CN102327174A - Calibrating and testing device for performance of rehabilitation training robot - Google Patents
Calibrating and testing device for performance of rehabilitation training robot Download PDFInfo
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- CN102327174A CN102327174A CN201110301387A CN201110301387A CN102327174A CN 102327174 A CN102327174 A CN 102327174A CN 201110301387 A CN201110301387 A CN 201110301387A CN 201110301387 A CN201110301387 A CN 201110301387A CN 102327174 A CN102327174 A CN 102327174A
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Abstract
The invention relates to a calibrating and testing device for performance of a rehabilitation training robot. The calibrating and testing device is characterized in that a support is arranged on a three-dimensional posture adjusting platform; a belt driving wheel and a belt driven wheel are arranged on the support, and the belt driving wheel and the belt driven wheel are separately rotatably connected with the support; a belt is sleeved on the belt driving wheel and the belt driven wheel; a three-dimensional wrist force sensor is arranged on the belt; a direct-current motor is connected with the belt driving wheel; and a speed measuring motor is connected with the belt driven wheel. The calibrating and testing device for performance of the rehabilitation training robot has the advantages that the calibrating and testing device has three adjustable freedom degrees, thus being applicable to the calibrating and testing of rehabilitation training robots in different institutions; and on the basis of simple speed measuring, the direct-current motor is used for generating controllable damping force, thereby truly reproducing actual rehabilitation environment and improving the calibrating and testing effectiveness.
Description
Technical field
The present invention relates to a kind of demarcation test set that can carry out quantitative test, relate in particular to a kind of demarcation test set of recovery exercising robot performance the mechanical property of various recovery exercising robots.
Background technology
Recovery exercising robot is to help that nervus motorius damage patient such as apoplexy leads, the intelligent device of passive exercise, and movement velocity is the major parameter index of recovery exercising robot with output pull strength (or damping force).Mostly the motor pattern of present recovery exercising robot is speed controlling or dynamics control.Reason such as patient's muscle spasm or joint position variation can cause the variation of load impedance in the rehabilitation training process; This just requires recovery exercising robot can adapt to the variation of this impedance; Export stable speed or dynamics as much as possible, improve rehabilitation efficient and guarantee rehabilitation safety.
Because recovery exercising robot is the new technique that just began one's study in recent years, therefore there is not recovery exercising robot to demarcate the research of test set as yet.The present invention is directed to the needs of recovery exercising robot research and development, designed a kind of demarcation test set of recovery exercising robot, this device can be demarcated test respectively with each dimension power to each terminal dimension movement velocity of recovery exercising robot.
Summary of the invention
The object of the present invention is to provide a kind of demarcation test set that can carry out the recovery exercising robot performance of quantitative test, mainly be to test the movement velocity and output pull strength of the rehabilitation arm of healing robot the mechanical property of various recovery exercising robots.
The present invention adopts following technical scheme:
A kind of demarcation test set of recovery exercising robot performance comprises: 3 d pose adjustment platform is characterized in that; On 3 d pose adjustment platform, be provided with support; On support, be provided with belt drivewheel and belt follower and belt drivewheel and belt follower and be rotationally connected with support respectively, on belt drivewheel and belt follower, be arranged with belt, on belt, be provided with three-dimensional wrist force sensor; On the belt drivewheel, be connected with direct current generator, on the belt follower, be connected with speed measuring motor.Described 3 d pose adjustment platform comprises elevating mechanism; The U-shaped bottom that on elevating mechanism, is provided with U-shaped frame and U-shaped frame is connected with elevating mechanism, on the U-shaped frame, is provided with first motor, on the output shaft of first motor, is connected with first worm screw and first worm engaging has first worm gear; Between two straight-arms of U-shaped frame, be provided with rotating disk mechanism; Said rotating disk mechanism comprises support for rotary disc, on support for rotary disc, is provided with left-handed rotating shaft and dextral shaft, and described left-handed rotating shaft is rotationally connected with two straight-arms of U-shaped frame respectively with dextral shaft and left-handed rotating shaft is connected with first worm gear; On support for rotary disc, also be provided with second motor; On the output shaft of second motor, be connected with second worm screw and second worm engaging has second worm gear, in the rotating shaft of second worm gear, be connected with rotating disk, said is erected on the rotating disk.
The demarcation test set of recovery exercising robot of the present invention has following advantage:
1. demarcating test set has the three degree of freedom scalable, can be adapted to the demarcation test of the recovery exercising robot of different institutions.
2. on the basis of simply testing the speed, added the test that exists under the damping force situation.Use direct current generator to produce controlled damping force, reproduce actual rehabilitation environment really, improved the effectiveness of demarcating test.
Description of drawings
Fig. 1 is the structure chart of the demarcation test set of recovery exercising robot performance of the present invention.
Fig. 2 is the A-A cutaway view of the demarcation test set of recovery exercising robot performance of the present invention.
Fig. 3 is the sketch map that the attitude of the demarcation test set of recovery exercising robot performance of the present invention is adjusted.
The specific embodiment
A kind of demarcation test set of recovery exercising robot performance; Comprise: 3 d pose adjustment platform; It is characterized in that, on 3 d pose adjustment platform, be provided with support 4, on support 4, be provided with belt drivewheel 10 and be rotationally connected with support 4 respectively with belt follower 11 with belt follower 11 and belt drivewheel 10; On belt drivewheel 10 and belt follower 11, be arranged with belt 6; On belt 6, be provided with three-dimensional wrist force sensor 5, on belt drivewheel 10, be connected with direct current generator 9, on belt follower 11, be connected with speed measuring motor 8.The demarcation test set of described recovery exercising robot performance; It is characterized in that described 3 d pose adjustment platform comprises elevating mechanism 1, the U-shaped bottom that on elevating mechanism 1, is provided with U-shaped frame 2 and U-shaped frame 2 is connected with elevating mechanism 1; On U-shaped frame 2, be provided with first motor 7; On the output shaft of first motor 7, be connected with first worm screw 12 and first worm screw 12 is engaged with first worm gear 13, between two straight-arms of U-shaped frame 2, be provided with rotating disk mechanism, said rotating disk mechanism comprises support for rotary disc 3; On support for rotary disc 3, be provided with left-handed rotating shaft 15 and dextral shaft 16; Described left-handed rotating shaft 15 is rotationally connected with two straight-arms of U-shaped frame 2 respectively with dextral shaft 16 and left-handed rotating shaft 15 is connected with first worm gear 13, on support for rotary disc 3, also is provided with second motor 19, on the output shaft of second motor 19, is connected with second worm screw 18 and second worm screw 18 is engaged with second worm gear 17; In the rotating shaft of second worm gear 17, be connected with rotating disk 14, said support 4 is located on the rotating disk 14.
The demarcation test set of the recovery exercising robot among the present invention is a three degree of freedom attitude scalable; Can regulate this height of devices according to the practical situation of measured robot, the angle of pitch of angle and this device of demand adjustment that can measure according to different band etc.
Bottom of the present invention is an elevating mechanism, and dc stepper motor is housed on the elevating mechanism, can regulate vertically.U type frame is installed on the elevating mechanism, and U type frame can drive the motion that rotating mechanism mounted thereto carries out the angle of pitch.Worm couple also is installed in the rotating mechanism, can drives demarcation assembly mounted thereto and carry out circumferential movement.Demarcating assembly is made up of support, belt, belt drivewheel, belt driven pulley, direct current generator, speed measuring motor and the three-dimensional wrist force sensor that is installed in the belt center.
When measuring the power output of healing robot; The belt drivewheel is circumferentially fixing; Promptly fixedly belt and on three-dimensional wrist force sensor; The mechanical arm end of healing robot is vertically fixed on the three-dimensional wrist force sensor (can passes through general ring flange), start healing robot, can obtain X, the Y of recovery exercising robot, the power output of Z direction through the output of three-dimensional wrist force sensor.When surveying the output speed of recovery exercising robot; Circumferentially fixing on the drivewheel unstraps; The attitude of test set is demarcated in adjustment, makes that the direction of motion of belt is consistent with the direction of motion of the mechanical arm of healing robot to be measured, and the mechanical arm end of recovery exercising robot is vertically fixed on the three-dimensional wrist force sensor; Start recovery exercising robot, can obtain the output speed of recovery exercising robot through the output of record investigation speed measuring motor.For the impedance of testing recovery exercising robot adapts to situation, let the direct current generator on the belt drivewheel produce the damping force of setting, the capacity of resisting disturbance of tested recovery exercising robot is investigated in the output of measuring speed measuring motor once more.
Claims (2)
1. the demarcation test set of a recovery exercising robot performance; Comprise: 3 d pose adjustment platform; It is characterized in that, on 3 d pose adjustment platform, be provided with support (4), on support (4), be provided with belt drivewheel (10) and belt follower (11) and belt drivewheel (10) and belt follower (11) and be rotationally connected with support (4) respectively; On belt drivewheel (10) and belt follower (11), be arranged with belt (6); On belt (6), be provided with three-dimensional wrist force sensor (5), on belt drivewheel (10), be connected with direct current generator (9), on belt follower (11), be connected with speed measuring motor (8).
2. the demarcation test set of recovery exercising robot performance according to claim 1; It is characterized in that; Described 3 d pose adjustment platform comprises elevating mechanism (1); The U-shaped bottom that on elevating mechanism (1), is provided with U-shaped frame (2) and U-shaped frame (2) is connected with elevating mechanism (1); On U-shaped frame (2), be provided with first motor (7); On the output shaft of first motor (7), be connected with first worm screw (12) and first worm screw (12) is engaged with first worm gear (13), between two straight-arms of U-shaped frame (2), be provided with rotating disk mechanism, said rotating disk mechanism comprises support for rotary disc (3); On support for rotary disc (3), be provided with left-handed rotating shaft (15) and dextral shaft (16); Described left-handed rotating shaft (15) is rotationally connected with two straight-arms of U-shaped frame (2) respectively with dextral shaft (16) and left-handed rotating shaft (15) is connected with first worm gear (13), on support for rotary disc (3), also is provided with second motor (19), on the output shaft of second motor (19), is connected with second worm screw (18) and second worm screw (18) is engaged with second worm gear (17); In the rotating shaft of second worm gear (17), be connected with rotating disk (14), said support (4) is located on the rotating disk (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110301387 CN102327174B (en) | 2011-10-09 | 2011-10-09 | Calibrating and testing device for performance of rehabilitation training robot |
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| CN 201110301387 CN102327174B (en) | 2011-10-09 | 2011-10-09 | Calibrating and testing device for performance of rehabilitation training robot |
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| CN102327174A true CN102327174A (en) | 2012-01-25 |
| CN102327174B CN102327174B (en) | 2013-07-31 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016074646A1 (en) * | 2014-11-14 | 2016-05-19 | 深圳配天智能技术研究院有限公司 | Method and device for calibrating tool in flange coordinate system of robot |
| CN107965640A (en) * | 2017-12-06 | 2018-04-27 | 长春理工大学 | A kind of pitching lifting gear for dynamic target |
| CN109765518A (en) * | 2018-12-29 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of Power Vehicle power calibration platform |
| US11241180B2 (en) | 2017-06-23 | 2022-02-08 | Kangatech Pty Ltd. | Testing and training apparatus |
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| CN101865787A (en) * | 2010-05-31 | 2010-10-20 | 哈尔滨工程大学 | Performance detection stand of multifunctional walking aid rehabilitation robot |
| CN201653642U (en) * | 2010-02-08 | 2010-11-24 | 东南大学 | Calibration device for miniature pressure sensor |
| CN201691940U (en) * | 2010-06-30 | 2011-01-05 | 天津体育学院 | Ankle joint isometric muscle force testing device |
| CN101966116A (en) * | 2010-11-05 | 2011-02-09 | 东南大学 | Four-DOF (degree of freedom) rehabilitation training robot with adjustable posture |
| CN202288731U (en) * | 2011-10-09 | 2012-07-04 | 东南大学 | Calibration test device for performances of rehabilitation training robot |
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- 2011-10-09 CN CN 201110301387 patent/CN102327174B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201653642U (en) * | 2010-02-08 | 2010-11-24 | 东南大学 | Calibration device for miniature pressure sensor |
| CN101865787A (en) * | 2010-05-31 | 2010-10-20 | 哈尔滨工程大学 | Performance detection stand of multifunctional walking aid rehabilitation robot |
| CN201691940U (en) * | 2010-06-30 | 2011-01-05 | 天津体育学院 | Ankle joint isometric muscle force testing device |
| CN101966116A (en) * | 2010-11-05 | 2011-02-09 | 东南大学 | Four-DOF (degree of freedom) rehabilitation training robot with adjustable posture |
| CN202288731U (en) * | 2011-10-09 | 2012-07-04 | 东南大学 | Calibration test device for performances of rehabilitation training robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016074646A1 (en) * | 2014-11-14 | 2016-05-19 | 深圳配天智能技术研究院有限公司 | Method and device for calibrating tool in flange coordinate system of robot |
| US10539406B2 (en) | 2014-11-14 | 2020-01-21 | Shenzhen A&E Smart Institute Co., Ltd. | Method and apparatus for calibrating tool in flange coordinate system of robot |
| US11241180B2 (en) | 2017-06-23 | 2022-02-08 | Kangatech Pty Ltd. | Testing and training apparatus |
| CN107965640A (en) * | 2017-12-06 | 2018-04-27 | 长春理工大学 | A kind of pitching lifting gear for dynamic target |
| CN109765518A (en) * | 2018-12-29 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of Power Vehicle power calibration platform |
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| CN102327174B (en) | 2013-07-31 |
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