CN104800040B - A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel - Google Patents

A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel Download PDF

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CN104800040B
CN104800040B CN201510100137.9A CN201510100137A CN104800040B CN 104800040 B CN104800040 B CN 104800040B CN 201510100137 A CN201510100137 A CN 201510100137A CN 104800040 B CN104800040 B CN 104800040B
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industrial computer
standing platform
rope
waist
data
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CN201510100137.9A
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CN104800040A (en
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訾斌
陈桥
尹光才
钱森
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合肥工业大学
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Abstract

The invention discloses a kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel, including aluminium alloy extrusions framework, Pneumatic artificial muscle, sliding pair, belt, servomotor, reel, fixed pulley, rope, standing platform.Aluminium alloy extrusions frame mid portion supports four Pneumatic artificial muscles, Pneumatic artificial muscle is by driving the sliding pair being connected with spherical hinge with it to move, so that the rehabilitation training campaign that the healing waistband drive waist patient's waist being connected with sliding pair carries out anteflexion, dorsiflexion, bend in left and right.Pneumatic artificial muscle is respectively mounted four pressure transducers in its air inlet pipe port, is respectively mounted four flow transducers, is respectively mounted four laser range sensors thereon in lower port plane at its air outlet.Fixing four servomotors on aluminium alloy extrusions chassis base, four servomotors drive four reels to rotate respectively so that four cord retraction on four reels, are respectively mounted four tension pick-ups on rope.

Description

A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel

Technical field

The present invention relates to waist rehabilitation training detection field, specifically a kind of waist rehabilitation training devices in parallel is dynamic Characteristic detection device and method.

Background technology

Social senilization and other accidental cause make the patient of waist movement obstacle increasingly increase, and traditional health Multiple treatment relies primarily on the treatment of therapist, and its efficiency is low, cost is high, and therefore waist rehabilitation training is had by people Further requirement.At present, device for healing and training is typically rotated by Wire driven robot waist, but it is deposited In a lot of defects.Waist rehabilitation training devices in parallel can solve the problem that in existing device for healing and training and utilizes flexible cable to drive Dynamic waist carries out that rotating effect is poor, the bending over and swing of waist rotational angle adaptation larger angle limited, difficult, health The problems such as inefficient are practiced in refreshment.

Chinese Patent Application No. 201410491844.0 discloses one and utilizes Pneumatic artificial muscle and rope associating The six-freedom parallel waist rehabilitation training devices 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, realize to a certain extent Protection to waist, but rope and Pneumatic artificial muscle to still suffer from certain safety during reality realizes hidden Suffer from.In order to avoid the secondary damage of waist, waist rehabilitation training devices in parallel is carried out waist rehabilitation training motion In dynamic characteristic to detect in real time and monitor be necessary, be an up security of system, reliability service important Ensure.

Summary of the invention

It is an object of the invention to provide a kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel, Complete the waist rehabilitation training devices in parallel Real-time and Dynamic during carrying out waist rehabilitation training is controlled and prison Control, has not only effectively achieved the effect of waist rehabilitation training, it is ensured that the safe and reliable property of system.

In order to achieve the above object, the technical solution adopted in the present invention is:

A kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel, it is characterised in that: include aluminium alloy type Material framework, described aluminium alloy extrusions framework includes the rectangular top frame of level, four vertically arranged support bars, four Individual support bar, respectively at the drift angle bottom support rectangular top frame of rectangular top frame, is provided with level peace below rectangular top frame Being contained in the base plate between four support bar bottoms, on base plate, center has been horizontally disposed with standing platform, stands flat Being provided with data collecting card, attitude angle transducer on platform, rectangular top frame is between the adjacent frame limit of corner position Being connected to inclined support bar, each inclined support bar is the most identical with rectangular top circle limit angle, each inclined support bar The upper fixed pulley that is rotatablely equipped with respectively, described base plate is positioned at each inclined support bar and has been respectively arranged below by servo Motor-driven reel, the axle head of reel is provided with encoder, and reel is wound with rope, and described rope is respectively It is connected on standing platform still further below up around after the fixed pulley on correspondence position inclined support bar, and each rope On be separately installed with tension pick-up, be also respectively connected with horizontal support bar between adjacent supports bar above base plate, On each horizontal support bar, centre position is the most vertically provided with the Pneumatic artificial muscle being cased with spring, each pneumatic Pressure transducer it is separately installed with, at the air outlet of each Pneumatic artificial muscle at the air inlet port of artificial-muscle It is separately installed with flow transducer, the upper and lower port plane of each Pneumatic artificial muscle is separately installed with each other Relative laser range sensor, each Pneumatic artificial muscle top supports the sliding pair of level respectively, four Sliding pair is that cross stretches to above standing platform, and four sliding pairs stretch to the termination punishment above standing platform Lian Jie there is not belt;Also including industrial computer, the data collecting card on standing platform passes through data line and industry control Machine connects, described attitude angle transducer, tension pick-up, pressure transducer, flow transducer, laser ranging Sensor is connected with data collecting card by data line respectively, and described encoder is direct and work by data wire Control machine connects.

Described waist rehabilitation training devices's dynamic characteristic detection device a kind of in parallel, it is characterised in that: stand flat X, Y principal axis of inertia of the attitude angle transducer on platform is formed with by the junction point of rope and standing platform respectively Foursquare limit perpendicular, the Z principal axis of inertia of attitude angle transducer is perpendicular to standing platform and straight up; At the volley, attitude angle transducer detects the roll angle α of standing platform, pitching angle beta and deflection angle γ in real time, Corresponding angle information is transferred to the data collecting card being arranged on standing platform, data by data line Capture card is transferred to data on industrial computer by data line again, industrial computer be analyzed it, and right Corresponding servomotor is controlled, thus drives the flexible of rope so that standing platform at the volley with leg Keep vertical, it is ensured that the safety of waist patient on standing platform.

Described waist rehabilitation training devices's dynamic characteristic detection device a kind of in parallel, it is characterised in that: described Tension pick-up is arranged on the Ban meter Chu away from rope Yu standing platform junction point, connects with rope;At the volley, The tension force of rope monitored in real time by tension pick-up, is transferred to the number being arranged on standing platform by data line According to capture card, data collecting card is transferred to data on industrial computer by data line again, by industrial computer to it It is analyzed preserving, draws the motion state parameters of each motion stage.

Described waist rehabilitation training devices's dynamic characteristic detection device a kind of in parallel, it is characterised in that: described Encoder is connected with reel axle head, and its data output end is directly connected with industrial computer by data wire;In fortune Disorder of internal organs, encoder detects the rotational angle of reel in real time, by data line, corresponding information is transferred to industry control On machine, industrial computer it is analyzed, draws the stroke of rope, and servomotor is controlled accordingly defeated Go out.

Described waist rehabilitation training devices's dynamic characteristic detection device a kind of in parallel, it is characterised in that: described Pressure transducer and flow transducer are separately mounted to the port of Pneumatic artificial muscle air inlet pipe and escape pipe, swash Ligh-ranging sensor is arranged in upper and lower port plane;In motion, pressure transducer and flow transducer are the most real Time detection air inlet loop in admission pressure and the throughput that goes out that goes out in air circuit, laser range sensor is examined in real time Survey the length of Pneumatic artificial muscle, be transferred to the data acquisition being arranged on standing platform by data line Card, data collecting card is transferred to data on industrial computer by data line again, and it is analyzed by industrial computer, Respectively the pressure valve in Pneumatic artificial muscle air inlet loop and the flow valve aperture gone out in air circuit are carried out Regulate control accordingly.

A kind of waist rehabilitation training devices's dynamic characteristic detection method in parallel, it is characterised in that: comprise the following steps:

(1), each sensor unit is carried out initializing self-inspection by industrial computer;

(2), manually threshold limit value is inputted to industrial computer;

(3), industrial computer controls four motor in synchrony rotations, drive cord retraction, thus standing platform drive waist Portion patient moves up and down so that belt contacts with waist, and reaches suitable position;

(4), industrial computer controls each electric machine rotation, it is achieved different the stretching of rope so that standing platform drives lower limb Portion completes the rotary rehabilitation training of opposed waist;Meanwhile, encoder Real-time Collection spool turns angle information, Force transducer Real-time Collection rope tension information, attitude angle transducer Real-time Collection standing platform space angle are believed Breath, and by data collecting card by information Real-time Feedback to industrial computer, each information is analyzed by industrial computer again And record, and then each motor is compensated the safety differentiation of control and rope, it is achieved standing platform presses pre-orbit determination The rotation of mark and the security control of rope, it is ensured that the safety of waist;

(5) switch of valve during, industrial computer controls pneumatic circuit so that pneumatic circuit circulates, it is achieved pneumatic people The driving of work muscle, completes waist bending rehabilitation training;Meanwhile, 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, laser range sensor The length information of Real-time Collection Pneumatic artificial muscle, and pass through data collecting card by information Real-time Feedback to industrial computer On, each information is analyzed and record by industrial computer again, and then controls pressure valve and flow valve in pneumatic circuit The aperture of door, controls size and the change thereof of Pneumatic artificial muscle power, prevents from causing secondary to sprain in waist;

(6), industrial computer monitors the duty of each sensor in real time, it determines whether each sensor is in preset range Interior work, if need to report to the police, and make and warn action accordingly.

The Advantageous Effects of the present invention

Present invention uses modularized design, have flexible for installation, safeguard simple, easy to use, have as follows Advantage:

1) cord retraction is driven by four servomotors uniform on same circumference, so that it is flat to stand Platform moves, it is achieved the rehabilitation training that waist rotates;Meanwhile, driven by Pneumatic artificial muscle, it is achieved before waist Bend, the rehabilitation training bent in dorsiflexion, left and right, have effectively achieved the rehabilitation training of waist.

2) use encoder, tension pick-up, attitude angle transducer Real-time and Dynamic to gather movable information, carry out The feedback compensation control of rope, both ensure that standing platform was vertical with leg at the volley, in turn ensure that rope It is the most in a safe condition, it is achieved that standing platform is by predetermined rehabilitation training orbiting motion, it is ensured that Waist safe and reliable property of system during carrying out rotary rehabilitation training.

3) by gas in pressure transducer, flow transducer, laser range sensor Real-time Collection pneumatic circuit The pressure of body, flow and artificial pneumatic muscle length information, the gas fortune controlling in real time and monitoring in pneumatic circuit Dynamic, it is ensured that the size of Pneumatic artificial muscle power and change thereof are in safety range, it is achieved to waist stress size And the accurate control of change, effectively complete that waist is anteflexion, the rehabilitation training bent in dorsiflexion, left and right, with Time also ensure that the safety during training.

4) in the present invention, Pneumatic artificial muscle and rope both can work independently, it is possible to integration of operation, simultaneously to it Monitoring in real time, the most effectively achieves the rehabilitation of waist movement during being simulated walking to rehabilitation waist Training, it is ensured that system safe and stable, reliable, it is ensured that the safety of waist.

Accompanying drawing explanation

Fig. 1 is supervising device structure chart of the present invention.

Fig. 2 is the Pneumatic artificial muscle monitoring schematic diagram of the present invention.

Fig. 3 is Pneumatic artificial muscle and the rope integration of operation rehabilitation training schematic diagram of the present invention.

Fig. 4 is the standing platform control flow chart of the present invention.

Fig. 5 is the Pneumatic artificial muscle control flow chart of the present invention.

Fig. 6 is the monitoring method 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's dynamic characteristic detection device in parallel, closes including aluminum Gold section material framework 1, aluminium alloy extrusions framework 1 includes the rectangular top frame of level, four vertically arranged support bars, Four support bars, respectively at the drift angle bottom support rectangular top frame of rectangular top frame, are provided with level below rectangular top frame Being arranged on the base plate between four support bar bottoms, on base plate, center has been horizontally disposed with standing platform 9, stands Being provided with data collecting card 11, attitude angle transducer 10 on vertical platform 9, rectangular top frame is near corner position Being connected to inclined support bar between adjacent frame limit, each inclined support bar is the most identical with rectangular top circle limit angle, It is rotatablely equipped with fixed pulley 3 on each inclined support bar respectively, base plate is positioned at below each inclined support bar and sets respectively Being equipped with the reel 6 driven by servomotor 5, the axle head of reel 6 is provided with encoder 7, and reel 6 is wound around Having rope 4, rope 4 is connected to still further below up around after the fixed pulley 3 on correspondence position inclined support bar respectively On standing platform 9, and on each rope 4, it is separately installed with tension pick-up 12, adjacent supports above base plate Being also respectively connected with horizontal support bar between bar, on each horizontal support bar, centre position is the most vertically provided with set There is the Pneumatic artificial muscle 14 of spring 15, pacify respectively at the air inlet port 14-1 of each Pneumatic artificial muscle 14 Equipped with pressure transducer 14-2, at air outlet 14-4 of each Pneumatic artificial muscle 14, it is separately installed with flow Sensor 14-3, the upper and lower port plane of each Pneumatic artificial muscle 14 is separately installed with relative to each other Laser range sensor 14-5, each Pneumatic artificial muscle 14 top supports the sliding pair 13 of level respectively, Four sliding pairs 13 stretch to above standing platform 9 in cross, and four sliding pairs 13 stretch to standing platform 9 The end of top is connected to belt 8;Also include industrial computer 16, the data collecting card on standing platform 9 11 are connected with industrial computer 16 by data line, attitude angle transducer 10, tension pick-up 12, pressure Sensor 14-2, flow transducer 14-3, laser range sensor 14-5 are respectively by data line and number Connecting according to capture card 11, encoder 7 is directly connected with industrial computer 16 by data wire.

X, Y principal axis of inertia of the attitude angle transducer 10 on standing platform 9 respectively with by rope 4 with stand flat The foursquare limit that the junction point of platform 9 is formed is perpendicular, and the Z principal axis of inertia of attitude angle transducer 10 is vertical In standing platform 9 and straight up;At the volley, attitude angle transducer 10 detects standing platform 9 in real time Roll angle α, pitching angle beta and deflection angle γ, be transferred to corresponding angle information to install by data line Data collecting card 11 on standing platform 9, data collecting card 11 is transmitted data by data line again On industrial computer 16, industrial computer 16 it is analyzed, and corresponding servomotor is controlled, Thus driving the flexible of rope 4 so that standing platform 9 keeps vertical with leg at the volley, it is ensured that stand The safety of waist patient on vertical platform 9.

Tension pick-up 12 is arranged on the Ban meter Chu away from rope 4 with standing platform 9 junction point, goes here and there with rope 4 Connection;At the volley, the tension force of rope 4 monitored in real time by tension pick-up 12, is transferred to by data line The data collecting card 11 being arranged on standing platform 9, data collecting card 11 passes through data line again data It is transferred on industrial computer 16, industrial computer 16 is analyzed preserving to it, draws the fortune of each motion stage Dynamic state parameter.

Encoder 7 is connected with reel 6 axle head, and its data output end is direct and industrial computer 16 by data wire It is connected;At the volley, encoder 7 detects the rotational angle of reel 6 in real time, by data line handle Corresponding information is transferred on industrial computer 16, industrial computer 16 be analyzed, and draws the stroke of rope 4, And servomotor is controlled accordingly output.

Pressure transducer 14-2 and flow transducer 14-3 is separately mounted to Pneumatic artificial muscle 14 air inlet port At 14-1 and air outlet 14-4, 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 the most in real time and gives vent to anger Going out throughput in loop, laser range sensor 14-5 detects the length of Pneumatic artificial muscle in real time, passes through Data line is transferred to the data collecting card 11 being arranged on standing platform 9, and data collecting card 11 passes through again Data line is transferred to data on industrial computer 16, and it is analyzed by industrial computer 16, respectively to pneumatic Pressure valve in artificial-muscle 14 air inlet loop and the flow valve aperture gone out in air circuit are adjusted accordingly Joint controls.

As it is shown in figure 1, in the present invention, waist rehabilitation training dynamic characteristic detection device in parallel includes aluminium alloy type Material framework 1, Pneumatic artificial muscle 14, sliding pair 13, belt 8, servomotor 5, reel 6, fixed pulley 3, rope 4, standing platform 9.Four Pneumatic artificial muscles 14 of aluminium alloy extrusions framework 1 midfoot support, gas Dynamic artificial-muscle 14 moves, so that be connected with sliding pair 13 by driving coupled sliding pair 13 Healing waistband 8 drive waist patient 2 waist to carry out anteflexion, dorsiflexion, rehabilitation training campaign is bent in left and right.Gas Dynamic artificial-muscle 14 is respectively mounted four pressure transducer 14-2 in its air inlet pipe 14-1 port, goes out at it Trachea 14-4 port is respectively mounted four flow transducer 14-3, is respectively mounted thereon in lower port plane Four laser range sensor 14-5.One block of square plate of aluminium alloy extrusions framework 1 bottom support, uniform solid on side's plate Fixed four servomotors 5, four servomotors 5 drive four reels 6 to rotate respectively so that four reels 6 On four ropes 4 stretch.Be fixed on aluminium alloy extrusions framework 1 top rotatable fixed walked around by rope 4 The standing platform 9 that pulley 3 is stood with waist patient 2 is connected, and is respectively mounted four tension force on rope 4 Sensor 12.One attitude angle transducer 10 and a data collecting card 11 are installed on standing platform 9.Reel 6 axle heads are respectively mounted four encoders 7.

X, Y principal axis of inertia of the attitude angle transducer 10 being arranged on standing platform 9 respectively with by rope 4 and The foursquare limit that the junction point of standing platform 9 is formed is perpendicular, the Z inertia master of attitude angle transducer 10 Axle is perpendicular to standing platform 9 and straight up.At the volley, attitude angle transducer 10 detect in real time stand flat The roll angle α of platform 9, pitching angle beta and deflection angle γ, transmitted corresponding angle information by data line Giving the data collecting card 11 being arranged on standing platform 9, data collecting card 11 passes through data line again number According to being transferred on industrial computer 16, industrial computer 16 it is analyzed, and corresponding servomotor 5 is entered Row controls, thus drives the flexible of rope 4 so that standing platform 9 keeps 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 away from rope 4 with standing platform 9 junction point, goes here and there with rope 4 Connection.At the volley, the tension force of rope 4 monitored in real time by tension pick-up 12, is transferred to by data line The data collecting card 11 being arranged on standing platform 9, data collecting card 11 passes through data line again data It is transferred on industrial computer 16, industrial computer 16 is analyzed preserving to it, draws the motion of each motion stage State parameter.

Encoder 7 is connected with reel 6 hollow axle end, and its data output end is direct and industrial computer by data wire 16 are connected.At the volley, encoder 7 detects the rotational angle of reel 6 in real time, passes through data line Corresponding information is transferred on industrial computer 16, industrial computer 16 is analyzed, draw the stroke of rope, and Servomotor 5 is controlled accordingly output.

As in figure 2 it is shown, pressure transducer 14-2 and flow transducer 14-3 is separately mounted to Pneumatic artificial muscle Air inlet pipe 14-1 and the port of escape pipe 14-4, laser range sensor 14-5 is arranged on upper and lower port plane On.In motion, pressure transducer 14-2 and flow transducer 14-3 detects entering in air inlet loop the most in real time Atmospheric pressure and the throughput that goes out gone out in air circuit, laser range sensor 14-5 detects Pneumatic artificial muscle in real time The length of 14, is transferred to the data collecting card 11 being arranged on standing platform, data acquisition by data line Truck 11 is transferred to data on industrial computer 16 by data line again, and it is analyzed by industrial computer 16, Respectively the pressure valve in Pneumatic artificial muscle 14 air inlet loop and the flow valve aperture gone out in air circuit are entered Row regulates control accordingly.

Parallel connection waist rehabilitation training devices's dynamic characteristic detection method of the present invention, is carried out in accordance with the following steps:

Each sensor unit is carried out initializing self-inspection by step one, industrial computer 16;

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 drives waist patient to move up and down so that belt contacts with waist, and reaches suitable position;

Step 4, industrial computer 16 control each servomotor 5 and rotate, it is achieved different the stretching of rope 4 so that Standing platform 9 drives leg to complete the rotary rehabilitation training of opposed waist;Meanwhile, encoder 7 Real-time Collection volume Cylinder 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 by data collecting card 11, information Real-time Feedback is arrived On industrial computer 16, each information is analyzed and record by industrial computer 16 again, and then carries out each servomotor 5 Compensate and control and the safety differentiation of rope 4, it is achieved standing platform 9 presses the rotation of desired trajectory and the safety of rope Control, it is ensured that the safety of waist.

Step 5, industrial computer 16 control the switch of valve in pneumatic circuit so that pneumatic circuit circulates, it is achieved The driving of Pneumatic artificial muscle 14, completes waist and bends over rehabilitation training;Meanwhile, pressure transducer 14-2 is real-time Gather gas pressure information, flow transducer 14-3 Real-time Collection in air inlet loop and go out gas flow in air circuit Information, the length information of laser range sensor 14-5 Real-time Collection Pneumatic artificial muscle 14, and pass through data Capture card 11 is by information Real-time Feedback to industrial computer 16, and each information is analyzed and remembers by industrial computer 16 again Record, and then control pressure valve and the aperture of flow valve in pneumatic circuit, control Pneumatic artificial muscle 14 power Size and change, prevent from causing secondary to sprain in waist.

Step 6, industrial computer 16 monitor the duty of each sensor in real time, it determines whether each sensor is in advance If operated within range, if need to report to the police, and make and warn action accordingly.

Each sensor specific works process is as follows:

(1) pressure transducer 14-2 monitors the pressure P of four Pneumatic artificial muscle 14 air inlet pipe 14-1 in real time, And transferring data on industrial computer 16, each Pneumatic artificial muscle 14 air inlet pipe 14-1 is pressed by industrial computer 16 Force signal is analyzed, and draws Pneumatic artificial muscle axial stretching power F:

In formula, D0For the diameter of Pneumatic artificial muscle 14 before pressurization;P0For outside atmospheric pressure;φ is pneumatic The braid angle of artificial-muscle 14 outer fiber mesh grid;

Industrial computer is Pneumatic artificial muscle 14 axial stretching F and predetermined contractility F0Compare:

If F is < F0, industrial computer 16 controls the pressure valve aperture in air inlet loop, goes out the flow valve of air circuit Close;

If F > F0, industrial computer 16 controls the pressure valve in air inlet loop and closes, goes out the flow valve of air circuit Open;

If F=F0, industrial computer 16 controls the pressure valve in air inlet loop and goes out the flow valve holding of air circuit Original state, thus ensure that Pneumatic artificial muscle 14 keeps constant power.

Pneumatic artificial muscle 14 is controlled by industrial computer 16 by pressure transducer 14-2, it is ensured that pneumatic Artificial-muscle 14 axial stretching power is in safety range, thus avoids the secondary injury of waist

(2) flow transducer 14-3 monitors the flow Q of four Pneumatic artificial muscle 14 escape pipe 14-4 in real time, And transferring data on industrial computer 16, each Pneumatic artificial muscle 14 escape pipe 14-4 is flowed by industrial computer 16 Amount signal is analyzed, and show that Pneumatic artificial muscle 14 goes out the change of throughput:

ε=△ Q/t

In formula, t is the time used by changes in flow rate, and ε is flow change rate;

By controlling the size of flow change rate, trembling of Pneumatic artificial muscle 14 can be slowed down, it is ensured that gas Dynamic artificial-muscle 14 works smoothly, thus control action is at the speed of the change of the power of waist patient 2 waist, Prevent discomfort and potential safety hazard that power transition brings to waist.

(3) laser range sensor monitors the length information of Pneumatic artificial muscle 14 in real time, and data is passed Being passed on industrial computer 16, each Pneumatic artificial muscle 14 length signals is analyzed by industrial computer 16, draws waist Portion's rehabilitation training, auxiliary pressure sensor 14-2, flow transducer 14-3 from which further follow that pneumatic simultaneously The size of artificial-muscle 14 power, preferably controls Pneumatic artificial muscle and works by predetermined scheme.

(4) the tension force F on four ropes 4 monitored in real time by tension pick-up 121、F2、F3、F4, and will Data are transferred on industrial computer 16, and the tension signal of each rope 4 is analyzed by industrial computer 16, draw each The acceleration characteristic in individual rehabilitation exercise stage:

A=[(F1+F2+F3+F4)*cosθ-mg]/m

In formula, a is the acceleration of waist patient 2, and θ is rope and the angle on vertical direction, and m is waist The quality of patient, g is gravity acceleration constant.

The state of each motor process can not only be obtained, moreover it is possible to obtain the stress shape of waist patient 2 by acceleration a Condition, thus judge whether in the safety range that waist patient bears, it is ensured that the safety of waist patient 2.

(5) the rotational angle ε of reel 6 monitored in real time by encoder 7, and transfers data on industrial computer 16, Its signal is analyzed by industrial computer 16, with angle ε requiring rotation0Contrast:

If ε is < ε0, industrial computer 16 sends signal control servomotor 5 and is rotated further;

If ε > ε0, industrial computer 16 sends signal control servomotor 5 and inverts;

Until ε=ε0, industrial computer 16 completes the compensation to servomotor 5 and controls;

(6) attitude angle transducer 10 monitors the roll angle α of standing platform 9, pitching angle beta and deflection angle in real time γ, and transfer data on industrial computer 16, industrial computer 16 coordinates the corner information obtained from encoder 7 to obtain Rope 4 length information gone out, carries out the calculating of space motion, draws the spatial pose of standing platform 9.

In the present invention, Pneumatic artificial muscle 14 and rope 4 both can work independently, it is possible to integration of operation, can simulate The kinestate of waist when people walks, carries out rehabilitation training effectively.Such as Fig. 3, waist fortune when walking for simulation The integration of operation rehabilitation training of dynamic state: leg is at an angle with space Z axis, and attitude angle transducer 10 coordinates Encoder 7 draws the spatial pose of standing platform 9, by regulation rope 4 standing platform 9 so that leg with Standing platform 9 keeps vertical;Meanwhile, control Pneumatic artificial muscle 14 inflation and shrink △ x, another gas Dynamic artificial-muscle 14 venting elongation △ x, so that waist bending β angle, it is achieved waist simulation rehabilitation training. The integration of operation of this multiple sensors achieves the real-time inspection of the dynamic characteristic to waist rehabilitation training devices in parallel Survey and control.

Such as Fig. 4, in the training of waist rotary rehabilitation, standing platform 9 module controls process: industrial computer 16 controls to watch Taking motor 5 to rotate, rehabilitation training proceeds by according to default scheme.During, encoder 7 Real-time Collection The anglec of rotation of reel 6, and send industrial computer 16 to, its anglec of rotation is analyzed, sentences by industrial computer 16 Break and whether carry out according to default, if need servomotor 5 is carried out motion compensation, and carry out corresponding signal Output, thus ensure that reel 6 rotates according to default;Attitude angle transducer 10 Real-time Collection standing platform The space angle information of 9, and be sent on industrial computer 16, industrial computer 16 carries out computational analysis, and to not reaching Motion compensation is carried out so that it is keep perpendicular with leg to the standing platform 9 during predetermined state;Tension pick-up The tension information of 12 Real-time Collection ropes 4, draws the kinestate of standing platform according to tension information analysis, Preserve, and whether judgment is in preset range, if report to the police, so far complete control and the health of standing platform 9 The acquisition of parameter during refreshment white silk.

Such as Fig. 5, in waist bending rehabilitation training, Pneumatic artificial muscle 14 module controls process: industrial computer 16 is controlled Opening of pneumatic circuit valve processed, makes gas circulate, and Pneumatic artificial muscle 14 provides waist to bend rehabilitation training The auxiliary force needed, meanwhile, in pressure transducer 14-2, flow transducer 14-3 Real-time Collection pneumatic circuit The pressure of gas and flow, the length information of laser range sensor 14-4 Real-time Collection Pneumatic artificial muscle 14, And sending industrial computer 16 to by data collecting card 11, it is analyzed by industrial computer 16, draws pneumatic people Work muscle 14 power output F and the size of length and change thereof, it is judged that whether it is preset value, if need to mend Repay control, it is achieved the control to Pneumatic artificial muscle 14.

As shown in Figure 6, first waist rehabilitation training dynamic characteristic detection device in parallel is carried out power-up initializing, And gather the data of each sensor by data collecting card 11, industrial computer it is carried out kinestate analysis, Analysis result is judged with preset value, sees and whether meet preset value, for incongruent Sensor monitoring Device controls to adjust accordingly, finally the procedure parameter of motion is carried out selectivity preservation.Whole monitored Journey constantly circulates, the supervising device of Real-time and Dynamic, until accepting to cease and desist order or jerk order.

Claims (5)

  1. null1. waist rehabilitation training devices's dynamic characteristic in parallel detection device,Including aluminium alloy extrusions framework,Described aluminium alloy extrusions framework includes the rectangular top frame of level、Four vertically arranged support bars,Four support bars are respectively at the drift angle bottom support rectangular top frame of rectangular top frame,The base plate being horizontally arranged between four support bar bottoms it is provided with below rectangular top frame,On base plate, center has been horizontally disposed with standing platform,Rectangular top frame is connected to inclined support bar between the adjacent frame limit of corner position,Each inclined support bar is the most identical with rectangular top circle limit angle,Fixed pulley it is rotatablely equipped with respectively on each inclined support bar,It is positioned at each inclined support bar on described base plate to be respectively arranged below by the reel of driven by servomotor,Rope it is wound with on reel,Described rope is respectively up around being connected to still further below after the fixed pulley on correspondence position inclined support bar above standing platform upper plate be also respectively connected with horizontal support bar between adjacent supports bar,On each horizontal support bar, centre position is the most vertically provided with the Pneumatic artificial muscle being cased with spring,Each Pneumatic artificial muscle top supports 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;It is characterized in that: on standing platform, be provided with data collecting card, attitude angle transducer, the axle head of reel is provided with encoder, it is separately installed with tension pick-up on each rope, it is separately installed with pressure transducer at the air inlet port of each Pneumatic artificial muscle, it is separately installed with flow transducer at the air outlet of each Pneumatic artificial muscle, each Pneumatic artificial muscle upper, laser range sensor relative to each other it is separately installed with in lower port plane, also include 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 is connected with data collecting card by data line respectively, described encoder is directly connected with industrial computer by data wire.
  2. A kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel the most according to claim 1, it is characterized in that: X, Y principal axis of inertia of the attitude angle transducer on standing platform is perpendicular with the foursquare limit formed by the junction point of rope and standing platform respectively, the Z principal axis of inertia of attitude angle transducer is perpendicular to standing platform and straight up;At the volley, attitude angle transducer detects the roll angle α of standing platform, pitching angle beta and deflection angle γ in real time, corresponding angle information is transferred to the data collecting card being 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, standing platform is made to keep vertical with leg at the volley, it is ensured that the safety of waist patient on standing platform.
  3. A kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel the most according to claim 1, it is characterised in that: described tension pick-up is arranged on the Ban meter Chu away from rope Yu standing platform junction point, connects with rope;At the volley, the tension force of rope monitored in real time by tension pick-up, the data collecting card being arranged on standing platform it is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, it is analyzed preserving to it by industrial computer, draws the motion state parameters of each motion stage.
  4. A kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel the most according to claim 1, it is characterised 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, industrial computer is analyzed, and draws the stroke of rope, and servomotor controls output accordingly.
  5. A kind of waist rehabilitation training devices's dynamic characteristic detection device in parallel the most according to claim 1, it is characterized in that: described pressure transducer and flow transducer are separately mounted to the port of Pneumatic artificial muscle air inlet pipe and escape pipe, laser range sensor is arranged in upper and lower port plane;In motion, pressure transducer and flow transducer detect admission pressure in air inlet loop the most 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 being arranged on standing platform it is transferred to by data line, data collecting card is transferred to data on industrial computer by data line again, it is analyzed by industrial computer, respectively the pressure valve in Pneumatic artificial muscle air inlet loop and the flow valve aperture gone out in air circuit is regulated control 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)

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