CN102327174B - 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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- CN102327174B CN102327174B CN 201110301387 CN201110301387A CN102327174B CN 102327174 B CN102327174 B CN 102327174B CN 201110301387 CN201110301387 CN 201110301387 CN 201110301387 A CN201110301387 A CN 201110301387A CN 102327174 B CN102327174 B CN 102327174B
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- belt
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- 238000012360 testing method Methods 0.000 title claims abstract description 31
- 238000012549 training Methods 0.000 title abstract description 5
- 210000000707 wrist Anatomy 0.000 claims abstract description 9
- 238000011084 recovery Methods 0.000 claims description 31
- 230000003028 elevating effect Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 abstract description 5
- 230000035876 healing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000012113 quantitative test Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000007101 Muscle Cramp Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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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 and output pull strength (or damping force) are the major parameter indexs of recovery exercising robot.The motor pattern of present recovery exercising robot mostly 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 to each dimension movement velocity and each dimension power of recovery exercising robot end.
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 the 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, comprise: 3 d pose is adjusted platform, it 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 is adjusted platform and is comprised elevating mechanism, the U-shaped bottom that is provided with U-shaped frame and U-shaped frame on elevating mechanism is connected with elevating mechanism, on the U-shaped frame, be provided with first motor, on the output shaft of first motor, be 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, described rotating disk mechanism comprises support for rotary disc, on support for rotary disc, be provided with left-handed rotating shaft and dextral shaft, 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, be connected with rotating disk in the rotating shaft of second worm gear, described 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 is adjusted platform, it is characterized in that, on 3 d pose adjustment platform, be provided with support 4, being provided with belt drivewheel 10 and belt follower 11 and belt drivewheel 10 and belt follower 11 on support 4 is 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.The demarcation test set of described recovery exercising robot performance, it is characterized in that, described 3 d pose is adjusted platform and is comprised elevating mechanism 1, the U-shaped bottom that is provided with U-shaped frame 2 and U-shaped frame 2 on elevating mechanism 1 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, described 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 be provided with second motor 19, on the output shaft of second motor 19, be connected with second worm screw 18 and second worm screw 18 is engaged with second worm gear 17, be connected with rotating disk 14 in the rotating shaft of second worm gear 17, described 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 and the angle of pitch etc. that can adjust this device according to the demand that different band is measured.
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 by the output of three-dimensional wrist force sensor.When surveying the output speed of recovery exercising robot, circumferentially fixing on the drivewheel unstraps, adjust the attitude of demarcating test set, make that the direction of motion of belt is consistent with the direction of motion of the mechanical arm of healing robot to be measured, 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 by the output of record investigation speed measuring motor.For the impedance of testing recovery exercising robot adapts to situation, allow 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 (1)
1. the demarcation test set of a recovery exercising robot performance, comprise: 3 d pose is adjusted platform, it is characterized in that, on 3 d pose adjustment platform, be provided with support (4), being provided with belt drivewheel (10) and belt follower (11) and belt drivewheel (10) and belt follower (11) on support (4) is 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), described 3 d pose is adjusted platform and is comprised elevating mechanism (1), the U-shaped bottom that is provided with U-shaped frame (2) and U-shaped frame (2) on elevating mechanism (1) 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, described 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 be provided with second motor (19), on the output shaft of second motor (19), be connected with second worm screw (18) and second worm screw (18) is engaged with second worm gear (17), be connected with rotating disk (14) in the rotating shaft of second worm gear (17), described support (4) is located on the rotating disk (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110301387 CN102327174B (en) | 2011-10-09 | 2011-10-09 | Calibrating and testing device for performance of rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110301387 CN102327174B (en) | 2011-10-09 | 2011-10-09 | Calibrating and testing device for performance of rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN102327174A CN102327174A (en) | 2012-01-25 |
| CN102327174B true CN102327174B (en) | 2013-07-31 |
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| CN 201110301387 Expired - Fee Related CN102327174B (en) | 2011-10-09 | 2011-10-09 | Calibrating and testing device for performance of rehabilitation training robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105588525B (en) | 2014-11-14 | 2019-09-20 | 北京配天技术有限公司 | The scaling method and device of a kind of tool on robot flange coordinate system |
| US10729369B2 (en) | 2017-06-23 | 2020-08-04 | 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 |
| CN109765518B (en) * | 2018-12-29 | 2022-01-28 | 中国科学院合肥物质科学研究院 | Power calibration platform for power vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101865787A (en) * | 2010-05-31 | 2010-10-20 | 哈尔滨工程大学 | Performance testing platform for 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 not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 testing platform for 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 |
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| CN102327174A (en) | 2012-01-25 |
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Granted publication date: 20130731 |