CN107334606B - Rehabilitation robot joint initial position detection device and method - Google Patents
Rehabilitation robot joint initial position detection device and method Download PDFInfo
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- CN107334606B CN107334606B CN201710685590.XA CN201710685590A CN107334606B CN 107334606 B CN107334606 B CN 107334606B CN 201710685590 A CN201710685590 A CN 201710685590A CN 107334606 B CN107334606 B CN 107334606B
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- magnet
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- joint
- initial position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
Abstract
The invention discloses a rehabilitation robot joint initial position detection device, which comprises a measuring mechanism and a follow-up mechanism; the measuring mechanism is provided with a first contact, a second contact, a conductor, a first magnet and a spring; the spring is arranged in a cavity of the measuring mechanism; one magnetic pole of the second magnet is connected with the end part of the spring, and the other magnetic pole of the second magnet is connected with the conductor; the conductor corresponds to a disconnection part of the first contact and the second contact; the servo mechanism is arranged outside the measuring mechanism and comprises a second magnet, and the magnetic poles of the first magnet are opposite to those of the second magnet. Also discloses a method for measuring the initial position and realizing the emergency stop by adopting the device. The invention has the advantages that: the principle that non-contact magnetic poles attract each other is utilized, the mode that the measuring mechanism is separated from the follow-up mechanism is adopted for detection, the service life is prolonged, and meanwhile, the motion of the joint can not be influenced to the maximum extent.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a device and a method for detecting the initial position of a joint of a rehabilitation robot.
Background
In recent years, with the aggravation of the aging of the population in China and the increase of patients with limb movement dysfunction, the requirements of limb training and joint rehabilitation training are increased, the traditional training mode of medical care personnel can bring labor cost and time waste, compared with the manual rehabilitation training, the rehabilitation robot can bring more effective rehabilitation training under the condition of less labor and time cost, and the requirements of the rehabilitation training robot, particularly a passive rehabilitation training robot, are gradually increased.
In the initial automatic calibration process and the rehabilitation exercise training process of the rehabilitation robot, the initial position determination of each joint is quite important, and the existing scheme for determining the initial position of the joint of the rehabilitation robot mainly comprises the following steps: 1. the initial position is manually aligned, the joint needs to be manually moved to the initial position when the sensor is in trouble and needs to be recalibrated in a product without using the detection device, the error is large, and no special feedback mechanism is arranged in the moving process to inform the control software of reaching the initial position. 2. The detection device using mechanical contact can shorten the service life of the product when the initial position is determined by using the mechanical contact.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the initial position of a joint of a rehabilitation robot in a non-contact mode.
The invention solves the technical problems through the following technical scheme: a rehabilitation robot joint initial position detection device comprises a measuring mechanism and a follow-up mechanism; the measuring mechanism is provided with a first contact (1), a second contact (2), a conductor (3), a first magnet (4) and a spring (5); the spring (5) is arranged in a cavity of the measuring mechanism; one magnetic pole of the second magnet (6) is connected with the end part of the spring (5), and the other magnetic pole of the second magnet is connected with the conductor (3); the conductor (3) corresponds to a disconnected position of the contact I (1) and the contact II (2); the follow-up mechanism is arranged outside the measuring mechanism and comprises a second magnet (6), and the magnetic poles of the first magnet (4) are opposite to the magnetic poles of the second magnet (6).
As an optimized technical scheme, the measuring mechanism is a cylinder. The position that the cylinder structure combines to use makes detection device possible the volume less, can imbed into mechanical inside completely, and the mechanical structure of being convenient for designs and installs, has improved measuring accuracy and precision.
As an optimized technical scheme, the magnetic poles of the first magnet (4) and the second magnet (6) which are opposite to each other are two magnetic poles which attract each other.
As an optimized technical scheme, the magnetic poles of the first magnet (4) and the second magnet (6) which are opposite to each other are two mutually-repulsive magnetic poles.
As an optimized technical scheme, a force sensor is arranged between the measuring mechanism and the follow-up mechanism. The interaction force between the first magnet and the second magnet is detected through a force sensor or other detection sensors, so that the detection accuracy is improved.
As an optimized technical scheme, the method for measuring the initial position by using the device comprises the following steps: the following mechanism is arranged in a joint of the robot and moves along with the joint, and the measuring mechanism is arranged in a part in contact with the joint, so that the first magnet (4) and the second magnet (6) are closest to each other when the joint of the robot is at an initial position; when the joint moves to the initial position, the first magnet (4) and the second magnet (6) are gradually close to each other, the acting force between the first magnet and the second magnet is gradually increased, and the electric conductor (3) is driven to move to disconnect the first contact (1) and the second contact (2); when the joint is far away from the initial position, the first magnet (4) and the second magnet (6) are gradually far away, the acting force between the first magnet and the second magnet is gradually reduced, and the electric conductor (3) moves under the action of the spring (5) to close the first contact (1) and the second contact (2); and judging whether the joint is in the initial position or not by judging the disconnection or the connection of the contact I (1) and the contact II (2).
As an optimized technical scheme, the method for realizing the scram by using the device comprises the following steps: the measuring mechanism is arranged on the rehabilitation robot, and the follow-up mechanism is arranged at the bottom of the measuring mechanism, so that the first magnet (4) and the second magnet (6) are in an attractive or repulsive state; and (3) connecting the second magnet (6) with the human body through an object, and when the rehabilitation robot needs to stop working, pulling the connected object to enable the second magnet (6) to move towards the direction far away from the first magnet (4), so that the first contact (1) and the second contact (2) are disconnected or closed, and an emergency stop signal is sent.
A method for measuring an initial position by using the device comprises the following steps: the following mechanism is arranged in a joint of the robot and moves along with the joint, and the measuring mechanism is arranged in a part in contact with the joint, so that the first magnet (4) and the second magnet (6) are closest to each other when the joint of the robot is at an initial position; when the joint moves to the initial position, the first magnet (4) and the second magnet (6) are gradually close to each other, the acting force between the first magnet and the second magnet is gradually increased, and the electric conductor (3) is driven to move to disconnect the first contact (1) and the second contact (2); when the joint is far away from the initial position, the first magnet (4) and the second magnet (6) are gradually far away, the acting force between the first magnet and the second magnet is gradually reduced, and the electric conductor (3) moves under the action of the spring (5) to close the first contact (1) and the second contact (2); and judging whether the joint is in the initial position or not by judging the disconnection or the connection of the contact I (1) and the contact II (2).
A method for realizing sudden stop by adopting the device comprises the following steps: the measuring mechanism is arranged on the rehabilitation robot, and the follow-up mechanism is arranged at the bottom of the measuring mechanism, so that the first magnet (4) and the second magnet (6) are in an attractive or repulsive state; and (3) connecting the second magnet (6) with the human body through an object, and when the rehabilitation robot needs to stop working, pulling the connected object to enable the second magnet (6) to move towards the direction far away from the first magnet (4), so that the first contact (1) and the second contact (2) are disconnected or closed, and an emergency stop signal is sent.
The invention has the advantages that: determining initial position information of robot joint motion by using a non-contact magnetic pole attraction principle instead of a mechanical contact or other photoelectric modes; the mode that the measuring mechanism is separated from the follow-up mechanism is adopted for detection, so that the service life is prolonged, and the movement of the joint is not influenced to the maximum extent; the transplanting and expanding capability is strong, and the method is suitable for the fields of rehabilitation robots, exoskeleton robots, humanoid robots and the like, and the field of determining various mechanical positions; the required peripheral detection circuit and the internal electrical connection are convenient and simple, the structure is simple, the installation is convenient, the detection method is convenient and fast, the size is small, and the cost is low.
Drawings
Fig. 1 is a schematic structural diagram of a device for detecting an initial position of a joint of a rehabilitation robot according to a first embodiment.
Fig. 2 is a schematic structural view of a rehabilitation robot joint initial position detection device according to a second embodiment.
Detailed Description
Example one
As shown in fig. 1, the rehabilitation robot joint initial position detection device comprises a measuring mechanism and a follow-up mechanism.
The measuring mechanism is a cylinder, and is provided with a contact I1, a contact II 2, a conductor 3, a magnet I4 and a spring 5; the spring 5 is arranged in a cavity of the measuring mechanism; one magnetic pole of the second magnet 6 is connected with the end part of the spring 5, and the other magnetic pole is connected with the conductor 3; the conductive body 3 corresponds to the disconnection point of the first contact 1 and the second contact 2.
The following mechanism is arranged outside the measuring mechanism and comprises a second magnet 6, and the magnetic poles of the first magnet 4 and the second magnet 6 are opposite and are two mutually attracted magnetic poles.
And a force sensor or other detection sensors are arranged between the measuring mechanism and the follow-up mechanism.
A method for measuring an initial position by adopting the device comprises the following steps: the following mechanism is arranged in a joint of the robot and moves along with the joint, the measuring mechanism is arranged in a part which is in contact with the joint, when the joint of the robot is at an initial position, the positions of the first magnet 4 and the second magnet 6 are closest, and the first magnet 4 and the second magnet 6 are positioned on the same side of the conductor 3.
When the joint moves to the initial position, the first magnet 4 and the second magnet 6 are gradually close to each other, the attraction force between the first magnet and the second magnet is gradually increased, and the electric conductor 3 is driven to move to disconnect the first contact 1 and the second contact 2.
When the joint is far away from the initial position, the first magnet 4 and the second magnet 6 are gradually far away, the attraction force between the two is gradually reduced, and the electric conductor 3 moves under the action of the spring 5 to close the first contact 1 and the second contact 2.
And judging whether the joint is in the initial position or not by judging the opening or closing of the contact I1 and the contact II 2.
The method can be applied to the initial position detection of specific joints such as hip-knee joints, knee-ankle joints, shoulder-elbow joints, elbow-wrist joints and the like of rehabilitation robots, exoskeleton robots, humanoid robots and the like and other environments needing to determine specific positions.
A method for realizing sudden stop by adopting the device comprises the following steps: and the measuring mechanism is arranged on the rehabilitation robot, and the follow-up mechanism is arranged at the bottom of the measuring mechanism, so that the first magnet 4 and the second magnet 6 are in an attraction state.
The second magnet 6 is connected with the person through the object, if the second magnet is pulled to the hand of the person through the rope, when the rehabilitation robot needs to stop working, the rope is pulled to enable the second magnet 6 to move towards the direction far away from the first magnet 4.
The contact I1 and the contact II 2 are disconnected in the initial state, the attraction force between the magnet I6 and the magnet II is gradually reduced when the magnet II is gradually far away from the magnet I4, the electric conductor 3 moves under the action of the spring 5 to close the contact I1 and the contact II 2, and an emergency stop signal is sent out through the closing of the contact I1 and the contact II 2.
Example two
As shown in fig. 2, the rehabilitation robot joint initial position detection device comprises a measuring mechanism and a follow-up mechanism.
The measuring mechanism is a cylinder, and is provided with a contact I1, a contact II 2, a conductor 3, a magnet I4 and a spring 5; the spring 5 is arranged in a cavity of the measuring mechanism; one magnetic pole of the second magnet 6 is connected with the end part of the spring 5, and the other magnetic pole of the second magnet is connected with the conductor 3; the conductive body 3 corresponds to the disconnection point of the first contact 1 and the second contact 2.
The following mechanism is arranged outside the measuring mechanism and comprises a second magnet 6, and the magnetic poles of the first magnet 4 and the second magnet 6 are opposite and are two mutually repulsive magnetic poles.
And a force sensor or other detection sensors are arranged between the measuring mechanism and the follow-up mechanism.
A method for measuring an initial position by adopting the device comprises the following steps: the following mechanism is arranged in a joint of the robot and moves along with the joint, the measuring mechanism is arranged in a part which is in contact with the joint, when the joint of the robot is at an initial position, the positions of the first magnet 4 and the second magnet 6 are closest, and the first magnet 4 and the second magnet 6 are positioned at two sides of the conductor 3.
When the joint moves to the initial position, the first magnet 4 and the second magnet 6 are gradually close to each other, the repulsive force between the first magnet and the second magnet is gradually increased, and the electric conductor 3 is driven to move to disconnect the first contact 1 and the second contact 2.
When the joint is far away from the initial position, the first magnet 4 and the second magnet 6 are gradually far away, the repulsive force between the first magnet 4 and the second magnet 6 is gradually reduced, and the electric conductor 3 moves under the action of the spring 5 to close the first contact 1 and the second contact 2.
And judging whether the joint is in the initial position or not by judging the opening or closing of the contact I1 and the contact II 2. The method can be applied to the initial position detection of specific joints such as hip-knee joints, knee-ankle joints, shoulder-elbow joints, elbow-wrist joints and the like of rehabilitation robots, exoskeleton robots, humanoid robots and the like and other environments needing to determine specific positions.
A method for realizing sudden stop by adopting the device comprises the following steps: and the measuring mechanism is arranged on the rehabilitation robot, and the follow-up mechanism is arranged at the bottom of the measuring mechanism, so that the first magnet 4 and the second magnet 6 are in an attraction state.
The second magnet 6 is connected with the person through the object, if the second magnet is pulled to the hand of the person through the rope, when the rehabilitation robot needs to stop working, the rope is pulled to enable the second magnet 6 to move towards the direction far away from the first magnet 4.
The contact I1 and the contact II 2 are disconnected in the initial state, the attraction force between the magnet I6 and the magnet II is gradually reduced when the magnet II is gradually far away from the magnet I4, the electric conductor 3 moves under the action of the spring 5 to close the contact I1 and the contact II 2, and an emergency stop signal is sent out through the closing of the contact I1 and the contact II 2.
The above description is intended to be illustrative of the present invention and should not be taken as limiting the invention, as the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. The utility model provides a recovered robot joint initial position detection device which characterized in that: comprises a measuring mechanism and a follow-up mechanism; the measuring mechanism is provided with a contact I (1), a contact II (2), a conductor (3), a magnet I (4) and a spring (5); the spring (5) is arranged in a cavity of the measuring mechanism; one magnetic pole of the second magnet (6) is connected with the end part of the spring (5), and the other magnetic pole of the second magnet is connected with the conductor (3); the conductor (3) corresponds to a disconnected position of the contact I (1) and the contact II (2); the follow-up mechanism is arranged outside the measuring mechanism and comprises a second magnet (6), and the magnetic poles of the first magnet (4) and the second magnet (6) are opposite;
the steps of using the device to measure the initial position are: the following mechanism is arranged in a joint of the robot and moves along with the joint, and the measuring mechanism is arranged in a part which is in contact with the joint, so that the positions of the first magnet (4) and the second magnet (6) are closest when the joint of the robot is at an initial position; when the joint moves to the initial position, the first magnet (4) and the second magnet (6) gradually approach to each other, the acting force between the first magnet and the second magnet is gradually increased, and the electric conductor (3) is driven to move to disconnect the first contact (1) and the second contact (2); when the joint is far away from the initial position, the first magnet (4) and the second magnet (6) are gradually far away, the acting force between the first magnet and the second magnet is gradually reduced, and the electric conductor (3) moves under the action of the spring (5) to close the first contact (1) and the second contact (2); and judging whether the joint is at the initial position or not by judging the opening or closing of the contact I (1) and the contact II (2).
2. The rehabilitation robot joint initial position detection device according to claim 1, wherein: the measuring mechanism is a cylinder.
3. The rehabilitation robot joint initial position detection device according to claim 1, wherein: the magnetic poles of the first magnet (4) and the second magnet (6) which are opposite are two magnetic poles which are mutually attracted.
4. The rehabilitation robot joint initial position detection device according to claim 1, wherein: the magnetic poles of the first magnet (4) and the second magnet (6) which are opposite to each other are two mutually exclusive magnetic poles.
5. The rehabilitation robot joint initial position detection device according to claim 1, wherein: and a force sensor is arranged between the measuring mechanism and the follow-up mechanism.
6. The rehabilitation robot joint initial position detection device according to any one of claims 1-5, wherein the step of using the device to implement the emergency stop is: arranging the measuring mechanism on a rehabilitation robot, and arranging the follow-up mechanism at the bottom of the measuring mechanism to enable the first magnet (4) and the second magnet (6) to be in an attractive or repulsive state; and (3) connecting the second magnet (6) with the human body through an object, and when the rehabilitation robot needs to stop working, pulling the connected object to enable the second magnet (6) to move towards the direction far away from the first magnet (4), so that the first contact (1) and the second contact (2) are disconnected or closed, and an emergency stop signal is sent.
7. A method of measuring an initial position using the rehabilitation robot joint initial position detecting device according to any one of claims 1 to 5, comprising the steps of: the following mechanism is arranged in a joint of the robot and moves along with the joint, and the measuring mechanism is arranged in a part which is in contact with the joint, so that the positions of the first magnet (4) and the second magnet (6) are closest when the joint of the robot is at an initial position; when the joint moves to the initial position, the first magnet (4) and the second magnet (6) gradually approach to each other, the acting force between the first magnet and the second magnet is gradually increased, and the electric conductor (3) is driven to move to disconnect the first contact (1) and the second contact (2); when the joint is far away from the initial position, the first magnet (4) and the second magnet (6) are gradually far away, the acting force between the first magnet and the second magnet is gradually reduced, and the electric conductor (3) moves under the action of the spring (5) to close the first contact (1) and the second contact (2); and judging whether the joint is at the initial position or not by judging the opening or closing of the contact I (1) and the contact II (2).
8. A method for realizing an emergency stop by using the rehabilitation robot joint initial position detection device according to any one of claims 1-5, comprising the steps of: the measuring mechanism is arranged on the rehabilitation robot, and the follow-up mechanism is arranged at the bottom of the measuring mechanism, so that the first magnet (4) and the second magnet (6) are in an attractive or repulsive state; and (3) connecting the second magnet (6) with the human body through an object, and when the rehabilitation robot needs to stop working, pulling the connected object to enable the second magnet (6) to move towards the direction far away from the first magnet (4), so that the first contact (1) and the second contact (2) are disconnected or closed, and an emergency stop signal is sent.
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| CN201710685590.XA CN107334606B (en) | 2017-08-11 | 2017-08-11 | Rehabilitation robot joint initial position detection device and method |
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| CN201710685590.XA CN107334606B (en) | 2017-08-11 | 2017-08-11 | Rehabilitation robot joint initial position detection device and method |
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| CN107334606B true CN107334606B (en) | 2023-03-31 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN204487591U (en) * | 2014-12-18 | 2015-07-22 | 库卡系统有限责任公司 | There is the connector of contactless energy transmission and data transmission |
| CN106974795A (en) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | A kind of drive lacking upper limb rehabilitation robot control system |
| CN208641193U (en) * | 2017-08-11 | 2019-03-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of healing robot joint initial position detection device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2834120B1 (en) * | 2001-12-21 | 2004-02-06 | Schneider Electric Ind Sa | METHOD FOR DETERMINING THE WEAR OF CONTACTS OF A SWITCHING APPARATUS |
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- 2017-08-11 CN CN201710685590.XA patent/CN107334606B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN204487591U (en) * | 2014-12-18 | 2015-07-22 | 库卡系统有限责任公司 | There is the connector of contactless energy transmission and data transmission |
| CN106974795A (en) * | 2017-03-24 | 2017-07-25 | 华中科技大学 | A kind of drive lacking upper limb rehabilitation robot control system |
| CN208641193U (en) * | 2017-08-11 | 2019-03-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of healing robot joint initial position detection device |
Non-Patent Citations (1)
| Title |
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| 边辉;汪琦;刘晓;赵铁石.一种生物融合式踝关节康复机器人的设计.中国康复医学杂志.2013,(07),全文. * |
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Effective date of registration: 20200911 Address after: 230000 4th floor, building 3, block C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Hefei Harbin gonglixun Intelligent Technology Co.,Ltd. Address before: Room 6012, Haiheng building, No.6 Cuiwei Road, Hefei Economic and Technological Development Zone, Hefei City, Anhui Province Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |
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