CN109966113B - Robot and control method thereof - Google Patents
Robot and control method thereof Download PDFInfo
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- CN109966113B CN109966113B CN201910223423.2A CN201910223423A CN109966113B CN 109966113 B CN109966113 B CN 109966113B CN 201910223423 A CN201910223423 A CN 201910223423A CN 109966113 B CN109966113 B CN 109966113B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000001960 triggered effect Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 210000003205 muscle Anatomy 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
-
- 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
- A61H2201/5069—Angle sensors
-
- 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
- A61H2201/5079—Velocity sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a robot and a control method thereof. The robot comprises a mechanical arm, a lifting module and a control module; when the robot is in a non-training mode, the lifting module is used for driving the mechanical arm to do lifting motion; when the robot is in a training mode, the control module is used for controlling the lifting module to stop moving so as to fix the height of the mechanical arm. The invention realizes the safety interlocking function of the robot, namely when the robot is in a training mode, the height of the lifting module is not adjustable, and the height of the mechanical arm is locked, thereby avoiding the situation that the muscle of a patient is pulled and stretched due to sudden change of the height of the mechanical arm in the rehabilitation training process, and improving the safety of the rehabilitation training.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a robot for upper limb rehabilitation of a patient and a control method thereof.
Background
At present, robots are commonly used to assist patients in rehabilitation training. For example, an upper limb rehabilitation robot is generally provided with a handle or a button, and a mechanical arm of the robot is adjusted to a suitable height through the handle or the button, so that a user can perform upper limb rehabilitation training. However, in the rehabilitation training process, the existing rehabilitation robot has the risk that the height of the mechanical arm changes suddenly due to the fact that the handle or the button is touched by mistake, and then muscles of a patient are pulled and stretched, so that potential safety hazards exist.
Disclosure of Invention
The invention aims to overcome the defect that the robot in the prior art has the risk that the height of a mechanical arm changes suddenly and further the muscle of a patient is pulled and stretched due to the fact that a handle or a button is touched by mistake, and provides the robot and the control method thereof.
The invention solves the technical problems through the following technical scheme:
a robot comprising a robotic arm, the robot comprising: the lifting module and the control module;
when the robot is in a non-training mode, the lifting module is used for driving the mechanical arm to do lifting motion;
when the robot is in a training mode, the control module is used for controlling the lifting module to stop moving so as to fix the height of the mechanical arm.
Preferably, the robot further comprises: a power supply module;
the power supply module is electrically connected with the lifting module;
when the robot is in a training mode, the control module is used for disconnecting the power supply module from the lifting module.
Preferably, the power module comprises a power body and a relay;
the lifting module comprises a driving unit and a lifting mechanism;
the power supply body is electrically connected with the driving unit and/or the lifting mechanism through the relay;
when the robot is in a non-training mode, the driving unit is used for driving the lifting mechanism to do lifting movement when receiving a height adjusting instruction;
when the robot is in a training mode, the control module sends a disconnection instruction to the relay, and the relay is used for disconnecting the electric connection between the power supply body and the driving unit and/or the lifting mechanism.
Preferably, the lifting mechanism comprises a three-stage rigid telescopic steel column and an electric cylinder;
the driving unit is specifically used for controlling the electric cylinder to move when the height adjusting instruction is received so as to drive the three-level rigid telescopic steel column to move up and down.
Preferably, the robot further comprises: an upper computer;
the upper computer is used for generating the height adjusting instruction; the height adjustment instructions include a direction and a height of adjustment.
Preferably, the robot further comprises: a detection module;
the detection module is used for detecting the motion data of the patient and sending the motion data to the upper computer;
the patient motion data comprises at least one of the following parameters:
speed, angle, amplitude of motion.
Preferably, the robot further comprises: a handle and/or button;
the handle is used for generating the height adjusting instruction when triggered;
the button is used for generating the height adjusting instruction when triggered.
A control method of a robot, the robot comprising: a lifting module and a mechanical arm;
the lifting module is used for driving the mechanical arm to do lifting motion;
the control method comprises the following steps:
and when the robot is in a training mode, controlling the lifting module to stop moving so as to fix the height of the mechanical arm.
Preferably, the robot further comprises: a power supply module;
the power supply module is electrically connected with the lifting module;
controlling the lifting module to stop moving, and specifically comprising:
and disconnecting the power supply module from the lifting module.
Preferably, the power module comprises a power body and a relay;
the lifting module comprises a driving unit and a lifting mechanism;
the step of disconnecting the power module from the electrical connection of the lifting module specifically comprises:
and controlling the normally closed contact of the relay to be disconnected so as to disconnect the power supply body from being electrically connected with the driving unit and/or the lifting mechanism.
The positive progress effects of the invention are as follows: the invention realizes the safety interlocking function of the robot, namely when the robot is in a training mode, the height of the lifting module is not adjustable, and the height of the mechanical arm is locked, thereby avoiding the situation that the muscle of a patient is pulled and stretched due to sudden change of the height of the mechanical arm in the rehabilitation training process, and improving the safety of the rehabilitation training.
Drawings
Fig. 1 is a schematic structural view of a robot according to embodiment 1 of the present invention.
Fig. 2 is a schematic block diagram of a robot according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a control method of a robot according to embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides a robot for assisting a patient with upper limb dysfunction to perform rehabilitation training, and as shown in fig. 1-2, the robot of the present embodiment includes a mechanical arm 1, a lifting module 2, a control box 3 and an upper computer 4. A control module 5 and a power module 6 are arranged in the control box 3. The power module 6 is used for supplying power to the mechanical arm 1, the lifting module 2 and the control module 5, and the lifting module 2 is electrically connected with the control module 5 and the upper computer 4 respectively. Referring to fig. 1, the robot arm 1 specifically includes an elbow motor 11, a shoulder motor 12, and a cantilever 13.
When the robot is in a non-training mode, the lifting module 2 can drive the mechanical arm 1 to do lifting motion.
Specifically, the lifting module 2 includes a driving unit 21 and a lifting mechanism 22. The power module 6 supplies power to the driving unit 21 and the lifting mechanism 22. The driving unit 21 is configured to drive the lifting mechanism 22 to perform lifting movement when receiving the height adjustment command, so as to adjust the height of the robot arm 1. When the height of the mechanical arm 1 is adjusted to be matched with the height of a patient, the patient can control the robot to enter a training mode through the upper computer to perform rehabilitation training. Wherein, the patient can select the training mode, for example active mode, passive mode or helping hand mode through the host computer according to actual demand.
In this embodiment, the robot further comprises a handle and/or a button (not shown in the figures). The handle is used for generating a height adjusting instruction when triggered and sending the height adjusting instruction to the driving unit; wherein, the drive unit can be according to the corresponding height of adjusting elevating system of the dynamics of removal handle, or the amplitude that the handle removed. The button is used for generating a height adjusting instruction when being triggered and sending the height adjusting instruction to the driving unit; the buttons can comprise an up-adjusting button and a down-adjusting button, and the driving unit can correspondingly adjust the height of the lifting mechanism according to the number of times and time of pressing the buttons.
In this embodiment, the height adjustment instruction may also be generated by the upper computer. For example, a user inputs a direction and a height to be adjusted through the upper computer, and the upper computer generates a height adjusting instruction and sends the height adjusting instruction to the driving unit. Wherein the height adjustment instruction comprises an adjustment direction and a height.
In this embodiment, the lifting mechanism is specifically implemented by using a three-level rigid telescopic steel column and a linear electric cylinder, the three-level rigid telescopic steel column is of a hollow structure, and the linear electric cylinder is arranged in the three-level rigid telescopic steel column. And the driving unit controls the electric cylinder to move when receiving the height adjusting instruction so as to drive the three-level rigid telescopic steel column to do lifting motion. The lifting mechanism of the embodiment has the advantages of high rigidity, stable structure, high bearing capacity, high electric cylinder driving motion precision and easiness in control.
When the robot is in the training mode, control module 5 is used for controlling lifting module 2 to stop moving to the height of fixed arm 1, the user can carry out the rehabilitation training through the motion of elbow motor and shoulder motor. At this moment, even if the handle and the button are triggered or a height adjusting instruction is generated by the upper computer, the lifting module does not do lifting movement, and the height of the mechanical arm is fixed to the height which is adjusted by the user for the last time before the mechanical arm enters the training mode. Therefore, the problem that the height of the mechanical arm changes suddenly to pull and stretch the muscle of a patient in the rehabilitation training process is avoided.
In this embodiment, the control module 5 stops the movement of the lifting module 2 by disconnecting the power module 6 from the lifting module 2. That is, the safety interlocking function of the robot is realized by enabling the lifting module 2 to be in a power-off state, the height of the lifting module is not adjustable, and the height of the mechanical arm is locked.
Specifically, the power module 6 includes a power body 61 and a relay 62. The power supply body 61 is electrically connected to the drive unit 21 and/or the elevating mechanism 22 through a relay 62.
When the robot is in the training mode, the control module 5 sends an opening instruction to the relay 62, and the normally closed contact of the relay is opened, so that the electric connection between the power supply body 61 and the driving unit 21 and/or the lifting mechanism 22 is disconnected. Because the driving unit and/or the lifting mechanism are in a power-off state, even if the handle and the button are triggered or the upper computer generates a height adjusting instruction, the height of the lifting mechanism is not adjustable.
In this embodiment, the robot further includes: a detection module 7. The detection module 7 is used for detecting the motion data of the patient and sending the motion data to the upper computer 4 for display or processing. The patient motion data, namely the motion data of the upper limbs of the patient detected in the rehabilitation training process, comprises at least one of the following parameters: speed, angle, amplitude of motion. The detection module can be realized by a speed sensor, an angle sensor and a distance sensor.
Example 2
The present embodiment provides a method for controlling a robot, which is used to control the robot shown in embodiment 1. The control method comprises the following steps: when the robot is in the training mode, the lifting module is controlled to stop moving so as to fix the height of the mechanical arm. Therefore, the problem that the height of the mechanical arm changes suddenly to pull and stretch the muscle of a patient in the rehabilitation training process is avoided.
Further, as shown in fig. 3, the control method includes the following steps:
and 101, controlling the power supply module to be electrically connected with the lifting module.
When the robot just starts or receives a non-training mode switching instruction, the robot is in a non-training mode at the moment, the control power module is electrically connected with the lifting module, and a patient can trigger the handle or the button or generate a height adjusting instruction through the upper computer and send the height adjusting instruction to the lifting module to adjust the height of the mechanical arm so as to adjust the mechanical arm to a proper height.
And 102, entering a training mode when a training mode switching instruction is received.
The training mode switching instruction can be generated by an upper computer.
And 103, disconnecting the power supply module from the lifting module.
In this embodiment, the lifting module includes a driving unit and/or a lifting mechanism.
Specifically, step 103 includes electrically disconnecting the power module from the drive unit and/or the lift mechanism. Because the driving unit and/or the lifting mechanism are in a power-off state, when the robot is in a training mode, even if the handle and the button are triggered or a height adjusting instruction is generated by the upper computer, the height of the lifting mechanism is not adjustable. Therefore, the safety interlocking function of the robot is realized, and the height of the lifting module is not adjustable and the height of the mechanical arm is locked when the robot is in a training mode.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (5)
1. A robot comprising a robotic arm, the robot further comprising: the device comprises a lifting module, a control module and an upper computer, wherein the upper computer is used for generating a height adjusting instruction; the height adjusting instruction comprises an adjusting direction and height;
when the robot is in a non-training mode, the lifting module is used for driving the mechanical arm to do lifting motion;
when the robot is in a training mode, the control module is used for controlling the lifting module to stop moving so as to fix the height of the mechanical arm;
the robot further includes: a power supply module;
the power supply module is electrically connected with the lifting module;
when the robot is in a training mode, the control module is used for disconnecting the power supply module from the lifting module;
the power supply module comprises a power supply body and a relay;
the lifting module comprises a driving unit and a lifting mechanism;
the power supply body is electrically connected with the driving unit and/or the lifting mechanism through the relay;
when the robot is in a training mode, the control module sends a disconnection instruction to the relay, and the relay is used for disconnecting the electric connection between the power supply body and the driving unit and/or the lifting mechanism;
when the robot is in a non-training mode, the driving unit is used for driving the lifting mechanism to do lifting movement when receiving the height adjusting instruction.
2. The robot of claim 1, wherein the lifting mechanism comprises a three-stage rigid telescopic steel column and an electric cylinder;
the driving unit is specifically used for controlling the electric cylinder to move when the height adjusting instruction is received so as to drive the three-level rigid telescopic steel column to move up and down.
3. The robot of claim 1, further comprising: a detection module;
the detection module is used for detecting the motion data of the patient and sending the motion data to the upper computer;
the patient motion data comprises at least one of the following parameters:
speed, angle, amplitude of motion.
4. The robot of claim 1, further comprising: a handle and/or button;
the handle is used for generating the height adjusting instruction when triggered;
the button is used for generating the height adjusting instruction when triggered.
5. A control method of a robot, characterized in that the robot comprises: the device comprises a lifting module, a mechanical arm, a control module and an upper computer, wherein the upper computer is used for generating a height adjusting instruction; the height adjusting instruction comprises an adjusting direction and height;
the lifting module is used for driving the mechanical arm to do lifting motion;
the control method comprises the following steps:
when the robot is in a non-training mode, the driving unit is used for driving the lifting mechanism to do lifting movement when receiving the height adjusting instruction;
when the robot is in a training mode, controlling the lifting module to stop moving so as to fix the height of the mechanical arm; the robot further includes: a power supply module;
the power supply module is electrically connected with the lifting module;
controlling the lifting module to stop moving, and specifically comprising:
disconnecting the power module from the lifting module;
the power supply module comprises a power supply body and a relay;
the lifting module comprises the driving unit and the lifting mechanism;
the power supply body is electrically connected with the driving unit and/or the lifting mechanism through the relay;
the step of disconnecting the power module from the electrical connection of the lifting module specifically comprises:
when the robot is in a training mode, the control module sends a disconnection instruction to the relay to control the normally closed contact of the relay to be disconnected so as to disconnect the power supply body from being electrically connected with the driving unit and/or the lifting mechanism.
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| CN201910223423.2A CN109966113B (en) | 2019-03-22 | 2019-03-22 | Robot and control method thereof |
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| CN201910223423.2A CN109966113B (en) | 2019-03-22 | 2019-03-22 | Robot and control method thereof |
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| CN109966113B true CN109966113B (en) | 2022-03-01 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107296719A (en) * | 2017-05-17 | 2017-10-27 | 上海大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN107669437A (en) * | 2017-11-16 | 2018-02-09 | 林贤君 | A kind of Orthopedic Clinical dressing change device |
| CN107736983A (en) * | 2017-10-24 | 2018-02-27 | 浙江大学 | A kind of flexible shoulder rehabilitation exoskeleton mechanism |
| CN108186290A (en) * | 2018-02-24 | 2018-06-22 | 安阳市翔宇医疗设备有限责任公司 | A kind of passive finger recovering training device of master |
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2610885B2 (en) * | 1987-08-21 | 1997-05-14 | ジャパン・イ−・エム株式会社 | Automatic suspension system for walking training |
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2019
- 2019-03-22 CN CN201910223423.2A patent/CN109966113B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107296719A (en) * | 2017-05-17 | 2017-10-27 | 上海大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN107736983A (en) * | 2017-10-24 | 2018-02-27 | 浙江大学 | A kind of flexible shoulder rehabilitation exoskeleton mechanism |
| CN107669437A (en) * | 2017-11-16 | 2018-02-09 | 林贤君 | A kind of Orthopedic Clinical dressing change device |
| CN108186290A (en) * | 2018-02-24 | 2018-06-22 | 安阳市翔宇医疗设备有限责任公司 | A kind of passive finger recovering training device of master |
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Application publication date: 20190705 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: Robots and Their Control Methods Granted publication date: 20220301 License type: Exclusive License Record date: 20230919 |