Intelligent full-automatic high-precision electric skin taking device

Abstract

According to the intelligent full-automatic high-precision electric skin taking device, after a microprocessor receives an instruction containing a target skin taking depth and a target skin taking length, a second driving motor is controlled to drive a moving part of a second ball screw to move up and down, and a base plate and a skin taking blade on the base plate are driven to move up and down at the same time so as to adjust the skin taking depth; after the skin taking depth reaches the target skin taking depth, a second driving motor is controlled to suspend, then a first driving motor is controlled to drive a moving part of a first ball screw to move left and right, a U-shaped sliding block drives an inclined tool apron to slide left and right on a sliding rail together, and a skin taking blade moves left and right along with the inclined tool apron, so that the skin taking blade moves by the target skin taking length to implement skin taking operation; in the skin taking operation process, the high-pressure pump is controlled to pump tranexamic acid gel liquid in the liquid storage box to be sprayed out from the medicine spraying hole for hemostasis operation. The skin taking blade can automatically reach the target skin taking depth and the target skin taking length, operation is convenient, and therefore the high-precision skin taking function is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of skin removers, and in particular to an intelligent, fully automatic, high-precision electric skin remover. Background Art

[0002] With the development of medical technology, skin grafting technology is widely used in clinical practice and has achieved good clinical results. Skin grafting is divided into two categories: autologous flaps and allogeneic flaps. Compared with allogeneic flaps, autologous flaps or skin slices have the following obvious advantages: 1: Autologous homology, no immune rejection reaction; 2: Allogeneic flaps are expensive, which greatly increases the burden on patients' families and society. Based on the above factors, autologous skin harvesting is preferred by medical staff when performing surgery on patients. At present, there are three types of skin harvesters used in autologous skin grafting, namely traditional manual skin harvesters, electric skin harvesters and laser skin harvesters. In clinical surgery, the use of traditional skin harvesters has the defects of uneven thickness of skin harvested, long operation time, and poor grip of skin harvesters. Laser skin harvesters have secondary damage to skin tissue, affect the activity of skin epithelial tissue cells, and are expensive. Existing electric skin harvesters have design defects, more bleeding, and expensive imported equipment. Based on this, the present invention designs an electric skin harvester that is easy to operate and high-precision, and promotes its clinical use. Summary of the invention

[0003] In view of the problems and shortcomings of the prior art, the present invention provides an intelligent, fully automatic, high-precision electric skin remover.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present invention provides an intelligent fully automatic high-precision electric skin remover, which is characterized in that it includes an arc-shaped shell, the arc-shaped portion of the arc-shaped shell is convenient for hand holding, a fixed base is fixed to the head end of the arc-shaped shell, at least one medicine spraying hole is opened on the outer surface of the fixed base, a high-pressure pump is fixed on the inner wall of the fixed base, the high-pressure pump is connected to a liquid outlet pipe corresponding to the medicine spraying hole, and the outer surface of the fixed base is also opened with a knife exposure long hole close to the medicine spraying hole;

[0006] A base plate is placed in the arc-shaped shell, and there is a gap between the base plate and the fixed base. The base plate is placed along the long hole exposed by the knife. Slide rails are fixed to the front and rear sides of the bottom of the base plate respectively, and two of the slide rails are slidably equipped with U-shaped sliders. A driving motor 1 and a bearing seat are fixed to the bottom surface of the base plate, and the bearing seat is located between the ends of the two slide rails. One end of a first horizontal ball screw is fixed to the end of the output shaft of the driving motor 1, and the other end of the first ball screw is axially connected to the bearing on the bearing seat. The horizontal block of the U-shaped slider is fixed to the moving part of the first ball screw, and an oblique knife seat is fixed to the outer side of a vertical slider of the U-shaped slider, and a skinning blade is fixed in the oblique knife seat. The side edge of the oblique knife seat is opened A knife groove is provided, and the skin-removing blade extends out of the knife groove and the knife exposes a long hole in sequence. A driving motor 2 is fixed in the arc-shaped housing, and a vertical second ball screw is fixed on the output shaft end of the driving motor 2. A base cover is fixed on the moving part of the second ball screw, and a vertical slide groove is provided on the side wall of the base cover. A vertical slide rail is fixed in the arc-shaped housing, and the vertical slide rail is embedded in the vertical slide groove 231 to realize sliding guidance. The base cover is fixed to the base plate, and the side of the base cover close to the oblique knife seat does not contact the oblique knife seat. An openable liquid storage box for storing tranexamic acid gel is also fixed in the arc-shaped housing, and the liquid storage box is connected and communicated with a high-pressure pump. A microprocessor is also fixed in the arc-shaped housing;

[0007] The microprocessor is used to control the second drive motor to drive the moving part of the second ball screw to move up and down after receiving an instruction containing a target skin picking depth and a target skin picking length, thereby driving the base plate and the skin picking blade thereon to move up and down at the same time to adjust the skin picking depth. After the skin picking depth reaches the target skin picking depth, the second drive motor is controlled to pause, and then the first drive motor is controlled to drive the moving part of the first ball screw to move left and right. The U-shaped slider drives the bevel knife seat to slide left and right on the slide rail, and the skin picking blade moves left and right accordingly, so that the skin picking blade moves the target skin picking length to implement the skin picking operation. During the skin picking operation, the high-pressure pump is controlled to pump the tranexamic acid gel in the liquid storage box and spray it out from the spray hole to perform a hemostatic operation.

[0008] The positive and progressive effects of the present invention are:

[0009] The electric skin remover of the present invention can automatically make the skin remover blade reach the target skin remover depth, and can also automatically make the skin remover blade reach the target skin remover length, and is easy to operate, thereby realizing a high-precision skin remover function. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a three-dimensional diagram of an intelligent, fully automatic, high-precision electric skin remover according to a preferred embodiment of the present invention.

[0011] Figure 2-3This is an exploded view of the internal structure of the intelligent fully automatic high-precision electric skin remover according to a preferred embodiment of the present invention.

[0012] Figure 4 This is an internal assembly diagram of the intelligent fully automatic high-precision electric skin remover according to a preferred embodiment of the present invention.

[0013] Figure 5 The figure is a schematic structural diagram of the bevel blade holder and the skin-removing blade according to a preferred embodiment of the present invention.

[0014] Figure 6 FIG. 4 is a charging circuit diagram of a preferred embodiment of the present invention.

[0015] Figure 7 This is a control schematic diagram of an intelligent, fully automatic, high-precision electric skin remover according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] like Figure 1-7 As shown, this embodiment provides an intelligent fully automatic high-precision electric skin remover, which includes an arc-shaped shell 1, the arc-shaped portion 2 of the arc-shaped shell 1 has an obtuse angle, the arc-shaped portion 2 of the arc-shaped shell 1 is convenient for hand holding, and a fixed base 3 is fixed to the head end of the arc-shaped shell 1, and three spray holes 4 are provided on the outer surface of the fixed base 3. The outer surface of the fixed base 3 is also provided with a knife exposure long hole 5 close to the spray hole 4.

[0018] Further, see Figure 2-4 The side of the fixed base 3 with the knife exposed long hole 5 is a downwardly inclined arc side, and the edge of the arc side of the fixed base 3 is a skin flattening edge 6. The fixed base 3 is provided with an arc side, which is conducive to setting the edge of the arc side as the skin flattening edge 6, which can flatten the skin and is more conducive to the skin removal operation.

[0019] See Figure 2 A high-pressure pump 7 is fixed on the inner wall of the fixed base 3, and the outlet of the high-pressure pump 7 is connected to a liquid outlet pipe 8, which is connected to the three spray holes 4 through three liquid outlet branches. A microprocessor 9 is also fixed on the inner wall of the fixed base 3.

[0020] A base plate 10 is placed in the arc-shaped shell 1. There is a gap 11 between the base plate 10 and the fixed base 3. The base plate 10 is placed along the long hole 5 exposed by the knife. The shape of the base plate 10 matches the shape of the fixed base 3 at the corresponding placement position. The front and rear sides of the bottom of the base plate 10 are respectively fixed with slide rails 12 along the length direction. The two slide rails 12 are slidably equipped with U-shaped sliders 13. A driving motor 14 and a bearing seat 15 are fixed to the bottom surface of the base plate 10. The bearing seat 15 is located between the ends of the two slide rails 12. One end of a transversely arranged first ball screw 16 is fixed to the end of the output shaft of the driving motor 14. The other end of the first ball screw 16 is axially connected to the bearing on the bearing seat 15. The horizontal block of the U-shaped slider 13 is fixed to the moving part of the first ball screw 16.

[0021] Further, the vertical slider of the U-shaped slider 13 close to the knife exposed long hole 5 is used as the first vertical slider, and the vertical slider away from the knife exposed long hole 5 is used as the second vertical slider. A long moving block 17 is fixed on the top of the first vertical slider. The long moving block 17 is placed on the corresponding slide rail 12. After the first vertical slider fixes the long moving block 17, it slides with the corresponding slide rail 12. An oblique knife seat 18 is fixed on the outside of the long moving block 17. The superimposed height of the first vertical slider and the long moving block 17 is the same as the height of the second vertical slider. A skin-removing blade 19 is fixed in the oblique knife seat 18. Specifically, a screw hole 181 is provided on the oblique knife seat 18, and a screw hole 191 is provided on the skin-removing blade 19. The screw hole 181 and the screw hole 191 are fixed by bolts to realize the fixation of the oblique knife seat 18 and the skin-removing blade 19. A knife groove is provided on the side of the oblique knife seat 18, and the skin-removing blade 19 extends out of the knife groove and the knife exposed long hole 5 in sequence.

[0022] A second drive motor 20 is fixed in the arc-shaped housing 1, and a second vertical ball screw 21 is fixed at the end of the output shaft of the second drive motor 20. A base cover 23 is fixed to the moving part of the second ball screw 21, and a vertical slide groove 231 is provided on the side wall of the base cover 23. A vertical slide rail is fixed in the arc-shaped housing 1, and the vertical slide rail is embedded in the vertical slide groove 231 to achieve a sliding guide effect. The base cover 23 is fixed to the base plate 10, and the side of the base cover 23 close to the bevel knife seat 18 does not contact the bevel knife seat 18, that is, there is a gap between the side of the base cover 23 close to the bevel knife seat 18 and the bevel knife seat 18. An openable liquid storage box 22 for storing tranexamic acid gel solution is also fixed in the arc-shaped housing 1, and a liquid outlet pipe 222 is provided on the liquid storage box 22, and the liquid outlet pipe 222 of the liquid storage box 22 is connected and communicated with the inlet 71 on the high-pressure pump 7. Specifically, the liquid storage box 22 is arranged around the lower part of the second ball screw 21, and an escape notch 221 for escaping the second ball screw 21 is arranged on the liquid storage box 22 so that the liquid storage box 22 forms a concave shape.

[0023] In this embodiment, a fixed column 24 is inherently disposed on the top of the liquid storage box 22 , and the fixed column 24 is fixed to the second driving motor 20 .

[0024] A power module 25 containing a rechargeable battery is also provided in the arc-shaped housing 1 . The power module 25 is located below the drive motor 20 . A battery power indicator light 26 is embedded in the arc-shaped housing 1 . Both the power module 25 and the battery power indicator light 26 are electrically connected to the microprocessor 9 .

[0025] See Figure 1 A skin picking precision adjustment control key 27 is embedded in the arc-shaped shell 1 , and the skin picking precision adjustment control key 27 is electrically connected to the microprocessor 9 , and the microprocessor 9 is used to receive the target skin picking depth and target skin picking length transmitted by the skin picking precision adjustment control key 27 .

[0026] Of course, a touch screen may be embedded in the arc-shaped housing 1, and the touch screen is electrically connected to the microprocessor 9, and the microprocessor 9 is used to receive the target skin extraction depth and target skin extraction length transmitted by the touch screen.

[0027] A power button 28 is embedded in the arc-shaped housing 1 , and the power module 25 is electrically connected to the microprocessor 9 via the power button 28 .

[0028] A reset button 29 is embedded in the arc-shaped housing 1 , and the reset button 29 is electrically connected to the microprocessor 9 . The microprocessor 9 is used to control the drive motor 1 14 and the drive motor 2 20 to reset back to the initial position after receiving the reset signal from the reset button 29 .

[0029] A battery charging interface 30 is provided at the rear end of the arc-shaped housing 1. A circuit board 31 is integrated in the arc-shaped housing 1. A charging circuit is provided on the circuit board 31. The input terminal of the charging circuit is connected to an external charger through the battery charging interface 30. The output terminal of the charging circuit is electrically connected to the positive electrode of the rechargeable battery. The negative electrode of the rechargeable battery is grounded. The first terminal of the charging circuit is connected to a pull-up voltage of +5V. The second terminal of the charging circuit is grounded. The third terminal of the charging circuit is grounded through a first diode and a first resistor R1, the fourth terminal is grounded through a second diode and a second resistor R2, the fifth terminal is grounded through a third diode and a third resistor R3, and the sixth terminal is grounded through a fourth diode and a fourth resistor R4 (see Figure 6 ).

[0030] In this embodiment, both the drive motor 14 and the drive motor 20 are stepper motors. A stepper motor driver 1 32 for controlling the stepper motor 14 and a stepper motor driver 2 33 for controlling the stepper motor 20 are also provided in the arc-shaped shell 1. The stepper motor driver 1 32 is fixed on the substrate 10, and the stepper motor driver 2 33 is fixed on the base cover 23.

[0031] like Figure 7As shown, the microprocessor 9 is electrically connected to one end of the power button 28, and the other end of the power button 28 is grounded; the microprocessor 9 is electrically connected to one end of the reset button 29, and the other end of the reset button 29 is grounded; the microprocessor 9 is electrically connected to one end of the skin taking precision adjustment control key 27, and the other end of the skin taking precision adjustment control key 27 is grounded; the microprocessor 9 is electrically connected to the base of the transistor Q1 through the fifth resistor R5, and the collector of the transistor Q1 is electrically connected to the high-voltage pump 7 and the emitter is grounded; the microprocessor 9 is electrically connected to the stepper motor 14 through the sixth resistor R6 and the stepper motor driver 1 32, and the microprocessor 9 is electrically connected to the stepper motor 2 20 through the seventh resistor R7 and the stepper motor driver 2 33.

[0032] Press the power button 28, the power module 25 supplies power to the electric skin remover, the staff uses the skin removal accuracy adjustment control button 27 to adjust the target skin removal depth and the target skin removal length, and sends the target skin removal depth and the target skin removal length instruction to the microprocessor 9. The microprocessor 9 is used to send a pulse signal corresponding to the target skin removal depth to the stepper motor driver 2 33 after receiving the instruction. The stepper motor driver 2 33 controls the stepper motor 20 to drive the moving part of the second ball screw 21 to move up and down, driving the base cover 23, the base plate 10 and the skin removal blade 19 thereon to move up and down at the same time to adjust the skin removal depth. After the skin removal depth reaches the target skin removal depth, the stepper motor driver 23 controls the stepper motor 20 to drive the moving part of the second ball screw 21 to move up and down. Motor 20 is paused; then microprocessor 9 sends a pulse signal corresponding to the target skin-cutting length to stepper motor driver 1 32, stepper motor driver 1 32 controls stepper motor 14 to drive the moving part of first ball screw 16 to move left and right, U-shaped slider 13 drives long moving block 17 and inclined knife seat 18 to slide left and right on slide rail 12, skin-cutting blade 19 moves left and right accordingly, so that skin-cutting blade 19 moves the target skin-cutting length to implement skin-cutting operation, and during skin-cutting operation, high-pressure pump 7 is controlled to pump tranexamic acid gel in liquid storage box 22 to flow through liquid outlet pipe 222, liquid outlet pipe 8 and liquid outlet branch pipe and spray from medicine spray hole 4 to perform hemostasis operation. Staff members hold and push the electric skin-cutting device to remove a piece of skin.

[0033] In this embodiment, a stepper motor 14 is used and the ball screw principle is adopted, which has the advantages of low friction and low energy consumption. It can be adjusted by the microprocessor 9 to achieve high-frequency and high-precision translational movement. The moving distance can be set to 3mm or 5mm as needed, driving the skin removal blade 19 to move quickly, generating cutting force after contacting the skin, and realizing rapid skin removal.

[0034] In this embodiment, the double-track design has low friction and energy consumption, while enhancing the stability of the base.

[0035] In this embodiment, the stepper motor 20 is combined with the ball screw and the microprocessor 9 to adjust the skin removal depth of the skin removal blade 19 downward or upward, and the accuracy can be set to 5 equal parts, each part is 0.1 mm.

[0036] In this embodiment, tranexamic acid has a good hemostatic effect and is sprayed onto the wound surface by the high-pressure pump 7 to achieve an immediate hemostatic effect.

[0037] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An intelligent fully automatic high-precision electric skin remover, characterized in that: It comprises an arc-shaped shell, the arc-shaped portion of the arc-shaped shell is convenient for hand holding, a fixed base is fixed to the head end of the arc-shaped shell, at least one medicine spraying hole is opened on the outer surface of the fixed base, a high-pressure pump is fixed on the inner wall of the fixed base, the high-pressure pump is connected to a liquid outlet pipe corresponding to the medicine spraying hole, and a knife-exposing long hole close to the medicine spraying hole is also opened on the outer surface of the fixed base; A base plate is placed in the arc-shaped shell, and there is a gap between the base plate and the fixed base. The base plate is placed along the long hole exposed by the knife. Slide rails are fixed to the front and rear sides of the bottom of the base plate respectively, and two of the slide rails are slidably equipped with U-shaped sliders. A driving motor 1 and a bearing seat are fixed to the bottom surface of the base plate, and the bearing seat is located between the ends of the two slide rails. One end of a first horizontal ball screw is fixed to the end of the output shaft of the driving motor 1, and the other end of the first ball screw is axially connected to the bearing on the bearing seat. The horizontal block of the U-shaped slider is fixed to the moving part of the first ball screw, and an oblique knife seat is fixed to the outer side of a vertical slider of the U-shaped slider, and a skinning blade is fixed in the oblique knife seat. The side of the oblique knife seat A knife groove is provided on the side, and the skin-picking blade extends out of the knife groove and the knife exposes a long hole in sequence. A driving motor 2 is fixed in the arc-shaped shell, and a vertical second ball screw is fixed on the output shaft end of the driving motor 2. A base cover is fixed on the moving part of the second ball screw. A vertical slide groove is provided on the side wall of the base cover. A vertical slide rail is fixed in the arc-shaped shell, and the vertical slide rail is embedded in the vertical slide groove to realize sliding guidance. The base cover is fixed to the base plate, and the side of the base cover close to the oblique knife seat does not contact the oblique knife seat. An openable liquid storage box for storing tranexamic acid gel is also fixed in the arc-shaped shell, and the liquid storage box is connected and communicated with a high-pressure pump. A microprocessor is also fixed in the arc-shaped shell; The microprocessor is used to control the second drive motor to drive the moving part of the second ball screw to move up and down after receiving an instruction containing a target skin picking depth and a target skin picking length, thereby driving the base plate and the skin picking blade thereon to move up and down at the same time to adjust the skin picking depth. After the skin picking depth reaches the target skin picking depth, the second drive motor is controlled to pause, and then the first drive motor is controlled to drive the moving part of the first ball screw to move left and right. The U-shaped slider drives the bevel knife seat to slide left and right on the slide rail, and the skin picking blade moves left and right accordingly, so that the skin picking blade moves the target skin picking length to implement the skin picking operation. During the skin picking operation, the high-pressure pump is controlled to pump the tranexamic acid gel in the liquid storage box and spray it out from the spray hole to perform a hemostatic operation.

2. The intelligent fully automatic high-precision electric skin remover according to claim 1, characterized in that: The vertical slider of the U-shaped slider that is close to the long hole exposed by the knife serves as the first vertical slider, and the vertical slider that is far from the long hole exposed by the knife serves as the second vertical slider. A long moving block is fixed on the top of the first vertical slider, and the long moving block is placed on the corresponding slide rail. After the first vertical slider fixes the long moving block, it slides with the corresponding slide rail, and an oblique knife seat is fixed on the outer side of the long moving block. The superimposed height of the first vertical slider and the long moving block is the same as the height of the second vertical slider. The U-shaped slider drives the long moving block and the oblique knife seat to slide left and right on the slide rail, and the skin removing blade moves left and right accordingly, so that the skin removing blade moves the target skin removing length to implement the skin removing operation.

3. The intelligent fully automatic high-precision electric skin remover according to claim 1, characterized in that: The side of the fixed base with the long hole through which the knife is exposed is a downwardly inclined arc side, the edge of the arc side of the fixed base is a skin flattening edge, and the shape of the base plate matches the shape of the fixed base at the corresponding placement location.

4. The intelligent fully automatic high-precision electric skin remover according to claim 1, characterized in that: The liquid storage box is arranged around the lower part of the second ball screw, and a clearance notch for avoiding the second ball screw is arranged on the liquid storage box so that the liquid storage box forms a concave shape; The top of the liquid storage box is provided with a fixed column, and the fixed column is fixed to the driving motor in two phases.

5. The intelligent fully automatic high-precision electric skin remover according to claim 1, characterized in that: A power module containing a rechargeable battery is also arranged in the arc-shaped shell, and the power module is located below the second driving motor. A battery power indicator light is embedded in the arc-shaped shell, and both the power module and the battery power indicator light are electrically connected to the microprocessor.

6. The intelligent fully automatic high-precision electric skin remover as claimed in claim 5, characterized in that: A battery charging interface is provided at the tail end of the arc-shaped shell, and a charging circuit is integrated in the arc-shaped shell. The input terminal of the charging circuit is connected to an external charger through the battery charging interface, the output terminal of the charging circuit is electrically connected to the positive electrode of the rechargeable battery, the negative electrode of the rechargeable battery is grounded, the first terminal of the charging circuit is connected to a pull-up voltage of +5V, the second terminal of the charging circuit is grounded, the third terminal of the charging circuit is grounded through a first diode and a first resistor R1, the fourth terminal is grounded through a second diode and a second resistor R2, the fifth terminal is grounded through a third diode and a third resistor R3, and the sixth terminal is grounded through a fourth diode and a fourth resistor R4.

7. The intelligent fully automatic high-precision electric skin remover as claimed in claim 5, characterized in that: The arc-shaped housing is embedded with a skin picking precision adjustment control key, which is electrically connected to a microprocessor, and the microprocessor is used to receive the target skin picking depth and target skin picking length transmitted by the skin picking precision adjustment control key; Alternatively, a touch screen is embedded in the arc-shaped housing, and the touch screen is electrically connected to a microprocessor, and the microprocessor is used to receive target skin extraction depth and target skin extraction length transmitted from the touch screen.

8. The intelligent fully automatic high-precision electric skin remover as claimed in claim 7, characterized in that: The arc angle of the arc-shaped shell is an obtuse angle, a power button is embedded in the arc-shaped shell, and the power module is electrically connected to the microprocessor via the power button.

9. The intelligent fully automatic high-precision electric skin remover as claimed in claim 8, characterized in that: A reset button is embedded in the arc-shaped housing, and the reset button is electrically connected to the microprocessor. The microprocessor is used to control the drive motor 1 and the drive motor 2 to reset back to the initial position after receiving the reset signal from the reset button.

10. The intelligent fully automatic high-precision electric skin remover according to claim 9, characterized in that: The microprocessor is electrically connected to one end of the power button, the other end of the power button is grounded, the microprocessor is electrically connected to one end of the reset button, the other end of the reset button is grounded, the microprocessor is electrically connected to one end of the skin-taking precision adjustment control key, the other end of the skin-taking precision adjustment control key is grounded; The microprocessor is electrically connected to the base of the transistor Q1 through a fifth resistor R5, the collector of the transistor Q1 is electrically connected to the high-voltage pump, and the emitter is grounded; The drive motor 1 and the drive motor 2 are both stepper motors. The microprocessor is electrically connected to the stepper motor 1 through the sixth resistor R6 and the stepper motor driver 1, and the microprocessor is electrically connected to the stepper motor 2 through the seventh resistor R7 and the stepper motor driver 2.

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