CN109910057A - The crash tests method and system of healing robot - Google Patents
The crash tests method and system of healing robot Download PDFInfo
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- CN109910057A CN109910057A CN201910223449.7A CN201910223449A CN109910057A CN 109910057 A CN109910057 A CN 109910057A CN 201910223449 A CN201910223449 A CN 201910223449A CN 109910057 A CN109910057 A CN 109910057A
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Abstract
The invention discloses a kind of crash tests method and system of healing robot, the crash tests system includes presetting module, sensing equipment, test platform and control equipment；Presetting module is used to preset the maximum movement speed of healing robot and the maximal impact of healing robot and test platform；Control equipment is collided for controlling healing robot with maximum movement speed and test platform；Sensing equipment is used to acquire actual collision power when healing robot and test platform collision；Control equipment is for judging whether actual collision power is more than or equal to maximal impact, if so, the maximum movement speed of healing robot is turned down, until actual collision power is less than maximal impact.After crash tests of the invention can guarantee healing robot investment actual motion, it will not be caused harm to the human body when being collided with human body, to realize the secure interactive between rehabilitation equipment and human body, improve the collision protection performance of existing rehabilitation medicine equipment.
Description
Technical field
The present invention relates to healing robot technical field, in particular to the crash tests method of a kind of healing robot and it is
System.
Background technique
Healing robot as a kind of rehabilitation medicine equipment, by auxiliary patient carry out scientifically, effectively rehabilitation training,
To realize patient motion functional rehabilitation.For a long time, how to pacify in robot professional standard about between machine and people
Interactive content lacks always entirely, until the formulation of ISO15066 (cooperation Robot Design standard), robot specifications define
" crash standards " in industry, core are that the pain value that human body is subject to can be controlled when robot and people collide
Or guarantee human body preserve from be only it is safe.
Crash tests device is applied to the fields such as vehicle safety test more at present, and is directed to object drop impact
Experiment generally carries out sampling analysis to corresponding acceleration signal by data acquisition module in the prior art, will accelerate degree
It is compared according to the acceleration rate threshold in default test scene, to screen effective acceleration during measured target drop impact
Degree evidence, and common collision principle generally generates acceleration by pressure gas containers, and through piston or push rod to be applied to
Accelerated object, it is final to realize object collision, and then complete corresponding security test；But above-mentioned crash tests mode
Only for certain application scenarios, it is not suitable for the crash tests to rehabilitation medicine equipment.
Summary of the invention
The technical problem to be solved by the present invention is to the crash tests in the prior art without being directed to rehabilitation medicine equipment, purposes
It is to provide a kind of crash tests method and system of healing robot.
The present invention is to solve above-mentioned technical problem by following technical proposals:
The present invention provides a kind of crash tests system of healing robot, the crash tests system include presetting module,
Sensing equipment, test platform and control equipment；
The presetting module is used to preset the maximum movement speed of healing robot, is also used to preset the healing robot
With the maximal impact between the test platform；
Wherein, the maximum movement speed is corresponding with the maximal impact；
In crash tests, the control equipment is for controlling the healing robot with the maximum movement speed and institute
State test platform collision；
The sensing equipment is used to acquire the actual collision generated when the healing robot and test platform collision
Power, and the actual collision power is sent to the control equipment；
The control equipment for judging whether the actual collision power is more than or equal to the maximal impact, if
It is then to turn down the maximum movement speed of the healing robot, until the actual collision power is less than the maximal impact.
Preferably, the healing robot includes pelvic support mechanism；
The presetting module presets the maximum movement speed of healing robot, is also used to preset the healing robot and institute
The corresponding calculation formula of maximal impact stated between test platform is as follows:
Wherein, VmaxIndicate the maximum movement speed, FmaxIndicate that the maximal impact, μ table reduced mass, k indicate
The effective elasticity coefficient of human body different parts, mHIndicate the effective mass of human body, mRIndicate effective matter of the pelvic support mechanism
Amount.
Preferably, the presetting module includes pain threshold acquiring unit and default unit；
The pain threshold acquiring unit is used to obtain the corresponding pain threshold of different parts of human body；
The default unit is used to choose the minimum value in the pain threshold, and is used as institute for twice of the minimum value
State the maximal impact between healing robot and the test platform.
Preferably, the sensing equipment is set on the test platform, the healing robot passes through the sensing equipment
It collides with the test platform；
The sensing equipment includes at least one pressure sensor.
Preferably, the sensing equipment includes three pressure sensors, and three pressure sensors are in triangle
Shape structure arrangement.
Preferably, the sensing equipment includes acquisition unit and actual collision power determination unit；
The acquisition unit is used to acquire the rehabilitation that three pressure sensors in the sensing equipment obtain
The first pressure value that robot and the test platform generate when colliding；
The actual collision power determination unit is used to choose the maximum value in three first pressure values as the reality
Border impact force；Or, the actual collision power determination unit is used to obtain maximum value in three first pressure values, and into
After the test of row multiple impacts, judge whether crash tests number reaches given threshold, if reaching, calculates each crash tests
The average value for the maximum value that number obtains, and using the average value as the actual collision power.
The present invention also provides a kind of crash tests method of healing robot, the crash tests method utilizes above-mentioned health
The crash tests system of multiple robot realizes that the crash tests method includes:
The maximum movement speed of default healing robot, and preset between the healing robot and the test platform
Maximal impact；
Wherein, the maximum movement speed is corresponding with the maximal impact；
In crash tests, controls the healing robot and collided with the maximum movement speed and the test platform；
The actual collision generated when acquiring the healing robot and test platform collision by the sensing equipment
Power, and the actual collision power is sent to the control equipment；
Judge whether the actual collision power is more than or equal to the maximal impact by the control equipment, if
It is then to turn down the maximum movement speed of the healing robot, until the actual collision power is less than the maximal impact.
Preferably, the healing robot includes pelvic support mechanism；
The maximum movement speed of the default healing robot, and preset the healing robot and the test platform
Between maximal impact the step of corresponding calculation formula it is as follows:
Wherein, VmaxIndicate the maximum movement speed, FmaxIndicate that the maximal impact, μ table reduced mass, k indicate
The effective elasticity coefficient of human body different parts, mHIndicate the effective mass of human body, mRIndicate effective matter of the pelvic support mechanism
Amount.
Preferably, the step of maximal impact preset between the healing robot and test platform packet
It includes:
Obtain the corresponding pain threshold of different parts of human body；
The minimum value in the pain threshold is chosen, and is used as the healing robot and institute for twice of the minimum value
State the maximal impact between test platform.
Preferably, the sensing equipment is set on the test platform, the healing robot passes through the sensing equipment
It collides with the test platform；
The sensing equipment includes at least one pressure sensor.
Preferably, the sensing equipment includes three pressure sensors, and three pressure sensors are in triangle
Shape structure arrangement.
Preferably, described acquired when the healing robot is collided with the test platform by the sensing equipment generates
Actual collision power the step of include:
Acquire the healing robot and the test that three pressure sensors in the sensing equipment obtain
The first pressure value that platform generates when colliding；
The maximum value in three first pressure values is chosen as the actual collision power；Or, obtaining three described the
Maximum value in one pressure value, and after carrying out multiple impacts test, judge whether crash tests number reaches given threshold, if
Reach, then calculates the average value for the maximum value that each crash tests number obtains, and using the average value as the reality
Border impact force.
The positive effect of the present invention is that:
In the present invention, according to the pain ability to bear of human body different parts, the maximum movement speed of healing robot is preset
And the maximal impact between healing robot and test platform, if in crash tests healing robot and test platform it
Between actual collision power be greater than the maximal impact, then the maximal impact is turned down, to guarantee the practical fortune of healing robot investment
After row, it will not be caused harm to the human body when being collided with human body, so that the secure interactive between rehabilitation equipment and human body is realized,
Improve the collision protection performance of existing rehabilitation medicine equipment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the crash tests system of the healing robot of the embodiment of the present invention 1.
Fig. 2 is the first structure diagram of the crash tests system of the healing robot of the embodiment of the present invention 2.
Fig. 3 is the second structural schematic diagram of the crash tests system of the healing robot of the embodiment of the present invention 2.
Fig. 4 is the structural schematic diagram of the sensing equipment in the crash tests system of the healing robot of the embodiment of the present invention 2.
Fig. 5 is the flow diagram of the crash tests method of the healing robot of the embodiment of the present invention 3.
Fig. 6 is the flow diagram of the crash tests method of the healing robot of the embodiment of the present invention 4.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
As shown in Figure 1, the crash tests system of the healing robot of the present embodiment include presetting module 1, sensing equipment 2,
Test platform 3 and control equipment 4.
Presetting module 1 is used to preset the maximum movement speed of healing robot, is also used to default healing robot and test
Maximal impact between platform；
Wherein, when improper collision process occurs for healing robot and human body, pain index and rehabilitation suffered by human body
The maximum permission speed of robot is positively correlated, i.e. healing robot movement velocity is higher, occur when improper collision human body by
The injury arrived is bigger.
Herein, maximal impact, and then default healing robot are preset according to the pain ability to bear of human body different parts
Corresponding maximum movement speed, then further adjusted by following crash tests processes.
In crash tests, control equipment 4 is collided for controlling healing robot with maximum movement speed and test platform；
Wherein, when instantaneous collision occurs for healing robot and test platform, control equipment 4 is sent to healing robot to be stopped
Movement instruction is tightly stopped with controlling healing robot.
Sensing equipment 2 is used to acquire the actual collision power generated when healing robot and the collision of test platform 3, and will be practical
Impact force is sent to control equipment 4；
Wherein, it is building test platform, after programming test program, is passing through EtherCAT (Ethernet auto-control skill
Art) communication modes read sensing equipment 2 obtain sensing data.
Control equipment 4 is for judging whether actual collision power is more than or equal to maximal impact, if so, turning down rehabilitation
The maximum movement speed of robot, until actual collision power is less than maximal impact.
In the present embodiment, according to the pain ability to bear of human body different parts, the largest motion speed of healing robot is preset
Degree and the maximal impact between healing robot and test platform, if healing robot and test platform in crash tests
Between actual collision power be greater than the maximal impact, then the maximal impact is turned down, to guarantee that healing robot investment is practical
It after operation, will not be caused harm to the human body when being collided with human body, so that the safety realized between rehabilitation equipment and human body is handed over
Mutually, the collision protection performance of existing rehabilitation medicine equipment is improved.
Embodiment 2
As shown in Fig. 2, the crash tests system of the healing robot of the present embodiment is the further improvement to embodiment 1,
Specifically:
After the completion of crash tests system building, before crash tests, each freedom degree of pelvis supporting mechanism is locked, according to
Whether secondary test tightly stops signal output, the communication of pressure sensor in sensing equipment normal.Determining above situation just
Chang Hou is sent to pelvic support mechanism by control equipment 4 and is instructed, and control pelvic support mechanism is along the vertical direction under slow low speed
Test platform is fallen and touches, by observing whether pelvic support mechanism tightly stops, preliminary identification crash tests system reliability.
Presetting module 1 includes pain threshold acquiring unit 11 and default unit 12.
Pain threshold acquiring unit 11 is used to obtain the corresponding pain threshold of different parts of human body；
Specifically, the different parts for obtaining human body through a large number of experiments correspond to pain threshold, and by these pain thresholds
It is input in pain threshold acquiring unit.
Default unit 12 is used to choose the minimum value in pain threshold, and by twice of minimum value as healing robot with
Maximal impact between test platform.
Healing robot includes pelvic support mechanism, also may include other rehabilitation medical mechanisms, the collision realized
Test process is similar with the crash tests process of pelvic support mechanism, is not described in more detail here.
Wherein, presetting module 1 presets the maximum movement speed of healing robot, is also used to default healing robot and test
The corresponding calculation formula of maximal impact between platform is as follows:
Wherein, VmaxIndicate maximum movement speed, FmaxIndicate that maximal impact, μ table reduced mass, k indicate that human body is different
The effective elasticity coefficient at position, mHIndicate the effective mass of human body, mRIndicate the effective mass of pelvic support mechanism.
Specifically, the corresponding pain threshold of the different parts of human body can be defined according to the mode of power, pressure or energy
Or reflection, and the pain degree that the different parts of human body are able to bear is different.
Pain test is carried out respectively in 26 regions of the physical feeling of several experimental subjects (such as 100 adults),
The result shows that it is back and shoulder, the pain that can be born under quasi-static contact situation that human body, which bears the highest position of pain degree,
Pain threshold is 210N, and it is face that human body, which bears the minimum position of pain degree, the pain that can be born under quasi-static contact situation
Pain threshold is 65N, the corresponding pain threshold 65N of face is chosen in the present embodiment, and face is able to bear in instant contact
Maximum pain threshold 130N as maximal impact.
As shown in figure 3, sensing equipment 2 be set to test platform 3 on, healing robot (being indicated with A) by sensing equipment 2 with
Test platform 3 collides.
By rehabilitation machine and maximum height is moved to, then by control equipment 4 for controlling healing robot from maximum height
Degree is with maximum movement speed and test platform collision (being impacted under extreme sport state).
Wherein, sensing equipment 2 includes at least one pressure sensor.
Preferably, as shown in figure 4, sensing equipment includes three pressure sensors (being indicated with a), and three pressure sensors
Structure arrangement triangular in shape.
Specifically, three force snesors are using the fixed clamping of triangle rigid structure, three force snesor cloth triangular in shape
Office is formed by the actual loading that power detection zone imitates pelvic support mechanism as far as possible and human body not when contacting occurs for human body
Region, such structure design ensure that the crash tests system of the present embodiment has high stability, actually bear extraneous punching
It hits or is not susceptible to turn on one's side when colliding, make it possible to accurately acquire actual collision power, while can using triangular layout mode
It is effectively reduced the usage quantity of force snesor, reduces cost.
Sensing equipment 2 includes acquisition unit 21 and actual collision power determination unit 22；
Acquisition unit 21 is used to acquire the healing robot that three pressure sensors in sensing equipment obtain and test is flat
The first pressure value that platform generates when colliding；
Actual collision power determination unit 22 is used to choose the maximum value in three first pressure values as actual collision power；
Or, actual collision power determination unit 22 is used to obtain the maximum value in three first pressure values, and carrying out multiple impacts test
Afterwards, judge whether crash tests number reaches given threshold, if reaching, calculate the maximum value that each crash tests number obtains
Average value, and using average value as actual collision power.
Wherein, the corresponding given threshold of crash tests number is 20 times, can be reset according to the actual situation.
In the present embodiment, according to the pain ability to bear of human body different parts, the largest motion speed of healing robot is preset
Degree and the maximal impact between healing robot and test platform, if healing robot and test platform in crash tests
Between actual collision power be greater than the maximal impact, then the maximal impact is turned down, to guarantee that healing robot investment is practical
It after operation, will not be caused harm to the human body when being collided with human body, so that the safety realized between rehabilitation equipment and human body is handed over
Mutually, the collision protection performance of existing rehabilitation medicine equipment is improved；Meanwhile it being obtained using the guarantee of the sensing equipment of triangular layout
Take the accuracy of actual collision power, and the crash tests system in the present embodiment have it is compact-sized, easily build, reliability height etc.
Advantage, and have certain specific aim and versatility.
Embodiment 3
As shown in figure 5, the crash tests method of the healing robot of the present embodiment utilizes the healing robot in embodiment 1
Crash tests system realize that crash tests method includes:
The maximum movement speed of S101, default healing robot；
Maximal impact between S102, default healing robot and test platform；
Wherein, when improper collision process occurs for healing robot and human body, pain index and rehabilitation suffered by human body
The maximum permission speed of robot is positively correlated, i.e. healing robot movement velocity is higher, occur when improper collision human body by
The injury arrived is bigger.
Herein, maximal impact, and then default healing robot are preset according to the pain ability to bear of human body different parts
Corresponding maximum movement speed, then further adjusted by following crash tests processes.
S103, in crash tests, control healing robot and collided with maximum movement speed and test platform；
Wherein, when instantaneous collision occurs for healing robot and test platform, control equipment is sent to healing robot to be stopped
Movement instruction is tightly stopped with controlling healing robot.
S104, the actual collision power generated when healing robot and test platform collision is acquired by sensing equipment, and will
Actual collision power is sent to control equipment；
Wherein, it is building test platform, after programming test program, is passing through EtherCAT communication modes and read sensing equipment
The sensing data of acquisition.
S105, judge whether actual collision power is more than or equal to maximal impact by controlling equipment, if so, turning down
The maximum movement speed of healing robot, until actual collision power is less than maximal impact.
In the present embodiment, according to the pain ability to bear of human body different parts, the largest motion speed of healing robot is preset
Degree and the maximal impact between healing robot and test platform, if healing robot and test platform in crash tests
Between actual collision power be greater than the maximal impact, then the maximal impact is turned down, to guarantee that healing robot investment is practical
It after operation, will not be caused harm to the human body when being collided with human body, so that the safety realized between rehabilitation equipment and human body is handed over
Mutually, the collision protection performance of existing rehabilitation medicine equipment is improved.
Embodiment 4
As shown in fig. 6, the crash tests method of the healing robot of the present embodiment is the further improvement to embodiment 3,
Specifically:
After the completion of crash tests system building, before crash tests, each freedom degree of pelvis supporting mechanism is locked, according to
Whether secondary test tightly stops signal output, the communication of pressure sensor in sensing equipment normal.Determining above situation just
Chang Hou is sent to pelvic support mechanism by control equipment and is instructed, and control pelvic support mechanism is along the vertical direction under slow low speed
Test platform is fallen and touches, by observing whether pelvic support mechanism tightly stops, preliminary identification crash tests system reliability.
Step S102 includes:
S1021, the corresponding pain threshold of different parts for obtaining human body；
Minimum value in S1022, selection pain threshold, and healing robot and test platform are used as by twice of minimum value
Between maximal impact.
Healing robot includes pelvic support mechanism, also may include other rehabilitation medical mechanisms, the collision realized
Test process is similar with the crash tests process of pelvic support mechanism, is not described in more detail here.
Maximum between the maximum movement speed and default healing robot and test platform of default healing robot is touched
The corresponding calculation formula of the step of hitting power is as follows:
Wherein, VmaxIndicate maximum movement speed, FmaxIndicate that maximal impact, μ table reduced mass, k indicate that human body is different
The effective elasticity coefficient at position, mHIndicate the effective mass of human body, mRIndicate the effective mass of pelvic support mechanism.
Specifically, the corresponding pain threshold of the different parts of human body can be defined according to the mode of power, pressure or energy
Or reflection, and the pain degree that the different parts of human body are able to bear is different.
Pain test is carried out respectively in 26 regions of the physical feeling of several experimental subjects (such as 100 adults),
The result shows that it is back and shoulder, the pain that can be born under quasi-static contact situation that human body, which bears the highest position of pain degree,
Pain threshold is 210N, and it is face that human body, which bears the minimum position of pain degree, the pain that can be born under quasi-static contact situation
Pain threshold is 65N, the corresponding pain threshold 65N of face is chosen in the present embodiment, and face is able to bear in instant contact
Maximum pain threshold 130N as maximal impact.
In addition, healing robot is flat by sensing equipment and test as shown in figure 3, sensing equipment is set on test platform
Platform collides；
By rehabilitation machine and maximum height is moved to, then by control equipment for controlling healing robot from maximum height
With maximum movement speed and test platform collision (being impacted under extreme sport state).
Wherein, sensing equipment includes at least one pressure sensor.
Preferably, as shown in figure 4, sensing equipment includes three pressure sensors, and three pressure sensors are triangular in shape
Structure arrangement.
Specifically, three force snesors are using the fixed clamping of triangle rigid structure, three force snesor cloth triangular in shape
Office is formed by the actual loading that power detection zone imitates pelvic support mechanism as far as possible and human body not when contacting occurs for human body
Region, such structure design ensure that the crash tests system of the present embodiment has high stability, actually bear extraneous punching
It hits or is not susceptible to turn on one's side when colliding, make it possible to accurately acquire actual collision power, while can using triangular layout mode
It is effectively reduced the usage quantity of force snesor, reduces cost.
Step S104 is specifically included:
When the healing robot and test platform that three pressure sensors in S1041, acquisition sensing equipment obtain collide
The first pressure value of generation；
S1042, the maximum value chosen in three first pressure values are sent to as actual collision power, and by actual collision power
Control equipment；Or, obtaining the maximum value in three first pressure values, and after carrying out multiple impacts test, judge crash tests
Whether number reaches given threshold, if reaching, calculates the average value for the maximum value that each crash tests number obtains, and will put down
Mean value is sent to control equipment as actual collision power, and by actual collision power.
Wherein, the corresponding given threshold of crash tests number is 20 times, can be reset according to the actual situation.
In the present embodiment, according to the pain ability to bear of human body different parts, the largest motion speed of healing robot is preset
Degree and the maximal impact between healing robot and test platform, if healing robot and test platform in crash tests
Between actual collision power be greater than the maximal impact, then the maximal impact is turned down, to guarantee that healing robot investment is practical
It after operation, will not be caused harm to the human body when being collided with human body, so that the safety realized between rehabilitation equipment and human body is handed over
Mutually, the collision protection performance of existing rehabilitation medicine equipment is improved；Meanwhile it being obtained using the guarantee of the sensing equipment of triangular layout
Take the accuracy of actual collision power, and the crash tests system in the present embodiment have it is compact-sized, easily build, reliability height etc.
Advantage, and have certain specific aim and versatility.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, various changes or modifications can be made to these embodiments, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (12)
1. a kind of crash tests system of healing robot, which is characterized in that the crash tests system includes presetting module, passes
Feel equipment, test platform and control equipment；
The presetting module is used to preset the maximum movement speed of healing robot, is also used to preset the healing robot and institute
State the maximal impact between test platform；
Wherein, the maximum movement speed is corresponding with the maximal impact；
In crash tests, the control equipment is for controlling the healing robot with the maximum movement speed and the survey
Try platform collision；
The sensing equipment is used to acquire the actual collision power generated when the healing robot and test platform collision, and
The actual collision power is sent to the control equipment；
The control equipment for judging whether the actual collision power is more than or equal to the maximal impact, if so,
The maximum movement speed of the healing robot is turned down, until the actual collision power is less than the maximal impact.
2. the crash tests system of healing robot as described in claim 1, which is characterized in that the healing robot includes
Pelvic support mechanism；
The presetting module presets the maximum movement speed of healing robot, is also used to preset the healing robot and the survey
The corresponding calculation formula of maximal impact tried between platform is as follows:
Wherein, VmaxIndicate the maximum movement speed, FmaxIndicate that the maximal impact, μ table reduced mass, k indicate human body
The effective elasticity coefficient of different parts, mHIndicate the effective mass of human body, mRIndicate the effective mass of the pelvic support mechanism.
3. the crash tests system of healing robot as described in claim 1, which is characterized in that the presetting module includes pain
Pain threshold acquiring unit and default unit；
The pain threshold acquiring unit is used to obtain the corresponding pain threshold of different parts of human body；
The default unit is used to choose the minimum value in the pain threshold, and is used as the health for twice of the minimum value
The maximal impact between multiple robot and the test platform.
4. the crash tests system of healing robot as described in claim 1, which is characterized in that the sensing equipment is set to institute
It states on test platform, the healing robot is collided by the sensing equipment and the test platform；
The sensing equipment includes at least one pressure sensor.
5. the crash tests system of healing robot as claimed in claim 4, which is characterized in that the sensing equipment includes three
A pressure sensor, and three pressure sensor structure arrangements triangular in shape.
6. the crash tests system of healing robot as claimed in claim 5, which is characterized in that the sensing equipment includes adopting
Collect unit and actual collision power determination unit；
The acquisition unit is used to acquire the rehabilitation machine that three pressure sensors in the sensing equipment obtain
The first pressure value that people and the test platform generate when colliding；
The maximum value that the actual collision power determination unit is used to choose in three first pressure values is actually touched as described
Hit power；Or, the actual collision power determination unit is used to obtain the maximum value in three first pressure values, and more in progress
After secondary crash tests, judge whether crash tests number reaches given threshold, if reaching, calculates each crash tests number and obtain
The average value of the maximum value taken, and using the average value as the actual collision power.
7. a kind of crash tests method of healing robot, which is characterized in that the crash tests method utilizes claim 1 institute
The crash tests system for the healing robot stated realizes that the crash tests method includes:
The maximum movement speed of default healing robot, and preset between the healing robot and the test platform most
Big impact force；
Wherein, the maximum movement speed is corresponding with the maximal impact；
In crash tests, controls the healing robot and collided with the maximum movement speed and the test platform；
The actual collision power generated when acquiring the healing robot and test platform collision by the sensing equipment, and
The actual collision power is sent to the control equipment；
Judge whether the actual collision power is more than or equal to the maximal impact by the control equipment, if so,
The maximum movement speed of the healing robot is turned down, until the actual collision power is less than the maximal impact.
8. the crash tests method of healing robot as described in claim 1, which is characterized in that the healing robot includes
Pelvic support mechanism；
The maximum movement speed of the default healing robot, and preset between the healing robot and the test platform
Maximal impact the step of corresponding calculation formula it is as follows:
Wherein, VmaxIndicate the maximum movement speed, FmaxIndicate that the maximal impact, μ table reduced mass, k indicate human body
The effective elasticity coefficient of different parts, mHIndicate the effective mass of human body, mRIndicate the effective mass of the pelvic support mechanism.
9. the crash tests method of healing robot as described in claim 1, which is characterized in that described to preset the rehabilitation machines
The step of maximal impact between device people and the test platform includes:
Obtain the corresponding pain threshold of different parts of human body；
The minimum value in the pain threshold is chosen, and by twice of the minimum value as the healing robot and the survey
Try the maximal impact between platform.
10. the crash tests method of healing robot as described in claim 1, which is characterized in that the sensing equipment is set to
On the test platform, the healing robot is collided by the sensing equipment and the test platform；
The sensing equipment includes at least one pressure sensor.
11. the crash tests method of healing robot as claimed in claim 10, which is characterized in that the sensing equipment includes
Three pressure sensors, and three pressure sensor structure arrangements triangular in shape.
12. the crash tests method of healing robot as claimed in claim 11, which is characterized in that described to pass through the sensing
Equipment acquires the step of actual collision power generated when the healing robot is collided with the test platform and includes:
Acquire the healing robot and the test platform that three pressure sensors in the sensing equipment obtain
The first pressure value generated when collision；
The maximum value in three first pressure values is chosen as the actual collision power；Or, obtaining three first pressures
Maximum value in force value, and after carrying out multiple impacts test, judge whether crash tests number reaches given threshold, if reaching
It arrives, then calculates the average value for the maximum value that each crash tests number obtains, and using the average value as the reality
Impact force.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111890359A (en) * | 2020-07-01 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot obstacle avoidance method, mechanical arm type robot and storage medium |
| CN111958586A (en) * | 2020-07-01 | 2020-11-20 | 深圳市越疆科技有限公司 | Robot speed control method, robot arm type robot, and storage medium |
| CN112743535A (en) * | 2019-10-30 | 2021-05-04 | 北京配天技术有限公司 | Self-adaptive collision detection method and device and storage medium |
| CN116352756A (en) * | 2022-11-25 | 2023-06-30 | 威凯检测技术有限公司 | Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene |
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Application publication date: 20190621 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: Collision Testing Method and System for Rehabilitation Robots Granted publication date: 20211105 License type: Exclusive License Record date: 20230919 |