CN107589684A - A kind of lower limb walking recovery exercising robot control system - Google Patents
A kind of lower limb walking recovery exercising robot control system Download PDFInfo
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- CN107589684A CN107589684A CN201610536151.8A CN201610536151A CN107589684A CN 107589684 A CN107589684 A CN 107589684A CN 201610536151 A CN201610536151 A CN 201610536151A CN 107589684 A CN107589684 A CN 107589684A
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- lower limb
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- pwm
- recovery exercising
- exercising robot
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Abstract
A kind of lower limb walking recovery exercising robot control system, employ the closed loop system of upper and lower machine two-step evolution structure.Lower limb walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mode using loop, and each joint cylinder needs 4 high-speed switch electromagnetic valves to regulate and control its displacement, and then requires that single-chip microcomputer can produce at least four PWM outputs.The control system can realize effective control to robot-like's stand leg portion oint motion trajectory, how to carry out man-machine harmony control for further investigation in next step, improve rehabilitation training effect and lay a good foundation.
Description
Art
The present invention relates to a kind of lower limb walking recovery exercising robot control system, suitable for mechanical field.
Background technology
Modern society is due to the reason such as spinal injury (Spinal Cord Injury, SCI), brain soldier, contingency injury
The nerve damage of human body is caused, and then triggers human motion dysfunction to turn into a kind of common disease.At present, loss of weight gait
Training is one of effective ways that the treatment of lower limb hemiplegia patient generally uses, and this rehabilitation mode is to apoplexy and incomplete ridge
Post damage etc. has the effect of special, and its rehabilitation efficacy has obtained the generally approval of lot of domestic and foreign medical expert.
By most of clinical hospitals use completed correctly under the guidance of specialty on rehabilitation Physical Therapist's teach-by-doing at present
Walking step state.The effect of this traditional loss of weight gait training depends greatly on the experience and level of Physical Therapist,
And there is the shortcomings of efficiency is low and working strength is big, training parameter uncertainty.Constrain rehabilitation training efficiency raising and
The improvement of method.For the deficiency of existing loss of weight rehabilitation training, robot technology, which is incorporated into lower limb rehabilitation training, has weight
The realistic meaning wanted.
The content of the invention
The present invention proposes a kind of lower limb walking recovery exercising robot control system, and the control system can be realized to machine
Effective control of device proper manners stand leg portion oint motion trajectory, man-machine harmony control how is carried out for further investigation in next step, is improved
Rehabilitation training effect is laid a good foundation.
The technical solution adopted in the present invention is：
The control system of the lower limb walking recovery exercising robot employs the closed loop of upper and lower machine two-step evolution structure
System.Lower limb walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mode, Mei Geguan using loop
Displacements of cylinders needs 4 high-speed switch electromagnetic valves to regulate and control its displacement, and then requires that single-chip microcomputer can produce at least four PWM outputs.
The master controller of the control system employs C8051F040 single-chip microcomputers, and the single-chip microcomputer has the characteristics that：Resource
It is abundant, it is possible to provide 6 PWM (being more than 4) and 1 tunnel CAN interface, and the speed of service is fast, supports compilation and C51 programmings, control
System is flexible, cheap.In the lower computer control system based on C8051F040 single-chip microcomputers, CAN make use of to carry out each
Interactive communication between controller, employ FT245 RL parallel ports and turn USB high-speed communications chip and host computer (Lab-VIEW programs
Design) communication.The walk help leg mechanical structure of foundation robot simultaneously facilitates program of lower computer to design, and the both legs of robot walk help leg are total to
There are 4 major joints (knee joint and marrow joint) to be controlled respectively with 4 independent controllers.Simultaneously because CAN can not be straight
Connect and communicated with PC, USB serial data stream is flowed to as server, transfer CAN data using 1 controller.
The whole gait rehabilitation training robot control system is the monolithic using C8051F040 microprocessors as control core
Control panel mainly includes following module：JTAG modules, A/D sampling modules, PWM module, usb communication module, CAN communication mould
Block, expansion module.Wherein JTAG modules download to control panel for host computer and are used, and A/D sampling modules are mainly to machine
The sensor signal of device people and the movement locus collection storage of robot, PWM module are amplified pulse-width modulation PWM signal
Drive high-speed switch electromagnetic valve, serial communication module and CAN is realized between master board and PC and each control
The transmission of control information, data between plate, expansion module are standby as the Function Extension of system.
The robot uses air pressure as power source, the control of speed-sensitive switch battery valve for this pneumatic power system
Particularly important, PWM (Pulse Width Modulated) is pulsewidth modulation, and its output square wave can change dutycycle.
Programmable counter array (PCA) in C8051F040 provides enhanced counter function, and it is fixed that PCAO, which provides 1 16,
When/counter and 6 seizure/comparison modules, each module have independent I/O mouths.PCAO mode of operation can be set as 8
Position or 16 PWM output modes.Its dutycycle is changed with the change of the corresponding counters of PCAO.
The PWM output par, cs are the keys of circuit design success, and the circuit is the major part of whole system, it
For dynamic solid-state relay of waking up, and then the dutycycle of control system high speed switch valve walks to adjust the walking of robot respectively
State.The main factor for considering the following aspects in partial circuit design：Electric current is excessive, current fluctuation and electromagnetic interference.
Same phase device 74HC07 is employed to be effectively isolated as signal amplification chip and photoelectric isolated chip TLP521, and in PWM
An in parallel resistance absorbs self inductance current at output port.
The lower limb walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mould using loop
Formula.During system control operation, the time cycle according to one gait of walking of normal person and the actual health in view of patient
Multiple situation, it is 5s to produce the cycle by timer internal by the microcontroller based on C8051F040 single-chip microcomputers, and one is adopted every 100ms
The sampling time of individual sampling point interrupts, and whole program is that the pattern performed according to loop cycle order is controlled.In the every of system
In the individual sampling time, slave computer C8051 F040 microcontrollers are by receiving the mould of host computer (LabVIEW programmings)-PC
Formula control command enters corresponding program controling module, while the data message of sensor is converted into the corresponding position of robot
Information, integrate the on off state of high-speed switch electromagnetic valve and obtain the control in each joint with based on FUZZY ALGORITHMS FOR CONTROL computing
The dutycycle of amount processed, i.e. PWM, then realize the control to cylinder by drive amplification circuit module.
The beneficial effects of the invention are as follows：The control system can be realized to be had to robot-like's stand leg portion oint motion trajectory
Effect control.Man-machine harmony control how is carried out to further investigate in next step, rehabilitation training effect is improved and lays a good foundation.
Brief description of the drawings
Fig. 1 is the simple joint of the present invention（Cylinder）Drive control schematic diagram.
Fig. 2 is the general control scheme structure chart of the lower limb walking rehabilitation training robot system of the present invention.
Fig. 3 is the pwm circuit schematic diagram of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, the control system of lower limb walking recovery exercising robot employs the complete of upper and lower machine two-step evolution structure
Closed-loop system.Lower limb walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mode using loop,
Each joint cylinder needs 4 high-speed switch electromagnetic valves to regulate and control its displacement, and then requires that single-chip microcomputer can produce at least four
PWM is exported.
Such as Fig. 2, the master controller of control system employs C8051F040 single-chip microcomputers, and the single-chip microcomputer has the characteristics that：Money
Enrich in source, it is possible to provide 6 PWM (being more than 4) and 1 tunnel CAN interface, and the speed of service is fast, supports compilation and C51 programmings,
Control is flexible, cheap.In the lower computer control system based on C8051F040 single-chip microcomputers, CAN make use of to carry out each
Interactive communication between individual controller, employ FT245 RL parallel ports and turn USB high-speed communications chip and host computer (Lab-VIEW journeys
Sequence designs) communication.The walk help leg mechanical structure of foundation robot simultaneously facilitates program of lower computer to design, the both legs of robot walk help leg
4 major joints (knee joint and marrow joint) are shared to be controlled with 4 independent controllers respectively.Simultaneously because CAN can not
Directly communicated with PC, USB serial data stream is flowed to as server, transfer CAN data using 1 controller.
Whole gait rehabilitation training robot control system is the monolithic control using C8051F040 microprocessors as control core
Plate mainly includes following module：JTAG modules, A/D sampling modules, PWM module, usb communication module, CAN,
Expansion module.Wherein JTAG modules download to control panel for host computer and are used, and A/D sampling modules are mainly to robot
Sensor signal and robot movement locus collection storage, pulse-width modulation PWM signal is amplified driving by PWM module
High-speed switch electromagnetic valve, serial communication module and CAN realize between master board and PC and each control panel it
Between control information, data transmission, expansion module is standby as the Function Extension of system.
Such as Fig. 3, robot uses air pressure as power source, the control of speed-sensitive switch battery valve for this pneumatic power system
Make design that is particularly important, therefore introducing PWM module in control panel herein.PWM ( Pulse Width Modulated )
It can change dutycycle for pulsewidth modulation, and its output square wave.Programmable counter array (PCA) in C8051F040 provides
Enhanced counter function, PCAO provides 1 16 to be had for Timer/Counter and 6 seizure/comparison modules, each module
Independent I/O mouths.PCAO mode of operation can be set as 8 or 16 PWM output modes.Its dutycycle is all with PCAO
The change of corresponding counter and change.
PWM output par, cs are the keys of circuit design success, and the circuit is the major part of whole system, and it is used for
Wake up dynamic solid-state relay, and then the dutycycle of control system high speed switch valve adjusts the walking step state of robot respectively.
The main factor for considering the following aspects in partial circuit design：Electric current is excessive, current fluctuation and electromagnetic interference.Employ
It is effectively isolated with phase device 74HC07 as signal amplification chip and photoelectric isolated chip TLP521, and in PWM output ends
Mouthful place's one resistance of parallel connection absorbs self inductance current.
Lower limb walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mode using loop.
During system control operation, the time cycle according to one gait of walking of normal person and the actual rehabilitation feelings in view of patient
Condition, by the microcontroller based on C8051F040 single-chip microcomputers by timer internal produce the cycle be 5s, adopt a sample every 100ms
The sampling time of point interrupts, and whole program is that the pattern performed according to loop cycle order is controlled.Each in system adopts
In the sample time, slave computer C8051 F040 microcontrollers are by receiving the pattern control of host computer (LabVIEW programmings)-PC
System order enters corresponding program controling module, while the data message of sensor is converted into the corresponding position of robot and believed
Breath, integrate the on off state of high-speed switch electromagnetic valve and obtain the control in each joint with based on FUZZY ALGORITHMS FOR CONTROL computing
Amount, i.e. PWM dutycycle, then realize the control to cylinder by drive amplification circuit module.
Claims (6)
- The recovery exercising robot control system 1. a kind of lower limb are walked, it is characterized in that：The lower limb walking recovery exercising robot Control system employ the closed loop system of upper and lower machine two-step evolution structure, lower limb walking recovery exercising robot driving The PWM of each joint motions cylinder uses full-bridge mode using loop, and each joint cylinder needs 4 high-speed switch electromagnetic valves Regulate and control its displacement, and then require that single-chip microcomputer can produce at least four PWM outputs.
- 2. a kind of lower limb walking recovery exercising robot control system according to claim 1, it is characterized in that：The control The master controller of system employs C8051F040 single-chip microcomputers, and the mcu resource enriches, it is possible to provide 6 PWM (being more than 4) and 1 Road CAN interface, and the speed of service is fast, supports compilation and C51 programmings, control is flexible, cheap.
- 3. a kind of lower limb walking recovery exercising robot control system according to claim 1, it is characterized in that：It is described whole Gait rehabilitation training robot control system is using C8051F040 microprocessors as control core, and monolithic control panel mainly includes JTAG modules, A/D sampling modules, PWM module, usb communication module, CAN, expansion module.
- 4. a kind of lower limb walking recovery exercising robot control system according to claim 1, it is characterized in that：The machine Device people is using air pressure as power source, and the control of speed-sensitive switch battery valve is particularly important for this pneumatic power system, PWM (Pulse Width Modulated) is pulsewidth modulation, and its output square wave can change dutycycle.
- 5. a kind of lower limb walking recovery exercising robot control system according to claim 1, it is characterized in that：The PWM Output par, c is the key of circuit design success, and the circuit is the major part of whole system, it be used for waking up dynamic solid-state after Electrical equipment, and then the dutycycle of control system high speed switch valve adjusts the walking step state of robot respectively.
- 6. a kind of lower limb walking recovery exercising robot control system according to claim 1, it is characterized in that：The lower limb Walking recovery exercising robot drives the PWM of each joint motions cylinder to use full-bridge mode using loop, controls and transports in system Between the departure date, the time cycle according to one gait of walking of normal person and the actual rehabilitation situation in view of patient, by based on It is 5s that the microcontroller of C8051F040 single-chip microcomputers produces the cycle by timer internal, when 100ms adopts the sampling of sampling point Between interrupt, whole program be according to loop cycle order perform pattern be controlled.
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| CN201610536151.8A CN107589684A (en) | 2016-07-10 | 2016-07-10 | A kind of lower limb walking recovery exercising robot control system |
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| CN201610536151.8A CN107589684A (en) | 2016-07-10 | 2016-07-10 | A kind of lower limb walking recovery exercising robot control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309687A (en) * | 2018-01-22 | 2018-07-24 | 重庆大学 | A kind of closed-loop control system of healing robot |
| CN108347079A (en) * | 2018-03-19 | 2018-07-31 | 北京钢铁侠科技有限公司 | Power-supply controller of electric and robot with the power-supply controller of electric |
-
2016
- 2016-07-10 CN CN201610536151.8A patent/CN107589684A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309687A (en) * | 2018-01-22 | 2018-07-24 | 重庆大学 | A kind of closed-loop control system of healing robot |
| CN108347079A (en) * | 2018-03-19 | 2018-07-31 | 北京钢铁侠科技有限公司 | Power-supply controller of electric and robot with the power-supply controller of electric |
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Application publication date: 20180116 |