阅读说明：本技术 切换装置、切换组件、切换系统及其操作方法 (Switching device, switching assembly, switching system and operation method thereof ) 是由 尹刚刚 王吴东 于 2020-07-02 设计创作，主要内容包括：本发明提供了一种切换装置,包括第一盖体、第二盖体、正压输入部、负压输入部和至少两个输出部。所述第一盖体和所述第二盖体之间形成导流腔体,所述第一盖体与所述第二盖体活动连接以在外部的机械驱动下使所述正压输入部与所述导流腔体的正压导流腔相通,并使每个输出部顺次与所述正压导流腔相通从而有利于穿戴装置顺次助力手指进行屈曲训练,以及使所述负压输入部与所述导流腔体的负压导流腔相通,并使每个输出部顺次与所述负压导流腔相通从而有利于穿戴装置顺次助力手指进行伸展训练,提高了使用安全性并降低了成本。本发明还提供了包括所述切换装置的切换组件和切换系统,以及所述切换系统的操作方法。(The invention provides a switching device which comprises a first cover body, a second cover body, a positive pressure input part, a negative pressure input part and at least two output parts. First lid with form the water conservancy diversion cavity between the second lid, first lid with second lid swing joint makes with outside mechanical drive down the malleation input part with the malleation water conservancy diversion chamber of water conservancy diversion cavity communicates with each other to make every output in order with thereby malleation water conservancy diversion chamber communicates with each other and is favorable to wearing the device helping hand finger in order to carry out the buckling training, and makes the negative pressure input part with the negative pressure water conservancy diversion chamber of water conservancy diversion cavity communicates with each other, and makes every output in order with thereby the negative pressure water conservancy diversion chamber communicates with each other and is favorable to wearing the device helping hand finger in order and extend the training, has improved safety in utilization and has reduced the cost. The invention also provides a switching assembly and a switching system comprising the switching device, and an operation method of the switching system.)

1. A switching device is applied to assisting a wearable device to carry out flexion and extension motions and is characterized by comprising a first cover body, a second cover body, a positive pressure input part, a negative pressure input part and at least two output parts;

the first cover body and the second cover body are oppositely arranged to form a flow guide cavity, and the flow guide cavity comprises a positive pressure flow guide cavity and a negative pressure flow guide cavity;

any one of the positive pressure input part, the negative pressure input part and the output part is arranged on any one of the first cover body and the second cover body so as to be communicated with the diversion cavity;

the first cover body and the second cover body are movably connected to generate relative motion under external mechanical drive, and the relative motion comprises a first relative motion and a second relative motion;

the first relative motion enables the positive pressure input part to be communicated with the positive pressure flow guide cavity, and each output part to be communicated with the positive pressure flow guide cavity in sequence;

the second relative motion enables the negative pressure input part to be communicated with the negative pressure flow guide cavity, and each output part to be communicated with the negative pressure flow guide cavity in sequence.

2. The switching device according to claim 1, wherein the positive pressure diversion cavity is disposed opposite to the negative pressure diversion cavity, and the first relative movement and the second relative movement are performed in opposite directions, so that during the first relative movement, each output portion is sequentially communicated with the positive pressure diversion cavity from the negative pressure diversion cavity, and during the second relative movement, each output portion is sequentially communicated with the negative pressure diversion cavity from the positive pressure diversion cavity.

3. The switching device of claim 2, wherein the first relative movement and the second relative movement are both rotational movements of the first cover relative to the second cover, the rotational movements of the first cover about an axis of rotation.

4. The switching device of claim 3, wherein the positive pressure flow directing cavity and the negative pressure flow directing cavity are mirror images of each other about the axis of rotation.

5. The switching device according to claim 4, wherein the positive pressure flow directing chamber comprises a positive pressure outer chamber and a positive pressure inner chamber in communication with each other, the negative pressure flow directing chamber comprises a negative pressure outer chamber and a negative pressure inner chamber in communication with each other, the negative pressure outer chamber and the positive pressure outer chamber are arranged in mirror image with each other around the rotation axis, and the negative pressure inner chamber and the positive pressure inner chamber are arranged in mirror image with each other around the rotation axis;

in the first relative movement process, the positive pressure input part is communicated with the positive pressure inner cavity, and each output part is communicated with the positive pressure outer cavity from the negative pressure diversion cavity in sequence;

in the second relative movement process, the negative pressure input part is communicated with the negative pressure inner cavity, and each output part is communicated with the negative pressure outer cavity from the positive pressure diversion cavity in sequence.

6. The switching device according to claim 5, wherein the diversion cavity further comprises a buffer cavity, and an environmental through hole is arranged at the top of the first cover body so as to be opposite to the buffer cavity;

in the first relative movement process, the negative pressure input part is communicated with the buffer cavity so as to be communicated with the external environment through the environment through hole;

in the second relative movement process, the positive pressure input part is communicated with the buffer cavity so as to be communicated with the external environment through the environment through hole.

7. The switching device according to claim 6, wherein the buffer chamber comprises a positive pressure buffer chamber and a negative pressure buffer chamber, the environmental through holes comprise a first environmental through hole disposed opposite to the negative pressure buffer chamber and a second environmental through hole disposed opposite to the positive pressure buffer chamber, the positive pressure buffer chamber and the positive pressure inner chamber are disposed as mirror images around the rotation axis, and the negative pressure buffer chamber and the negative pressure inner chamber are disposed as mirror images around the rotation axis;

in the first relative movement process, the negative pressure input part is communicated with the negative pressure buffer cavity so as to be communicated with the external environment through the first environment through hole;

in the second relative motion process, the positive pressure input part is communicated with the positive pressure buffer cavity so as to be communicated with the external environment through the second environment through hole.

8. The switching device of claim 3, wherein the bottom portion of the first cover is provided with a plurality of flow guide channels, the top portion of the second cover includes a sealing surface, and the bottom portion of the first cover is in close fit with the top portion of the second cover to form the flow guide cavity defined between the sealing surface and the plurality of flow guide channels.

9. The switching device according to claim 8, wherein a main constituent material of the first cover and the second cover is a self-lubricating material.

10. The switching apparatus according to claim 9 wherein the bottom of the first cover is provided with a lubrication channel about the axis of rotation to contain a lubrication medium, the lubrication channel being located between the first cover bottom edge and the areas where the positive pressure and negative pressure diversion chambers are located.

11. A switching assembly comprising a mechanical drive, a transmission, and the switching device of any one of claims 1-10, the switching device comprising first and second oppositely disposed covers;

the mechanical driving part is movably connected with the transmission part, the second cover body is arranged on the mechanical driving part, the transmission part penetrates through the second cover body and is arranged on any one of the first cover body and the second cover body, so that the first cover body and the second cover body can move relatively under the driving of the mechanical driving part.

12. The switching assembly of claim 11, wherein the second cover is fixedly connected to the mechanical driving portion, and the transmission portion penetrates through the second cover and is fixedly connected to the first cover, so that the first cover is driven by the mechanical driving portion to rotate relative to the second cover.

13. The switching assembly of claim 12, further comprising a pressing portion, wherein the first cover and the second cover are disposed opposite to each other to form a diversion cavity, and the pressing portion is disposed between the mechanical driving portion and the second cover to provide a force toward a bottom of the second cover and to enhance a sealing effect of the diversion cavity.

14. The switching assembly of claim 11, further comprising a blocking member disposed on the mechanical drive portion to at least partially counteract a frictional force generated by the relative movement of the first cover and the second cover.

15. A switching system is characterized by comprising a main control unit, an air supply unit, an air pressure detection unit and a switching assembly, wherein the switching assembly comprises a mechanical driving part, a transmission part and the switching device of any one of claims 1 to 10 which are connected with each other, the switching device comprises a first cover body, a second cover body, a positive pressure input part, a negative pressure input part and at least two output parts, the first cover body and the second cover body are oppositely arranged to form a flow guide cavity, and the flow guide cavity comprises a positive pressure flow guide cavity and a negative pressure flow guide cavity;

the air supply unit is respectively connected with the positive pressure input part and the negative pressure input part so as to form a positive pressure air path and inflate the positive pressure flow guide cavity through the positive pressure input part so as to provide positive pressure, and form a negative pressure air path and exhaust air from the negative pressure flow guide cavity through the negative pressure input part so as to provide negative pressure;

the air pressure detection unit is respectively connected with the positive pressure air path and the negative pressure air path so as to obtain air pressure information of the positive pressure air path and the negative pressure air path and send the air pressure information to the main control unit;

the main control unit is connected with the air supply unit to control the air supply unit to simultaneously provide positive pressure and negative pressure; the main control unit is connected with the air pressure detection unit so as to obtain relative position information between the first cover body and the second cover body according to the air pressure information;

the main control unit is connected with the mechanical driving part to drive the mechanical driving part to control the relative motion state of the first cover body and the second cover body through the transmission part.

16. The method of operating a switching system according to claim 15, comprising:

s0: providing a wearing device, wherein the wearing device comprises at least two wearing units, and the at least two wearing units are correspondingly connected with the at least two output parts one by one;

s1: feeding back first air pressure information to the main control unit through the air pressure detection unit so that the main control unit judges that the second relative movement is finished according to the first air pressure information, and controlling the air supply unit to work to simultaneously output positive pressure and negative pressure;

s2: sending a first motion instruction to the mechanical driving part through the main control unit, wherein the mechanical driving part drives the first cover body and the second cover body to perform first relative motion through the transmission part according to the first motion instruction so as to sequentially assist each wearing unit to perform buckling motion;

s3: feeding back second air pressure information to the main control unit through the air pressure detection unit so that the main control unit judges that the first relative movement is finished according to the second air pressure information;

s4: and sending a second motion instruction to the mechanical drive part through the main control unit, wherein the mechanical drive part drives the first cover body and the second cover body to perform second relative motion through the transmission part according to the second motion instruction so as to assist each wearing unit to perform stretching motion in sequence.

17. The operating method according to claim 16, wherein the first motion command comprises a first frequency modulation command, and in step S2, the mechanical driving part controls the speed of the first relative motion through the transmission part according to the first frequency modulation command to adjust the interval time between the two adjacent wearing units performing the flexion motion.

18. The operating method according to claim 16, wherein the second motion command comprises a second frequency modulation command, and in step S4, the mechanical driving part controls the speed of the second relative motion through the transmission part according to the second frequency modulation command to adjust the interval between the two adjacent wearing units performing the stretching motion.

19. The operating method according to claim 16, wherein the step S1 further includes, after the main control unit is started and the air supply unit is controlled by the main control unit to operate, the main control unit obtaining the relative position information between the first cover and the second cover according to the third air pressure information fed back by the air pressure detection unit, and then driving the mechanical driving portion to drive the first cover and the second cover to perform the second relative movement through the transmission portion, so as to draw air from the at least two wearing units through the negative pressure input portion, so as to extend the at least two wearing units for wearing.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a switching device, a switching assembly, a switching system and an operation method thereof.

Background

Disclosure of Invention

The invention aims to provide a switching device applied to a wearable device for flexion and extension motions, a switching assembly and a switching system comprising the switching device, and an operation method of the switching system, so that the use safety is improved, and the cost is reduced.

In order to achieve the above object, the switching device of the present invention comprises a first cover, a second cover, a positive pressure input portion, a negative pressure input portion, and at least two output portions; the first cover body and the second cover body are oppositely arranged to form a flow guide cavity, and the flow guide cavity comprises a positive pressure flow guide cavity and a negative pressure flow guide cavity; any one of the positive pressure input part, the negative pressure input part and the output part is arranged on any one of the first cover body and the second cover body so as to be communicated with the diversion cavity; the first cover body and the second cover body are movably connected to generate relative motion under external mechanical drive, and the relative motion comprises a first relative motion and a second relative motion; the first relative motion enables the positive pressure input part to be communicated with the positive pressure flow guide cavity, and each output part to be communicated with the positive pressure flow guide cavity in sequence; the second relative motion enables the negative pressure input part to be communicated with the negative pressure flow guide cavity, and each output part to be communicated with the negative pressure flow guide cavity in sequence.

The switching device of the invention has the advantages that: the first cover body and the second cover body are oppositely arranged to form a flow guide cavity body comprising a positive pressure flow guide cavity and a negative pressure flow guide cavity, any one of the positive pressure input part, the negative pressure input part and the output part is arranged on any one of the first cover body and the second cover body to be communicated with the flow guide cavity body without being respectively controlled by a plurality of electromagnetic valves, the first cover body is movably connected with the second cover body to enable the positive pressure input part to be communicated with the positive pressure flow guide cavity of the flow guide cavity body under external mechanical drive, and each output part is sequentially communicated with the positive pressure flow guide cavity body to be beneficial to sequential assisting fingers of a wearable device to carry out buckling training, and the negative pressure input part is communicated with the negative pressure flow guide cavity body to be sequentially communicated with the negative pressure flow guide cavity body to be beneficial to sequential assisting fingers of the wearable device to carry out stretching training, the use safety is improved and the cost is reduced.

Preferably, the positive pressure flow guide cavity and the negative pressure flow guide cavity are arranged oppositely, the first relative movement and the second relative movement are carried out along opposite directions, so that in the process of the first relative movement, each output part is communicated with the positive pressure flow guide cavity sequentially from the negative pressure flow guide cavity, and in the process of the second relative movement, each output part is communicated with the negative pressure flow guide cavity sequentially from the positive pressure flow guide cavity. The beneficial effects are that: the device structure is simplified and the time for switching the positive pressure and the negative pressure is shortened.

Further preferably, the first relative movement and the second relative movement are both rotational movements of the first cover body relative to the second cover body, the rotational movements of the first cover body being about a rotational axis.

Further preferably, the positive pressure flow guide cavity and the negative pressure flow guide cavity are arranged around the rotation axis in a mirror image manner.

Preferably, the diversion cavity further comprises a buffer cavity, and an environment through hole is formed in the top of the first cover body and is opposite to the buffer cavity; in the first relative movement process, the negative pressure input part is communicated with the buffer cavity so as to be communicated with the external environment through the environment through hole; in the second relative movement process, the positive pressure input part is communicated with the buffer cavity so as to be communicated with the external environment through the environment through hole. The beneficial effects are that: the air pressure detection unit used for being communicated with the positive pressure input part and the negative pressure input part is ensured to be always communicated with the environment in the running process, and the normal work of the air pressure detection unit is facilitated.

Preferably, the positive pressure flow guide cavity comprises a positive pressure outer cavity and a positive pressure inner cavity which are communicated with each other, the negative pressure flow guide cavity comprises a negative pressure outer cavity and a negative pressure inner cavity which are communicated with each other, the negative pressure outer cavity and the positive pressure outer cavity are arranged in a mirror image manner around the rotation axis, and the negative pressure inner cavity and the positive pressure inner cavity are arranged in a mirror image manner around the rotation axis; in the first relative movement process, the positive pressure input part is communicated with the positive pressure inner cavity, and each output part is communicated with the positive pressure outer cavity from the negative pressure diversion cavity in sequence; in the second relative movement process, the negative pressure input part is communicated with the negative pressure inner cavity around the rotation axis, and each output part is communicated with the negative pressure outer cavity from the positive pressure flow guide cavity in sequence. The beneficial effects are that: the process that each output part is communicated with the positive pressure outer cavity from the negative pressure flow guide cavity in sequence does not influence the process that the positive pressure input part inflates the positive pressure flow guide cavity.

Preferably, the buffer cavity comprises a negative pressure buffer cavity, the environment through hole comprises a first environment through hole arranged opposite to the negative pressure buffer cavity and a second environment through hole arranged opposite to the positive pressure buffer cavity, the negative pressure buffer cavity and the negative pressure inner cavity are arranged in a mirror image manner around the rotation axis, and the negative pressure buffer cavity and the negative pressure inner cavity are arranged in a mirror image manner around the rotation axis; in the first relative movement process, the negative pressure input part is communicated with the negative pressure buffer cavity so as to be communicated with the external environment through the first environment through hole; in the second relative motion process, the positive pressure input part is communicated with the positive pressure buffer cavity so as to be communicated with the external environment through the second environment through hole. The beneficial effects are that: the air pressure detection unit used for being communicated with the positive pressure input part and the negative pressure input part is ensured to be always communicated with the environment in the running process, and the normal work of the air pressure detection unit is facilitated.

Preferably, the bottom of the first cover body is provided with a plurality of diversion channels, the top of the second cover body comprises a sealing surface, and the bottom of the first cover body is tightly attached to the top of the second cover body so as to form the diversion cavity defined between the sealing surface and the diversion channels. The beneficial effects are that: the structure is simplified, and the subsequent maintenance is convenient.

Further preferably, the main constituent material of the first cover body and the second cover body is a self-lubricating material. The beneficial effects are that: the wear resistance of the first cover body and the second cover body is improved, and long-term stable operation of the switching device is facilitated.

Further preferably, the bottom of the first cover body is provided with a lubricating channel around the rotation axis to contain a lubricating medium, and the lubricating channel is located between the edge of the bottom of the first cover body and the areas where the positive pressure diversion cavity and the negative pressure diversion cavity are located. The wear resistance of the first cover body and the second cover body is improved, and long-term stable operation of the switching device is facilitated.

The switching assembly comprises a mechanical driving part, a transmission part and a switching device, wherein the switching device comprises a first cover body and a second cover body which are oppositely arranged; the mechanical driving part is movably connected with the transmission part, the second cover body is arranged on the mechanical driving part, the transmission part penetrates through the second cover body and is arranged on any one of the first cover body and the second cover body, so that the first cover body and the second cover body can move relatively under the driving of the mechanical driving part.

The switching assembly of the invention has the advantages that: need not to set up a plurality of solenoid valves and control respectively, but rely on first lid with second lid swing joint in order pass through under mechanical drive portion's the drive makes the malleation input part with malleation water conservancy diversion chamber communicates with each other to and make every output in order with malleation water conservancy diversion chamber communicates with each other thereby is favorable to follow-up buckling training to a plurality of fingers in order through wearing the device, and makes the negative pressure input part with negative pressure water conservancy diversion chamber communicates with each other, and make every output in order with negative pressure water conservancy diversion chamber communicates with each other to be favorable to follow-up extending training to a plurality of fingers in order through wearing the device, improved safety in utilization and the cost is reduced.

Preferably, the second cover is fixedly connected to the mechanical driving portion, and the transmission portion penetrates through the second cover and is fixedly connected to the first cover, so that the first cover is driven by the mechanical driving portion to rotate relative to the second cover.

Further preferably, the fluid guiding cover further comprises a pressing portion, the first cover body and the second cover body are arranged oppositely to form a fluid guiding cavity, and the pressing portion is arranged between the mechanical driving portion and the second cover body to provide an acting force towards the bottom of the second cover body and enhance a sealing effect on the fluid guiding cavity.

Further preferably, the mechanical driving part further comprises a blocking member disposed on the mechanical driving part to at least partially offset a friction force generated by the relative movement of the first cover and the second cover.

The switching system comprises a main control unit, an air supply unit, an air pressure detection unit and a switching assembly, wherein the switching assembly comprises a mechanical driving part, a transmission part and a switching device which are connected with each other; the air supply unit is respectively connected with the positive pressure input part and the negative pressure input part so as to form a positive pressure air path and inflate the positive pressure flow guide cavity through the positive pressure input part so as to provide positive pressure, and form a negative pressure air path and exhaust air from the negative pressure flow guide cavity through the negative pressure input part so as to provide negative pressure; the air pressure detection unit is respectively connected with the positive pressure air path and the negative pressure air path so as to obtain air pressure information of the positive pressure air path and the negative pressure air path and send the air pressure information to the main control unit; the main control unit is connected with the air supply unit to control the air supply unit to simultaneously provide positive pressure and negative pressure; the main control unit is connected with the air pressure detection unit so as to obtain relative position information between the first cover body and the second cover body according to the air pressure information; the main control unit is connected with the mechanical driving part to drive the mechanical driving part to control the relative motion state of the first cover body and the second cover body through the transmission part.

The operation method of the switching system of the present invention includes:

s0: providing a wearing device, wherein the wearing device comprises at least two wearing units, and the at least two wearing units are correspondingly connected with the at least two output parts one by one;

s1: feeding back first air pressure information to the main control unit through the air pressure detection unit so that the main control unit judges that the second relative movement is finished according to the first air pressure information, and controlling the air supply unit to work to simultaneously output positive pressure and negative pressure;

s2: sending a first motion instruction to the mechanical driving part through the main control unit, wherein the mechanical driving part drives the first cover body and the second cover body to perform first relative motion through the transmission part according to the first motion instruction so as to sequentially assist each wearing unit to perform buckling motion;

s3: feeding back second air pressure information to the main control unit through the air pressure detection unit so that the main control unit judges that the first relative movement is finished according to the second air pressure information;

s4: and sending a second motion instruction to the mechanical drive part through the main control unit, wherein the mechanical drive part drives the first cover body and the second cover body to perform second relative motion through the transmission part according to the second motion instruction so as to assist each wearing unit to perform stretching motion in sequence.

The beneficial effects of the switching system and the operation method of the switching system of the present invention are referred to the beneficial effects of the switching component, which are not described herein again.

Preferably, the first motion command includes a first frequency modulation command, and in step S2, the mechanical driving part controls the speed of the first relative motion through the transmission part according to the first frequency modulation command to adjust the interval time between two adjacent wearing units performing the flexion motion.

Preferably, the second motion command includes a second frequency modulation command, and in step S4, the mechanical driving part controls the speed of the second relative motion through the transmission part according to the second frequency modulation command, so as to adjust the interval time between two adjacent wearing units performing the stretching motion.

Preferably, step S1 also includes, start the main control unit and pass through the main control unit control the air feed unit work back, the main control unit is according to the third atmospheric pressure information of atmospheric pressure detecting element feedback obtains first lid with relative position information between the second lid, then through the drive mechanical drive portion passes through the transmission portion drives first lid with the second lid carries out the second relative motion, with through the negative pressure input portion is followed bleed in two at least wearing units, make two at least wearing units extend so that dress.

Drawings

Fig. 1 is a block diagram of a switching system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the wearable device shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a switching device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of the first cover shown in FIG. 3;

FIG. 5 is a top view of the second cover shown in FIG. 3;

FIG. 6 is a bottom view of the first cover shown in FIG. 3;

FIG. 7a is a schematic structural diagram of a switching assembly according to the present invention;

FIG. 7b is a top view of FIG. 7 a;

FIG. 8 is a close-up view of the switching device shown in FIG. 3 in an initial state;

FIG. 9 is a closed view of the switching device shown in FIG. 3 in a first operating state;

FIG. 10 is a closed view of the switching device shown in FIG. 3 in a second operating state;

fig. 11 is a closed view of the switching device shown in fig. 3 in a third operating state.

Detailed Description

In order to make the objects, technical solutions and advantages 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 of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and similar words are intended to mean that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.

In order to solve the problems in the prior art, the invention provides a switching device, a switching assembly and a switching system for assisting a wearable device in flexion and extension motions, and an operation method of the switching system, so that the use safety is improved and the cost is reduced.

Fig. 1 is a block diagram of a switching system according to some embodiments of the invention. Fig. 2 is a schematic structural view of the wearing device shown in fig. 1.

Referring to fig. 1, the switching system 1 includes a main control unit 11, an air supply unit 13, an air pressure detection unit 12, a switching member 14, and a wearing device 15.

The main control unit 11 is connected with the air supply unit 13 to control the air supply unit 13 to simultaneously provide positive pressure and negative pressure.

The air supply unit 13 is connected to the positive pressure input part and the negative pressure input part of the switching assembly 14 through an air passage 16.

In some embodiments of the present invention, the air path includes a positive pressure air path and a negative pressure air path, and the air supply unit 13 includes a dual-purpose air pump having a positive pressure air blowing port and a negative pressure air suction port.

Specifically, the positive pressure blowing port is connected with the positive pressure input part of the switching component 14 to form the positive pressure air path, and the positive pressure air path is inflated to the positive pressure flow guide cavity in the switching component 14 through the positive pressure input part to provide positive pressure, so as to assist the wearable device 15 in performing buckling movement.

Specifically, the negative pressure suction port is used for being connected with a negative pressure input portion of the switching assembly 14 to form the negative pressure air path, so that air is drawn from a negative pressure flow guide cavity in the switching assembly 14 through the negative pressure input portion to provide negative pressure, and the extension movement of the wearable device 15 is assisted.

In some embodiments of the present invention, the air supply unit 13 includes a positive pressure air pump and a negative pressure air pump which work independently, and the positive pressure air pump has the positive pressure blowing port to provide positive pressure; the negative pressure air pump is provided with the negative pressure air suction port to provide negative pressure.

The air pressure detection unit 12 is connected to the positive pressure air circuit and the negative pressure air circuit respectively to obtain air pressure information of the positive pressure air circuit and the negative pressure air circuit and send the air pressure information to the main control unit 11.

In some embodiments of the present invention, the air pressure detecting unit 12 has a positive pressure detecting port and a negative pressure detecting port to respectively access the positive pressure air path and the negative pressure air path, respectively detect air pressure information of the positive pressure air path and air pressure information of the negative pressure air path in real time, and send the air pressure information of the positive pressure air path and the air pressure information of the negative pressure air path to the main control unit 11.

Specifically, referring to fig. 1 and 2, the wearing device 15 is a rehabilitation training glove, and a plurality of bellows 22 and an air duct 23 connected to each bellows 22 are disposed on the surface of each wearing unit 21. Because the corrugated pipe 22 has the telescopic performance, the air pressure detection unit 12 sequentially inputs air into the air guide pipes 23 to extend the corrugated pipe 22 so as to assist each wearing unit 21 to sequentially perform buckling movement; the air pressure detection unit 12 sequentially pumps air out of the air guide tubes 23 to compress the corrugated tubes 22, so as to assist each worn unit 21 completing the flexion motion to sequentially perform the extension motion.

In some embodiments of the present invention, the switching assembly 14 includes a mechanical drive portion, a transmission portion, and a switching device connected to each other. The switching device comprises a first cover body and a second cover body which are oppositely arranged to form a flow guide cavity, and further comprises at least two output parts, a positive pressure input part and a negative pressure input part.

In some embodiments of the present invention, the main control unit 11 is connected to the air pressure detecting unit 12 to obtain the relative position information between the first cover and the second cover of the switching assembly 14 according to the air pressure information.

In some embodiments of the present invention, the main control unit 11 is connected to the switching assembly 14 to control a movement state between the first cover and the second cover of the switching assembly 14.

In some embodiments of the present invention, any one of the positive pressure input portion, the negative pressure input portion, and the output portion is disposed on any one of the first cover and the second cover to communicate with the diversion cavity.

Fig. 3 is a schematic structural diagram of a switching device according to some embodiments of the invention.

Referring to fig. 1 to 3, the switching device 3 includes a first cover 31, a second cover 32, a positive pressure input portion 33, a negative pressure input portion 34, and at least two output portions 35. The air pressure detection unit 12 is connected to the positive pressure input part 33 and the negative pressure input part 34; the output parts 35 are arranged in one-to-one correspondence with the wearing units 21 so as to inflate or deflate the corrugated pipes 22 through the air ducts 23.

Referring to fig. 3, the first cover 31 and the second cover 32 are oppositely disposed to form a flow guiding cavity; the first cover 31 is movably connected with the second cover 32 to move relatively under the external mechanical drive.

In some embodiments of the invention, the diversion cavity comprises a positive pressure diversion cavity and a negative pressure diversion cavity, and the relative movement comprises a first relative movement and a second relative movement. The first relative movement causes the positive pressure input portion 33 to communicate with the positive pressure diversion cavity and each of the output portions 35 to sequentially communicate with the positive pressure diversion cavity to sequentially inflate each of the wearing units 21; the second relative movement causes the negative pressure input portion 34 to communicate with the negative pressure diversion cavity and each output portion 35 to communicate with the negative pressure diversion cavity in sequence to draw air from each of the wearing units 21 in sequence.

In some embodiments of the present invention, the positive pressure diversion cavity and the negative pressure diversion cavity are disposed opposite to each other, and the first relative movement and the second relative movement are performed in opposite directions, so that during the first relative movement, each output portion 35 is sequentially communicated with the positive pressure diversion cavity from the negative pressure diversion cavity, and during the second relative movement, each output portion 35 is sequentially communicated with the negative pressure diversion cavity from the positive pressure diversion cavity.

In some embodiments of the present invention, referring to fig. 3, the positive pressure input portion 33, the negative pressure input portion 34 and the output portion 35 are disposed on the second cover 32, and the first relative movement and the second relative movement are both rotational movements of the first cover 31 relative to the second cover 32, and the rotational movements of the first cover 31 about the rotation axis. Specifically, the rotation axis is a central axis of the first cover 31 perpendicular to a horizontal plane.

In some embodiments of the present invention, the positive pressure diversion cavity and the negative pressure diversion cavity are arranged around the rotation axis in a mirror image manner.

In some embodiments of the present invention, the main constituent material of the first cover 31 and the second cover 32 is a self-lubricating material, so as to improve the wear resistance of the first cover 31 and the second cover 32, and facilitate long-term stable operation of the switching device.

In some specific embodiments of the present invention, the self-lubricating material is ceramic.

Fig. 4 is a schematic structural diagram of the first cover shown in fig. 3. Fig. 5 is a plan view of the second cover shown in fig. 3.

Referring to fig. 4 and 5, the first cover 31 and the second cover 32 are hollowed out to form a first central through hole 42 and a second central through hole 56, respectively, for providing a mechanical driving portion. At least two output channels 53 are arranged at the top of the second cover 32, so as to be in one-to-one correspondence with and communicated with the at least two output parts 35. The at least two output portions 35 include a first sub-output pipe 51 and a second sub-output pipe 52 disposed on the side wall of the second cover 32, and three sub-output pipes (not shown) disposed between the first sub-output pipe 51 and the second sub-output pipe 52. The second cover 32 is further provided at the top thereof with a positive pressure input channel 54 and a negative pressure input channel 55 to communicate with the positive pressure input portion 33 and the negative pressure input portion 34, respectively.

The bottom of the first cover 31 is provided with a plurality of flow guide channels 41 to assist in forming the positive pressure flow guide cavity and the negative pressure flow guide cavity. Specifically, the top of the second cover 32 includes a sealing surface, and the bottom of the first cover 31 is closely attached to the top of the second cover 32 to form the flow guiding cavity defined between the sealing surface and the flow guiding channels 41. The sealing surface is a solid surface on the top of the second cover 32 except for the at least two output channels 53, the second central through hole 56, and the positive pressure input channel 54 and the negative pressure input channel 55.

In some embodiments of the present invention, the diversion cavity further includes a buffer cavity, and an environment through hole is disposed at the top of the first cover 31 to be opposite to the buffer cavity.

Specifically, referring to fig. 3, the switching device 3 further includes a first environment through hole 36 and a second environment through hole 37 arranged at the top of the first cover 31, and the air supply unit 13 includes a dual-purpose air pump, so that the first relative motion process is performed, the negative pressure input part 34 communicates with the buffer chamber (not marked in the figure), so as to pass through the environment through hole communicates with the external environment, and the second relative motion process is performed, the positive pressure input part 33 communicates with the buffer chamber (not marked in the figure), so as to pass through the environment through hole communicates with the external environment, and the positive pressure input part 33 and the negative pressure input part 34 communicate with each other, so that the air pressure detection unit 12 always communicates with each other with the environment in the operation process, and the normal operation of the air pressure detection unit 12 is facilitated.

In some embodiments of the present invention, the first environmental through hole 36 and the second environmental through hole 37 are not disposed on the top of the first cover 31, and the air supply unit 13 includes a positive pressure air pump and a negative pressure air pump which work independently, and the positive pressure air pump inflates air into a positive pressure flow guide cavity formed between the first cover 31 and the second cover 32 through the positive pressure input part 33 during the first relative movement; the negative pressure air pump sucks air from the negative pressure guide cavity formed between the first cover body 31 and the second cover body 32 through the negative pressure input part 34 in the process of the second relative movement.

Fig. 6 is a bottom view of the first cover shown in fig. 3.

Referring to fig. 4 to 6, a positive pressure diversion cavity 61 and a negative pressure diversion cavity 62 are formed between the diversion channels 41 and the top of the second cover 32, and the positive pressure diversion cavity 61 includes a positive pressure outer cavity 611, a positive pressure inner cavity 612, and a positive pressure communication cavity 613 communicating the positive pressure outer cavity 611 and the positive pressure inner cavity 612. The negative pressure diversion cavity 62 comprises a negative pressure outer cavity 621, a negative pressure inner cavity 622 and a negative pressure communication cavity 623 for communicating the negative pressure outer cavity 621 and the negative pressure inner cavity 622.

Specifically, the positive pressure outer cavity 611 is disposed near the edge of the first cover 31, and the positive pressure inner cavity 612 is disposed near the center of the first cover 31; in the first relative movement process, the positive pressure input part 33 is communicated with the positive pressure inner cavity 612, and each output part 35 is sequentially communicated with the positive pressure outer cavity 611 from the negative pressure guide cavity 62, so that the process that each output part 35 is sequentially communicated with the positive pressure outer cavity 611 from the negative pressure guide cavity 62 does not influence the process that the positive pressure input part 33 inflates the positive pressure guide cavity 61.

Specifically, the negative pressure outer cavity 621 and the positive pressure outer cavity 611 are arranged in a mirror image manner around the rotation axis (not shown) of the first cover 31, and the negative pressure inner cavity 622 and the positive pressure inner cavity 612 are arranged in a mirror image manner around the rotation axis (not shown) of the first cover 31; in the second relative movement process, the negative pressure input part 34 is communicated with the negative pressure inner cavity 622, and each output part 35 is sequentially communicated with the negative pressure outer cavity 621 from the positive pressure diversion cavity 61, so that the process that each output part 35 is sequentially communicated with the negative pressure outer cavity 621 from the positive pressure diversion cavity 61 does not influence the process of sucking air from the negative pressure diversion cavity 62 through the negative pressure input part 34.

More specifically, the positive pressure outer chamber 611 and the negative pressure outer chamber 621 are both arc-shaped chambers and are arranged in a mirror image manner around a rotation axis (not labeled in the figure) of the first cover 31; the positive pressure inner cavity 612 and the negative pressure inner cavity 622 are arc-shaped cavities and are arranged in a mirror image manner around a rotation axis (not labeled) of the first cover 31.

Referring to fig. 3 and 6, a buffer chamber is further formed between the plurality of guide channels 41 and the top of the second cover 32, and the buffer chamber is composed of a negative pressure buffer chamber 63 and a positive pressure buffer chamber 64 which are oppositely arranged around a rotation axis (not labeled) of the first cover 31.

Specifically, the negative pressure buffer cavity 63 and the negative pressure inner cavity 622 are arranged in a mirror image manner around a rotation axis (not labeled) of the first cover 31, and are located between the positive pressure inner cavity 612 and the negative pressure inner cavity 622; in the process of the first relative movement, the negative pressure input part 34 and the negative pressure buffer chamber 63 are communicated with each other, so as to pass through the second environment through hole 37 is communicated with the external environment, and the positive pressure input part 33 and the negative pressure input part 34 are communicated with each other, the air pressure detection unit 12 always has one path and the environment is communicated with each other in the running process, and the normal work of the air pressure detection unit 12 is facilitated.

Specifically, the positive pressure buffer chamber 64 and the positive pressure inner chamber 612 are arranged in a mirror image manner around a rotation axis (not labeled in the figure) of the first cover 31, and are located between the area where the positive pressure outer chamber 611 and the negative pressure outer chamber 621 are located and the negative pressure inner chamber 622; in the second relative motion process, the positive pressure input part 33 and the positive pressure buffer chamber 64 are communicated with each other to pass through the first environment through hole 36 is communicated with the external environment, and the positive pressure input part 33 and the negative pressure input part 34 are communicated with each other, so that the air pressure detection unit 12 always has one path to be communicated with the environment in the operation process, and the normal work of the air pressure detection unit 12 is facilitated.

Specifically, a lubricating channel 65 is disposed at the bottom of the first cover 31 around the rotation axis (not shown in the figure) to accommodate a lubricating medium, and the lubricating channel 65 is located between the bottom edge of the first cover 31 and the areas where the positive pressure diversion cavity 61 and the negative pressure diversion cavity 62 are located, so as to improve the wear resistance of the first cover 31 and the second cover 32, and facilitate long-term stable operation of the switching device 3.

Fig. 7a is a schematic structural diagram of a switching element according to some embodiments of the present invention. Fig. 7b is a top view of fig. 7 a.

Referring to fig. 1 and 7a, the switching assembly 14 comprises a mechanical drive part 71, a transmission part 72 and the switching device 3 connected to each other. The mechanical driving portion 71 is movably connected to the transmission portion 72, the second cover 32 is disposed on the mechanical driving portion 71, the transmission portion 72 penetrates through the second cover 32 and is disposed on the first cover 31, and the main control unit 11 is connected to the mechanical driving portion 71, so that the first cover 31 rotates relative to the second cover 32 under the driving of the mechanical driving portion 71.

Specifically, referring to fig. 3, the top of the first cover 31 has a latch groove 38, and referring to fig. 4, 5 and 7a, one end of the transmission part 72 penetrates through the first middle through hole 42 and the second middle through hole 56 and then is fixedly connected to the latch groove 38, and the other end is fixedly connected to the mechanical driving part 71.

In some embodiments of the present invention, the mechanical driving part 71 is a long-axis transverse-hole speed reducing motor, and the transmission part 72 is a latch.

In some embodiments of the present invention, the transmission portion 72 penetrates through any one of the first cover 31 and the second cover 32, so that the first cover 31 and the second cover 32 are driven by the mechanical driving portion to move relatively.

Referring to fig. 7a, the switching assembly 14 further includes a pressing portion 73, wherein the pressing portion 73 is a conical spring and is disposed between the mechanical driving portion 71 and the second cover 32 to provide a force toward the bottom of the second cover 32 and enhance the sealing function of the diversion cavity.

Specifically, a certain gas pressure needs to be controlled in the diversion cavity to maintain the outlet pressure of the output portion 35 within a proper range, and the pressure between the first cover 31 and the second cover 32 can be controlled to a certain extent by selecting the type of the conical spring, so as to ensure the air tightness of the diversion cavity and adjust the outlet pressure of the output portion 35.

When the air pressure in the diversion cavity is greater than the pressure between the first cover 31 and the second cover 32 provided by the conical spring, the air escapes from between the first cover 31 and the second cover 32 until the outlet pressure of the output part 35 is maintained within a proper range.

Further, the switching assembly 14 further includes a stopper disposed on the mechanical driving portion 71 to at least partially counteract the friction force generated by the relative movement of the first cover 31 and the second cover 32.

Referring to fig. 7a and 7b, the blocking member (not labeled) includes a first blocking member 741 and a second blocking member 742, the first blocking member 741 and the second blocking member 742 are both fixedly connected to the top of the mechanical driving portion 71, the first blocking member 741 is disposed near the first sub output tube 51, and the second blocking member 742 is disposed near the second sub output tube 52, so as to not hinder the relative movement of the first cover 31 with respect to the second cover 32 and limit the first sub output tube 51 and the second sub output tube 52.

Fig. 8 is a closed view of the switching device shown in fig. 3 in an initial state.

The meaning of the closed graph is as follows: the first cover 31 of the switching device 3 is cut along a direction parallel to the horizontal plane to form a structure with the plurality of diversion channels 41 left without the top.

The embodiment of the present invention further provides an operation method of the switching system 1, including:

s0: providing the wearing device 15, and connecting the at least two wearing units 21 with the at least two output parts 35 in a one-to-one correspondence manner;

s1: feeding back first air pressure information to the main control unit 11 through the air pressure detection unit 12, so that the main control unit 11 judges that the second relative movement is finished according to the first air pressure information, and controlling the air supply unit 13 to work to simultaneously output positive pressure and negative pressure;

s2: sending a first motion instruction to the mechanical driving portion 71 through the main control unit 11, wherein the mechanical driving portion 71 drives the first cover 31 and the second cover 32 to perform a first relative motion through the transmission portion 72 according to the first motion instruction, so as to sequentially assist each wearing unit 21 to perform a buckling motion;

s3: feeding back second air pressure information to the main control unit 11 through the air pressure detection unit 12, so that the main control unit 11 judges that the first relative movement is finished according to the second air pressure information;

s4: a second motion instruction is sent to the mechanical driving portion 71 through the main control unit 11, and the mechanical driving portion 71 drives the first cover 31 and the second cover 32 to perform a second relative motion through the transmission portion 72 according to the second motion instruction, so as to sequentially assist each wearing unit to perform an extending motion.

In step S1 of some embodiments of the present invention, before the switching system 1 is started, the at least two output parts 35 and the negative pressure input part 34 are both communicated with the negative pressure diversion cavity 62.

Specifically, referring to fig. 1 and 8, the first sub-outlet pipe 51, the second sub-outlet pipe 52, and three sub-outlet pipes (not shown) located between the first sub-outlet pipe 51 and the second sub-outlet pipe 52 are respectively communicated with output channels (not shown) disposed at the top of the second cover 32 and corresponding to one another, and further communicated with the negative pressure outer cavity 621; the negative pressure input channel 55 is communicated with five output channels through the negative pressure inner cavity 622, and the positive pressure input channel 54 is communicated with the positive pressure buffer cavity 64.

In some embodiments of the present invention, the step S1 further includes, after the main control unit 11 is started and the air supply unit 13 is controlled to operate by the main control unit 11, the main control unit 11 obtains the relative position information between the first cover 31 and the second cover 32 according to the third air pressure information fed back by the air pressure detection unit 12, and then drives the mechanical driving portion 71 to drive the first cover 31 and the second cover 32 to perform the second relative movement through the transmission portion 72, so as to draw air from all the wearing units 21 through the negative pressure input portion 34, and the air is discharged from the negative pressure input channel 55 through the negative pressure outer cavity 621 and the negative pressure inner cavity 622 that are communicated with each other, so that each wearing unit 21 of the wearing device 15 is extended to be worn conveniently.

In some embodiments of the present invention, when the air supply unit 13 includes a dual-purpose air pump, referring to fig. 3 and 8, during the air suction process of the negative pressure input portion 34, the positive pressure input channel 54 is communicated with the positive pressure buffer chamber 64 and is located right below the first environment through hole 36 to communicate with the external environment, so as to ensure the normal operation of the air pressure detecting unit 12.

Fig. 9 is a closed view of the switching device shown in fig. 3 in a first operating state. Fig. 10 is a closed view of the switching device shown in fig. 3 in a second operating state.

In the step S1, when the gas enters the diversion cavity through the positive pressure input part 33, referring to fig. 1 and 9, the gas enters and fills the positive pressure diversion cavity 61 through the positive pressure input channel 54; the first cover 31 rotates clockwise relative to the second cover (not shown) located below, so that the first sub-outlet pipe 51 and the corresponding outlet channel (not shown) enter the positive pressure outer chamber 611 from the negative pressure outer chamber 621, and the gas is inflated to the wearing unit (not shown) corresponding to the first sub-outlet pipe 51 through the first sub-outlet pipe 51, so as to extend the corresponding bellows, thereby assisting the buckling movement.

In the process that the first cover 31 continuously moves clockwise relative to the second cover (not shown) located below to make the first sub-output tube 51, the second sub-output tube 52 and the sub-output tube between the first sub-output tube 51 and the second sub-output tube 52 sequentially enter the positive pressure outer cavity 611, the positive pressure input channel 54 is always communicated with the positive pressure inner cavity 612 to continuously inflate the positive pressure outer cavity 611 and maintain the pressure, and the negative pressure input channel 55 is always communicated with the negative pressure buffer cavity 63.

During the first relative movement, a wearing unit (not shown) corresponding to the sub-output tube of the negative pressure outer cavity 621 is in a natural bending state.

In some embodiments of the present invention, when the air supply unit 13 includes a dual-purpose air pump, the first cover 31 is provided with the first environmental air hole 36 and the second environmental air hole 37 at the top, and the negative pressure input channel 55 is located below the second environmental air hole 37 to communicate with the external environment besides being always communicated with the negative pressure buffer chamber 63, so as to ensure continuous air suction, which is beneficial to the normal operation of the air pressure detecting unit 12.

Referring to fig. 9 and 10, the first cover 31 continues to rotate clockwise relative to the second cover (not shown) located below, and the rest of the sub-output tubes sequentially enter the positive pressure outer cavity 611 from the negative pressure outer cavity 621, so that air enters the wearing units (not shown) respectively correspondingly arranged, and sequentially assists the different wearing units (not shown) to perform a flexion motion; when the first sub-outlet tube 51, the second sub-outlet tube 52 and all sub-outlet tubes between the first sub-outlet tube 51 and the second sub-outlet tube 52 are communicated with the positive pressure outer chamber 611, all wearing units corresponding to each sub-outlet tube complete the flexing motion, so that the first cover 31 completes the first relative motion with respect to the second cover 32.

Fig. 11 is a closed view of the switching device shown in fig. 3 in a third operating state.

After the first relative movement is finished, the main control unit 11 enables the air pressure detecting unit 12 to connect with the negative pressure input part 34 to draw air from the negative pressure diversion cavity 62, and then, referring to fig. 10 and 11, the first cover 31 rotates counterclockwise from the state shown in fig. 10 to perform the second relative movement, and enables the first sub output pipe 51 to firstly communicate with the negative pressure outer cavity 621 from the positive pressure outer cavity 611, so that the air in the corresponding wearing unit is drawn out from the negative pressure input part 34, and the bellows arranged in the wearing unit is compressed, thereby assisting the corresponding wearing unit to perform the extension movement.

The first cover 31 performs continuous counterclockwise motion with respect to the second cover (not shown) located below, so that in the process that the first sub output tube 51, the second sub output tube 52 and the sub output tubes between the first sub output tube 51 and the second sub output tube 52 sequentially enter the negative pressure outer cavity 621, the negative pressure input channel 55 is always communicated with the negative pressure inner cavity 622 to ensure continuous air suction and maintain a certain pressure, and the positive pressure input channel 54 is always communicated with the positive pressure buffer cavity 64.

In some embodiments of the present invention, when the air supply unit 13 includes a dual-purpose air pump to provide negative pressure, and the top of the first cover 31 is provided with the first environmental air hole 36 and the second environmental air hole 37, on one hand, the positive pressure input channel 54 is located below the first environmental air hole 37 to communicate with the external environment besides always communicating with the positive pressure buffer cavity 64, so as to ensure continuous air suction, and facilitate the normal operation of the air pressure detecting unit 12; on the other hand, during the second relative movement, the wearing unit (not shown) corresponding to the sub-output tube of the positive pressure outer lumen 611 is in a natural bending state.

In some embodiments of the present invention, when the air supply unit 13 includes a positive pressure air pump and a negative pressure air pump which are independent from each other, and the first environmental air hole 36 and the second environmental air hole 37 are not disposed on the top of the first cover 31, during the second relative movement, the negative pressure air pump continuously exhausts air from the negative pressure inner cavity 622 through the negative pressure input portion 34 and the negative pressure input channel 55, and since the positive pressure input channel 54 is not communicated with the external environment except the positive pressure buffer cavity 64 all the time, a wearing unit (not shown in the drawing) disposed corresponding to the sub output tube 611 of the positive pressure outer cavity is still in a buckling state when the first relative movement is completed.

When the first sub-outlet tube 51, the second sub-outlet tube 52, and the sub-outlet tubes between the first sub-outlet tube 51 and the second sub-outlet tube 52 are all communicated with the negative pressure outer chamber 621 along with the counterclockwise movement of the first cover 31 relative to the second cover (not shown) located below, the wearing units corresponding to each sub-outlet tube all complete the stretching movement, and thus, the first cover 31 completes the second relative movement relative to the second cover 32.

After the second relative movement is completed, the first cover 31 is caused to perform the first relative movement again with respect to the second cover 32:

when the air supply unit 13 includes a dual-purpose air pump to provide negative pressure, and the top of the first cover 31 is provided with the first environmental air hole 36 and the second environmental air hole 37, the detailed process of the first relative movement of the first cover 31 relative to the second cover 32 is described with reference to fig. 9 and 10, which is not repeated herein.

It is to be emphasized that: in the process of performing the first relative movement again, since the negative pressure input channel 55 is always communicated with the negative pressure buffer chamber 63 and is located below the second environment air hole 37 to be communicated with the external environment, the wearing unit (not shown) located corresponding to the sub output tube of the negative pressure outer chamber 621 is in a natural bending state.

When the air supply unit 13 includes a positive pressure air pump and a negative pressure air pump which are independent from each other, and the first environmental air hole 36 and the second environmental air hole 37 are not disposed on the top of the first cover 31, the specific process of the first relative movement of the first cover 31 relative to the second cover 32 is different from the foregoing description with reference to fig. 9 and 10 in that:

since the negative pressure input channel 55 is always communicated with the negative pressure buffer chamber 63 but cannot be communicated with the external environment, the wearing unit (not shown) correspondingly disposed to the sub output tube of the negative pressure outer chamber 621 still maintains the stretching state when the second relative movement is completed.

In some embodiments of the present invention, the first motion command includes a first frequency modulation command, and in step S2, the mechanical driving part 71 controls the speed of the first relative motion through the transmission part 72 according to the first frequency modulation command to adjust the interval time between the two adjacent wearing units performing the flexion motion.

In some embodiments of the present invention, the second movement command includes a second frequency modulation command, and in step S4, the mechanical driving portion 71 controls the speed of the second relative movement through the transmission portion 72 according to the second frequency modulation command, so as to adjust the interval time between the two adjacent wearing units performing the stretching movement.

Although the embodiments of the present invention have been described in detail hereinabove, it is apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention as described herein is capable of other embodiments and of being practiced or of being carried out in various ways.