CN104970947A - Safety control method and apparatus for upper limb rehabilitation robot - Google Patents
Safety control method and apparatus for upper limb rehabilitation robot Download PDFInfo
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- CN104970947A CN104970947A CN201410131230.1A CN201410131230A CN104970947A CN 104970947 A CN104970947 A CN 104970947A CN 201410131230 A CN201410131230 A CN 201410131230A CN 104970947 A CN104970947 A CN 104970947A
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- upper limb
- telescopic arm
- limb rehabilitation
- rehabilitation robot
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Abstract
The present invention provides a safety control method and apparatus for an upper limb rehabilitation robot wherein the method determines maximum range of the movement of a telescopic arm of the robot allowed by the rotation of robot motor rotations. The apparatus can obtain movement data of the telescopic arm of the robot in real time. When the movement data goes beyond the maximum range, a control instruction will be generated and sent to the motor to have the running of the motor aborted. The invention resolves the problem in the prior art that there is no proper scheme for handling faults of an upper limb rehabilitation robot and there is a lack of technology for safety hazard caused by the faults and improves safety characteristics of the upper limb rehabilitation robot.
Description
Technical field
The present invention relates to technical field of robot control, particularly a kind of method of controlling security of upper limb rehabilitation robot and device.
Background technology
Due to the damage that apoplexy, head injury or operation on spinal cord etc. cause, patient's multiple muscle group motor function often can be caused impaired.The repeating motion of nerve remodeling theoretical proof and rehabilitation training can make patient's recovered part or most motor function again.But general Repetitive training is very uninteresting, and for therapist, these repeat, intensive motion is inefficient work, because the effect of therapist assists patient to carry out omnibearing rehabilitation training.
At present, in relevant technology, propose the concept of upper limb rehabilitation robot, namely drive patient to carry out arm motion by robot, or assist patient to carry out arm motion.These upper limb rehabilitation robots all carry out electrical control according to preset program, in the process controlled, there will be fault unavoidably, can cause danger difficult to the appraisal once break down to patient.
Summary of the invention
Embodiments provide a kind of method of controlling security of upper limb rehabilitation robot, to reach the object improving upper limb rehabilitation robot safety, the method comprises:
Determine the exercise data limit value of the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
The exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
When described exercise data exceeds described exercise data limit value, generate the control instruction shut down for controlling described motor;
Described control instruction is sent to described motor.
In one embodiment, the exercise data of described upper limb rehabilitation robot telescopic arm comprises: the times of exercise of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the times of exercise limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, when the times of exercise of the telescopic arm of described upper limb rehabilitation robot exceeds exercise data scope, described method also comprises:
Generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm;
Described reset instruction is sent to described enumerator.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the move distance of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the move distance limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, the move distance limit value of described upper limb rehabilitation robot telescopic arm comprises: described telescopic arm range of movement limit value in the X direction, described telescopic arm range of movement limit value in the Y direction, described telescopic arm range of movement limit value in z-direction.
In one embodiment, described method also comprises:
Obtain the data that the photoelectric sensor in described upper limb rehabilitation robot collects, wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm;
Determine whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor;
If so, then the control instruction shut down for controlling described motor is generated.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm also comprises: the motion dynamics of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the motion dynamics limit value of described upper limb rehabilitation robot telescopic arm.
The embodiment of the present invention additionally provides a kind of safety control of upper limb rehabilitation robot, and to reach the object improving upper limb rehabilitation robot safety, this device comprises:
First determination module, for determining the exercise data limit value of the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
First acquisition module, for the exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
First generation module, for when described exercise data exceeds described exercise data limit value, generates the control instruction shut down for controlling described motor;
Sending module, for sending to described motor by described control instruction.
In one embodiment, the exercise data of described upper limb rehabilitation robot telescopic arm comprises: the times of exercise of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the times of exercise limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, also comprise:
Second generation module, times of exercise for the telescopic arm at described upper limb rehabilitation robot exceeds exercise data scope, generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm;
Second sending module, for sending to described enumerator by described reset instruction.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the move distance of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the move distance limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, the move distance limit value of described upper limb rehabilitation robot telescopic arm comprises: described telescopic arm range of movement limit value in the X direction, described telescopic arm range of movement limit value in the Y direction, described telescopic arm range of movement limit value in z-direction.
In one embodiment, said apparatus also comprises:
Second acquisition module, the data that the photoelectric sensor for obtaining in described upper limb rehabilitation robot collects, wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm;
Second determination module, for determining whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor;
3rd generation module, for when determining to be, generates the control instruction shut down for controlling described motor.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm also comprises: the motion dynamics of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the motion dynamics limit value of described upper limb rehabilitation robot telescopic arm.
In embodiments of the present invention, by detecting the exercise data of upper limb rehabilitation robot telescopic arm in real time, determine that the exercise data of current telescopic arm is whether beyond the exercise data limit value of telescopic arm, if beyond limit value, then show that current operation is risky, during this time just produce control instruction to stop the running of upper limb rehabilitation robot motor, also be just equivalent to close upper limb rehabilitation robot, can effectively solve in prior art does not in this way have effective solution to process when upper limb rehabilitation robot breaks down, and the technical problem of the generation of the potential safety hazard caused, reach the technique effect of the safety improving upper limb rehabilitation robot.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, does not form limitation of the invention.In the accompanying drawings:
Fig. 1 is the structural representation of the upper limb rehabilitation robot of the embodiment of the present invention;
Fig. 2 is the flow chart of the control method of the upper limb rehabilitation robot of the embodiment of the present invention;
Fig. 3 is the structural representation of the control device of the upper limb rehabilitation robot of the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with embodiment and accompanying drawing, the present invention is described in further details.At this, exemplary embodiment of the present invention and illustrating for explaining the present invention, but not as a limitation of the invention.
Consider that upper limb rehabilitation robot as shown in Figure 1; wherein; 101 represent that telescopic arm support, 102 represents that hand holder apparatus, 103 represents telescopic arm; in order to ensure that upper limb rehabilitation robot can carry out auxiliary treatment to patient safely and effectively; the duty concrete to telescopic arm is needed to carry out a safeguard protection; can be extended the service life of upper limb rehabilitation robot on the one hand by this protection, more important point to ensure the safety of patient in the process using upper limb rehabilitation robot.
In embodiments of the present invention, provide a kind of method of controlling security of upper limb rehabilitation robot, as shown in Figure 2, comprise the following steps:
Step 201: the exercise data limit value determining the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
Step 202: the exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
Step 203: when described exercise data exceeds described exercise data limit value, generates the control instruction shut down for controlling described motor;
Step 204: described control instruction is sent to described motor.
In the above-described embodiments, by detecting the exercise data of upper limb rehabilitation robot telescopic arm in real time, determine that the exercise data of current telescopic arm is whether beyond the exercise data limit value of telescopic arm, if beyond limit value, then show that current operation is risky, during this time just produce control instruction to stop the running of upper limb rehabilitation robot motor, also be just equivalent to close upper limb rehabilitation robot, can effectively solve in prior art does not in this way have effective solution to process when upper limb rehabilitation robot breaks down, and the technical problem of the generation of the potential safety hazard caused, reach the technique effect of the safety improving upper limb rehabilitation robot.
For the detection of the exercise data to upper limb rehabilitation robot telescopic arm, mainly the following aspects can be comprised: the motion dynamics of the times of exercise of upper limb rehabilitation robot telescopic arm, upper limb rehabilitation robot telescopic arm move distance (namely telescopic arm is at the range of movement of all directions), upper limb rehabilitation robot telescopic arm.Wherein, mainly counter overflow is prevented to the detection of times of exercise thus causes machine to move always, mainly prevent upper limb rehabilitation robot telescopic arm infinitely flexible to the detection of range of movement and cause patient to sustain damage, the detection of motion dynamics mainly being prevented to dynamics is too large causes damage to patient.Such as, (directly performance be exactly movement of patient excessive velocities) or expanded range excessive (directly performance is exactly that the scope of patient's arm expansion is excessive) if overexerted, the upper limb of patient bears incessantly for the moment, makes patient sustain damage unavoidably, increases the weight of the state of an illness.When detecting that these exercise datas of telescopic arm exceed predetermined secure threshold, timely disable motor, thus the generation effectively can avoiding damage.
Below above-mentioned several situation is specifically described:
1) when the exercise data of upper limb rehabilitation robot telescopic arm is the times of exercise of upper limb rehabilitation robot telescopic arm, exercise data limit value is exactly the times of exercise limit value of upper limb rehabilitation robot telescopic arm.
When detecting that the times of exercise of telescopic arm is greater than times of exercise limit value, upper limb rehabilitation robot motor can be controlled shut down, but, this situation mainly causes because of rolling counters forward spilling, during this time, also need to generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm; Then, send to enumerator to carry out reset operation to enumerator described reset instruction, like this after restarting, enumerator can carry out normal running status.
2) when the exercise data of upper limb rehabilitation robot telescopic arm is the move distance of upper limb rehabilitation robot telescopic arm, exercise data limit value is the move distance limit value of upper limb rehabilitation robot telescopic arm.
Consider that telescopic arm moves to three directions, therefore the range of movement of upper limb rehabilitation robot telescopic arm comprises: telescopic arm range of movement in the X direction, telescopic arm range of movement in the Y direction, telescopic arm range of movement in z-direction, that is, need to ensure that telescopic arm is safe at the range of movement (in other words move distance) in each direction.
In one embodiment, said method also comprises: described method also comprises: obtain the data that the photoelectric sensor in described upper limb rehabilitation robot collects, and wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm; Determine whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor; If so, then the control instruction shut down for controlling described motor is generated.That is, undertaken spacing by photoelectric sensor, concrete, it is exactly the move distance being detected telescopic arm by photoelectric sensor, if find that the move distance of telescopic arm is beyond the installation site of photoelectric sensor, so also can produce interrupt signal, quit work to make motor.Such as: on upper limb rehabilitation robot, photoelectric sensor is installed, when photoelectric sensor detects when the installation site of telescopic arm range of movement in the X, Y, Z direction beyond photoelectric sensor, photoelectric sensor can send instruction, control motor quits work, and this mode can be called electric limiting.
For above-mentioned electric limiting can be when for carry out move distance limit value judge lost efficacy or fault a kind of protective measure; in order to realize telescopic arm omnibearing protection in three directions; all need to arrange photoelectric sensor at the two ends in three directions, six photoelectric sensors are namely set altogether.
Further; in order to carry out safeguard protection better; mechanical position limitation can also be carried out; mechanical position limitation is as finally heavily protecting; when interrupting device and photoelectric sensor all lost efficacy; be used for stopping the continuation campaign of described telescopic arm by mechanical force; namely when the interrupting device of range of movement of telescopic arm and described photoelectric sensor that control described upper limb rehabilitation robot all break down; when described telescopic arm moves to mechanical stop limiter; by the mechanical external force that described mechanical stop limiter produces, stop the continuation campaign of mechanical arm.This mode also can be called mechanical position limitation, the same with above-mentioned electric limiting, and mechanical position limitation also needs all to arrange mechanical stop limiter at the two ends in three directions, namely arranges altogether six mechanical stop limiters.
3) when the exercise data of upper limb rehabilitation robot telescopic arm is the motion dynamics of upper limb rehabilitation robot telescopic arm, described exercise data limit value is the motion dynamics limit value of upper limb rehabilitation robot telescopic arm.
In the concrete process implemented; detection and the trigger mechanism of considering often kind of duty are different; therefore; in order to more effectively control; can arrange different from controlling motor in upper limb rehabilitation robot interrupting device out of service for different duties; this interrupting device also can be referred to as house dog, can think a kind of embedded software program in systems in which or agreement, carries out safeguard protection for triggering.
In order to make motor to be stopped at any time, and stopping the operation of motor after occurring again without the need to by the time situation, to process some fortuitous events, can emergency stop switch being set, thus realize that motor is fast anxious stops process.
In one embodiment, the control device that dissimilar exercise data is corresponding different, such as: for the control device controlled the motion dynamics of telescopic arm, being exactly different from the control device for controlling the range of movement of telescopic arm, between different control device, adopting the mode of series connection to connect.That is, the interrupting device for above-mentioned several working conditions is cascade each other, namely connects, and close as long as there is an interrupting device to control motor, so whole system all can stop, that is, any one can be opened or cut off motor power.
Below in conjunction with a specific embodiment, the above embodiment of the present invention is specifically described, but it should be noted that this specific embodiment is only to describe the present invention better, do not form inappropriate limitation of the present invention.
In this example; provide a kind of security system of upper limb rehabilitation robot being carried out to safeguard protection; this system is by multiple house dog; control and protection is carried out to task control processor, united controller and safe processor; wherein; task control processor mainly to the management of system cloud gray model number of times, united controller mainly to the management of the active force of telescopic arm, safe processor mainly to the management of the telescopic extensions of telescopic arm.Further, each processor itself possesses the function directly generating driver module (Actuators and Drives) executable command.
Below the house dog for above-mentioned three processor controllers is specifically described:
The house dog of task control processor (Task Controller Processor) is embedded in firmware (Firmware), also the enumerator of house dog is just started accordingly when system brings into operation, house dog starts Auto-counting, also house dog is not emptied when the counting of enumerator reaches the regular hour, so house dog enumerator will overflow, thus cause house dog to interrupt, motor is out of service, system reset, thus can effectively prevent MCU from crashing., in task control processor, the Main Function of house dog prevents program fleet exactly.
The house dog of united controller (Joint Controller Processor) is a communications protocol between firmware and software; when the power of sensor (Endpoint Force Sensor) institute's perception is greater than the secure threshold preset; this value inputs security system (Safe System) after united controller (Joint Controller Processor) calculates; and be converted into the executable command of driver module (Actuator and Drives), thus realize protecting the brake of motor (Motor).
The house dog of safe processor (Safety Processor) is the spacing control sequence of software inhouse, the telescopic arm tache motorice largest motion scope in the X, Y, Z direction by this procedure stipulation, when the house dog of safe processor (SafetyProcessor) judges tache motorice position not in prescribed limit, namely generate the executable command of motor, control motor and quit work.
Further, danger button can be installed, concrete, can see above screen doctor, or immediately below the mechanical arm main frame corresponding when centre position, emergency stop switch is set, only need to press doctor see the emergency stop switch of screen top or pull out inferoanterior emergency stop switch, motor 45 dead electricity can be made.
Stroke limit mainly comprises: electric limiting (Electrical Limiter) and mechanical position limitation (MechanicalLimiter), and electric limiting and mechanical position limitation all need to arrange corresponding stopping means respectively at the two ends of X, Y, Z as stated above.
Concrete, electrical equipment is spacing be X, Y, Z tri-the two ends of the direction of motion of axle photoelectric sensor (Photoelectric Sensor) is all set.When the house dog of above-mentioned safety governor was lost efficacy, if the motion in X, Y, Z tri-directions exceedes the installation site of photoelectric sensor, sensor can send instruction, controlled motor out of service.Mechanical position limitation be X, Y, Z tri-the two ends of the direction of motion of axle the hard stopping means of machinery is all set, from the setting of position, mechanical stop limiter is all the extension position being arranged on photoelectric sensor, when the inefficacy of electric limiting, when three directions move to mechanical stop limiter, all can stop because of the effect of mechanical external force.
Based on same inventive concept, additionally provide a kind of safety control of upper limb rehabilitation robot in the embodiment of the present invention, as described in the following examples.The principle of dealing with problems due to the safety control of upper limb rehabilitation robot is similar to the method for controlling security of upper limb rehabilitation robot, therefore the enforcement of the safety control of upper limb rehabilitation robot see the enforcement of the method for controlling security of upper limb rehabilitation robot, can repeat part and repeats no more.Following used, term " unit " or " module " can realize the software of predetermined function and/or the combination of hardware.Although the device described by following examples preferably realizes with software, hardware, or the realization of the combination of software and hardware also may and conceived.Fig. 3 is a kind of structured flowchart of the safety control of the upper limb rehabilitation robot of the embodiment of the present invention, as shown in Figure 3, comprise: the first determination module 301, first acquisition module 302, first generation module 303 and the first sending module 304, is described this structure below.
First determination module 301, for determining the exercise data limit value of the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
First acquisition module 302, for the exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
First generation module 303, for when described exercise data exceeds described exercise data limit value, generates the control instruction shut down for controlling described motor;
First sending module 304, for sending to described motor by described control instruction.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the times of exercise of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the times of exercise limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, said apparatus also comprises: the second generation module, times of exercise for the telescopic arm at described upper limb rehabilitation robot exceeds exercise data scope, generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm; Second sending module, for sending to described enumerator by described reset instruction.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the move distance of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the move distance limit value of described upper limb rehabilitation robot telescopic arm.
In one embodiment, said apparatus also comprises: the second acquisition module, the data that the photoelectric sensor for obtaining in described upper limb rehabilitation robot collects, and wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm; Second determination module, for determining whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor; 3rd generation module, for when determining to be, generates the control instruction shut down for controlling described motor.
In one embodiment, the exercise data of upper limb rehabilitation robot telescopic arm also comprises: the motion dynamics of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the motion dynamics limit value of described upper limb rehabilitation robot telescopic arm.
In another embodiment, additionally provide a kind of software, this software is for performing the technical scheme described in above-described embodiment and preferred implementation.
In another embodiment, additionally provide a kind of storage medium, store above-mentioned software in this storage medium, this storage medium includes but not limited to: CD, floppy disk, hard disk, scratch pad memory etc.
From above description, can find out, the embodiment of the present invention achieves following technique effect: by detecting the exercise data of upper limb rehabilitation robot telescopic arm in real time, determine that the exercise data of current telescopic arm is whether beyond the exercise data limit value of telescopic arm, if beyond limit value, then show that current operation is risky, during this time just produce control instruction to stop the running of upper limb rehabilitation robot motor, also be just equivalent to close upper limb rehabilitation robot, can effectively solve in prior art does not in this way have effective solution to process when upper limb rehabilitation robot breaks down, and the technical problem of the generation of the potential safety hazard caused, reach the technique effect of the safety improving upper limb rehabilitation robot.
Obviously, those skilled in the art should be understood that, each module of the above-mentioned embodiment of the present invention or each step can realize with general accountant, they can concentrate on single accountant, or be distributed on network that multiple accountant forms, alternatively, they can realize with the executable program code of accountant, thus, they can be stored and be performed by accountant in the storage device, and in some cases, step shown or described by can performing with the order be different from herein, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the embodiment of the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the embodiment of the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (15)
1. a method of controlling security for upper limb rehabilitation robot, is characterized in that, comprising:
Determine the exercise data limit value of the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
The exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
When described exercise data exceeds described exercise data limit value, generate the control instruction shut down for controlling described motor;
Described control instruction is sent to described motor.
2. the method for claim 1, is characterized in that, the exercise data of described upper limb rehabilitation robot telescopic arm comprises: the times of exercise of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the times of exercise limit value of described upper limb rehabilitation robot telescopic arm.
3. method as claimed in claim 2, it is characterized in that, when the times of exercise of the telescopic arm of described upper limb rehabilitation robot exceeds exercise data scope, described method also comprises:
Generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm;
Described reset instruction is sent to described enumerator.
4. the method for claim 1, is characterized in that, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the move distance of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the move distance limit value of described upper limb rehabilitation robot telescopic arm.
5. method as claimed in claim 4, it is characterized in that, the move distance limit value of described upper limb rehabilitation robot telescopic arm comprises: described telescopic arm range of movement limit value in the X direction, described telescopic arm range of movement limit value in the Y direction, described telescopic arm range of movement limit value in z-direction.
6. method as claimed in claim 5, it is characterized in that, described method also comprises:
Obtain the data that the photoelectric sensor in described upper limb rehabilitation robot collects, wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm;
Determine whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor;
If so, then the control instruction shut down for controlling described motor is generated.
7. the method as described in claim 2 or 4, is characterized in that, the exercise data of upper limb rehabilitation robot telescopic arm also comprises: the motion dynamics of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the motion dynamics limit value of described upper limb rehabilitation robot telescopic arm.
8. a safety control for upper limb rehabilitation robot, is characterized in that, comprising:
First determination module, for determining the exercise data limit value of the described upper limb rehabilitation robot telescopic arm allowing upper limb rehabilitation robot motor rotation;
First acquisition module, for the exercise data of upper limb rehabilitation robot telescopic arm described in Real-time Obtaining;
First generation module, for when described exercise data exceeds described exercise data limit value, generates the control instruction shut down for controlling described motor;
First sending module, for sending to described motor by described control instruction.
9. device as claimed in claim 8, it is characterized in that, the exercise data of described upper limb rehabilitation robot telescopic arm comprises: the times of exercise of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the times of exercise limit value of described upper limb rehabilitation robot telescopic arm.
10. device as claimed in claim 9, is characterized in that, also comprise:
Second generation module, times of exercise for the telescopic arm at described upper limb rehabilitation robot exceeds exercise data scope, generate reset instruction enumerator being carried out to reset operation, wherein, described enumerator is for adding up the times of exercise of described upper limb rehabilitation robot telescopic arm;
Second sending module, for sending to described enumerator by described reset instruction.
11. devices as claimed in claim 8, it is characterized in that, the exercise data of upper limb rehabilitation robot telescopic arm comprises: the move distance of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the move distance limit value of described upper limb rehabilitation robot telescopic arm.
12. devices as claimed in claim 11, it is characterized in that, the move distance limit value of described upper limb rehabilitation robot telescopic arm comprises: described telescopic arm range of movement limit value in the X direction, described telescopic arm range of movement limit value in the Y direction, described telescopic arm range of movement limit value in z-direction.
13. devices as claimed in claim 11, is characterized in that, also comprise:
Second acquisition module, the data that the photoelectric sensor for obtaining in described upper limb rehabilitation robot collects, wherein, described photoelectric sensor is for gathering the move distance of described telescopic arm;
Second determination module, for determining whether move distance data that described photoelectric sensor collects exceed the installation site of described photoelectric sensor;
3rd generation module, for when determining to be, generates the control instruction shut down for controlling described motor.
14. devices as described in claim 9 or 11, it is characterized in that, the exercise data of upper limb rehabilitation robot telescopic arm also comprises: the motion dynamics of described upper limb rehabilitation robot telescopic arm; Described exercise data limit value comprises: the motion dynamics limit value of described upper limb rehabilitation robot telescopic arm.
15. devices as claimed in claim 14, is characterized in that, the control device that dissimilar exercise data is corresponding different, adopt the mode of series connection to connect between different control device.
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| CN201410131230.1A CN104970947A (en) | 2014-04-02 | 2014-04-02 | Safety control method and apparatus for upper limb rehabilitation robot |
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| CN201410131230.1A CN104970947A (en) | 2014-04-02 | 2014-04-02 | Safety control method and apparatus for upper limb rehabilitation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553834A (en) * | 2018-06-25 | 2018-09-21 | 广州康医疗设备实业有限公司 | A kind of Isokinetic muscle strength training system and its control method |
| CN110270062A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | Healing robot teletherapy system and method |
| CN111728819A (en) * | 2020-07-10 | 2020-10-02 | 上海电气集团股份有限公司 | Multi-stage protection device and method for upper limb rehabilitation robot |
-
2014
- 2014-04-02 CN CN201410131230.1A patent/CN104970947A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270062A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | Healing robot teletherapy system and method |
| CN108553834A (en) * | 2018-06-25 | 2018-09-21 | 广州康医疗设备实业有限公司 | A kind of Isokinetic muscle strength training system and its control method |
| CN108553834B (en) * | 2018-06-25 | 2023-12-12 | 广州一康医疗设备实业有限公司 | Constant-speed muscle strength training system and control method thereof |
| CN111728819A (en) * | 2020-07-10 | 2020-10-02 | 上海电气集团股份有限公司 | Multi-stage protection device and method for upper limb rehabilitation robot |
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