Electromagnetic tapping unit control method

Abstract

The invention discloses an electromagnetic rapping unit control method, which adopts an electromagnetic driving technology to replace a traditional pneumatic mode, and realizes accurate positioning and personalized rapping treatment of different positions of the back of a patient through a modularized electromagnetic rapping unit array capable of being independently controlled. The percussion device has the core effects that the motion of the percussion head is directly and linearly controlled by utilizing current, so that the percussion strength, frequency and working mode (such as simulated natural inertia percussion or whole-course controlled accurate percussion) are subjected to digital high-precision adjustment; meanwhile, closed-loop position feedback and mechanical and electrical dual safety protection are integrated, the sputum excretion treatment effect and the comfort degree of a patient are improved, meanwhile, high safety and automation of the treatment process are guaranteed, and the workload of medical staff is remarkably relieved.

Description

Technical Field

[0001] This invention relates to the field of percussion equipment technology, and in particular to a control method for an electromagnetic percussion unit. Background Technology

[0002] Some people are unable to clear phlegm on their own and need others to tap their backs to reduce the amount of phlegm attached to their respiratory tract, thus helping to expel it.

[0003] Current sputum clearance methods include vibration-based sputum clearance, such as a wearable sputum clearance machine and its usage method described in patent number CN20241134098.4. Vibration-based sputum clearance is based on the principle of low-frequency oscillation therapy in clinical chest physiology. It generates therapeutic forces that change periodically in specific directions from both vertical and horizontal. The vertical force on the body surface reduces and loosens the mucus and metabolites on the bronchial mucosa, while the horizontal force on the body surface assists in the selective flow of mucus to the large bronchi, thereby promoting airway patency and facilitating sputum discharge. Specifically, the vertical therapeutic force is achieved by outputting pressurized gas through a turbine to the force-acting component, which then changes the volume of gas inside the airway to achieve an oscillation effect, thus simulating a percussion effect. The horizontal therapeutic force is connected to the inside of the airway through an airway, forming oscillating gas in the direction of the airway. The vibration helps the liquefied mucus to be discharged from the body in the selected direction, which can remove and move sputum in the small airways of the lungs. Whether using vibration-based or intra-airway ventilation for sputum clearance, both methods rely on an electric current to control a turbine, which then delivers gas into the device or airway for treatment. However, controlling the turbine to control the gas lacks the precision of electric current control, which allows for more diverse treatment modes. Therefore, the effectiveness of current sputum clearance products still needs improvement. Furthermore, vertical treatments often employ wide-range vibration, making targeted percussion impossible; or, while using percussion heads, this requires manual operation, increasing workload. Horizontal treatments suffer from gas attenuation during transmission, resulting in reduced effectiveness at the site of sputum in the user's airway and failing to achieve the desired therapeutic effect. Therefore, the overall effectiveness of current sputum clearance products still requires improvement.

[0004] Currently, most vibration sputum suction machines on the market are wearable devices. Users wear hollow airbag vests, and the sputum suction machine creates air oscillations by inflating the air pressure inside the vest, which then vertically taps the user's lungs to achieve the sputum suction effect. However, due to individual differences among users and strict requirements on the oscillation intensity, position, and tapping sequence, the air pressure oscillation technology of current sputum suction machines cannot guarantee the sputum suction effect. Summary of the Invention

[0005] The purpose of this invention is to provide a control method for an electromagnetic tapping unit, which solves the problem that the existing technology is not effective in clearing phlegm from users.

[0006] This invention is implemented as follows: It provides a control method for an electromagnetic striking unit, which adjusts the striking action of the striking head by controlling the current parameters input to the coil in the electromagnetic drive structure. The current parameters include the direction, magnitude, and frequency of the current. The control method includes at least two operating modes: The first mode involves: during the first stage (0-T1) of the striking head accelerating downwards from its top dead center, a first current I1 is supplied to the coil; in the subsequent second stage (T1-T2), the current control to the coil is cut off or the current direction is changed, allowing the striking head to complete the striking motion under inertia, after which a second current I2, opposite in direction to I1, is supplied, causing the striking head to return to its top dead center. The second mode involves: during the first stage (0-T1) of the striking head accelerating downwards from its top dead center, a first current I1 is supplied to the coil; in the subsequent second stage (T1-T2), the current direction is changed to a third current I3, opposite to I1, to decelerate the striking head, allowing it to contact the target and complete the striking motion before its speed drops to zero; after the striking motion is completed, a current is supplied to return the striking head to its top dead center.

[0007] It achieves diversified and precise control of the percussion action, simulating two modes, "natural percussion" and "controlled percussion," through different current control strategies. The former is closer to the inertial action of manual percussion, while the latter provides higher precision deceleration control, thereby adapting to the treatment needs and comfort preferences of different patients.

[0008] A further technical solution of the present invention is: by changing the magnitude of the current flowing through the coil during the first stage 0-T1, the speed at which the striking head contacts the target is adjusted, thereby achieving the adjustment of the striking force.

[0009] It provides a direct and linear means of adjusting the percussion force. By changing the magnitude of the current, the magnetic field force is directly changed, thereby precisely controlling the velocity at the end of the percussion head. This enables refined and quantifiable adjustment of the percussion force, meeting the requirements for different forces in individualized treatment.

[0010] A further technical solution of the present invention is: it also includes a third mode: when the tapping cycle is shortened due to the increase of the tapping force by increasing the current, after a tapping action is completed, a pause time t1 is inserted before the preparation stage of the next tapping action begins, so as to keep the tapping frequency unchanged.

[0011] It achieves decoupled control of percussion force and percussion frequency, allowing the preset percussion frequency to remain unchanged by inserting a pause time while increasing the force (increasing the current). This solves the problem of frequency linkage changes that may be caused by simply adjusting the current, making the treatment parameter settings more flexible and independent.

[0012] A further technical solution of the present invention is to increase the current that causes the striking head to return to the upper stop point, thereby shortening the reset time and increasing the striking frequency.

[0013] This paper provides an effective method to increase the percussion frequency by increasing the current during the reset phase, thereby accelerating the speed at which the percussion head returns to its initial position and shortening the single percussion cycle to meet the needs of treatment scenarios requiring higher frequency percussion.

[0014] The present invention also provides an electromagnetic striking unit, comprising,

[0015] An electromagnetic drive structure includes a permanent magnet and a coil. When the coil is energized, the magnetic field generated interacts with the magnetic field of the permanent magnet to generate an electromagnetic force that drives the motion of the mover.

[0016] A striking head, connected to the moving part, is used to perform a striking action;

[0017] A buffer structure is disposed between the electromagnetic drive structure and the striking head to limit the excessive displacement of the striking head and to provide a buffering effect.

[0018] A position sensor is used to detect the position of the striking head or moving part in real time and feed it back to the controller;

[0019] The controller is configured to perform the control method described above.

[0020] A compact and precisely controlled percussion actuator is provided. Through electromagnetic drive combined with closed-loop position feedback, it can achieve high-precision and programmable percussion action, laying the foundation for building a modular and positionable automatic sputum suction device.

[0021] A further technical solution of the present invention is: the electromagnetic drive structure is a moving-coil voice coil motor, wherein the coil is the mover, and the permanent magnet and the magnetic core constitute the stator.

[0022] The moving coil structure is lightweight, has low inertia, and fast response speed, making it particularly suitable for light-duty percussion applications that require high-frequency, high-precision control.

[0023] A further technical solution of the present invention is: the electromagnetic drive structure is a moving magnet voice coil motor, wherein the permanent magnet is the mover, and the coil is wound on the stator core.

[0024] The use of a moving magnet structure avoids fatigue problems caused by the reciprocating motion of the coil leads (flying wires), improving the reliability and durability of the unit under long-term, high-power operation.

[0025] A further technical solution of the present invention is: the buffer structure includes a spring and a limit switch located at the end of the spring's movement path; when the moving part is abnormally displaced and presses the limit switch, the controller cuts off the power supply to the coil.

[0026] The system features a dual safety mechanism combining mechanical buffering and electrical limit protection. This mechanism can buffer and reduce shocks and protect the patient's body surface during normal operation, while also immediately cutting off power and stopping the machine in case of a malfunction (such as uncontrolled downward pressure from the actuator), effectively ensuring the safety of patient treatment.

[0027] The present invention also provides an electromagnetic percussion expectoration device, comprising:

[0028] The system host contains a processor;

[0029] At least one of the aforementioned electromagnetic striking units;

[0030] The driving circuit, controlled by the processor, is used to provide a controlled current to the coil of the electromagnetic striking unit;

[0031] The power module is used to power the entire device;

[0032] The processor is configured to: when the device is started, control the tapping head to reset to the upper stop point according to the feedback of the position sensor; receive the tapping parameters set by the user, and generate a control signal according to the parameters and send it to the drive circuit to execute the specified tapping working mode.

[0033] A complete and intelligent automated sputum expectoration treatment system has been constructed. Through centralized control of the system host, multiple independent and controllable percussion units can be managed to achieve precise percussion of different modes (force and frequency) on different positions of the patient's back, significantly reducing the workload of medical staff and improving the personalization and effectiveness of treatment.

[0034] The beneficial effects of this invention are as follows: This invention uses electromagnetic drive technology to replace the traditional pneumatic method. Through a modular, independently controllable electromagnetic percussion unit array, it achieves precise positioning and personalized percussion treatment for different positions on the patient's back. Its core effect lies in: using electric current to directly and linearly control the movement of the percussion head, thereby digitally and precisely adjusting the percussion force, frequency, and working mode (such as simulating natural inertial percussion or fully controlled precise percussion); simultaneously, it integrates closed-loop position feedback and dual mechanical and electrical safety protection, improving the sputum expectoration treatment effect and patient comfort while ensuring a high degree of safety and automation in the treatment process, significantly reducing the workload of medical staff. Attached Figure Description

[0035] Figure 1 This is a flowchart of an electromagnetic tapping unit control method provided by the present invention;

[0036] Figure 2 These are the velocity and current waveforms corresponding to the natural mode provided by this invention;

[0037] Figure 3 These are the speed waveform and current waveform diagrams corresponding to the normal mode provided by this invention;

[0038] Figure 4 These are the velocity and current waveforms corresponding to the high-power mode provided by this invention.

[0039] Figure 5 This is a schematic diagram of the moving coil striking unit structure provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the moving magnet type striking unit structure provided by the present invention;

[0041] Figure 7 This is a basic block diagram of the device provided by the present invention.

[0042] Reference numerals: 1. Position sensor; 2. Iron core; 3. Coil; 4. Permanent magnet; 5. Buffer structure; 6. Touch button; 7. Threaded connection; 8. Tap head; 9. Terminal. Detailed Implementation

[0043] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0044] Example 1:

[0045] This invention proposes an innovative method for controlling a striking unit. This design ingeniously combines electromagnetic principles with precision control technology, achieving adjustable striking action through the control of current. Figure 1 The flowchart shows the program flow for the striking unit during operation. The main striking action control is achieved by controlling the direction, magnitude, and frequency of the current through the corresponding PWM signal output. The specific principle of this control method is explained below.

[0046] The electromagnetic striking unit works on the basis of the interaction between magnetic and electric fields. When current is passed through coil 3, a magnetic field is generated. This magnetic field interacts with the magnetic field of permanent magnet 4, producing a force. According to Ampere's law, the magnitude of the thrust is related to factors such as the current, the number of coil turns, and the magnetic field strength. With the number of coil turns and the magnitude of the permanent magnet's magnetic field fixed, the magnitude of the thrust can be changed by altering the current flowing through coil 3, and the direction of the mover's motion can be determined by changing the direction of the current.

[0047] Therefore, various operating modes can be controlled by changing the relevant parameters of the current. The operating modes include natural mode, normal mode, and powerful mode.

[0048] In the natural mode, which mimics a real tapping action, the mover is moved to the top of the device before the action begins, as detected by Hall position sensor 1. During the time interval 0-T1, current I1 is applied, causing the mover to begin moving downwards. After a period of operation, control of coil 3 is stopped, and the mover is allowed to continue moving downwards under inertia until a tapping action is generated during the time interval T1-T2. After the action, a current I2, equal in magnitude but opposite in direction to I1, is applied, causing the mover to move upwards and return to its pre-action position, preparing for the next tapping action.

[0049] The difference in the normal mode is that after the acceleration motion from 0 to T1, control of coil 3 is maintained, ensuring higher precision control over the striking action. During the time interval T1-T2, the current direction is changed, and current I3 is applied, with a magnitude equal to I1. At this time, the direction of the magnetic field in coil 3 changes, and the speed begins to decrease. Before the speed drops to zero, the striking head 8 makes contact with the user, performing the striking action. After a brief contact, the speed drops to zero. After the striking action, current is applied to return the mover to the top.

[0050] In both modes described above, the striking force can be controlled by altering the current magnitude during the 0-T1 time interval, thereby changing the mover speed. However, simply changing the current magnitude will accelerate the striking action, as a higher speed will result in faster contact with the user within the same timeframe. This will also alter the striking frequency. To ensure that changing the force does not affect the striking frequency, the frequency can be reduced by extending the mover reset time, as in the strong-force mode.

[0051] In the powerful mode, the striking force is greater. To increase the striking force, the speed of the striking head 8 upon contact with the user is greater than that in the normal mode. Therefore, the current is increased. Since I3 > I1, the moving part moves faster, making contact with the user earlier within the same time frame. The moving part's speed is greater than in the normal mode, resulting in a greater striking force. To maintain the striking frequency, after each striking action, a pause of time t1 is performed before resuming current flow, increasing the time for the next striking action. This method ensures that the frequency remains constant while changing the force, and can also be used to reduce the striking frequency. Alternatively, to increase the striking frequency, the current returning the moving part after the striking action can be increased to speed up the return to the top, reducing the preparation time required for the next striking action.

[0052] Example 2:

[0053] This invention proposes an innovative electromagnetic striking unit design that cleverly combines electromagnetic principles with precision control technology to achieve adjustable striking action. The following is a detailed description of the main components and working principle of this invention.

[0054] The electromagnetic striking unit consists of a voice coil motor, a buffer structure, and a striking head 8. The voice coil motor, as the core driving component of this unit, is responsible for realizing the striking action and controlling the striking force and frequency of the striking head 8. Depending on whether the moving part of the voice coil motor is a voice coil or a permanent magnet, it can be divided into two types: moving coil type and moving magnet type.

[0055] 1) The stator of the moving-coil voice coil motor consists of a permanent magnet 4 that generates a constant magnetic field and an iron core 2 that serves as a magnetic flux loop. The energized coil 3 moves on the supporting iron core 2 in the middle. Because the moving part has low moving mass and small inertia, it is suitable for high-frequency motion and high-precision control under small thrust conditions. However, the existence of the flying wire connecting the action coil will affect the reliability of the motor during long-term operation.

[0056] 2) The moving magnet voice coil motor can be regarded as the interchange of the stator and mover of the moving coil voice coil motor. The excitation coil 3 is wound on the stator iron core 2 and forms a magnetic pole on the top of the iron core 2. The constant magnetic field generated by the mover composed of permanent magnet 4 forms an axial force with it. Using permanent magnet 4 as the mover can avoid the flying wire problem of the moving coil type, improve the reliability of the product under long-term operation, and increase the power of the motor.

[0057] The buffer structure 5 is located between the voice coil motor and the striking head 8. It includes a spring and a limit switch working together to prevent excessive displacement of the striking head 8 during normal operation when the moving part moves downward, thus avoiding excessive pressure on the user. The spring is added to limit displacement and buffer the movement. In case of abnormality, it can also reduce pressure. A limit switch is set at the bottom of the spring. When the moving part moves out of control and moves downward beyond the limit value, it touches the limit switch, which will disconnect the control and stop the action.

[0058] The tapping head 8 is located at the front end of the tapping unit and acts directly on the user. It is made of plastic and silicone with a pre-embedded metal nut. The top of the tapping head is directly connected to the motor screw at the threaded connection 7 via the metal nut. Therefore, different shapes of tapping heads 8 can be replaced according to the user's needs. The silicone at the bottom of the tapping head 8 is made of silicone material that can deform, reducing pressure on the user's body surface and increasing user comfort during treatment. At the same time, there is a touch button 6 at the connection between the tapping head 8 and the screw to detect whether the tapping head 8 is installed.

[0059] The coil 3 is usually made of conductive material and is arranged on the guide rail inside the equipment, close to the permanent magnet 4. According to the principle of electromagnetic induction, it will generate a magnetic field around it. By changing the direction of the current in the coil 3, the direction of the magnetic field can be changed, thereby generating an attractive or repulsive force with the permanent magnet. This change in force drives the striking head 8 to move up and down.

[0060] Hall effect position sensor 1 is used to detect the position of the striking head 8 or the moving part in real time, providing feedback signals to the processor. Based on the Hall effect, position sensor 1 can detect changes in the magnetic field and convert them into electrical signals. When the striking head 8 moves up and down, the real-time position of the striking head 8 is determined by detecting the distance from the Hall element, and then fed back to the processor as an electrical signal for closed-loop control. These modules are connected to external circuits via terminal 9 to form a stable electromagnetic striking unit, achieving effective control of the striking action.

[0061] According to the different moving parts, the electromagnetic drive structure is divided into two types: moving magnet type and moving coil type. The basic principle of electromagnetic drive is: under the interaction of the magnetic field generated by the energized coil 3 and the magnetic field of the permanent magnet 4, a force will be generated, which will drive a certain part (moving part) to produce displacement. Then, by precisely controlling the current of the coil 3, the force and frequency of the striking head 8 can be adjusted with high precision. According to the parameters set by the user or the preset parameters, (1) control the energizing direction of the coil 3. When the coil 3 is energized, it generates a magnetic field that attracts the permanent magnet 4 and drives the striking head 8 to move upward. When the energizing direction of the coil 3 changes, it generates a magnetic field that repels the permanent magnet 4 and drives the striking head 8 to move downward; (2) the frequency of the striking head 8 can be precisely controlled by changing the energizing frequency of the coil 3; (3) by adjusting the current of the coil 3, the processor can control and change the magnetic field strength of the coil 3, thereby realizing the adjustment of the force.

[0062] During the downward movement of the moving part, a spring is used for cushioning to prevent excessive displacement of the moving part from squeezing the user. A position switch is located at the lower end of the spring. If the moving part malfunctions and continues to move downward, touching the position switch will immediately disconnect the power supply to coil 3, stopping the moving part and protecting the user's safety. The striking head 8 can be removed and replaced through the threaded connection 7. A tactile button 6 is located on the top. When replacing the striking head 8, ensure that it is properly assembled. If it is not properly assembled, the button will not output a signal, and striking is not allowed.

[0063] In summary, by using the electromagnetic tapping unit of this invention, tapping actions of different frequencies and intensities can be performed on the user, achieving better results.

[0064] Example 3:

[0065] An electromagnetic percussion expectoration device comprises a power supply, a system host, a display screen, a percussion unit, a percussion device, and a signal detection unit. The system host and display screen form the complete unit, enabling user interaction; the percussion unit and percussion device form a complete percussion assembly, allowing users to receive percussion expectoration without the need for assistance after assembly.

[0066] At the start of operation, power is first supplied, converting AC to DC to power the entire unit. Then, system initialization and reset are performed. The processor initializes, preparing to receive commands or complete preset programs. The display screen enters standby mode, showing the current status of the entire unit. The processor first reads information from Hall position sensor 1 to determine the position of the striking head 8. If the Hall element does not detect a signal, it means the striking head 8 is not in the predetermined position, and the processor executes a reset command. The processor energizes coil 3, generating an attractive force around coil 3 that attracts the permanent magnet 4. Under the influence of this magnetic force, the striking head 8 moves upward until it reaches the designated position. At this point, Hall position sensor 1 detects the position information and transmits it to the processor, indicating that the reset is complete. After the reset, operating parameters are set, including the striking frequency and striking force. The processor inputs corresponding control signals to the drive circuit based on the set values. The drive circuit then provides operating current to the striking unit to perform the striking action. Simultaneously, the drive circuit also provides operating current detection to the MCU to monitor the operating status of the striking unit in real time. During operation of the tapping unit, if a malfunction occurs where the tapping head 8 continuously moves downwards, and if the tapping head 8 continues to contact the position switch after being buffered by the spring, a stop signal and an alarm will be issued to protect user safety. Individual tapping units are assembled onto the tapping device for treatment. To enable independent mode control for different positions, the tapping device has a unit position detection switch. After the tapping unit is assembled, the MCU detects the signal and can then determine the position of the tapping unit within the device, allowing for individual control of that unit.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An electromagnetic-knocking-unit control method characterized by: The current parameters include the direction, size and frequency of the current, and the control method includes at least two working modes, In the first mode, in the first stage 0-T1 of the accelerated movement of the hammer from the top dead center, a first current I1 is supplied to the coil (3); in the second stage T1-T2, the current control to the coil (3) is cut off or the current direction is changed, so that the hammer (8) completes the percussion under the action of inertia, and then a second current I2 opposite to I1 is supplied to the coil (3) to return the hammer (8) to the top dead center. In the second mode, in the first stage 0-T1 of the accelerated movement of the hammer (8) from the top dead center, a first current I1 is supplied to the coil (3); in the second stage T1-T2, the current direction is changed to a third current I3 opposite to I1 to decelerate the hammer (8) and make the hammer (8) contact the target before the speed is reduced to zero; after the percussion, a current is supplied to return the hammer (8) to the top dead center.

2. The method of claim 1, wherein: The size of the current supplied to the coil (3) in the first stage 0-T1 is changed to adjust the speed of the hammer (8) when contacting the target, so as to adjust the percussion force.

3. The method of claim 2, wherein: The third mode is also included: when the increase of the current to improve the percussion force leads to the shortening of the percussion cycle, a pause time t1 is inserted after the completion of one percussion action to start the preparation stage of the next percussion action, so as to keep the percussion frequency unchanged.

4. The method of claim 1, wherein: The size of the current to return the hammer (8) to the top dead center is increased to shorten the reset time, so as to improve the percussion frequency.

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