CN104800040A - Device and method for detecting dynamic property of parallel waist recovery training device - Google Patents

Device and method for detecting dynamic property of parallel waist recovery training device Download PDF

Info

Publication number
CN104800040A
CN104800040A CN201510100137.9A CN201510100137A CN104800040A CN 104800040 A CN104800040 A CN 104800040A CN 201510100137 A CN201510100137 A CN 201510100137A CN 104800040 A CN104800040 A CN 104800040A
Authority
CN
China
Prior art keywords
industrial computer
standing platform
waist
rope
real
Prior art date
Application number
CN201510100137.9A
Other languages
Chinese (zh)
Other versions
CN104800040B (en
Inventor
訾斌
陈桥
尹光才
钱森
Original Assignee
合肥工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 合肥工业大学 filed Critical 合肥工业大学
Priority to CN201510100137.9A priority Critical patent/CN104800040B/en
Publication of CN104800040A publication Critical patent/CN104800040A/en
Application granted granted Critical
Publication of CN104800040B publication Critical patent/CN104800040B/en

Links

Abstract

The invention discloses a device for detecting a dynamic property of a parallel waist recovery training device. The device for detecting the dynamic property comprises an aluminum alloy section framework, pneumatic manual muscles, a slide pair, a waist band, servo motors, winding drums, a fixed pulley, cables, and a standing platform; the middle part of the aluminum alloy section framework supports four pneumatic manual muscles, and the pneumatic manual muscles drive the slide pair connected with a ball hinge to move, so that the recovery waist band connected with the slide pair drives the waist part of a waist patient to perform the recovery training exercise of front bending, back stretching, and cross bowing. Air inlet pipe end openings of the pneumatic manual muscles are respectively equipped with four pressure sensors, and air outlet end openings are respectively equipped with four flow sensors; four laser distance measuring sensors are respectively installed on the planes of upper and lower end openings. Four servo motors are fixed on the bottom plate of the aluminum alloy section framework, and four servo motors drive four winding drums to rotate respectively, so that four cables on the four winding drums are tensioned; four tension sensors are respectively installed on the cables.

Description

A kind of waist rehabilitation training devices dynamic characteristic checkout gear in parallel and method
Technical field
The present invention relates to waist rehabilitation training detection field, specifically a kind of waist rehabilitation training devices dynamic characteristic checkout gear in parallel and method.
Background technology
Social senilization and other accidental cause make the patient of waist movement obstacle increasingly increase, and the treatment of the main Dependence Treatment teacher of traditional rehabilitation, its efficiency is low, cost is high, and therefore people have had further requirement to waist rehabilitation training.At present, device for healing and training is generally rotated by Wire driven robot waist, but it exists a lot of defect.Waist rehabilitation training devices in parallel can solve in existing device for healing and training utilize Wire driven robot waist carry out rotating effect difference, waist rotational angle limited, difficult adapt to larger angle bending over and swing, the problem such as rehabilitation training efficiency is lower.
Chinese Patent Application No. 201410491844.0 discloses a kind of six-freedom parallel waist rehabilitation training devices utilizing Pneumatic artificial muscle and rope integration of operation, achieves the rehabilitation training of waist from Machine Design.Although waist rehabilitation training devices in parallel employs Pneumatic artificial muscle in Machine Design, achieve the protection to waist to a certain extent, still there is certain potential safety hazard in rope and Pneumatic artificial muscle in actual implementation procedure.In order to avoid the secondary damage of waist, it is necessary for carrying out real-time examination and controlling to the waist rehabilitation training devices in parallel dynamic characteristic of carrying out in waist rehabilitation training motion, is the important leverage of elevator system safety, reliability service.
Summary of the invention
The object of this invention is to provide a kind of waist rehabilitation training devices dynamic characteristic checkout gear in parallel and method, complete and the control of the Real-time and Dynamic in waist rehabilitation training process and monitoring are being carried out to waist rehabilitation training devices in parallel, not only effectively reach the effect of waist rehabilitation training, also assures that the safety of system, reliability.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of waist rehabilitation training devices dynamic characteristic checkout gear in parallel, it is characterized in that: comprise aluminium alloy type profile framework, described aluminium alloy type profile framework comprises the rectangular top frame of level, four support bars vertically arranged, four support bars are respectively at the drift angle bottom support rectangular top frame of rectangular top frame, the level that is provided with below rectangular top frame is arranged on the base plate between four support bar bottoms, on base plate, center has been horizontally disposed with standing platform, standing platform is provided with data collecting card, attitude angle transducer, rectangular top frame is connected to inclined support bar between the adjacent edge of corner position, each inclined support bar is all identical with rectangular top circle limit angle, each inclined support bar is rotatablely equipped with fixed pulley respectively, described base plate being positioned at below each inclined support bar is respectively arranged with by the reel of driven by servomotor, the axle head of reel is provided with encoder, reel is wound with rope, described rope is connected to downwards on standing platform respectively to after the fixed pulley above walked around on correspondence position inclined support bar again, and each rope is separately installed with tension pick-up, also horizontal support bar is connected between adjacent supports bar above base plate, on each horizontal support bar, centre position is vertically provided with the Pneumatic artificial muscle that cover has spring respectively, the air inlet port place of each Pneumatic artificial muscle is provided with pressure transducer respectively, the air outlet place of each Pneumatic artificial muscle is separately installed with flow transducer, each Pneumatic artificial muscle upper, lower port plane is separately installed with laser range sensor respect to one another, each Pneumatic artificial muscle top is supported with the sliding pair of level respectively, four sliding pairs are that cross stretches to above standing platform, and the end that four sliding pairs stretch to above standing platform is connected to belt, also comprise industrial computer, data collecting card on standing platform is connected with industrial computer by data line, described attitude angle transducer, tension pick-up, pressure transducer, flow transducer, laser range sensor are connected with data collecting card respectively by data line, and described encoder is directly connected with industrial computer by data wire.
Described one waist rehabilitation training devices in parallel dynamic characteristic checkout gear, it is characterized in that: the foursquare limit that X, Y principal axis of inertia of the attitude angle transducer on standing platform is formed with the junction point by rope and standing platform is respectively perpendicular, the Z principal axis of inertia of attitude angle transducer perpendicular to standing platform and straight up; At the volley, attitude angle transducer detects roll angle α, the angle of pitch β and deflection angle γ of standing platform in real time, corresponding angle information is transferred to the data collecting card be arranged on standing platform by data line, data collecting card is transferred to data on industrial computer by data line again, by industrial computer, it is analyzed, and corresponding servomotor is controlled, thus drive the flexible of rope, make standing platform keep vertical with leg at the volley, ensure that the safety of waist patient on standing platform.
Described one waist rehabilitation training devices in parallel dynamic characteristic checkout gear, is characterized in that: described tension pick-up is arranged on the Ban meter Chu apart from rope and standing platform junction point, connects with rope; At the volley, the tension force of tension pick-up Real-Time Monitoring rope, the data collecting card be arranged on standing platform is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, carry out analysis by industrial computer to it to preserve, draw the motion state parameters of each motion stage.
Described one waist rehabilitation training devices in parallel dynamic characteristic checkout gear, it is characterized in that: described encoder is connected with reel axle head, its data output end is directly connected with industrial computer by data wire; At the volley, encoder detects the rotational angle of reel in real time, by data line, corresponding information is transferred on industrial computer, is analyzed by industrial computer, draws the stroke of rope, and controls accordingly to export to servomotor.
Described one waist rehabilitation training devices in parallel dynamic characteristic checkout gear, it is characterized in that: described pressure transducer and flow transducer are arranged on the port of Pneumatic artificial muscle air inlet pipe and escape pipe respectively, laser range sensor is arranged in upper and lower port plane; In motion, pressure transducer and flow transducer detect the admission pressure in air inlet loop respectively in real time and go out and go out throughput in air circuit, laser range sensor detects the length of Pneumatic artificial muscle in real time, the data collecting card be arranged on standing platform is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, industrial computer is analyzed it, carries out corresponding regulable control respectively to the pressure valve in Pneumatic artificial muscle air inlet loop and the flow valve aperture gone out in air circuit.
A kind of waist rehabilitation training devices dynamic characteristic detection method in parallel, is characterized in that: comprise the following steps:
(1), industrial computer carries out initialization self-inspection to each sensor unit;
(2), manually to industrial computer input threshold limit value;
(3), industrial computer controls four motor in synchrony and rotates, and drive cord retraction, thus standing platform drives waist patient to move up and down, and belt is contacted with waist, and reaches suitable position;
(4), industrial computer controls each electric machine rotation, realizes different flexible of rope, makes standing platform drive leg to complete the rotary rehabilitation training of opposed waist; Simultaneously, encoder Real-time Collection spool turns angle information, tension pick-up Real-time Collection rope tension information, attitude angle transducer Real-time Collection standing platform space angle information, and by data collecting card by information Real-time Feedback on industrial computer, industrial computer is analyzed and record each information again, and then each motor is compensated to the safety differentiation of control and rope, realize the rotation of standing platform by desired trajectory and the security control of rope, ensure that the safety of waist;
(5), industrial computer controls the switch of valve in pneumatic circuit, pneumatic circuit circulated, realizes the driving of Pneumatic artificial muscle, complete waist and bend rehabilitation training; Simultaneously, in pressure transducer Real-time Collection air inlet loop, gas pressure information, flow transducer Real-time Collection go out gas flow information in air circuit, the length information of laser range sensor Real-time Collection Pneumatic artificial muscle, and by data collecting card by information Real-time Feedback on industrial computer, industrial computer is analyzed and record each information again, and then the aperture of pressure valve and flow valve in control pneumatic circuit, control size and the change thereof of Pneumatic artificial muscle power, prevent from causing secondary to sprain to waist;
(6), the duty of each sensor of industrial computer Real-Time Monitoring, differentiate whether each sensor works in preset range, the need of warning, and make and warn action accordingly.
Advantageous Effects of the present invention
Present invention uses modularized design, have flexible for installation, safeguard simple, easy to use, there is following advantage:
1) drive cord retraction by four at same circumferentially uniform servomotor, thus standing platform is moved, realize the rehabilitation training that waist rotates; , driven by Pneumatic artificial muscle meanwhile, realize that waist is anteflexion, the rehabilitation training bent in dorsiflexion, left and right, have effectively achieved the rehabilitation training of waist.
2) encoder, tension pick-up, attitude angle transducer Real-time and Dynamic is used to gather movable information, carry out the feedback compensation control of rope, both ensure that vertical at the volley with leg of standing platform, in turn ensure that rope is in a safe condition all the time at the volley, achieve standing platform by predetermined rehabilitation training orbiting motion, ensure that waist is carrying out safety, the reliability of system in rotary rehabilitation training process.
3) by the pressure of gas in pressure transducer, flow transducer, laser range sensor Real-time Collection pneumatic circuit, flow and artificial pneumatic muscle length information, real-time control and the gas motion of monitoring in pneumatic circuit, ensure that the size of Pneumatic artificial muscle power and change in safety range, realize the accurate control to waist stress size and change thereof, effectively complete that waist is anteflexion, the rehabilitation training bent in dorsiflexion, left and right, also ensure that the safety in training process simultaneously.
4) in the present invention, Pneumatic artificial muscle and rope both can work independently, also can integration of operation, it is monitored in real time simultaneously, not only effectively achieve the rehabilitation training of carrying out simulating waist movement in the process of walking to rehabilitation waist, also assures that the safe, stable, reliable of system, ensure that the safety of waist.
Accompanying drawing explanation
Fig. 1 is supervising device structure chart of the present invention.
Fig. 2 is Pneumatic artificial muscle of the present invention monitoring schematic diagram.
Fig. 3 is Pneumatic artificial muscle of the present invention and rope integration of operation rehabilitation training schematic diagram.
Fig. 4 is standing platform control flow chart of the present invention.
Fig. 5 is Pneumatic artificial muscle control flow chart of the present invention.
Fig. 6 is method for supervising work general flow chart of the present invention.
Detailed description of the invention
As shown in Figure 1-Figure 3, a kind of waist rehabilitation training devices dynamic characteristic checkout gear in parallel, comprise aluminium alloy type profile framework 1, aluminium alloy type profile framework 1 comprises the rectangular top frame of level, four support bars vertically arranged, four support bars are respectively at the drift angle bottom support rectangular top frame of rectangular top frame, the level that is provided with below rectangular top frame is arranged on the base plate between four support bar bottoms, on base plate, center has been horizontally disposed with standing platform 9, standing platform 9 is provided with data collecting card 11, attitude angle transducer 10, rectangular top frame is connected to inclined support bar between the adjacent edge of corner position, each inclined support bar is all identical with rectangular top circle limit angle, each inclined support bar is rotatablely equipped with fixed pulley 3 respectively, base plate is positioned at the reel 6 being respectively arranged with below each inclined support bar and being driven by servomotor 5, the axle head of reel 6 is provided with encoder 7, reel 6 is wound with rope 4, rope 4 is connected to downwards on standing platform 9 respectively to after the fixed pulley 3 above walked around on correspondence position inclined support bar again, and each rope 4 is separately installed with tension pick-up 12, also horizontal support bar is connected between adjacent supports bar above base plate, on each horizontal support bar, centre position is vertically provided with the Pneumatic artificial muscle 14 that cover has spring 15 respectively, the air inlet port 14-1 place of each Pneumatic artificial muscle 14 is separately installed with pressure transducer 14-2, the air outlet 14-4 place of each Pneumatic artificial muscle 14 is separately installed with flow transducer 14-3, each Pneumatic artificial muscle 14 upper, lower port plane is separately installed with laser range sensor 14-5 respect to one another, each Pneumatic artificial muscle 14 top is supported with the sliding pair 13 of level respectively, four sliding pairs 13 stretch to above standing platform 9 in cross, and four sliding pair 13 ends stretched to above standing platform 9 are connected to belt 8, also comprise industrial computer 16, data collecting card 11 on standing platform 9 is connected with industrial computer 16 by data line, attitude angle transducer 10, tension pick-up 12, pressure transducer 14-2, flow transducer 14-3, laser range sensor 14-5 are connected with data collecting card 11 respectively by data line, and encoder 7 is directly connected with industrial computer 16 by data wire.
The foursquare limit that X, Y principal axis of inertia of the attitude angle transducer 10 on standing platform 9 is formed with the junction point by rope 4 and standing platform 9 is respectively perpendicular, and the Z principal axis of inertia of attitude angle transducer 10 perpendicular to standing platform 9 and straight up; At the volley, attitude angle transducer 10 detects roll angle α, the angle of pitch β and deflection angle γ of standing platform 9 in real time, corresponding angle information is transferred to the data collecting card 11 be arranged on standing platform 9 by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, by industrial computer 16, it is analyzed, and corresponding servomotor is controlled, thus drive the flexible of rope 4, make standing platform 9 keep vertical with leg at the volley, ensure that the safety of waist patient on standing platform 9.
Tension pick-up 12 is arranged on the Ban meter Chu apart from rope 4 and standing platform 9 junction point, connects with rope 4; At the volley, the tension force of tension pick-up 12 Real-Time Monitoring rope 4, the data collecting card 11 be arranged on standing platform 9 is transferred to by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, carry out analysis by industrial computer 16 to it to preserve, draw the motion state parameters of each motion stage.
Encoder 7 is connected with reel 6 axle head, and its data output end is directly connected with industrial computer 16 by data wire; At the volley, encoder 7 detects the rotational angle of reel 6 in real time, by data line, corresponding information is transferred on industrial computer 16, is analyzed by industrial computer 16, draw the stroke of rope 4, and controls accordingly to export to servomotor.
Pressure transducer 14-2 and flow transducer 14-3 is arranged on Pneumatic artificial muscle 14 air inlet port 14-1 and air outlet 14-4 place respectively, and laser range sensor 14-5 is arranged in upper and lower port plane, in motion, pressure transducer 14-2 and flow transducer 14-3 detects the admission pressure in air inlet loop respectively in real time and goes out and goes out throughput in air circuit, laser range sensor 14-5 detects the length of Pneumatic artificial muscle in real time, the data collecting card 11 be arranged on standing platform 9 is transferred to by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, industrial computer 16 is analyzed it, respectively corresponding regulable control is carried out to the pressure valve in Pneumatic artificial muscle 14 air inlet loop and the flow valve aperture gone out in air circuit.
As shown in Figure 1, in the present invention, waist rehabilitation training dynamic characteristic checkout gear in parallel comprises aluminium alloy type profile framework 1, Pneumatic artificial muscle 14, sliding pair 13, belt 8, servomotor 5, reel 6, fixed pulley 3, rope 4, standing platform 9.Aluminium alloy type profile framework 1 midfoot support four Pneumatic artificial muscles 14, Pneumatic artificial muscle 14 moves by driving coupled sliding pair 13, thus the healing waistband 8 be connected with sliding pair 13 is driven, and waist patient 2 waist carries out anteflexion, dorsiflexion, rehabilitation training campaign is bent in left and right.Pneumatic artificial muscle 14 installs four pressure transducer 14-2 respectively in its air inlet pipe 14-1 port, installs four flow transducer 14-3 respectively in its escape pipe 14-4 port, lower port plane is installed respectively four laser range sensor 14-5 thereon.Aluminium alloy type profile framework 1 bottom support one block of square plate, on square plate, uniform four servomotors, 5, four servomotors 5 of fixing drive four reels 6 to rotate respectively, and four ropes 4 on four reels 6 are stretched.Rope 4 is walked around the rotatable fixed pulley 3 be fixed on aluminium alloy type profile framework 1 top and is connected with the standing platform 9 that waist patient 2 stands, and on rope 4, install four tension pick-ups 12 respectively.Standing platform 9 installs an attitude angle transducer 10 and a data collecting card 11.Reel 6 axle head installs four encoders 7 respectively.
The foursquare limit that X, Y principal axis of inertia being arranged on the attitude angle transducer 10 on standing platform 9 is formed with the junction point by rope 4 and standing platform 9 is respectively perpendicular, and the Z principal axis of inertia of attitude angle transducer 10 perpendicular to standing platform 9 and straight up.At the volley, attitude angle transducer 10 detects roll angle α, the angle of pitch β and deflection angle γ of standing platform 9 in real time, corresponding angle information is transferred to the data collecting card 11 be arranged on standing platform 9 by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, by industrial computer 16, it is analyzed, and corresponding servomotor 5 is controlled, thus drive the flexible of rope 4, make standing platform 9 keep vertical with leg at the volley, ensure that the safety of waist patient 2 on standing platform 9.
Tension pick-up 12 is arranged on the Ban meter Chu apart from rope 4 and standing platform 9 junction point, connects with rope 4.At the volley, the tension force of tension pick-up 12 Real-Time Monitoring rope 4, the data collecting card 11 be arranged on standing platform 9 is transferred to by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, carry out analysis by industrial computer 16 to it to preserve, draw the motion state parameters of each motion stage.
Encoder 7 is connected with reel 6 hollow axle end, and its data output end is directly connected with industrial computer 16 by data wire.At the volley, encoder 7 detects the rotational angle of reel 6 in real time, by data line, corresponding information is transferred on industrial computer 16, is analyzed by industrial computer 16, draw the stroke of rope, and controls accordingly to export to servomotor 5.
As shown in Figure 2, pressure transducer 14-2 and flow transducer 14-3 is arranged on the port of Pneumatic artificial muscle air inlet pipe 14-1 and escape pipe 14-4 respectively, and laser range sensor 14-5 is arranged in upper and lower port plane.In motion, pressure transducer 14-2 and flow transducer 14-3 detects the admission pressure in air inlet loop respectively in real time and goes out and goes out throughput in air circuit, laser range sensor 14-5 detects the length of Pneumatic artificial muscle 14 in real time, the data collecting card 11 be arranged on standing platform is transferred to by data line, data collecting card 11 is transferred to data on industrial computer 16 by data line again, industrial computer 16 is analyzed it, respectively corresponding regulable control is carried out to the pressure valve in Pneumatic artificial muscle 14 air inlet loop and the flow valve aperture gone out in air circuit.
The present invention waist rehabilitation training devices in parallel dynamic characteristic detection method, carries out in accordance with the following steps:
Step one, industrial computer 16 carry out initialization self-inspection to each sensor unit;
Step 2, manually input threshold limit value to industrial computer 16;
Step 3, industrial computer 16 control four servomotor 5 synchronous axial system, drive rope 4 to stretch, thus standing platform 9 drive waist patient to move up and down, and belt is contacted with waist, and reach suitable position;
Step 4, industrial computer 16 control each servomotor 5 and rotate, and realize different the stretching of rope 4, make standing platform 9 drive leg to complete the rotary rehabilitation training of opposed waist; Simultaneously, encoder 7 Real-time Collection reel 6 rotational angle information, tension pick-up 12 Real-time Collection rope 4 tension information, attitude angle sensing 10 device Real-time Collection standing platform 9 space angle information, and pass through data collecting card 11 by information Real-time Feedback on industrial computer 16, industrial computer 16 is analyzed and record each information again, and then each servomotor 5 is compensated to the safety differentiation of control and rope 4, realize the rotation of standing platform 9 by desired trajectory and the security control of rope, ensure that the safety of waist.
Step 5, industrial computer 16 control the switch of valve in pneumatic circuit, and pneumatic circuit is circulated, and realize the driving of Pneumatic artificial muscle 14, complete waist and to bend over rehabilitation training; Simultaneously, in pressure transducer 14-2 Real-time Collection air inlet loop, gas pressure information, flow transducer 14-3 Real-time Collection go out gas flow information in air circuit, the length information of laser range sensor 14-5 Real-time Collection Pneumatic artificial muscle 14, and pass through data collecting card 11 by information Real-time Feedback on industrial computer 16, industrial computer 16 is analyzed and record each information again, and then the aperture of pressure valve and flow valve in control pneumatic circuit, control size and the change thereof of Pneumatic artificial muscle 14 power, prevent from causing secondary to sprain to waist.
The duty of step 6, each sensor of industrial computer 16 Real-Time Monitoring, differentiates whether each sensor works in preset range, the need of warning, and makes and warns action accordingly.
Each sensor body running process is as follows:
(1) pressure P of pressure transducer 14-2 Real-Time Monitoring four Pneumatic artificial muscle 14 air inlet pipe 14-1, and transfer data on industrial computer 16, industrial computer 16 is analyzed each Pneumatic artificial muscle 14 air inlet pipe 14-1 pressure signal, draws Pneumatic artificial muscle axial stretching power F:
In formula, D 0for the diameter of the front Pneumatic artificial muscle 14 that pressurizes; P 0for outside atmospheric pressure; φ is the braid angle of Pneumatic artificial muscle 14 outer fiber mesh grid;
Industrial computer is Pneumatic artificial muscle 14 axial stretching F and predetermined contractility F 0compare:
If F<F 0, industrial computer 16 controls the pressure valve aperture in air inlet loop, and the flow valve going out air circuit is closed;
If F>F 0, the pressure valve that industrial computer 16 controls air inlet loop is closed, and the flow valve going out air circuit is opened;
If F=F 0, the pressure valve that industrial computer 16 controls air inlet loop keeps original state with the flow valve going out air circuit, thus ensures that Pneumatic artificial muscle 14 keeps constant power.
Industrial computer 16 is controlled Pneumatic artificial muscle 14 by pressure transducer 14-2, ensure that Pneumatic artificial muscle 14 axial stretching power is in safety range, thus avoids the secondary injury of waist
(2) the flow Q of flow transducer 14-3 Real-Time Monitoring four Pneumatic artificial muscle 14 escape pipe 14-4, and transfer data on industrial computer 16, industrial computer 16 is analyzed each Pneumatic artificial muscle 14 escape pipe 14-4 flow signal, show that Pneumatic artificial muscle 14 goes out the change of throughput:
ε=△Q/t
In formula, t is the changes in flow rate time used, and ε is flow change rate;
By controlling the size of flow change rate, trembling of Pneumatic artificial muscle 14 can be slowed down, ensure that Pneumatic artificial muscle 14 works stably, thus control action is at the speed of the change of the power of waist patient 2 waist, the discomfort preventing power transition to bring to waist and potential safety hazard.
(3) length information of laser range sensor Real-Time Monitoring Pneumatic artificial muscle 14, and transfer data on industrial computer 16, industrial computer 16 is analyzed each Pneumatic artificial muscle 14 length signals, draw waist rehabilitation training process, auxiliary pressure sensor 14-2, flow transducer 14-3 draw the size of Pneumatic artificial muscle 14 power further simultaneously, better control Pneumatic artificial muscle by predetermined scheme work.
(4) the tension force F on tension pick-up 12 Real-Time Monitoring four ropes 4 1, F 2, F 3, F 4, and transfer data on industrial computer 16, the tension signal of industrial computer 16 to each rope 4 is analyzed, and draws the acceleration characteristic in each rehabilitation exercise stage:
a=[(F 1+F 2+F 3+F 4)*cosθ-mg]/m
In formula, a is the acceleration of waist patient 2, and θ is the angle on rope and vertical direction, and m is the quality of waist patient, and g is gravity acceleration constant.
The state of each motor process can not only be obtained by acceleration a, the force-bearing situation of waist patient 2 can also be obtained, thus judge whether, in the safety range of bearing waist patient, to ensure the safety of waist patient 2.
(5) the rotational angle ε of encoder 7 Real-Time Monitoring reel 6, and transfer data on industrial computer 16, industrial computer 16 is analyzed its signal, with the angle ε requiring to rotate 0contrast:
If ε < is ε 0, industrial computer 16 sends signal control servomotor 5 and is rotated further;
If ε > is ε 0, industrial computer 16 sends signal control servomotor 5 and reverses;
Until ε=ε 0, industrial computer 16 completes the compensatory control to servomotor 5;
(6) roll angle α, the angle of pitch β and deflection angle γ of attitude angle transducer 10 Real-Time Monitoring standing platform 9, and transfer data on industrial computer 16, rope 4 length information that industrial computer 16 coordinates the corner information obtained from encoder 7 to draw, carry out the calculating of space motion, draw the spatial pose of standing platform 9.
In the present invention, Pneumatic artificial muscle 14 and rope 4 both can work independently, also can integration of operation, can simulate the kinestate of waist when people walks, effectively carry out rehabilitation training.As Fig. 3, integration of operation rehabilitation training for waist movement state when simulation is walked: leg becomes α angle with space Z axis, attitude angle transducer 10 matching coding device 7 draws the spatial pose of standing platform 9, by regulating rope 4 standing platform 9, makes leg keep vertical with standing platform 9; Meanwhile, control a Pneumatic artificial muscle 14 and inflate contraction △ x, △ x is extended in the venting of another Pneumatic artificial muscle 14, thus makes waist bend β angle, realizes waist simulation rehabilitation training.The integration of operation of this multiple sensors achieves the real-time Detection & Controling of the dynamic characteristic to waist rehabilitation training devices in parallel.
As Fig. 4, standing platform 9 module control procedure in the training of waist rotary rehabilitation: industrial computer 16 controls servomotor 5 and rotates, rehabilitation training starts to carry out according to the scheme preset.In process, the anglec of rotation of encoder 7 Real-time Collection reel 6, and send industrial computer 16 to, industrial computer 16 is analyzed its anglec of rotation, judge whether to carry out according to presetting, carry out motion compensation the need of to servomotor 5, and carry out corresponding signal output, thus ensure that reel 6 rotates according to presetting; The space angle information of attitude angle transducer 10 Real-time Collection standing platform 9, and be sent on industrial computer 16, industrial computer 16 carries out computational analysis, and carries out motion compensation to the standing platform 9 when not reaching predetermined state, makes it keep perpendicular with leg; The tension information of tension pick-up 12 Real-time Collection rope 4, draw the kinestate of standing platform according to tension information analysis, preserve, and whether judgment is in preset range, whether report to the police, so far complete the acquisition of parameter in the control of standing platform 9 and rehabilitation training.
As Fig. 5, waist bends Pneumatic artificial muscle 14 module control procedure in rehabilitation training: industrial computer 16 controls opening of pneumatic circuit valve, gas is circulated, Pneumatic artificial muscle 14 provides waist to bend the auxiliary force of rehabilitation training needs, simultaneously, pressure transducer 14-2, the pressure of gas and flow in flow transducer 14-3 Real-time Collection pneumatic circuit, the length information of laser range sensor 14-4 Real-time Collection Pneumatic artificial muscle 14, and send industrial computer 16 to by data collecting card 11, industrial computer 16 is analyzed it, draw size and the change thereof of Pneumatic artificial muscle 14 power output F and length, judge whether it is preset value, the need of compensatory control, realize the control to Pneumatic artificial muscle 14.
As shown in Figure 6, first power-up initializing is carried out to waist rehabilitation training dynamic characteristic checkout gear in parallel, and the data of each sensor are gathered by data collecting card 11, by industrial computer, kinestate analysis is carried out to it, analysis result and preset value are judged, see and whether meet preset value, the device for incongruent Sensor monitoring carries out corresponding regulating and controlling, finally carries out selectivity preservation to the procedure parameter of motion.Whole monitor procedure constantly circulates, the supervising device of Real-time and Dynamic, until accept to cease and desist order or suddenly stop order.

Claims (6)

1. a waist rehabilitation training devices dynamic characteristic checkout gear in parallel, it is characterized in that: comprise aluminium alloy type profile framework, described aluminium alloy type profile framework comprises the rectangular top frame of level, four support bars vertically arranged, four support bars are respectively at the drift angle bottom support rectangular top frame of rectangular top frame, the level that is provided with below rectangular top frame is arranged on the base plate between four support bar bottoms, on base plate, center has been horizontally disposed with standing platform, standing platform is provided with data collecting card, attitude angle transducer, rectangular top frame is connected to inclined support bar between the adjacent edge of corner position, each inclined support bar is all identical with rectangular top circle limit angle, each inclined support bar is rotatablely equipped with fixed pulley respectively, described base plate being positioned at below each inclined support bar is respectively arranged with by the reel of driven by servomotor, the axle head of reel is provided with encoder, reel is wound with rope, described rope is connected to downwards on standing platform respectively to after the fixed pulley above walked around on correspondence position inclined support bar again, and each rope is separately installed with tension pick-up, also horizontal support bar is connected between adjacent supports bar above base plate, on each horizontal support bar, centre position is vertically provided with the Pneumatic artificial muscle that cover has spring respectively, the air inlet port place of each Pneumatic artificial muscle is provided with pressure transducer respectively, the air outlet place of each Pneumatic artificial muscle is separately installed with flow transducer, each Pneumatic artificial muscle upper, lower port plane is separately installed with laser range sensor respect to one another, each Pneumatic artificial muscle top is supported with the sliding pair of level respectively, four sliding pairs are that cross stretches to above standing platform, and the end that four sliding pairs stretch to above standing platform is connected to belt, also comprise industrial computer, data collecting card on standing platform is connected with industrial computer by data line, described attitude angle transducer, tension pick-up, pressure transducer, flow transducer, laser range sensor are connected with data collecting card respectively by data line, and described encoder is directly connected with industrial computer by data wire.
2. one according to claim 1 waist rehabilitation training devices in parallel dynamic characteristic checkout gear, it is characterized in that: the foursquare limit that X, Y principal axis of inertia of the attitude angle transducer on standing platform is formed with the junction point by rope and standing platform is respectively perpendicular, the Z principal axis of inertia of attitude angle transducer perpendicular to standing platform and straight up; At the volley, attitude angle transducer detects roll angle α, the angle of pitch β and deflection angle γ of standing platform in real time, corresponding angle information is transferred to the data collecting card be arranged on standing platform by data line, data collecting card is transferred to data on industrial computer by data line again, by industrial computer, it is analyzed, and corresponding servomotor is controlled, thus drive the flexible of rope, make standing platform keep vertical with leg at the volley, ensure that the safety of waist patient on standing platform.
3. one according to claim 1 waist rehabilitation training devices in parallel dynamic characteristic checkout gear, is characterized in that: described tension pick-up is arranged on the Ban meter Chu apart from rope and standing platform junction point, connects with rope; At the volley, the tension force of tension pick-up Real-Time Monitoring rope, the data collecting card be arranged on standing platform is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, carry out analysis by industrial computer to it to preserve, draw the motion state parameters of each motion stage.
4. one according to claim 1 waist rehabilitation training devices in parallel dynamic characteristic checkout gear, is characterized in that: described encoder is connected with reel axle head, and its data output end is directly connected with industrial computer by data wire; At the volley, encoder detects the rotational angle of reel in real time, by data line, corresponding information is transferred on industrial computer, is analyzed by industrial computer, draws the stroke of rope, and controls accordingly to export to servomotor.
5. one according to claim 1 waist rehabilitation training devices in parallel dynamic characteristic checkout gear, it is characterized in that: described pressure transducer and flow transducer are arranged on the port of Pneumatic artificial muscle air inlet pipe and escape pipe respectively, laser range sensor is arranged in upper and lower port plane; In motion, pressure transducer and flow transducer detect the admission pressure in air inlet loop respectively in real time and go out and go out throughput in air circuit, laser range sensor detects the length of Pneumatic artificial muscle in real time, the data collecting card be arranged on standing platform is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, industrial computer is analyzed it, carries out corresponding regulable control respectively to the pressure valve in Pneumatic artificial muscle air inlet loop and the flow valve aperture gone out in air circuit.
6., based on a waist rehabilitation training devices dynamic characteristic detection method in parallel for device described in claim 1, it is characterized in that: comprise the following steps:
(1), industrial computer carries out initialization self-inspection to each sensor unit;
(2), manually to industrial computer input threshold limit value;
(3), industrial computer controls four motor in synchrony and rotates, and drive cord retraction, thus standing platform drives waist patient to move up and down, and belt is contacted with waist, and reaches suitable position;
(4), industrial computer controls each electric machine rotation, realizes different flexible of rope, makes standing platform drive leg to complete the rotary rehabilitation training of opposed waist; Simultaneously, encoder Real-time Collection spool turns angle information, tension pick-up Real-time Collection rope tension information, attitude angle transducer Real-time Collection standing platform space angle information, and by data collecting card by information Real-time Feedback on industrial computer, industrial computer is analyzed and record each information again, and then each motor is compensated to the safety differentiation of control and rope, realize the rotation of standing platform by desired trajectory and the security control of rope, ensure that the safety of waist;
(5), industrial computer controls the switch of valve in pneumatic circuit, pneumatic circuit circulated, realizes the driving of Pneumatic artificial muscle, complete waist and bend rehabilitation training; Simultaneously, in pressure transducer Real-time Collection air inlet loop, gas pressure information, flow transducer Real-time Collection go out gas flow information in air circuit, the length information of laser range sensor Real-time Collection Pneumatic artificial muscle, and by data collecting card by information Real-time Feedback on industrial computer, industrial computer is analyzed and record each information again, and then the aperture of pressure valve and flow valve in control pneumatic circuit, control size and the change thereof of Pneumatic artificial muscle power, prevent from causing secondary to sprain to waist;
(6), the duty of each sensor of industrial computer Real-Time Monitoring, differentiate whether each sensor works in preset range, the need of warning, and make and warn action accordingly.
CN201510100137.9A 2015-03-06 2015-03-06 A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel CN104800040B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510100137.9A CN104800040B (en) 2015-03-06 2015-03-06 A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510100137.9A CN104800040B (en) 2015-03-06 2015-03-06 A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel

Publications (2)

Publication Number Publication Date
CN104800040A true CN104800040A (en) 2015-07-29
CN104800040B CN104800040B (en) 2016-08-24

Family

ID=53685547

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510100137.9A CN104800040B (en) 2015-03-06 2015-03-06 A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel

Country Status (1)

Country Link
CN (1) CN104800040B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105476821A (en) * 2015-12-30 2016-04-13 吉林大学 Flexible rope driven six-degree-of-freedom parallel-connection rehabilitation device
CN106214420A (en) * 2016-07-16 2016-12-14 哈尔滨鼎智瑞光科技有限公司 A kind of intelligent feedback training device for knee joint rehabilitation
CN107595548A (en) * 2017-09-27 2018-01-19 合肥工业大学 Automatic fixer and recovery training method in being trained for human body recovery
CN107865752A (en) * 2016-09-28 2018-04-03 丰田自动车株式会社 Ambulation training apparatus and its control method
CN108158784A (en) * 2018-03-05 2018-06-15 王灿灿 A kind of waist rehabilitation plint
CN108273257A (en) * 2018-03-01 2018-07-13 合肥工业大学 A kind of human body waist motion state detection device and detection method
CN109009863A (en) * 2018-05-23 2018-12-18 合肥工业大学 A kind of waist rehabilitation training device and detection method

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1909017A (en) * 2006-08-18 2007-02-07 浙江大学 Air-actuated muscle motion analog control platform device and posture control method
CN101537621A (en) * 2009-04-16 2009-09-23 北京理工大学 Three freedom degree motion simulator of pneumatic hybrid mechanism
WO2013024571A1 (en) * 2011-08-12 2013-02-21 パナソニック株式会社 Control device, control method and control program for pneumatic artificial muscle drive mechanism
CN103110500A (en) * 2013-01-14 2013-05-22 武汉理工大学 Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot
CN103744426A (en) * 2014-01-02 2014-04-23 上海大学 Bionic flexible body bending control system of quadruped robot
CN103786157A (en) * 2014-01-20 2014-05-14 浙江大学 Embedded type control system based on upper limb exoskeleton assisting robots
CN104127299A (en) * 2014-07-24 2014-11-05 合肥工业大学 Soft cable and pneumatic muscle combined drive robot for waist rehabilitation
CN104175317A (en) * 2014-07-24 2014-12-03 合肥工业大学 Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot
CN104224494A (en) * 2014-09-23 2014-12-24 合肥工业大学 Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1909017A (en) * 2006-08-18 2007-02-07 浙江大学 Air-actuated muscle motion analog control platform device and posture control method
CN101537621A (en) * 2009-04-16 2009-09-23 北京理工大学 Three freedom degree motion simulator of pneumatic hybrid mechanism
WO2013024571A1 (en) * 2011-08-12 2013-02-21 パナソニック株式会社 Control device, control method and control program for pneumatic artificial muscle drive mechanism
CN103110500A (en) * 2013-01-14 2013-05-22 武汉理工大学 Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot
CN103744426A (en) * 2014-01-02 2014-04-23 上海大学 Bionic flexible body bending control system of quadruped robot
CN103786157A (en) * 2014-01-20 2014-05-14 浙江大学 Embedded type control system based on upper limb exoskeleton assisting robots
CN104127299A (en) * 2014-07-24 2014-11-05 合肥工业大学 Soft cable and pneumatic muscle combined drive robot for waist rehabilitation
CN104175317A (en) * 2014-07-24 2014-12-03 合肥工业大学 Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot
CN104224494A (en) * 2014-09-23 2014-12-24 合肥工业大学 Six-DOF (Degree of Freedom) in-parallel waist rehabilitation training device

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
刘善增: "柔性并联机器人的研究进展", 《组合机床与自动化加工技术》 *
张立勋: "基于绳索牵引的骨盆运动并联康复机器人的可控性研究", 《哈尔滨工程大学学报》 *
訾斌: "柔索驱动并联机器人动力学建模与数值仿真", 《机械工程学报》 *
訾斌: "混合驱动柔索并联机器人的设计与分析", 《机械工程学报》 *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105476821A (en) * 2015-12-30 2016-04-13 吉林大学 Flexible rope driven six-degree-of-freedom parallel-connection rehabilitation device
CN106214420A (en) * 2016-07-16 2016-12-14 哈尔滨鼎智瑞光科技有限公司 A kind of intelligent feedback training device for knee joint rehabilitation
CN107865752A (en) * 2016-09-28 2018-04-03 丰田自动车株式会社 Ambulation training apparatus and its control method
CN107865752B (en) * 2016-09-28 2020-03-17 丰田自动车株式会社 Walking training apparatus and control method thereof
CN107595548A (en) * 2017-09-27 2018-01-19 合肥工业大学 Automatic fixer and recovery training method in being trained for human body recovery
CN108273257A (en) * 2018-03-01 2018-07-13 合肥工业大学 A kind of human body waist motion state detection device and detection method
CN108158784A (en) * 2018-03-05 2018-06-15 王灿灿 A kind of waist rehabilitation plint
CN109009863A (en) * 2018-05-23 2018-12-18 合肥工业大学 A kind of waist rehabilitation training device and detection method
CN109009863B (en) * 2018-05-23 2020-10-13 合肥工业大学 Waist rehabilitation training device

Also Published As

Publication number Publication date
CN104800040B (en) 2016-08-24

Similar Documents

Publication Publication Date Title
CN104199453B (en) For patrolling and examining the intelligent robot of electric instrument
CN104968313B (en) Gait training equipment
CN106919978B (en) Method for identifying and detecting parts of high-speed rail contact net supporting device
CN103194967B (en) Detecting system of bridge cable
JP6363233B2 (en) Fitness machine
CN206085053U (en) Robot is patrolled and examined to power distribution station intelligence
CN107161808B (en) One kind being tethered at unmanned plane folding and unfolding cable device and its control system
CN107150329A (en) A kind of mobile robot and its control method based on Three Degree Of Freedom vision platform
CN107009348A (en) A kind of multi-configuration rope driving parallel robot and its spatial pose method for solving
CN106525375B (en) Self-adaptive system for detecting wind resistance of unmanned aerial vehicle
CN102975191B (en) Line-walking robot system for overhead transmission line
CN103587943B (en) LED panel catching robot
CN104317296B (en) Indoor multi-dimensional track intelligent inspection robot
CN102424075B (en) Rigid flexible coupled wirewalking robot based on balance beam
CN203568589U (en) Constant tension take-up machine
RU2670741C1 (en) System and method for recognizing motion of torsion roller, winding or unwinding steel wire rope
CN105366455B (en) Multi-rope cooperative control system testbed of ultradeep mine hoist
CN102357882A (en) Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains
CN104243833B (en) A kind of method of adjustment and device of camera posture
CN104477723A (en) Disorder rope monitoring system for winding reel of mine hoist and disorder rope judging method
CN103631242B (en) Monitoring system and method for monitoring room internal medium
CN104819362B (en) A kind of pipe robot system
CN103197093B (en) Hydrometric station cableway type flow velocity automatic measurement device
KR101480118B1 (en) System for inspecting cable using movable robot
CN105244808B (en) Cable climbing robot for power transmission line to perform on-line monitoring

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
EXSB Decision made by sipo to initiate substantive examination
GR01 Patent grant
C14 Grant of patent or utility model