Overload protection system for traction machine of urodynamic analyzer and control method

Abstract

The invention discloses an overload protection system for a traction machine of a urodynamic analyzer and a control method. The overload protection system comprises a lead screw transmission structure, a driving controller and a calibration module used during calibration, wherein the lead screw transmission structure and the driving controller are connected; the calibration module comprises a calibration module main body, a wire and a sliding locking structure, and is connected with the driving controller through the wire; the lead screw transmission structure comprises a lead screw main body and a conduit clamping seat; the driving controller comprises a motor which drives the lead screw transmission structure and is provided with an encoder, a motor driver, a signal conditioning circuit, an analog-to-digital converter and a main controller, a force measuring structure is arranged at the front part of the calibration module, and the force measuring structure is connected with a clamping opening of the catheter clamping seat to transmit traction force; the calibration module body is provided with a first threaded hole which is matched with the through hole of the sliding locking structure through a stud. The invention provides a hardware structure capable of performing overload protection on the tractor and a control method for the structure, and provides a calibration module and a calibration and calibration method for the method.

Description

Technical Field

[0001] The present invention relates to the technical field of traction machines for urodynamic analyzers, and particularly to an overload protection system and control method for a traction machine of a urodynamic analyzer. Background Art

[0002] A traction machine is a control component used in a urodynamic analyzer. It measures the urethral pressure and physiological urethral length at various locations by pulling a urethral pressure catheter from the bladder to the urethral orifice, which helps medical staff examine the urethral function of patients. Since there is a small probability that the urethral pressure catheter will bend or knot in the bladder, when the urethral pressure catheter bends or knots, continued traction will cause great pain to the patient.

[0003] In the utility model patent CN202322674720.3, a method for realizing overload protection of a traction machine by placing a tension sensor in the traction circuit is proposed. This method requires adding a transmission cable between the moving part and the fixed part of the traction machine, reducing the reliability and usability of the traction machine system. Can overload protection be achieved only through the fixed part of the traction machine without adding cables? Summary of the Invention

[0004] In view of the above technical problems, the present invention provides an overload protection system and control method for a traction machine of a urodynamic analyzer, which are used to solve the problem of adding a transmission cable between the moving part and the fixed part of the traction machine, reducing the reliability and usability of the traction machine system, and also provides a calibration module and calibration and calibration methods for this method.

[0005] The present invention is implemented by the following technical solutions: An overload protection system for a traction machine of a urodynamic analyzer includes a screw drive structure and a drive controller connected to each other, and a calibration module used during calibration; The calibration module includes a calibration module main body, a wire, and a sliding locking structure, and is connected to the drive controller through the wire; the screw drive structure includes a screw main body and a catheter clamp seat; The drive controller includes a motor equipped with an encoder for driving the screw drive structure, a motor driver, a signal conditioning circuit, an analog-to-digital converter, and a main controller; A guide groove structure, a chamfer structure that cooperates with the screw main body, and a threaded hole two that cooperates with a screw to provide a clamping force to prevent the calibration module from falling are further provided on the calibration module main body; a force measuring structure is further provided at the front of the calibration module, and the force measuring structure is connected to the clamping opening of the catheter clamp seat to transmit the traction force, and a threaded hole one installed through the cooperation of a stud and a through hole of the sliding locking structure is further provided on the calibration module main body.

[0006] Specifically, an installation through-hole is provided at the rear of the sliding locking structure, which is matched with the first threaded hole through a stud. The friction locking part at the lower part of the sliding locking structure and the lead screw body are locked in the normal state through friction. An unlocking surface for releasing the locked state when pressed is further provided at the front of the sliding locking structure.

[0007] Specifically, a guide groove structure is provided at the lower part of the catheter clamp seat for fitting and installing with the lead screw body, and the lead screw body limits the movement track of the catheter clamp seat; a clamping port is provided at the upper part of the catheter clamp seat and is connected with the force measuring structure to limit the maximum relative position of the two, so as to promote its movement along the direction of the lead screw body; the clamping port provided at the upper part of the catheter clamp seat is connected with the force measuring structure to limit the maximum relative position of the two. The traction surface of the catheter clamp seat applies a traction force to the force measuring structure during calibration and calibration, and the pressure surface applies a pressure to the unlocking surface provided on the sliding locking structure to release the locked state and push the calibration module to move when changing the calibration and calibration guide rail position points.

[0008] Specifically, the main controller of the drive controller sends a control signal to the motor driver to drive the motor to move, driving the lead screw in the lead screw body to drive the catheter clamp seat to move, and uses an encoder to digitize the motor rotation information to obtain the position information of the catheter clamp seat on the lead screw body, so as to identify whether the calibration module body is pushed to the required calibration and calibration guide rail position point, and perform calibration and calibration after reaching the required calibration and calibration guide rail position point; the signal conditioning circuit conditions the traction force measured by the calibration module and transmits it to the analog-to-digital converter for the main controller to read the mechanical information.

[0009] A control method for the overload protection system of a traction machine of a urodynamic analyzer is realized based on the overload protection system of a traction machine of a urodynamic analyzer, and includes: The main controller sends a control signal to the motor through the motor driver, including a speed control signal and a current control signal. The encoder digitizes the motor rotation information and compares it with the speed signal output by the drive controller to confirm whether the actual speed is consistent with the drive speed; When the speed information read by the encoder is less than the speed signal output by the main controller, record the mechanical information digitized by the calibration module at this time, and obtain the traction force that the traction machine can output at this speed and current, so as to realize the calibration and calibration of the traction force of the traction machine; During the working state, the main controller compares its output speed signal with the speed information read from the encoder. If the speed information read from the encoder is less than the speed signal output by the main controller, it means that the traction machine is overloaded.

[0010] Specifically, it specifically includes the following steps: Step S1: Connect the calibration module to the drive controller. Move the catheter clamp seat close to the drive controller end, and then install the calibration module on the side of the catheter clamp seat far from the drive controller to complete the installation of the calibration structure. Step S2: Input the required rotational speed and traction force and start the calibration and calibration program. The main controller automatically adjusts the motor drive current according to the PID algorithm, and obtains the drive current required for the input rotational speed and traction force through calibration and calibration. Step S3: If the required rotational speed and traction force are not input, directly start the calibration and calibration program. The drive controller will automatically set different rotational speeds and different drive currents. The main controller automatically records the traction forces corresponding to different rotational speeds and different drive currents, and forms a drive current - rotational speed - traction force response surface of the tractor in the main controller to complete the calibration and calibration of the tractor traction force. Step S4: Remove the calibration module, connect the catheter clamp seat and the catheter, and make preparations before the traction work; start the tractor and input the required rotational speed and traction force. The drive controller obtains the corresponding drive current according to the calibration and calibration program and starts the motor. The tractor performs traction work at the required rotational speed and traction force, and the drive controller monitors the rotational speed through the encoder; if the drive controller detects a decrease in rotational speed, the main controller controls the motor to stop running and outputs an overload signal, and then transfers it to the medical staff for inspection and handling.

[0011] Specifically, step S1 specifically includes: After the catheter clamp seat is moved close to the drive controller end, the wire of the calibration module is connected to the drive controller. The guide groove structure of the calibration module is installed on the side of the catheter clamp seat far from the drive controller in cooperation with the lead screw body. The lead screw body limits the movement trajectory of the calibration module, connects the clamp opening of the catheter clamp seat and the force measuring structure of the calibration module, and completes the installation of the calibration structure.

[0012] Specifically, step S2 specifically includes: Input the required rotational speed and traction force and start the calibration and calibration program. The drive controller starts the motor to move the catheter clamp seat. The catheter clamp seat moves towards the far end of the drive controller and contacts the calibration module and presses on the unlocking surface of the sliding locking structure to complete the unlocking action, and pushes the calibration module to move to the calibration and calibration guide rail position point. After the calibration module reaches the calibration and calibration guide rail position point, the catheter clamp seat moves towards the drive controller end. The unlocking surface of the sliding locking structure is not under pressure, and the friction locking part of the sliding locking structure and the lead screw body return to the locked state. The tractor applies traction force to the calibration module through the catheter clamp seat, and starts the calibration and calibration work. The drive controller adjusts the drive current of the motor to make the catheter clamp seat apply a traction force to the calibration module at the calibrated and calibrated guide rail position points at the required rotational speed; the drive controller monitors the rotational speed in real time through an encoder. When the drive controller detects a decrease in the rotational speed, the main controller compares the traction force at this time with the required traction force, and repeatedly adjusts the motor drive current according to the PID algorithm to obtain the drive current corresponding to the required traction force at the required rotational speed.

[0013] Specifically, step S3 specifically includes the following steps: If the calibration and calibration program is directly started without inputting the required rotational speed and traction force, the catheter clamp seat moves towards the distal end of the drive controller, contacts the calibration module, and presses on the unlocking surface of the sliding locking structure to complete the unlocking action, pushing the calibration module to move to the calibrated and calibrated guide rail position points; After the calibration module reaches the calibrated and calibrated guide rail position points, the catheter clamp seat moves towards the drive controller end. The unlocking surface of the sliding locking structure is not under pressure, and the friction locking part of the sliding locking structure and the lead screw body return to the locked state. The tractor applies a traction force to the calibration module through the catheter clamp seat, and the calibration and calibration work begins; The drive controller automatically sets different rotational speeds and different drive currents, monitors the rotational speed in real time through an encoder. When the drive controller detects a decrease in the rotational speed, the main controller automatically records the traction forces corresponding to different rotational speeds and different drive currents, and forms a drive current - rotational speed - traction force response surface of the tractor in the main controller, completing the calibration and calibration of the traction force of the tractor.

[0014] The beneficial effects of the present invention are as follows: The present invention connects a motor with encoder closed-loop control to the urethral pressure measuring catheter. The motor can directly control the traction force provided by the tractor to the urethral pressure measuring catheter and can detect the motor rotational speed in real time. After setting its drive current and rotational speed, its torque and the traction force provided by the torque are unique and repeatable. Therefore, the traction force provided by the tractor directly controlled by the motor to the urethral pressure measuring catheter is also unique and repeatable.

[0015] The control signals sent by the main controller to the motor driver include a speed control signal and a current control signal. The encoder digitizes the motor rotation information and compares it with the speed signal output by the drive controller to confirm whether the actual speed is consistent with the drive speed. When the speed information read by the encoder is less than the speed signal output by the main controller, the mechanical information digitized by the calibration module at this time is recorded. Subsequently, through this method of calibration and calibration, the drive current-speed-traction force response surface of the tractor can be obtained. Through this drive current-speed-traction force response surface, the drive current corresponding to the required speed and traction force can be obtained, and the urethral manometry catheter can be tractioned by this traction force. The drive controller monitors whether the motor has a phenomenon of speed reduction. When situations such as bending and knotting occur, the traction force provided by the tractor is less than the human resistance. When the drive controller monitors that the motor has a phenomenon of speed reduction, it is regarded as entering a state that needs protection. At this time, the controller controls the motor to stop running and outputs an overload signal outward, and the medical staff checks the catheter status and conducts disposal. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0017] Figure 1 It is the complete structure diagram of the overload protection system of the tractor of the urodynamic analyzer in the embodiment of the present invention; Figure 2 It is the explosion schematic diagram of the overload protection system of the tractor of the urodynamic analyzer in the embodiment of the present invention; Figure 3 It is the detailed diagram of the calibration module in the embodiment of the present invention; Figure 4 It is the detailed diagram of the sliding locking structure in the embodiment of the present invention; Figure 5 It is the detailed diagram of the catheter clamp seat in the embodiment of the present invention; Figure 6 It is the state schematic diagram of changing the calibration and calibration rail position points in an embodiment of the present invention; Figure 7 It is the calibration and calibration state schematic diagram in an embodiment of the present invention; Figure 8 It is the traction working state schematic diagram in an embodiment of the present invention; Figure 9 It is the controller working process schematic diagram in an embodiment of the present invention; Figure 10Schematic diagram of the process of inputting required rotational speed and traction force in an embodiment of the present invention; Figure 11 Schematic diagram of the process of not inputting required rotational speed and traction force in an embodiment of the present invention; Wherein, 1 - calibration module, 2 - lead screw drive structure, 3 - drive controller, 4 - catheter; 101 - calibration module main body, 1011 - guide groove structure, 1013 - threaded hole 1, 1014 - force measuring structure, 1015 - chamfer structure, 1016 - threaded hole 2, 102 - wire, 103 - sliding locking structure, 1031 - friction locking part, 1032 - unlocking surface, 1033 - mounting through hole; 201 - lead screw main body, 202 - catheter clamp seat, 2021 - guide groove structure, 2022 - clamping mouth, 2023 - pressing surface, 2024 - traction surface. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0019] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0020] The following combines the attached Figures 1 to 11 , and details some implementation manners of the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0021] The present invention provides an overload protection system for a traction machine of a urodynamic analyzer, including a lead screw drive structure, a drive controller, and a calibration module used only during calibration, which are connected to each other. The lead screw drive structure includes a lead screw main body and a catheter clamp seat; the drive controller includes a motor equipped with an encoder for driving the lead screw drive structure, a motor driver, a signal conditioning circuit, an analog-to-digital converter, and a main controller; the calibration module includes a calibration module main body, a wire, and a sliding locking structure; the calibration module is connected to the drive controller through the wire; the calibration module main body is provided with a guide groove structure and a chamfer structure that cooperate with the lead screw main body, and a threaded hole 2 that cooperates with a stud to provide a clamping force to prevent the calibration module from falling; a force measuring structure is provided at the front of the calibration module, and the force measuring structure is connected to the clamping mouth of the catheter clamp seat to transmit the traction force; the calibration module main body is provided with a threaded hole 1 installed through the cooperation of a stud and the through hole of the sliding locking structure.

[0022] Example 1: Calibrate and adjust according to the required rotational speed and traction force In this example, the system includes a screw drive structure, a drive controller, and a calibration module used only during calibration, which are connected to each other. The screw drive structure includes a screw main body and a catheter clamp seat; the drive controller includes a motor equipped with an encoder for driving the screw drive structure, a motor driver, a signal conditioning circuit, an analog-to-digital converter, and a main controller; the calibration module includes a calibration module main body, a wire, and a sliding locking structure. The relevant system block diagram is as Figure 9 shown, and the relevant structure is as follows.

[0023] As Figure 1 shown in (complete figure), an overload protection system for a traction machine of a urodynamic analyzer proposed by the present invention is composed of a calibration module 1, a screw drive structure 2, and a drive controller 3.

[0024] As Figure 2 shown in (system explosion diagram), where the calibration module 1 is composed of a calibration module main body 101, a wire 102, and a sliding locking structure 103, and the screw drive mechanism is composed of a main body 201 and a catheter clamp seat 202.

[0025] As Figure 3 shown in (calibration module), there is a wire 102 connecting to the drive controller 3 at the rear of the calibration module 1. The guide groove structure 1011 of the calibration module 1 main body cooperates with the screw main body 201, the chamfer structure 1015 is convenient for installation, and the threaded hole two 1016 cooperates with the stud to provide a clamping force to prevent the calibration module 1 from falling. The force measuring structure 1014 at the front of the calibration module 1 is connected to the clamping mouth 2022 of the catheter clamp seat 202 to transmit the traction force, and the threaded hole one 1013 is installed through cooperation with the through hole 1033 of the sliding locking structure by a stud.

[0026] As Figure 4 shown in (sliding locking structure), the through hole 1033 at the rear of the sliding locking structure 103 is installed through cooperation with the threaded hole 1013 by a stud. The friction locking part 1031 at the lower part of the sliding locking structure 103 is normally locked with the screw main body 201 through friction, and the locking state is released when the unlocking surface 1032 at the front of the sliding locking structure 103 is pressed.

[0027] As Figure 5As shown in (the catheter clamp base), the guide groove structure 2021 at the lower part of the catheter clamp base is fitted and installed with the lead screw body 201, and the lead screw body 201 limits the movement track of the catheter clamp base 202. The clamping mouth 2022 at the upper part of the catheter clamp base 202 is connected to the force measuring structure 1014 to limit the maximum relative position between the two. The traction surface 2024 of the catheter clamp base 202 applies a traction force to the force measuring structure 1014 during calibration and calibration. The pressure application surface 2023 of the catheter clamp base 202 applies a pressure to the unlocking surface 1032 of the sliding locking structure 103 to release the locked state when changing the calibration and calibration guide rail position points and pushes the calibration module 1 to move.

[0028] When installing the calibration module, the catheter clamp base 202 moves to the side close to the drive controller 3. The wire 102 of the calibration module 1 is connected to the drive controller 3. The guide groove structure 1011 of the calibration module 1 is fitted and installed with the lead screw body 201 on the side of the catheter clamp base 202 far from the drive controller 3. The lead screw body 201 limits the movement track of the calibration module 1. Connecting the clamping mouth 2022 of the catheter clamp base 202 and the force measuring structure 1014 of the calibration module 1 completes the installation of the calibration module.

[0029] As Figure 10 shown in (the flowchart), input the required rotational speed and traction force and start the calibration and calibration program. The drive controller starts the motor to move the catheter clamp base 202; As Figure 6 shown in (the state of moving to the calibration and calibration guide rail position point), the catheter clamp base 202 moves towards the far end of the drive controller 3. The pressure application surface 2023 of the catheter clamp base 202 contacts the calibration module 1 and applies a pressure to the unlocking surface 1032 of the sliding locking structure 103 to complete the unlocking action, and pushes the calibration module 1 to move to the calibration and calibration guide rail position point.

[0030] As Figure 7 shown in (the calibration and calibration state), the catheter clamp base 202 moves towards the drive controller 3 end. The unlocking surface 1032 of the sliding locking structure 103 is no longer under pressure. The friction locking part 1031 of the sliding locking structure 103 resumes the locked state with the lead screw body 201. The traction surface 2024 of the catheter clamp base 202 contacts the force measuring structure 1014 of the calibration module and applies a traction force to it.

[0031] After the calibration module 1 reaches the calibration and calibration guide rail position point, the catheter clamp base 202 moves towards the drive controller 3 end. The unlocking surface 1032 of the sliding locking structure 103 is not under pressure. The friction locking part 1031 of the sliding locking structure 103 resumes the locked state with the lead screw body 201. The traction machine applies a traction force to the calibration module 1 through the catheter clamp base 202, and starts the calibration and calibration work.

[0032] In this embodiment, to avoid the influence of factors such as time and environment on the tractor, it is necessary to calibrate and adjust the traction force of the tractor according to the maintenance strategy. The influence of internal forces such as the frictional force generated by the screw drive on the output traction force is inevitable, and may cause an increase in the frictional force due to factors such as reduced lubrication performance and surface wear during long-term use, thereby having a greater impact on the output traction force. Therefore, directly calibrate and adjust the drive current - speed - traction force relationship of the tractor at the slider guide position points.

[0033] The drive controller 3 adjusts the drive current of the motor to make the catheter clamp seat 202 apply a traction force to the calibration module 1 at the calibration and adjustment guide position points at the required speed; the drive controller 3 monitors the speed in real time through the encoder. When the drive controller 3 detects a decrease in speed, the main controller compares the traction force at this time with the required traction force, and repeatedly adjusts the motor drive current according to the PID algorithm to obtain the drive current corresponding to the traction force required at the required speed at this calibration and adjustment guide position point.

[0034] During calibration and adjustment, to avoid inaccurate calibration and adjustment results caused by excessive single-point errors during the entire traction stroke, the present invention uses a method of calibrating and adjusting multiple guide position points during the traction stroke and fitting the drive current, speed, and traction force of multiple guide position points to make the output traction force of the tractor more accurate. The calibration module used for calibration and adjustment in this method has a sliding locking structure, which is frictionally locked with the slider track under normal conditions and releases the locked state when the unlocking surface of the sliding locking structure is pressed. When changing the calibration and adjustment guide position points, the catheter clamp seat presses on the unlocking surface of the sliding locking structure to complete the unlocking action and pushes the calibration module to change the calibration and adjustment guide position points. After reaching the calibration and adjustment guide position points, the catheter clamp seat stops pressing on the sliding locking structure, and the calibration module is frictionally locked with the slider track and calibrated and adjusted. The drive current - speed - traction force relationship of the tractor at multiple guide position points can be obtained through calibration and adjustment. When in use, input the speed and traction force, and the drive controller can automatically fit the drive current at multiple points based on the determined speed and traction force, making the output traction force of the tractor more accurate.

[0035] In this embodiment, to avoid the calibration module introducing errors into the system, before calibrating and adjusting the traction force of the tractor, it is necessary to calibrate the calibration module. Place the calibration module vertically, wait for it to be stationary, set it to zero in the drive controller and output it as no-load, then place the weight on the calibration module, record the weight of the weight in the drive controller, and automatically solve the transfer function of the output signal of the calibration module by the main controller through the two-point method to complete the calibration of the calibration module.

[0036] Example 2 Calibration and adjustment without inputting the required speed and traction force As Figure 11As shown in the (flow chart), when installing the calibration module, the catheter clamp seat 202 moves close to the drive controller 3 end. The wire 102 of the calibration module 1 is connected to the drive controller 3. The guide groove structure 1011 of the calibration module 1 is cooperatively installed on the side of the catheter clamp seat 202 far from the drive controller 3 with the lead screw body 201. The lead screw body 201 limits the movement track of the calibration module 1. Connecting the clamp mouth 2022 of the catheter clamp seat 202 and the force measuring structure 1014 of the calibration module 1 completes the installation of the calibration module.

[0037] The calibration and calibration program is directly started without inputting the required rotational speed and traction force. The drive controller starts the motor to move the catheter clamp seat 202; As Figure 6 As shown in (the state of moving to the calibration and calibration guide rail position point), the catheter clamp seat 202 moves towards the far end of the drive controller 3. The pressure application surface 2023 of the catheter clamp seat 202 contacts the calibration module 1 and applies pressure to the unlocking surface 1032 of the sliding locking structure 103 to complete the unlocking action, and pushes the calibration module 1 to move to the calibration and calibration guide rail position point.

[0038] As Figure 7 As shown in (the calibration and calibration state), the catheter clamp seat 202 moves towards the drive controller 3 end. The unlocking surface 1032 of the sliding locking structure 103 no longer receives pressure. The friction locking part 1031 of the sliding locking structure 103 resumes the locking state with the lead screw body 201. The traction surface 2024 of the catheter clamp seat 202 contacts the force measuring structure 1014 of the calibration module 1 and applies a traction force to it.

[0039] After the calibration module 1 reaches the calibration and calibration guide rail position point, the catheter clamp seat 202 moves towards the drive controller 3 end. The unlocking surface 1032 of the sliding locking structure 103 does not receive pressure. The friction locking part 1031 of the sliding locking structure 103 resumes the locking state with the lead screw body 201. The tractor applies a traction force to the calibration module 1 through the catheter clamp seat 202, and starts the calibration and calibration work.

[0040] The drive controller 3 automatically sets different rotational speeds and different drive currents. The drive controller 3 monitors the rotational speed in real time through an encoder. When the drive controller 3 monitors a decrease in the rotational speed, the main controller automatically records the traction forces corresponding to different rotational speeds and different drive currents, and forms a drive current - rotational speed - traction force response surface of the tractor in the main controller, completing the calibration and calibration of the traction force of the tractor at this calibration and calibration guide rail position point.

[0041] Example 3 Traction work of the tractor in the normal working state As Figure 8As shown in (traction working state), before use, remove the calibration module 1, connect the catheter clamp seat 202 and the catheter (4), and make preparations before the traction work. Start the tractor and input the required rotational speed and traction force. The drive controller 3 obtains the corresponding drive current according to the calibration and calibration procedures and starts the motor. The tractor performs the traction work at the required rotational speed and traction force, and the drive controller 3 monitors the rotational speed through the encoder. When the tractor is working, the drive controller (3) monitors in real time that the rotational speed of the motor does not decelerate, and the traction work is completed normally.

[0042] Example 4 Traction work of the tractor when overloaded Remove the calibration module 1, connect the catheter clamp seat 202 and the catheter 4, and make preparations before the traction work. Start the tractor and input the required rotational speed and traction force. The drive controller 3 obtains the corresponding drive current according to the calibration and calibration procedures and starts the motor. The tractor performs the traction work at the required rotational speed and traction force, and the drive controller 3 monitors the rotational speed through the encoder. When situations such as bending and knotting occur and the traction force provided by the tractor is less than the human resistance, when the drive controller 3 monitors that the rotational speed of the motor decreases, it is regarded as entering the state that needs protection. The main controller controls the motor 3 to stop running and outputs an overload signal, and then it is transferred to medical staff for inspection and handling.

[0043] Finally, it should be known to those skilled in the art that in the field of tractor drive, the selection of motors includes various forms such as stepper motors, servo motors, and DC motors. Due to the slight differences in the control methods of the motors themselves, the calibration and calibration processes of the tractor may vary; the technical solution of the present invention mainly exemplifies the traction work based on a stepper motor tractor, and the overload protection system of the urodynamic analyzer tractor proposed by the present invention is also applicable to the control in other motor cases. For example, in a servo motor tractor, when this system is used for control, during calibration, only the resistance of the traction system needs to be calibrated and read. In a DC motor tractor, attention also needs to be paid to the position of the rotor, etc.

[0044] For the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0045] In the above embodiments, the basic principles, main features and advantages of the present invention are described. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, any modifications and changes made by those skilled in the art should fall within the protection scope of the appended claims of the present invention as long as they do not depart from the spirit and scope of the present invention.

Claims

1. A tractor overload protection system for a urine dynamics analyzer, characterized in that: It comprises a screw transmission structure (2) and a drive controller (3) connected to each other, and a calibration module (1) used during calibration; The calibration module (1) comprises a calibration module body (101), a wire (102) and a sliding locking structure (103), and is connected to a drive controller (3) via the wire (102); the lead screw transmission structure (2) comprises a lead screw body (201) and a catheter clamp seat (202); The drive controller (3) comprises a motor equipped with an encoder, a motor driver, a signal conditioning circuit, an analog-to-digital converter and a main controller for driving the lead screw transmission structure (2); The calibration module body (101) is also provided with a guide groove structure (1011) that cooperates with the lead screw body (201), a chamfer structure (1015), and a threaded hole 2 (1016) that cooperates with a screw to provide a tightening force to prevent the calibration module (1) from falling; the front of the calibration module (1) is also provided with a force measuring structure (1014), the force measuring structure (1014) is connected to the clamping mouth (2022) of the catheter clamp seat (202) to transmit traction force, and the calibration module body (101) is also provided with a threaded hole 1 (1013) that is installed in cooperation with a stud and a sliding locking structure through hole (1033).

2. The tractor overload protection system for a urine dynamics analyzer according to claim 1, characterized in that: The rear portion of the sliding locking structure (103) is provided with a mounting through hole (1033) that cooperates with the threaded hole 1 (1013) via a stud, and a friction locking portion (1031) at the bottom of the sliding locking structure (103) and the lead screw body (201) are normally locked via friction, and the front portion of the sliding locking structure (103) is also provided with an unlocking surface (1032) that releases the locked state when under pressure.

3. The tractor overload protection system of the urine dynamics analyzer according to claim 1, characterized in that: The guide groove structure (2021) is provided at the bottom of the catheter clamp seat (202) and is installed in cooperation with the lead screw body (201), and the lead screw body (201) limits the movement trajectory of the catheter clamp seat (202); the clamping opening (2022) is provided at the top of the catheter clamp seat (202) and is connected to the force measuring structure (1014) to limit the maximum relative position of the two, so as to promote the movement along the direction of the lead screw body; the clamping opening (2022) provided at the top of the catheter clamp seat (202) is connected to the force measuring structure (1014) to limit the maximum relative position of the two, and the traction surface (2024) of the catheter clamp seat (202) applies traction to the force measuring structure (1014) during calibration and correction, and the pressure surface (2023) applies pressure to the unlocking surface (1032) provided on the sliding locking structure (103) when changing the guide rail position point for calibration and correction, so as to release the locking state and push the calibration module (1) to move.

4. The tractor overload protection system for a urine dynamics analyzer according to claim 1, characterized in that: The main controller of the drive controller (3) sends a control signal to the motor driver to drive the motor to move, thereby driving the lead screw in the lead screw body (201) to move, thereby driving the catheter clamp seat (202) to move, and uses an encoder to digitize the motor rotation information to obtain the position information of the catheter clamp seat (202) on the lead screw body (201), so as to identify whether the quasi-module body (101) is pushed to the guide rail position point required for calibration and calibration, and performs calibration and calibration after reaching the guide rail position point required for calibration and calibration; the signal conditioning circuit conditions the traction force measured by the calibration module and transmits it to the analog-to-digital converter for the main controller to read the mechanical information.

5. A method for controlling an overload protection system of a tractor of a urodynamic analyzer, which is implemented based on an overload protection system of a tractor of a urodynamic analyzer according to any one of claims 1 to 4, and is characterized in that: include: The main controller sends control signals to the motor through the motor driver, including speed control signals and current control signals. The encoder digitizes the motor rotation information and compares it with the speed signal output by the drive controller to confirm whether the actual speed is consistent with the drive speed. When the speed information read by the encoder is less than the speed signal output by the main controller, the mechanical information digitized by the calibration module is recorded to obtain the traction force output by the traction machine under the speed and current, thereby realizing the calibration and calibration of the traction force of the traction machine; When in working state, the main controller compares its output speed signal with the speed information read from the encoder. If the speed information read from the encoder is less than the output speed signal of the main controller, it indicates that the traction machine is overloaded.

6. A method for controlling an overload protection system of a tractor of a urine dynamics analyzer as claimed in claim 5, characterized in that: The specific steps include: Step S1: the calibration module (1) is connected to the drive controller (3), the catheter clamp seat (202) is moved to the end close to the drive controller (3), and then the calibration module (1) is installed on the side of the catheter clamp seat (202) far from the drive controller (3), thereby completing the installation of the calibration structure; Step S2: input the required speed and traction force and start the calibration and calibration program, the main controller automatically adjusts the motor drive current according to the PID algorithm, and obtains the drive current required for the input speed and traction force through calibration and calibration; Step S3: If the required speed and traction force are not input, the calibration and calibration program is directly started, the drive controller (3) automatically sets different speeds and different drive currents, the main controller automatically records the traction forces corresponding to the different speeds and different drive currents, and forms a drive current-speed-traction force response surface of the traction machine in the main controller, thereby completing the calibration and calibration of the traction force of the traction machine; Step S4: remove the calibration module (1), connect the catheter clamp seat (202) and the catheter (4), and make preparations for traction work; start the traction machine and input the required rotation speed and traction force, the drive controller (3) obtains the corresponding drive current according to the calibration and calibration procedures and starts the motor, the traction machine performs traction work at the required rotation speed and traction force, and the drive controller (3) monitors the rotation speed through the encoder; if the drive controller (3) detects that the rotation speed is reduced, the main controller controls the motor to stop running and outputs an overload signal, and then transfers it to medical personnel for inspection and treatment.

7. A method for controlling an overload protection system of a tractor of a urine dynamics analyzer as claimed in claim 6, characterized in that: The step S1 specifically includes: After the catheter clamp seat (202) moves to the end close to the drive controller (3), the wire (102) of the calibration module (1) is connected to the drive controller (3), and the guide groove structure (1011) of the calibration module (1) cooperates with the lead screw body (201) to be installed on the side of the catheter clamp seat (202) far from the drive controller (3). The lead screw body (201) limits the movement trajectory of the calibration module (1), connects the clamping mouth (2022) of the catheter clamp seat (202) and the force measuring structure (1014) of the calibration module (1), and completes the installation of the calibration structure.

8. A method for controlling an overload protection system of a tractor of a urine dynamics analyzer as claimed in claim 6, characterized in that: The step S2 specifically includes: Input the required rotation speed and traction force and start the calibration and calibration procedure, and the drive controller (3) starts the motor to move the catheter clamp seat (202); The catheter clamp seat (202) moves distally toward the drive controller (3) to contact the calibration module (1) and applies pressure to the unlocking surface (1032) of the sliding locking structure (103) to complete the unlocking action, thereby pushing the calibration module (1) to move to the calibration and calibration guide rail position point; After the calibration module (1) reaches the calibration and calibration guide rail position point, the catheter clamp seat (202) moves toward the drive controller (3) end, the unlocking surface (1032) of the sliding locking structure (103) is not subjected to pressure, the friction locking portion (1031) of the sliding locking structure (103) and the lead screw body (201) return to a locked state, and the traction machine applies traction force to the calibration module (1) through the catheter clamp seat (202), and the calibration and calibration work begins; The drive controller (3) adjusts the drive current of the motor so that the catheter clamp seat (202) applies traction to the calibration module (1) at the calibration and calibration guide rail position point at a required rotation speed; the drive controller (3) monitors the rotation speed in real time through an encoder. When the drive controller (3) detects that the rotation speed is reduced, the main controller compares the traction force at this time with the required traction force, and repeatedly adjusts the motor drive current according to the PID algorithm to obtain the drive current corresponding to the required traction force at the required rotation speed.

9. A method for controlling an overload protection system of a tractor of a urine dynamics analyzer as claimed in claim 6, characterized in that: The step S3 specifically comprises the following steps: If the calibration and calibration procedure is started directly without inputting the required rotation speed and traction force, the catheter clamp seat (202) moves distally toward the drive controller (3) to contact the calibration module (1) and applies pressure to the unlocking surface (1032) of the sliding locking structure (103) to complete the unlocking action, thereby pushing the calibration module (1) to move to the calibration and calibration guide rail position point; After the calibration module (1) reaches the calibration and calibration guide rail position point, the catheter clamp seat (202) moves toward the drive controller (3) end, the unlocking surface (1032) of the sliding locking structure (103) is not subjected to pressure, the friction locking portion (1031) of the sliding locking structure (103) and the lead screw body (201) return to a locked state, and the traction machine applies traction force to the calibration module (1) through the catheter clamp seat (202), and the calibration and calibration work begins; The drive controller (3) automatically sets different rotation speeds and different drive currents, and monitors the rotation speed in real time through an encoder. When the drive controller (3) detects that the rotation speed is reduced, the main controller automatically records the traction forces corresponding to the different rotation speeds and different drive currents, and forms a drive current-rotation speed-traction force response surface of the traction machine in the main controller, thereby completing the calibration and calibration of the traction force of the traction machine.

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