Pressing force feedback mechanism and method for first-aid training model
By designing a pressing pressure feedback mechanism including pressure sensor, pressing rod, piston, slide cylinder and base, the problem of inflexible force feedback in the existing CPR first aid training model is solved, and different force feedback during pressing during first aid training is achieved, improving the authenticity and effectiveness of the training.
Patent Information
- Application Number
- CN202411952460.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-03-18
AI Technical Summary
In the existing CPR first aid training model, the pressing mechanism cannot achieve different force feedback during the pressing process, and the pressing pressure and resetting forces are limited by the material itself and are not easy to adjust.
A pressing pressure feedback mechanism including a pressure sensor, a pressing rod, a piston, a slide cylinder and a base is designed. Through components such as variable cross-sectional chute and servo motor, real-time monitoring and adjustment of pressing pressure and resetting force are achieved.
Different force feedback during the pressing process during first aid training is achieved, and the force feedback of human tissues and organs is simulated, improving the authenticity and effectiveness of the training.
Smart Images
Figure CN119649677A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of medical teaching aids, and in particular, relates to a pressure feedback mechanism and method for a first aid training model. Background Art
[0002] In existing CPR first aid training models, the pressing mechanism mostly uses a return spring and rigid ribs to provide pressing resistance and resetting action, but the pressing force and the resetting force are limited by the material itself and are not easy to adjust, and different force feedback cannot be achieved during the pressing process. Summary of the invention
[0003] In view of the shortcomings of the prior art, the present application provides a pressing force feedback mechanism for a first aid training model, comprising: A pressing part, used for transmitting pressing force in real time; Preferably, the pressing part comprises: a pressure sensor, a pressing rod, a piston, a sliding cylinder and a base; wherein the pressure sensor is arranged at one end of the pressing rod for monitoring the pressing force; wherein the diameter of the piston is greater than the diameter of the pressing rod, and is arranged at the other end of the pressing rod; the sliding cylinder is provided with a sliding mouth with the same diameter as the pressing rod, and a sliding cylinder with the same diameter as the piston, the pressing rod slides in the sliding mouth, and the piston slides in the sliding cylinder; further, preferably, a card seat is provided on the base; Further, preferably, a first sliding groove with a variable cross-section and a second sliding groove with a variable cross-section are provided on the wall of the slide tube; the first sliding groove with a variable cross-section and the second sliding groove with a variable cross-section extend downward from the slide opening to 7.5 cm from the slide tube; Preferably, a clamping protrusion is provided on a side close to the first sliding groove of variable cross-section and on a surface where the piston and the pressing rod meet; Further, preferably, the variable cross-section first chute is divided into a first head, a first neck, a first shoulder, and a first bottom; wherein the width of the first neck is smaller than the width of the first shoulder, and the width of the first bottom is smaller than the width of the first shoulder; Further, preferably, the second chute with variable cross-section is divided into a second head, a second neck, a second shoulder, and a second bottom; wherein the width of the second neck is smaller than the width of the second shoulder, and the width of the second bottom is smaller than the width of the second shoulder; Further, preferably, the depth of the first variable cross-section chute and the second variable cross-section chute is greater than 0.5 mm and less than 1 mm; Further, preferably, the height of the slide cylinder is greater than the sum of the thickness of the piston, the length of the first slide groove and the height of the cam; Further, preferably, the height of the slide cylinder is greater than the sum of the thickness of the piston, the length of the second slide groove and the height of the cam; Further, preferably, a socket is provided on the base for fixing the spring; the sum of the height of the socket inserted into the slide, the thickness of the piston, the length of the first slide groove and the height of the cam is less than the length of the slide; the sum of the height of the socket inserted into the slide, the thickness of the piston, the length of the second slide groove and the height of the cam is less than the length of the slide.
[0004] The damping part comprises: a gas damping part for providing gas damping; an elastic damping part for providing elastic damping; Further, preferably, the air damping part comprises: a first air damping part and a second air damping part; The first air damping part includes: a first servo motor, one end of which is connected to a first push piece matched with a first sliding groove of a variable cross-section through a first push rod; a first solenoid valve is fixedly connected to the first push piece through a first air guide pipe and opens at the bottom of the first push piece away from the sliding port; the first push rod is provided with an internal thread matched with the first servo motor; Further, preferably, the variable cross-section first slide groove has the same shape as the first push piece; the first push piece is provided with an arc surface that matches with a surface of the piston contacting the wall of the slide cylinder; The second air damping part comprises: a second servo motor, one end of which is connected to a second push piece matched with the second slide slot through a second push rod; a second solenoid valve is fixedly connected to the second push piece through a second air guide pipe and opens at a head of the second push piece near the slide slot; the second push rod is provided with an internal thread matched with the second servo motor; The first air guide tube and the second air guide tube are retractable.
[0005] Further, preferably, the second sliding groove with a variable cross-section has the same shape as the second push piece; the second push piece is provided with an arc surface that matches with a surface of the piston contacting the wall of the sliding cylinder; Further, preferably, the elastic damping part comprises: a spring, which is arranged between the piston and the base, with one end abutting against the bottom of the piston and the other end abutting against the base; Further, preferably, the spring is a nonlinear spring or a linear spring; The spring is clamped on the clamping seat to provide resistance during pressing and a restoring force when the piston moves away from the base.
[0006] The control unit is used to store, process, receive and transmit electrical signals; and control the operation of the first servo motor, the second servo motor, the first solenoid valve and the second solenoid valve.
[0007] Preferably, the first push plate, the second push plate, the slide cylinder and the piston are made of self-lubricating material.
[0008] A pressing force feedback method for a first aid training model is also provided, which is implemented based on the aforementioned pressing force feedback mechanism for a first aid training model and includes the following steps: S1. Initializing the gas damping unit, comprising the following steps: S1.1. Control the first servo motor to operate, move the first push piece away from the piston to the end of the first variable cross-section slot away from the piston; the first solenoid valve is in a natural state; S1.2. Control the first servo motor to operate, and move the second push plate away from the piston to the end of the second variable-section slide groove away from the piston; the second solenoid valve is in a natural state.
[0009] S2. The control unit collects the pressure electrical signal transmitted by the pressure sensor. When pressure is generated, it controls the first servo motor to operate, pushes the first push plate toward the piston, and continuously generates thrust; at the same time, it controls the second servo motor to operate, moves the second push plate away from the piston, exposes the second variable-section slide groove, and forms a variable-section airway.
[0010] S3. The control unit collects the pressure electrical signal transmitted by the pressure sensor. When the pressure disappears, it controls the first servo motor to operate, moves the first push plate away from the piston, exposes the first slide groove with a variable cross-section, and forms a variable cross-section airway; at the same time, it controls the second servo motor to operate, pushes the second push plate toward the piston, and continuously generates thrust.
[0011] S4. When the first push plate is stuck on the bulge on the piston, the piston is stuck, and the elastic damping part cannot be reset, the pressing rod is pressed to the bottom of the slide tube and maintained for at least seconds, and the control unit initializes the air damping part; the pressing force on the pressing rod is released, and the elastic damping part returns to its initial state.
[0012] S5. Stop pressing for more than seconds, and store the pressing process data in the control unit; when the pressing part is pressed again, re-execute steps S1 to S3.
[0013] Also includes: S6. Each time step S2 and step S3 are executed, the control unit counts the number of presses once, including the following steps: S6.1. The control unit monitors the duration of the pressure electrical signal. When the duration is less than 0.25 seconds or greater than 0.3 seconds, the control unit determines that the pressing is invalid and counts the number of wrong pressings once; and sends a command to the first servo motor to increase the thrust of the first push piece on the piston to increase the pressing resistance; S6.2. The control unit collects the operating status of the first servo motor. When the first servo motor cannot move the first push piece away from the piston, it indicates that the pressing is too deep, the first push piece is stuck at the convex part of the piston, the piston is stuck, and the elastic damping part cannot be reset, and the number of wrong pressing is counted as 1; and a command is sent to the second servo motor to stop the thrust on the second push piece; S6.3. When the first push piece is normally retracted under the action of the first servo motor, and the second push piece cooperates with each other to operate, the number of correct presses is counted as 1; and the predetermined thrust of the first servo motor and the second servo motor is restored; S6.4. If steps S6.1 and S6.2 occur simultaneously, it will be counted as one wrong press. Preferably, the time in step S6 is adjustable. Beneficial Effects
[0014] By setting the first variable-section slide groove and the second variable-section slide groove, they cooperate with each other under the control of the control unit to form a variable-section airway that cooperates with each other, provide air damping force during the movement of the piston, and can be adjusted to achieve different force feedback values during the control of the pressing process; realize the simulation of force feedback of human tissues and organs. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 is a schematic diagram of the force feedback mechanism structure; Figure 2 is a schematic cross-sectional view of the left end of the slide cylinder; Figure 3 It is a schematic cross-sectional view of the middle portion of the left side of the slide cylinder; Figure 4 is a schematic cross-sectional view of the first chute of variable cross-section; Figure 5 is a cross-sectional schematic diagram of the second chute with a variable cross-section; Figure 6 is a schematic cross-sectional view of the middle portion of the right side of the slide cylinder; Figure 7 is a front cross-sectional schematic diagram of the slide cylinder in an initial pressing state; Figure 8 is a front cross-sectional schematic diagram of the sliding cylinder in the intermediate state of the elastic damping part returning to normal; Fig. 9 is a front cross-sectional schematic diagram of the sliding cylinder in the reset state of the elastic damping part; Fig.10 1. is a front cross-sectional schematic diagram of the slide cylinder in the over-deep pressing state; In the figure: 1. pressing part; 11. pressure sensor; 12. pressing rod; 13. piston; 131. clamping convex; 2. sliding cylinder; 21. sliding mouth; 22. sliding tube; 23. first sliding groove with variable cross-section; 231. first head; 232 first neck; 233 first shoulder; 234. first bottom; 24. second sliding groove with variable cross-section; 241. second head; 242. second neck; 243. second shoulder; 244. second bottom; 25. base; 251. holder; 3. control unit; 4. first servo motor; 41. first push rod; 42. first push plate; 5. first solenoid valve; 51. first air duct; 52. first opening; 6. second servo motor; 61. second push rod; 62. second push plate; 7. second solenoid valve; 71. second air duct; 72. second opening; 8. spring. DETAILED DESCRIPTION
[0016] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0017] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.
[0018] In the description of this application, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.
[0019] In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "up", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present application.
[0020] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "provided with" should be understood in a broad sense. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0021] like Figures 1 to 10 : This embodiment provides a pressing force feedback mechanism for a first aid training model, including: The pressing part 1 is used to transmit pressing force in real time; Preferably, the pressing part 1 comprises: a pressure sensor 11, a pressing rod 12, a piston 13, a sliding cylinder 2 and a base 25; wherein the pressure sensor 11 is arranged at one end of the pressing rod 12 for monitoring the pressing force; wherein the diameter of the piston 13 is greater than the diameter of the pressing rod 12, and is arranged at the other end of the pressing rod 12; the sliding cylinder 2 is provided with a sliding opening 21 having the same diameter as the pressing rod 12, and a sliding cylinder 22 having the same diameter as the piston 13, the pressing rod 12 slides in the sliding opening 21, and the piston 13 slides in the sliding cylinder 22; further, preferably, a card seat 251 is provided on the base 25; Further, preferably, a first sliding groove 23 with a variable cross-section and a second sliding groove 24 with a variable cross-section are provided on the wall of the sliding cylinder 22; the first sliding groove 23 with a variable cross-section and the second sliding groove 24 with a variable cross-section extend downward from the sliding opening 21 to 7.5 cm; Preferably, a clamping protrusion 131 is provided on a side close to the first sliding groove 23 with a variable cross-section and on a surface where the piston and the pressing rod meet; Further, preferably, the variable cross-section first slide groove 23 is divided into a first head 231, a first neck 232, a first shoulder 233, and a first bottom 234; wherein the width of the first neck 232 is smaller than the width of the first shoulder 233, and the width of the first bottom 234 is smaller than the width of the first shoulder 233; Further, preferably, the second chute 24 with a variable cross-section is divided into a second head 241, a second neck 242, a second shoulder 243, and a second bottom 244; wherein the width of the second neck 242 is smaller than the width of the second shoulder 243, and the width of the second bottom 244 is smaller than the width of the second shoulder 243; Further, preferably, the depth of the first variable cross-section chute 23 and the second variable cross-section chute 24 is greater than 0.5 mm and less than 1 mm; Further, preferably, the height of the slide cylinder 22 is greater than the sum of the thickness of the piston 13, the length of the first slide groove 23 and the height of the protrusion 131; Further, preferably, the height of the slide cylinder 22 is greater than the sum of the thickness of the piston 13, the length of the second slide groove 24 and the height of the protrusion 131; Further, preferably, a base 25 is provided at the bottom of the slide cylinder 2; a socket 251 is provided on the base 25 for fixing the spring 8; in the present embodiment, the sum of the height of the socket 251 inserted into the slide cylinder 22, the thickness of the piston 13, the length of the first slide groove 23 and the height of the latch 131 is less than the length of the slide cylinder 22; in the present embodiment, the sum of the height of the socket 251 inserted into the slide cylinder 22, the thickness of the piston 13, the length of the second slide groove 24 and the height of the latch 131 is less than the length of the slide cylinder 22.
[0022] The damping part comprises: a gas damping part for providing gas damping; an elastic damping part for providing elastic damping; Further, preferably, the air damping part comprises: a first air damping part and a second air damping part; The first air damping part includes: a first servo motor 4, one end of which is connected to a first push piece 42 matched with the first sliding groove 23 of variable cross-section through a first push rod 41; a first solenoid valve 5 is fixedly connected to the first push piece 42 through a first air guide pipe 51, and opens at the bottom of the first push piece 42 away from the sliding port 21; the first push rod 41 is provided with an internal thread (not shown in the figure) matched with the first servo motor 4; In some other embodiments, the width of the first variable-section sliding groove 23 is adjustable, and the width of the first push piece 42 is adjustable in coordination with the first variable-section sliding groove 23 .
[0023] Further, preferably, the variable cross-section first slide groove 23 has the same shape as the first push piece 42; the first push piece 42 is provided with an arc surface that matches with one side of the piston 13 contacting the wall of the slide cylinder 22; The second air damping part includes: a second servo motor 6, one end of which is connected to a second push piece 62 matched with the second slide slot 23 through a second push rod 61; a second solenoid valve 7 is fixedly connected to the second push piece 62 through a second air guide pipe 71, and opens at the head of the second push piece 62 near the slide slot 21; the second push rod 61 is provided with an internal thread (not shown in the figure) matched with the second servo motor 6; In this embodiment, the first air guide tube 51 and the second air guide tube 71 are retractable; In some other embodiments, the width of the second sliding groove 24 with a variable cross-section is adjustable, and the width of the push piece is adjustable in coordination with the variable cross-section.
[0024] Further, preferably, the second sliding groove 24 with a variable cross-section has the same shape as the second push piece 62; the second push piece 62 is provided with an arc surface that matches with a surface of the piston 13 that contacts the wall of the sliding cylinder 22; Further, preferably, the elastic damping part comprises: a spring 8, which is arranged between the piston 13 and the base 25, with one end abutting against the bottom of the piston 13 and the other end abutting against the base 25; Further, preferably, the spring 8 is a nonlinear spring or a linear spring; In this embodiment, the spring 8 is clamped on the clamping seat 251 to provide resistance during pressing and a restoring force when the piston 13 moves away from the base 25 .
[0025] The control unit 3 is used to store, process, receive and transmit electrical signals; in this embodiment, the first servo motor 4, the second servo motor 6, the first solenoid valve 5 and the second solenoid valve 7 are controlled to work, and the force adjustment is achieved with the cooperation of the variable-section airway formed by the variable-section first slide groove 23 and the variable-section second slide groove 24.
[0026] In this embodiment, the first push piece 42, the second push piece 62, the slide cylinder 22, and the piston 13 are made of self-lubricating material. In this embodiment, the push piece is less than 0.5 mm away from the edge of the piston 13, and the push piece thickness is less than 0.5 mm.
[0027] This embodiment further provides a pressing force feedback method for a first aid training model, which is implemented based on the aforementioned pressing force feedback mechanism for a first aid training model and includes the following steps: S1. Initializing the gas damping unit, comprising the following steps: S1.1. Control the first servo motor 4 to operate, move the first push piece 42 away from the piston 13 to one end of the variable cross-section first chute 23 away from the piston 13; the first solenoid valve 5 is in a natural state; S1.2. Control the first servo motor 4 to operate, and move the second push piece 62 away from the piston 13 to the end of the second variable-section slide groove 24 away from the piston 13; the second solenoid valve 7 is in a natural state.
[0028] S2. The control unit 3 collects the pressure electrical signal transmitted by the pressure sensor 11. When pressure is generated, the control unit 3 controls the first servo motor 4 to operate, pushes the first push plate 42 toward the piston 13, and continuously generates thrust; at the same time, the control unit 3 controls the second servo motor 6 to operate, moves the second push plate 62 away from the piston 13, exposes the second slide groove 24 of variable cross-section, and forms a variable cross-section airway.
[0029] S3. The control unit 3 collects the pressure electrical signal transmitted by the pressure sensor 11. When the pressure disappears, the control unit 3 controls the first servo motor 4 to operate, move the first push plate 42 away from the piston 13, expose the variable-section first slide groove 23, and form a variable-section airway; at the same time, the control unit 3 controls the second servo motor 6 to operate, push the second push plate 62 toward the piston 13, and continuously generate thrust.
[0030] S4. When the first push piece 42 is stuck at the locking protrusion 131 on the piston 13, the piston 13 is stuck, and the elastic damping part cannot be reset, the pressing rod 12 is pressed to the bottom of the slide cylinder 22 and maintained for at least 3 seconds, and the control unit 3 initializes the air damping part; the pressing force on the pressing rod 12 is released, and the elastic damping part returns to its initial state.
[0031] S5. Stop pressing for more than 10 seconds, and store the pressing process data in the control unit 3; when applying pressure to the pressing part 1 again, re-execute steps S1 to S3.
[0032] Also includes: S6. Each time step S2 and step S3 are executed, the control unit 3 counts the number of presses once, including the following steps: S6.1. The control unit 3 monitors the duration of the pressure electrical signal. When the duration is less than 0.25 seconds or greater than 0.3 seconds, the control unit 3 determines that the pressing is invalid and counts the number of wrong pressings once; and sends a command to the first servo motor 4 to increase the thrust of the first push piece 42 on the piston 13 to increase the pressing resistance; S6.2. The control unit 3 collects the operating status of the first servo motor 4. When the first servo motor 4 cannot make the first push piece 42 move away from the piston 13, it indicates that the pressing is too deep, the first push piece 42 is stuck at the protrusion 131 on the piston 13, the piston 13 is stuck, and the elastic damping part cannot be reset, and the number of wrong pressing is counted as 1; and a command is sent to the second servo motor 6 to stop the thrust of the second push piece 62; S6.3. When the first push piece 42 retreats normally under the action of the first servo motor 4 and the second push piece 62 cooperates with each other to operate, the number of correct presses is counted once; and the predetermined thrust of the first servo motor 4 and the second servo motor 6 is restored; S6.4. If steps S6.1 and S6.2 occur simultaneously, it will be counted as one wrong press. In this embodiment, the time in step S6 is adjustable.
[0033] During operation, the control unit 3 initializes the gas damping part. In this embodiment, initially, the elastic damping part is in a natural state. Afterwards, the pressing part 1 is pressed, and the pressure sensor 11 obtains pressure and transmits the pressure electrical signal to the control unit 3. The elastic damping part is stressed and begins to provide resistance for the pressing force. At the same time, the first push piece 42 contacts the piston 13 to provide resistance; the second push piece 62 exposes the second slide groove 24 of variable cross-section to form a variable cross-section airway. At the same time, the first solenoid valve 5 is closed to prevent the gas in the slide cylinder 22 from being discharged from the first solenoid valve 5; the second solenoid valve 7 is opened to allow the gas in the slide cylinder 22 to enter the second solenoid valve 7 from the second opening 72 of the second air guide pipe 71 and be discharged. In this embodiment, the second slide groove 24 of variable cross-section, starting from one end adjacent to the slide 21, is divided into: a second head 241, a second neck 242, a second shoulder 243, and a second bottom 244; wherein the width of the second neck 242 is less than the width of the second shoulder 243, and the width of the second bottom 244 is less than the width of the second shoulder 243. Continue to press, and the gas in the slide cylinder 22 flows along the second slide groove 24 with a variable cross-section, from the second opening 72, through the second air guide pipe 71, into the second solenoid valve 7 and is discharged. When the piston 13 is pressed to the neck 242, the air resistance increases; when the piston 13 reaches the shoulder 243, the air resistance decreases because the shoulder 243 is wider than the neck 242; the resistance of the elastic damping part increases; when the piston 13 reaches the bottom 244, the air resistance increases because the bottom 244 is narrower than the shoulder 243; the resistance of the elastic damping part increases again; this process is the process of the pressing rod 12 moving toward the base 25; Further, the pressure on the pressure sensor 11 is released, and the elastic damping part pre-restores its original state, which will cause the piston 13 to move toward the sliding port 21. At this time, the control unit 3 controls the first servo motor 4 to move the first push piece 42 to the end of the first variable cross-section slide groove 23 away from the piston 13, exposing the first variable cross-section slide groove 23 to form a variable cross-section airway; at the same time, the first solenoid valve 5 is opened, and the gas enters through the first air guide pipe 51, and enters the slide cylinder 22 from the first air guide pipe 51 at the first opening 52 of the first push piece 42; the second solenoid valve 7 is closed to prevent the gas from entering from the second solenoid valve 7. In this embodiment, the variable cross-section first slide groove 23, starting from the end adjacent to the sliding port 21, is divided into: a first head 231, a first neck 232, a first shoulder 233, and a first bottom 234; wherein the width of the first neck 232 is smaller than the width of the first shoulder 233, and the width of the first bottom 234 is smaller than the width of the first shoulder 233. The piston 13 continues to move away from the base 25, and the gas enters the slide 22 from the first opening 52. When the piston 13 is at the first bottom 234, the gas provides resistance to the elastic damping part to restore its original state due to the narrow inlet, so that the elastic damping part slows down the restoration of its original state, simulating the resistance given by human muscles to prevent rapid reset; when the piston 13 is at the first shoulder 233, since the width of the first shoulder 233 is greater than the width of the first bottom 234, at this time, the gas resistance is reduced, and the elastic damping part quickly restores its original state; when the piston 13 is at the first neck 232, since the width of the first neck 232 is less than the width of the first shoulder 233, the gas resistance is increased, and the recovery of the elastic damping part is slowed down; this process is the process of the pressing rod 12 moving away from the base 25.
[0034] Furthermore, when the pressing is too deep, since the first push piece 42 continuously gives a thrust to the piston 13 during the pressing process, when the piston 13 is out of contact with the first push piece 42, it will be pushed into the dislocation space between the piston 13 and the pressing rod 12 and get stuck at the protrusion 131 on the side where the piston 13 contacts the pressing rod 12, so that the piston 13 cannot return to the initial position under the action of the restoring force of the elastic damping part.
[0035] The above embodiments are merely examples for the purpose of clear description and are not intended to limit the implementation methods.
Claims
1. A pressing force feedback mechanism for a first aid training model, characterized in that: include: A pressing part, used to transmit pressing force in real time; The pressing part includes: a pressure sensor, a pressing rod, a piston, a sliding cylinder and a base; wherein the pressure sensor is arranged at one end of the pressing rod for monitoring the pressing force; wherein the diameter of the piston is greater than the diameter of the pressing rod and is arranged at the other end of the pressing rod; the sliding cylinder is provided with a sliding opening with the same diameter as the pressing rod and a sliding cylinder with the same diameter as the piston, the pressing rod slides in the sliding opening, and the piston slides in the sliding cylinder; the sliding cylinder wall is provided with a first sliding groove with a variable cross-section and a second sliding groove with a variable cross-section; The damping part comprises: a gas damping part for providing gas damping; an elastic damping part for providing elastic damping; Wherein, the air damping part comprises: a first air damping part and a second air damping part; The first air damping part includes: a first servo motor, one end of which is connected to a first push piece matched with a first sliding groove of a variable cross-section through a first push rod; a first solenoid valve is fixedly connected to the first push piece through a first air guide pipe and opens at the bottom of the first push piece away from the sliding port; the first push rod is provided with an internal thread matched with the first servo motor; The second air damping part includes: a second servo motor, one end of which is connected to a second push piece matched with the second slide slot through a second push rod; a second solenoid valve is fixedly connected to the second push piece through a second air guide pipe and opens at a head of the second push piece near the slide slot; the second push rod is provided with an internal thread matched with the second servo motor; Wherein, the elastic damping part comprises: a spring, which is arranged between the piston and the base, with one end abutting against the bottom of the piston and the other end abutting against the base; Control unit, used to store, process, receive and transmit electrical signals.
2. A pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: A card seat is arranged on the base.
3. According to claim 1, a pressing force feedback mechanism for a first aid training model is characterized in that: The variable-section first slide groove and the variable-section second slide groove extend downward from the slide opening to 7.5 cm from the slide barrel.
4. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: A clamping protrusion is provided on a side close to the first sliding groove with a variable cross-section and on a surface where the piston and the pressing rod meet.
5. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: The variable cross-section first chute is divided into a first head, a first neck, a first shoulder, and a first bottom; wherein the width of the first neck is smaller than the width of the first shoulder, and the width of the first bottom is smaller than the width of the first shoulder; The variable cross-section second slide groove is divided into a second head, a second neck, a second shoulder, and a second bottom; wherein the width of the second neck is smaller than the width of the second shoulder, and the width of the second bottom is smaller than the width of the second shoulder.
6. A pressing force feedback mechanism for a first aid training model according to any one of claims 1 to 5, characterized in that: The depth of the first variable-section chute and the second variable-section chute is greater than 0.5 mm and less than 1 mm.
7. A pressing force feedback mechanism for a first aid training model according to claim 6, characterized in that: The height of the slide cylinder is greater than the sum of the thickness of the piston, the length of the first slide groove and the height of the cam; The height of the slide cylinder is greater than the sum of the thickness of the piston, the length of the second slide groove and the height of the cam.
8. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: A clamping seat is provided on the base for fixing the spring.
9. A pressing force feedback mechanism for a first aid training model according to claim 8, characterized in that: The sum of the height of the card seat inserted into the slide cylinder, the thickness of the piston, the length of the first slide groove and the height of the card bulge is less than the length of the slide cylinder; the sum of the height of the card seat inserted into the slide cylinder, the thickness of the piston, the length of the second slide groove and the height of the card bulge is less than the length of the slide cylinder.
10. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: The variable cross-section first slide groove has the same shape as the first push piece; the first push piece is provided with an arc surface that matches with a surface of the piston contacting the wall of the slide cylinder; The second variable cross-section sliding groove has the same shape as the second push piece; the second push piece is provided with an arc surface matching with a surface of the piston contacting the wall of the sliding cylinder.
11. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: The first air guide tube and the second air guide tube are retractable.
12. The pressing force feedback mechanism for a first aid training model according to claim 1, characterized in that: The spring is a nonlinear spring or a linear spring; the spring is clamped on the base to provide resistance during pressing and a restoring force when the piston moves away from the base.
13. A pressing force feedback mechanism for a first aid training model according to any one of claims 1-5 and 7-12, characterized in that: The first push plate, the second push plate, the slide cylinder and the piston are made of self-lubricating material.
14. A pressing force feedback method for a first aid training model, characterized in that: A pressing force feedback mechanism for a first aid training model according to any one of claims 1 to 13 is implemented, comprising the following steps: S1. Initializing the gas damping unit, comprising the following steps: S1.
1. Control the first servo motor to operate, move the first push piece away from the piston to the end of the first variable cross-section slot away from the piston; the first solenoid valve is in a natural state; S1.
2. Control the first servo motor to operate, move the second push piece away from the piston to the end of the second variable cross-section slide away from the piston; the second solenoid valve is in a natural state; S2. The control unit collects the pressure electrical signal transmitted by the pressure sensor. When pressure is generated, the control unit controls the first servo motor to operate, pushes the first push piece toward the piston, and continuously generates thrust; at the same time, the control unit controls the second servo motor to operate, moves the second push piece away from the piston, exposes the second slide groove with a variable cross-section, and forms a variable cross-section airway; S3. The control unit collects the pressure electrical signal transmitted by the pressure sensor, and when the pressure disappears, controls the first servo motor to operate, moves the first push piece away from the piston, exposes the first slide groove with a variable cross-section, and forms a variable cross-section airway; at the same time, controls the second servo motor to operate, pushes the second push piece toward the piston, and continuously generates thrust; S4. When the first push piece is stuck in the convex part of the piston, the piston is stuck, and the elastic damping part cannot be reset, the pressing rod is pressed to the bottom of the slide tube and kept for at least seconds, and the control unit initializes the gas damping part; the pressing force on the pressing rod is released, and the elastic damping part returns to the initial state; S5. Stop pressing for more than seconds, and store the pressing process data in the control unit; when the pressing part is pressed again, re-execute steps S1 to S3.
15. A pressing force feedback method for a first aid training model according to claim 14, characterized in that: Also includes: S6. Each time step S2 and step S3 are executed, the control unit counts the number of presses once.
16. A method for pressing force feedback for a first aid training model according to claim 15, characterized in that: The S6. Each time step S2 and step S3 are executed, the control unit counts the number of presses once, comprising the following steps: S6.
1. The control unit monitors the duration of the pressure electrical signal. When the duration is less than 0.25 seconds or greater than 0.3 seconds, the control unit determines that the pressing is invalid and counts the number of wrong pressings once; and sends a command to the first servo motor to increase the thrust of the first push piece on the piston to increase the pressing resistance; S6.
2. The control unit collects the operating status of the first servo motor. When the first servo motor cannot move the first push piece away from the piston, it indicates that the pressing is too deep, the first push piece is stuck at the convex part of the piston, the piston is stuck, and the elastic damping part cannot be reset, and the number of wrong pressing is counted as 1; and a command is sent to the second servo motor to stop the thrust on the second push piece; S6.
3. When the first push piece is normally retracted under the action of the first servo motor, and the second push piece cooperates with each other to operate, the number of correct presses is counted as 1; and the predetermined thrust of the first servo motor and the second servo motor is restored; S6.
4. If steps S6.1 and S6.2 occur simultaneously, it will be counted as one incorrect press.