sensor, the second limit sensor and the third limit sensor;

[0022] A2: Then the current flipping position of the armrest flip frame is determined through calculation processing of the armrest controller;

[0023] The calibration method: When the current position of the armrest flip frame cannot be determined, the steps of controlling the flip motor and the telescopic motor to perform position calibration are as follows:

[0024] B1: First calibrate the Hall value n2 of the telescopic motor and the zero position of the conical limit pin, and control the telescopic motor to rotate counterclockwise until the third limit sensor is triggered. At this time, the Hall value n2 of the telescopic motor is 0;

[0025] B2: Calibrate the Hall value n1 of the flip motor and the flip angle zero position, control the flip motor to rotate clockwise, and the armrest flip frame flips downward with the rotation axis as the center until the first limit sensor is triggered. At this time, the Hall value n1 of the flip motor is 0, and the armrest flip frame is in the homing hidden state. The flip angle α of the armrest flip frame is recorded as 0 degrees;

[0026] The action control method:

[0027] After the bed-chair integrated machine is separated, if the armrest flip frame of the wheelchair needs to be raised, the steps for flipping the armrest flip frame from bottom to top are as follows:

[0028] C1: The PWM1 module of the handrail controller sends out a control timing logic to control the flip motor to rotate counterclockwise, and the speed is limited to a lower speed through the first reducer, and the rotating shaft is driven to rotate through the first coupling, and the handrail flip frame starts to flip upward through the rotating shaft and the rotating block;

[0029] C2: When the armrest flip frame flips to vertically upward, the second limit sensor is triggered, and the flip motor is controlled to stop working through the armrest controller PWM1. At the same time, the telescopic motor is controlled to rotate clockwise through the PWM2 module of the armrest controller, and the speed is reduced to a lower speed through the second reducer. The power is transmitted to the rotating screw through the second coupling, driving the rotating screw to rotate, driving the moving slider to descend, and driving the tapered limit pin shaft to descend;

[0030] C3: When the Hall count value of the telescopic motor reaches the specified amount, the telescopic motor is controlled to stop rotating. At this time, the conical limit pin is inserted into the limit hole, and the conical limit pin limits the rotation of the handrail flip frame. At this time, the lifting process of the handrail flip frame ends;

[0031] Before the bed-chair integrated machine is combined, if the armrest flip frame needs to be hidden and returned to its original position, the specific operation of flipping the armrest flip frame from top to bottom is as follows:

[0032] D1: The PWM2 module of the handrail controller sends out the timing control logic to control the telescopic motor to rotate counterclockwise, and the speed is reduced to a lower speed through the second reducer. The power is transmitted to the rotating screw through the second coupling, which drives the rotating screw to rotate, drives the moving slider to rise, drives the tapered limit pin to rise, and the tapered limit pin is separated from the limit hole until the third limit sensor is triggered. At this time, the tapered limit pin does not work;

[0033] D2: The PWM1 module of the handrail controller controls the flip motor to rotate clockwise, controls the flip motor to reduce the speed to a lower speed through the first reducer, drives the rotating shaft to rotate through the first coupling, and the handrail flip frame starts to flip downward through the rotating shaft and the rotating block;

[0034] D3: When the armrest flip frame flips to vertically downward, the flip motor is controlled to stop rotating through the PWM1 module of the armrest controller, completing the flipping process of the armrest flip frame from top to bottom.

[0035] Furthermore, the control method further includes: a safety detection method;

[0036] Before the armrest flip frame is flipped up, the specific steps of the safety detection method for determining whether the conditions for safe flipping are met are as follows:

[0037] E1: Before the armrest flip frame changes from the raised state to the returned hidden state, the row and column selection circuit of the pressure sensor signal acquisition circuit module is controlled by the RCcon module of the armrest controller, and the analog voltage signal output by the pressure array sensor node after the row and column selection is collected by the signal acquisition circuit of the pressure sensor signal acquisition circuit module; then the signal acquisition circuit of the pressure sensor signal acquisition circuit module sends the signal to the ADCNx module of the armrest controller, and the converted digital voltage signal is processed by the armrest controller to obtain the pressure value of the pressure array sensor node;

[0038] E2: Determine whether there are arms and hands on the curved armrest:

[0039] If the pressure value meets the characteristics of the arm pressure, the armrest controller controls the alarm circuit to output an alarm sound, prompting the user to move his arm before controlling the flip motor to continue rotating;

[0040] Otherwise, the flip motor continues to rotate to complete the flip operation.

[0041] Furthermore, the control method further includes: a method for determining a safety state during the armrest flipping process;

[0042] During the armrest flipping process, the specific operation of the safety status judgment method for the armrest flipping frame that may be stuck by human body or foreign objects is as follows:

[0043] F1: Through many experiments, the average current of the armrest flip frame flipping up and down under normal conditions is I u and I d , let the load current of the flip motor after filtering by the handrail controller at time k be i1(k), and construct the safety state objective function f1(k) of the handrail during the flipping process

[0044]

[0045] Where ΔT is the time interval of current sampling; λ1 is a constant with a value between 0 and 1. A larger setting of λ1 indicates an increase in the weight of the current change rate, and a smaller setting of λ1 indicates an increase in the weight of the load current in the current state; K1 is a positive constant for the current change rate transformation, and the upward movement can be taken as K1 = 3ΔT / I u , the downward movement can be taken as K1 = 3ΔT / I d ; C1 and C2 are the critical values ​​of the safety objective function f1(k) turning up and turning down, respectively. They are appropriate constant values ​​set after the f1(k) values ​​are experimentally measured in simulating various handrail flipping scenarios:;

[0046] F2: Determine the safe state of the armrest flip frame, that is, obtain the value of f1(k) at any time to determine whether it is out of bounds: if during the flipping process, when f1(k) ≥ C1, the armrest flip frame flipping process is abnormal, and the armrest controller controls the alarm circuit to output an alarm sound to prompt the user to check the situation;

[0047] If f2(k)≥C2 during the downward flipping process, an abnormality occurs in the downward flipping process of the armrest flipping frame, and the armrest controller controls the alarm circuit to output an alarm sound to prompt the user to check the situation.

[0048] Furthermore, the control method also includes: a flip motor speed control method;

[0049] Specific method for controlling the speed of the flip motor: the control logic in the PWM1 module control of the handrail controller is a square wave with a duty cycle of 50%. The speed of the flip motor is controlled by controlling the frequency of the square wave. The handrail controller controls the speed at which the flip motor drives the handrail flip frame to flip.

[0050] The specific operations are as follows:

[0051] The standard driving frequency of the flip motor is set to a fixed constant of f0. If the motor speed needs to be reduced, that is, the frequency of the driving waveform needs to be reduced, the handrail controller sets the PWM waveform driving frequency according to F(k). The expression of the PWM1 waveform driving frequency function F(k) is constructed as follows:

[0052]

[0053] Technical effects and advantages of the present invention:

[0054] Compared with the prior art, a design of an armrest device for a bed-chair integrated machine is completed by setting a flipping mechanism. The device serves as a split wheelchair armrest. The flipping motor of the device drives the flipping of the armrest flip frame under the action of the armrest controller, thereby completing the function of extending and hiding the armrest flip frame in a confined space; by setting up a control system and a control method for designing the bed-chair integrated machine armrest device, the detection of the flipping state of the armrest and the motor speed control are realized, thereby realizing a safe and accurate flipping of the armrest; the flipping position of the armrest flip frame is detected by the first limit sensor, the second limit sensor and the third limit sensor, and the related control logic is designed to control the forward and reverse rotation of the flipping motor, so that the automatic flipping of the armrests on both sides of the separated wheelchair can be realized without manual operation, thereby realizing the upward, extended and downward hidden functions of the armrest flip frame; since the manufacturing cost of the armrest device is not high, and the locking mechanism is used, it can withstand a large load and will not produce a large shake, and it is safe and reliable to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the overall structure of the handrail device of the present invention.

[0056] Figure 2 For the present invention Figure 1 Front section view at A in the middle.

[0057] Figure 3 It is a block diagram of the control system of the present invention.

[0058] The accompanying drawings are marked as follows:

[0059] 1. Armrest flip frame; 2. Armrest fixing frame;

[0060] 3. Flipping mechanism;

[0061] 31. Flip motor; 32. First reducer; 33. First coupling; 34. Rotating shaft;

[0062] 4. Arc-shaped handrail; 5. Rotating block; 51. Sliding slot; 6. Fixed block; 61. Limiting hole;

[0063] 7. Locking mechanism;

[0064] 71. telescopic motor; 72. second reducer; 73. second coupling; 74. rotating screw;

[0065] 75. Screw fixing seat; 76. Moving slide block; 77. Conical limit pin shaft;

[0066] 8. Pressure array sensor; 9. First limit sensor; 10. Second limit sensor; 11. Third limit sensor;

[0067] 12. Limit signal conditioning circuit module; 13. Handrail controller; 14. Handrail motor driver; 15. Pressure sensor signal acquisition circuit module; 16. System power supply circuit; 17. Alarm circuit; 18. Plastic gasket. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] As attached Figure 1 , Attachment Figure 2 and attached Figure 3 A device for an armrest of a bed-chair integrated machine is shown, the device comprising: an armrest flip frame 1 and an armrest fixing frame 2, the bottom of the armrest fixing frame 2 is fixed to the bed-chair integrated machine, the armrest fixing frame 2 is rotatably connected to the armrest flip frame 1 through a flip mechanism 3, and an arc-shaped armrest frame 4 for contacting a carrier is fixedly installed on the top of the armrest flip frame 1;

[0070] The patient's upper limbs are placed on the arc-shaped armrest 4, and the pressure array sensor 8 on the arc-shaped armrest 4 is used to detect the pressure;

[0071] The flipping mechanism 3 includes: a flipping motor 31, a first reducer 32, a first coupling 33 and a rotating shaft 34. The flipping motor 31 is fixedly installed inside the armrest fixing frame 2. The output shaft of the flipping motor 31 is fixedly connected to the rotating shaft 34 through the first reducer 32 and the first coupling 33. A rotating block 5 is fixedly sleeved on the surface of the rotating shaft 34. A fixed block 6 is fixedly installed inside the armrest fixing frame 2. The rotating shaft 34 rotates inside the fixed block 6. The bottom of the armrest flipping frame 1 is fixedly installed on the rotating block 5.

[0072] The bottom of the armrest flip frame 1 is fixedly connected to the rotating block 5 by screws;

[0073] A locking mechanism 7 is provided between the armrest flip frame 1 and the fixing block 6 .

[0074] The flip motor 31 is used as a driving motor for driving the armrest flip frame 1 to flip, and the output shaft of the flip motor 31 limits the rotation speed to a lower speed through the first reducer 32, and drives the rotating shaft 34 to rotate through the first coupling 33, and then the rotating shaft 34 drives the armrest flip frame 1 and the rotating block 5 to start flipping;

[0075] A plastic washer 18 is movably sleeved on the surface of the rotating shaft 34 close to the fixed block 6 to reduce friction between the two.

[0076] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the locking mechanism 7 includes: a telescopic motor 71, a second reducer 72, a second coupling 73, a rotating screw 74, a screw fixing seat 75, a moving slider 76 and a tapered limit pin 77;

[0077] The telescopic motor 71 is fixedly installed inside the armrest flip frame 1, and the output shaft of the telescopic motor 71 is fixedly connected to the rotating screw 74 through the second reducer 72 and the second coupling 73. The screw fixing seat 75 is fixedly installed in the middle of the armrest flip frame 1, and the rotating screw 74 passes through the screw fixing seat 75 and is threadedly connected to the moving slider 76. The rotating screw 74 is rotatably connected to the screw fixing seat 75, and at least two conical limit pins 77 are fixedly installed on the bottom of the moving slider 76. A sliding groove 51 corresponding to the conical limit pin 77 is opened on the rotating block 5, and at least two conical limit pins 77 slide inside the corresponding sliding groove 51. A limit hole 61 corresponding to the conical limit pin 77 is opened on the surface of the fixed block 6, and at least two conical limit pins 77 are inserted into the corresponding limit hole 61.

[0078] Among them, the output shaft of the telescopic motor 71 in the locking mechanism 7 is connected to the second reducer 72, and the second reducer 72 drives the rotating screw 74 to rotate through the second coupling 73, forming a power device for driving the tapered limit pin 77; and the rotating screw 74 rotates to drive the movable slider 76 to move up and down, and the tapered limit pin shaft 77 is fixed on the movable slider 76, so the tapered limit pin shaft 77 moves upward with the movable slider 76 to reach an unlimited state, and moves downward to reach a limited state; when the tapered limit pin shaft 77 is in the unlimited state, the transversely installed flipping motor 31 can rotate forward and reverse at this time, and through the first reducer 32 and the first coupling 33, it drives the rotation of the rotating shaft 34, thereby driving the entire armrest flipping frame 1 to flip up and down, and when the armrest flipping frame 1 flips and triggers the first limit sensor 9 or the second limit sensor 10, the flipping motor 31 stops working.

[0079] Among them, the conical limit pin 77 inside the armrest flip frame 1 is inserted into the corresponding limit hole 61 in the fixed block 6, and then the armrest flip frame 1 is fixedly connected to the fixed block 6, so that the armrest flip frame 1 flipped to a vertical state is in a locked state, which can play a better armrest role, reduce the amount of shaking, and improve the ability to bear loads.

[0080] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, a pressure array sensor 8 is fixedly mounted on the upper surface of the arc-shaped handrail frame 4;

[0081] A first limit sensor 9 is fixedly mounted on the handrail fixing frame 2;

[0082] A second limit sensor 10 is fixedly mounted on the rotating block 5;

[0083] A third limit sensor 11 is fixedly mounted on one side of the screw rod fixing seat 75 close to the movable slider 76 .

[0084] Among them, the pressure array sensor 8 collects the pressure information of the bearing body on the arc-shaped handrail frame 4;

[0085] The information collected by the first limit sensor 9 can provide feedback on whether the armrest flip frame 1 is in the returned hidden state, that is, in the fully flipped down state;

[0086] The information collected by the second limit sensor 10 can provide feedback on whether the armrest flip frame 1 is flipped to a vertical position;

[0087] The information collected by the third limit sensor 11 can provide feedback on whether the tapered limit pin 77 is inserted into the limit hole 61;

[0088] A control system for an armrest device of a bed-chair integrated machine, comprising a device for an armrest of a bed-chair integrated machine,

[0089] The system includes: a limit signal conditioning circuit module 12, an armrest controller 13, an armrest motor driver 14 and a pressure sensor signal acquisition circuit module 15;

[0090] The signal output ends of the first limit sensor 9, the second limit sensor 10 and the third limit sensor 11 are all connected to the corresponding I N1, I N2 and I N3 signal input ends of the limit signal conditioning circuit module 12; the signal output end of the limit signal conditioning circuit module 12 is connected to the corresponding signal input end of the handrail controller 13;

[0091] The limit signal conditioning circuit module 12 receives the three limit sensor signals and performs preliminary shaping and filtering, and then sends them to the I N1, I N2, and I N3 channels of the handrail controller 13 for processing; the handrail controller 13 is the processing unit of the control system, responsible for signal processing and generation of control logic;

[0092] The armrest controller 13 is signal-connected to the pressure sensor signal acquisition circuit module 15 and the armrest motor driver 14 respectively; the armrest motor driver 14 is signal-connected to the flip motor 31 and the telescopic motor 71 respectively; the pressure sensor signal acquisition circuit module 15 is signal-connected to the pressure array sensor 8.

[0093] The handrail motor driver 14 includes two motor signal drive units, each of which includes: a motor drive module, a pulse detection module, and a current detection module for the motor load;

[0094] Among them, the output ends of the PWM1 module and the PWM2 module of the handrail controller 13 are respectively connected to the input ends of the motor drive 1 module and the motor drive 2 module of the handrail motor driver 14; the output ends of the pulse detection 1 module and the pulse detection 2 module of the handrail motor driver 14 are respectively connected to the input ends of the CAP1 module and the CAP2 module of the handrail controller 13; the output ends of the current detection 1 module and the current detection 2 module of the handrail motor driver 14 are respectively connected to the input ends of the ADC1 module and the ADC2 module of the handrail controller 13;

[0095] The output ends of the motor drive 1 module and the motor drive 2 module of the armrest motor driver 14 are respectively connected to the signal input ends of the flip motor 31 and the telescopic motor 71; the input ends of the pulse detection 1 module and the pulse detection 2 module of the armrest motor driver 14 are respectively connected to the signal output ends of the flip motor 31 and the telescopic motor 71.

[0096] Among them, the motor drive 1 module receives the control timing logic output by the handrail controller 13PWM1 module to control the forward and reverse rotation of the flip motor 31, the pulse detection 1 module obtains the Hall pulse signal of the flip motor 31 and sends it to the handrail controller 13CAP1 module, and the handrail controller 13ADC1 module collects the signal value of the handrail motor driver 14 current detection 1 module to confirm the load operation status of the flip motor 31;

[0097] Similarly, the motor drive 2 module receives the control timing logic output by the handrail controller 13PWM2 module to control the forward and reverse rotation of the telescopic motor 71. The pulse detection 2 module obtains the Hall pulse signal of the telescopic motor 71 and sends it to the handrail controller 13CAP2 module. The handrail controller 13ADC2 module collects the signal value of the handrail motor driver 14 current detection 2 module to confirm the load operation status of the telescopic motor 71.

[0098] The output end of the armrest controller 13RCcon module is connected to the input end of the row and column selection circuit in the pressure sensor signal acquisition circuit module 15; the output end of the signal acquisition circuit in the pressure sensor signal acquisition circuit module 15 is connected to the input end of the armrest controller 13ADCNx module;

[0099] Among them, the pressure sensor signal acquisition circuit module 15 includes: a row and column gating circuit and a signal acquisition circuit; and the pressure sensor signal acquisition circuit module 15 receives the signal of the RCcon module of the armrest controller 13 on the one hand, and outputs the timing logic to control the row and column gating circuit of the pressure array sensor 8 in a secondary scanning manner; on the other hand, the analog voltage signal output by the pressure array sensor 8 after the row and column gating is collected through the signal acquisition circuit, and then sent to the ADCNx module of the armrest controller 13, and the converted digital voltage signal is processed by the armrest controller 13 to obtain the pressure value of each array sensor node. The relevant alarm prompt information in the armrest controller 13 is sent by the armrest controller 13 to the alarm circuit 17 to prompt the user;

[0100] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the power input ends of the limit signal conditioning circuit module 12, the armrest controller 13, the armrest motor driver 14 and the pressure sensor signal acquisition circuit module 15 are all connected to the corresponding power output ends of the system power circuit 16; so that the system power circuit 16 provides power for the limit signal conditioning circuit module 12, the armrest controller 13, the armrest motor driver 14 and the pressure sensor signal acquisition circuit module 15 respectively.

[0101] Embodiment: The system power supply circuit 16 provides 3.3V power supply;

[0102] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the armrest controller 13 is connected to the core processor signal of the mobile wheelchair via the CAN bus; so that the data of the armrest controller 13 interacts with the core processor of the mobile wheelchair via the CAN bus;

[0103] The output end of the handrail controller 13 is connected to the signal input end of the alarm circuit 17 .

[0104] A control method for an armrest device and control system for a bed-chair integrated machine, including a device and a control system, the control method including: a position detection method for the current position of the armrest, a method for calibrating the position of the armrest, and a method for controlling the movement of the armrest turning up and down;

[0105] The location detection method is as follows:

[0106] A1: Before the armrest flip frame 1 executes the flip motion instruction, it must first obtain the Hall pulse count values ​​n1 and n2 of the flip motor 31 and the telescopic motor 71 and the states of the first limit sensor 9, the second limit sensor 10 and the third limit sensor 11;

[0107] A2: Then the current flipping position of the armrest flip frame 1 is confirmed through calculation processing by the armrest controller 13;

[0108] 1 indicates that the corresponding limit sensor is triggered, and 0 indicates that the corresponding limit sensor is not triggered. When the combined state of the first limit sensor 9, the second limit sensor 10 and the third limit sensor 11 is [1,0,0], the armrest flip frame 1 is in the home hidden state; when the combined state is [0,1,1], the armrest flip frame 1 is in the raised state but the conical limit pin 77 is in the unlocked state, and the armrest flip frame 1 is currently unavailable; when the combined state is [0,1,0], and the value of n2 reaches N2±e2, the armrest flip frame 1 is raised and the conical limit pin 77 is locked, and the armrest flip frame 1 is currently available. If n2 does not reach N2±e2, the armrest flip frame 1 is also unavailable; when the combined state is [0,0,0], the flip angle α of the armrest flip frame 1 is calculated by the count value of n1 as follows

[0109]

[0110] Among them, N1 is the Hall pulse count value of the entire process in which the flip motor 31 drives the armrest flip frame 1 from the returned hidden state to the raised usable state; N2 is the Hall pulse count value of the entire process in which the telescopic motor 71 is triggered from the third limit sensor 11 to the conical limit pin 77 is embedded in the fixed block 6, both of which are obtained through experiments and fixedly stored in the Flash of the armrest controller 13; e2 is the Hall value of the tolerable error of the telescopic motor 71 when the conical limit pin 77 reaches the target position, which can be set in advance during the experiment.

[0111] Calibration method: When the current position of the armrest flip frame 1 cannot be determined, the steps of controlling the flip motor 31 and the telescopic motor 71 to perform position calibration are as follows:

[0112] When the combined state of the first limit sensor 9, the second limit sensor 10 and the third limit sensor 11 is [0, 0, 0] and the count values ​​of n1 and n2 are lost, it is necessary to control the rotation of the flip motor 31 and the telescopic motor 71 for position calibration.

[0113] B1: First calibrate the Hall value n2 of the telescopic motor 71 and the zero position of the conical limit pin 77, and control the telescopic motor 71 to rotate counterclockwise until the third limit sensor 11 is triggered. At this time, the Hall value n2 of the telescopic motor 71 is 0;

[0114] B2: Calibrate the Hall value n1 and the zero position of the flip angle of the flip motor 31, control the flip motor 31 to rotate clockwise, and the armrest flip frame 1 flips downward with the rotating shaft 34 as the center until the first limit sensor 9 is triggered. At this time, the Hall value n1 of the flip motor 31 is 0, and the armrest flip frame 1 is in the home position hidden state, and the flip angle α of the armrest flip frame 1 is recorded as 0 degrees;

[0115] Action control method:

[0116] After the bed-chair integrated machine is separated, if the armrest flip frame 1 of the wheelchair needs to be raised, the steps of flipping the armrest flip frame 1 from bottom to top are as follows:

[0117] C1: The PWM1 module of the handrail controller 13 sends out a control timing logic to control the flip motor 31 to rotate counterclockwise, and the speed is limited to a lower speed through the first reducer 32, and the rotating shaft 34 is driven to rotate through the first coupling 33, and the handrail flip frame 1 starts to flip upward through the rotating shaft 34 and the rotating block 5;

[0118] C2: When the armrest flip frame 1 flips to vertically upward, the second limit sensor 10 is triggered, and the flip motor 31 is controlled to stop working through the armrest controller 13 PWM1. At the same time, the telescopic motor 71 is controlled to rotate clockwise through the PWM2 module of the armrest controller 13, and the speed is reduced to a lower speed through the second reducer 72. The power is transmitted to the rotating screw 74 through the second coupling 73, which drives the rotating screw 74 to rotate, drives the moving slider 76 to descend, and drives the tapered limit pin 77 to descend;

[0119] C3: When the Hall count value of the telescopic motor 71 reaches a specified value, the telescopic motor 71 is controlled to stop rotating. At this time, the conical limit pin 77 is inserted into the limit hole 61, and the conical limit pin 77 limits the rotation of the armrest flip frame 1. At this time, the lifting process of the armrest flip frame 1 is completed;

[0120] Before the bed-chair integrated machine is combined, if the armrest flip frame 1 needs to be hidden and returned to its original position, the specific operation of flipping the armrest flip frame 1 from top to bottom is as follows:

[0121] D1: The PWM2 module of the armrest controller 13 issues a timing control logic to control the telescopic motor 71 to rotate counterclockwise, and the speed is reduced to a lower speed through the second reducer 72, and the power is transmitted to the rotating screw 74 through the second coupling 73, which drives the rotating screw 74 to rotate, drives the moving slider 76 to rise, drives the tapered limit pin 77 to rise, and the tapered limit pin 77 is separated from the limit hole 61 until the third limit sensor 11 is triggered, at which time the tapered limit pin does not work;

[0122] D2: The PWM1 module of the armrest controller 13 controls the flip motor 31 to rotate clockwise, controls the flip motor 31 to reduce the speed to a lower speed through the first reducer 32, drives the rotating shaft 34 to rotate through the first coupling 33, and the armrest flip frame 1 starts to flip downward through the rotating shaft 34 and the rotating block 5;

[0123] D3: When the armrest flip frame 1 flips to a vertical downward position, the flip motor 31 is controlled to stop rotating through the PWM1 module of the armrest controller 13, completing the flipping process of the armrest flip frame 1 from top to bottom.

[0124] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the control method also includes: a safety detection method;

[0125] Before the armrest flip frame 1 is flipped upward, the specific steps of the safety detection method for determining whether the safe flipping conditions are met are as follows:

[0126] E1: Before the armrest flip frame 1 changes from the raised state to the returned hidden state, the row and column selection circuit of the pressure sensor signal acquisition circuit module 15 is controlled by the RCcon module of the armrest controller 13, and the analog voltage signal output by the pressure array sensor 8 node after the row and column selection is collected by the signal acquisition circuit of the pressure sensor signal acquisition circuit module 15; then the signal acquisition circuit of the pressure sensor signal acquisition circuit module 15 sends the signal to the ADCNx module of the armrest controller 13, and the converted digital voltage signal is processed by the armrest controller 13 to obtain the pressure value of the pressure array sensor 8 node;

[0127] E2: Determine whether there are arms and hands placed on the arc-shaped handrail 4:

[0128] If the pressure value meets the characteristics of the arm pressure, the armrest controller 13 controls the alarm circuit 17 to output an alarm sound, prompting the user to move his arm before controlling the flip motor 31 to continue rotating;

[0129] Otherwise, the flip motor 31 continues to rotate to complete the flipping operation.

[0130] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the control method also includes: a method for determining the safety state during the armrest flipping process;

[0131] During the armrest flipping process, the specific operation of the safety status judgment method for the armrest flipping frame 1 that may be stuck by a human body or a foreign object is as follows:

[0132] F1: Through many experiments, the average current of the armrest flip frame 1 flipping up and down under normal conditions is I u and I d , assuming that the load current of the flip motor 31 after filtering by the handrail controller 13 at time k is i1(k), construct the safety state objective function f1(k) of the handrail during the flipping process

[0133]

[0134] Where ΔT is the time interval of current sampling; λ1 is a constant with a value between 0 and 1. A larger setting of λ1 indicates an increase in the weight of the current change rate, and a smaller setting of λ1 indicates an increase in the weight of the load current in the current state; K1 is a positive constant for the current change rate transformation, and the upward movement can be taken as K1 = 3ΔT / I u , the downward movement can be taken as K1 = 3ΔT / I d ; C1 and C2 are the critical values ​​of the safety objective function f1(k) turning up and turning down, respectively. They are appropriate constant values ​​set after the f1(k) values ​​are experimentally measured in simulating various handrail flipping scenarios:;

[0135] F2: Determine the safe state of the armrest flip frame 1, that is, obtain the value of f1(k) at any time to determine whether it is out of bounds: if during the flipping process, when f1(k) ≥ C1, the flipping process of the armrest flip frame 1 is abnormal, and the armrest controller 13 controls the alarm circuit 17 to output an alarm sound to prompt the user to check the situation;

[0136] If f2(k)≥C2 during the downward turning process, an abnormality occurs in the downward turning process of the armrest turning frame 1, and the armrest controller 13 controls the alarm circuit 17 to output an alarm sound to prompt the user to check the situation.

[0137] In a preferred embodiment, as shown in the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the control method also includes: a flip motor speed control method;

[0138] Specific method for controlling the speed of the flipping motor: the control logic in the PWM1 module control of the armrest controller 13 is a square wave with a duty cycle of 50%. The speed of the flipping motor 31 is controlled by controlling the frequency of the square wave. The armrest controller 13 controls the speed at which the flipping motor 31 drives the armrest flip frame 1 to flip;

[0139] The specific operations are as follows:

[0140] The standard driving frequency of the flip motor 31 is set to a fixed constant of f0. If the motor speed needs to be reduced, that is, the frequency of the driving waveform needs to be reduced, the handrail controller 13 sets the PWM waveform driving frequency according to F(k), and constructs the PWM1 waveform driving frequency function F(k) as follows:

[0141]

[0142] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0143] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for an armrest of a bed-chair integrated machine, characterized in that: The device comprises: an armrest flip frame (1) and an armrest fixing frame (2), the bottom of the armrest fixing frame (2) is fixed on the bed-chair integrated machine, the armrest fixing frame (2) is rotatably connected to the armrest flip frame (1) via a flip mechanism (3), and the top of the armrest flip frame (1) is fixedly mounted with an arc-shaped armrest frame (4) for contacting a carrier; The flipping mechanism (3) comprises: a flipping motor (31), a first reducer (32), a first coupling (33) and a rotating shaft (34); the flipping motor (31) is fixedly mounted inside the handrail fixing frame (2); the output shaft of the flipping motor (31) is fixedly connected to the rotating shaft (34) through the first reducer (32) and the first coupling (33); a rotating block (5) is fixedly sleeved on the surface of the rotating shaft (34); a fixed block (6) is fixedly mounted inside the handrail fixing frame (2); the rotating shaft (34) rotates inside the fixed block (6); the bottom of the handrail flipping frame (1) is fixedly mounted on the rotating block (5); and a locking mechanism (7) is provided between the handrail flipping frame (1) and the fixed block (6).

2. The device for the armrest of a bed-chair integrated machine according to claim 1, characterized in that: The locking mechanism (7) comprises: a telescopic motor (71), a second reducer (72), a second coupling (73), a rotating screw (74), a screw fixing seat (75), a movable slider (76) and a tapered limiting pin (77); The telescopic motor (71) is fixedly mounted inside the armrest flip frame (1); the output shaft of the telescopic motor (71) is fixedly connected to a rotating screw (74) via a second reducer (72) and a second coupling (73); the screw fixing seat (75) is fixedly mounted in the middle of the armrest flip frame (1); the rotating screw (74) passes through the screw fixing seat (75) and is threadedly connected to a movable slider (76); the rotating screw (74) is rotatably connected to the screw fixing seat (75); At least two conical limiting pins (77) are fixedly mounted on the bottom of the movable slider (76); a sliding groove (51) corresponding to the conical limiting pins (77) is provided on the rotating block (5); at least two of the conical limiting pins (77) slide inside the corresponding sliding grooves (51); a limiting hole (61) corresponding to the conical limiting pins (77) is provided on the surface of the fixed block (6); at least two of the conical limiting pins (77) are inserted into the corresponding limiting holes (61).

3. The device for the armrest of a bed-chair integrated machine according to claim 2, characterized in that: A pressure array sensor (8) is fixedly mounted on the upper surface of the arc-shaped handrail frame (4); A first limit sensor (9) is fixedly mounted on the handrail fixing frame (2); A second limit sensor (10) is fixedly mounted on the rotating block (5); A third limit sensor (11) is fixedly mounted on one side of the screw rod fixing seat (75) close to the movable slider (76).

4. A control system for an armrest device of a bed-chair integrated machine, comprising the device for an armrest of a bed-chair integrated machine as claimed in any one of claims 1 to 3, characterized in that: The system comprises: a limit signal conditioning circuit module (12), an armrest controller (13), an armrest motor driver (14) and a pressure sensor signal acquisition circuit module (15); The signal output ends of the first limit sensor (9), the second limit sensor (10) and the third limit sensor (11) are all connected to the corresponding signal input ends of the limit signal conditioning circuit module (12); the signal output end of the limit signal conditioning circuit module (12) is connected to the corresponding signal input end of the armrest controller (13); the armrest controller (13) is respectively connected to the pressure sensor signal acquisition circuit module (15) and the armrest motor driver (14) by signal; the armrest motor driver (14) is respectively connected to the flip motor (31) and the telescopic motor (71) by signal; the pressure sensor signal acquisition circuit module (15) is connected to the pressure array sensor (8) by signal.

5. A control system for an armrest device of a bed-chair integrated machine according to claim 4, characterized in that: The power input ends of the limit signal conditioning circuit module (12), the handrail controller (13), the handrail motor driver (14) and the pressure sensor signal acquisition circuit module (15) are all connected to the corresponding power output ends of the system power circuit (16).

6. A control system for an armrest device of a bed-chair integrated machine according to claim 4, characterized in that: The armrest controller (13) is connected to the core processor signal of the mobile wheelchair via a CAN bus; The output end of the handrail controller (13) is connected to the signal input end of the alarm circuit (17).

7. A control method for an armrest device and control system for a bed-chair integrated machine, comprising the device and control system according to any one of claims 1 to 6, characterized in that: The control method includes: a method for detecting the current position of the armrest, a method for calibrating the position of the armrest, and a method for controlling the movement of the armrest turning up and down; The position detection method is specifically as follows: A1: Before the armrest flip frame (1) executes the flip motion instruction, it is first necessary to obtain the Hall pulse count values ​​n1 and n2 of the flip motor (31) and the telescopic motor (71) and the states of the first limit sensor (9), the second limit sensor (10) and the third limit sensor (11); A2: Then, the current flipping position of the armrest flip frame (1) is confirmed through calculation processing by the armrest controller (13); The calibration method comprises the following steps: when the current position of the armrest turning frame (1) cannot be determined, the turning motor (31) and the telescopic motor (71) are controlled to perform position calibration: B1: First, calibrate the Hall value n2 of the telescopic motor (71) and the zero position of the conical limit pin (77), and control the telescopic motor (71) to rotate counterclockwise until the third limit sensor (11) is triggered. At this time, the Hall value n2 of the telescopic motor (71) is 0; B2: Calibrate the Hall value n1 of the flip motor (31) and the flip angle zero position, control the flip motor (31) to rotate clockwise, and the armrest flip frame (1) flips downward with the rotation axis (34) as the center until the first limit sensor (9) is triggered. At this time, the Hall value n1 of the flip motor (31) is 0, and the armrest flip frame (1) is in the home position hidden state, and the flip angle α of the armrest flip frame (1) is recorded as 0 degrees; The action control method: After the bed-chair integrated device is separated, if the armrest flip frame (1) of the wheelchair needs to be raised, the steps for flipping the armrest flip frame (1) from bottom to top are as follows: C1: The PWM1 module of the handrail controller (13) sends out a control timing logic to control the flipping motor (31) to rotate counterclockwise, and the rotation speed is limited to a lower speed through the first reducer (32), and the rotating shaft (34) is driven to rotate through the first coupling (33), and the handrail flip frame (1) starts to flip upward through the rotating shaft (34) and the rotating block (5); C2: When the handrail flip frame (1) flips to a vertically upward position, the second limit sensor (10) is triggered, and the flip motor (31) is controlled to stop working through the handrail controller (13) PWM1. At the same time, the telescopic motor (71) is controlled to rotate clockwise through the PWM2 module of the handrail controller (13). The speed is reduced to a lower speed through the second reducer (72), and the power is transmitted to the rotating screw (74) through the second coupling (73), which drives the rotating screw (74) to rotate, drives the moving slider (76) to descend, and drives the conical limit pin (77) to descend; C3: When the Hall counter value of the telescopic motor (71) reaches a specified value, the telescopic motor (71) is controlled to stop rotating, and at this time the conical limit pin (77) is inserted into the limit hole (61), and the conical limit pin (77) limits the rotation of the armrest flip frame (1), and at this time the lifting process of the armrest flip frame (1) is completed; Before the bed-chair integrated machine is combined, if the armrest flip frame (1) needs to be hidden and returned to its original position, the specific operation of flipping the armrest flip frame (1) from top to bottom is as follows: D1: The PWM2 module of the handrail controller (13) issues a timing control logic to control the telescopic motor (71) to rotate counterclockwise, and the speed is reduced to a lower speed through the second reducer (72). The power is transmitted to the rotating screw (74) through the second coupling (73), driving the rotating screw (74) to rotate, driving the moving slider (76) to rise, driving the tapered limit pin (77) to rise, and the tapered limit pin (77) is separated from the limit hole (61) until the third limit sensor (11) is triggered. At this time, the tapered limit pin does not work; D2: The PWM1 module of the handrail controller (13) controls the flip motor (31) to rotate clockwise, controls the flip motor (31) to reduce the rotation speed to a lower rotation speed through the first reducer (32), drives the rotating shaft (34) to rotate through the first coupling (33), and the handrail flip frame (1) starts to flip downward through the rotating shaft (34) and the rotating block (5); D3: When the armrest flip frame (1) flips to a vertical downward position, the flip motor (31) is controlled to stop rotating through the PWM1 module of the armrest controller (13), thereby completing the process of flipping the armrest flip frame (1) from top to bottom.

8. The control method for the armrest device and control system of the bed-chair integrated machine according to claim 7, characterized in that: The control method further comprises: a safety detection method; Before the armrest flip frame (1) is flipped upward, the specific steps of the safety detection method for determining whether the conditions for safe flipping are met are as follows: E1: Before the armrest flip frame (1) changes from the raised state to the returned hidden state, the row and column selection circuit of the pressure sensor signal acquisition circuit module (15) is controlled by the RCcon module of the armrest controller (13), and the pressure sensor signal acquisition circuit module (15) collects the analog voltage signal output by the node of the pressure array sensor (8) after the row and column selection through the signal acquisition circuit; then the signal acquisition circuit of the pressure sensor signal acquisition circuit module (15) sends the signal to the ADCNx module of the armrest controller (13), and the converted digital voltage signal is processed by the armrest controller (13) to obtain the pressure value of the node of the pressure array sensor (8); E2: Determine whether there are arms and hands placed on the curved armrest (4): If the pressure value meets the characteristics of the arm pressure, the armrest controller (13) controls the alarm circuit (17) to output an alarm sound, prompting the user to move his arm before controlling the flip motor (31) to continue rotating; Otherwise, the turning motor (31) continues to rotate to complete the turning operation.

9. The control method for the armrest device and control system of the bed-chair integrated machine according to claim 7, characterized in that: The control method further includes: a method for determining the safety status during the armrest flipping process; During the armrest flipping process, the specific operation of the method for judging the safety status of the armrest flipping frame (1) in view of the possibility that a human body or foreign matter may be stuck therein is as follows: F1: Through multiple experiments, the average current of the handrail flip frame (1) flipping up and down under normal conditions is I u and I d , assuming that the load current of the flip motor (31) after filtering by the handrail controller (13) at time k is i1(k), construct the safety state objective function f1(k) of the handrail during the flipping process Where ΔT is the time interval of current sampling; λ1 is a constant with a value between 0 and 1. A larger setting of λ1 indicates an increase in the weight of the current change rate, and a smaller setting of λ1 indicates an increase in the weight of the load current in the current state; K1 is a positive constant for the current change rate transformation, and the upward movement can be taken as K1 = 3ΔT / I u , the downward movement can be taken as K1 = 3ΔT / I d ; C1 and C2 are the critical values ​​of the safety objective function f1(k) turning up and turning down, respectively. They are appropriate constant values ​​set after the f1(k) values ​​are experimentally measured in simulating various handrail flipping scenarios:; F2: judging the safe state of the armrest flip frame (1) flipping, that is, obtaining the value of f1(k) at any time to judge whether it is out of bounds: if during the flipping process, when f1(k) ≥ C1, the flipping process of the armrest flip frame (1) is abnormal, and the armrest controller (13) controls the alarm circuit (17) to output an alarm sound to prompt the user to check the situation; If during the downward turning process, f2(k)≥C2, then an abnormality occurs in the downward turning process of the armrest turning frame (1), and the armrest controller (13) controls the alarm circuit (17) to output an alarm sound, prompting the user to check the situation.

10. The control method for the armrest device and control system of the bed-chair integrated machine according to claim 7, characterized in that: The control method also includes: a flip motor speed control method; A specific method for controlling the speed of the flipping motor: the control logic in the PWM1 module control of the handrail controller (13) is a square wave with a duty cycle of 50%, and the rotation speed of the flipping motor (31) is controlled by controlling the frequency of the square wave. The handrail controller (13) controls the flipping motor (31) to drive the handrail flipping frame (1) to flip at a speed; The specific operations are as follows: The standard driving frequency of the flip motor (31) is set to a fixed constant of f0. If the motor speed needs to be reduced, that is, the frequency of the driving waveform needs to be reduced, the handrail controller (13) sets the PWM waveform driving frequency according to F(k), and constructs the PWM1 waveform driving frequency function F(k) as follows:

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