CN110450135A - A kind of dynamic suspension type weight support system - Google Patents
A kind of dynamic suspension type weight support system Download PDFInfo
- Publication number
- CN110450135A CN110450135A CN201910694048.XA CN201910694048A CN110450135A CN 110450135 A CN110450135 A CN 110450135A CN 201910694048 A CN201910694048 A CN 201910694048A CN 110450135 A CN110450135 A CN 110450135A
- Authority
- CN
- China
- Prior art keywords
- pneumatic muscles
- driving device
- motor
- motor driver
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention relates to rehabilitation medical robot technical fields, disclose a kind of dynamic suspension type weight support system, including motor driver and pneumatic muscles driving device；Motor driver and pneumatic muscles driving device are respectively arranged on frame, motor driver is set to the side of suspension unit, and it is connect by connection unit with suspension unit, pneumatic muscles driving device is set to the other side of suspension unit, and it is connect by connection unit with suspension unit, suspension unit is for connecting user, motor detection apparatus is connect with motor driver, pneumatic muscles detection device is connect with pneumatic muscles driving device, motor driver, pneumatic muscles driving device, motor detection apparatus and pneumatic muscles detection device are electrically connected with the controller respectively.The present invention has flexibility with that can be supplied to the constant loss of weight power of human body, driving force, and driving force controls simple technical effect.
Description
Technical field
The present invention relates to rehabilitation medical robot technical fields, and in particular to a kind of dynamic suspension type weight support system.
Background technique
China human mortality Aging Problem is on the rise at present, and the population specific gravity of disabled person is increasing, needs to carry out rehabilitation
The patient of medical treatment is also increasing year by year.Current rehabilitation training is mainly instructed by specialist, and mostly in rehabilitations such as hospitals
Place carries out, and rehabilitation training takes considerable time and manpower, with the development of robot technology, more and more scientific research machines
Structure starts to be used for robot technology in the design and research and development of rehabilitation training equipment, and wherein ectoskeleton is exactly a kind of typical power-assisted
Device.The dynamic suspension apparatus for assisting ectoskeleton power-assisted connects user by rope, there is dynamic loss of weight even to make one to be detached from
The ability on ground.
Current loss of weight suspension system, it is passive one is being used as only with elastic elements such as single drivings, or addition spring
Loss in weight cause inertia force constantly to change in this way due to the continuous variation of gravity center of human body, cause loss of weight power constantly to change,
The pulling force of approximately constant can not be provided in human motion, cannot comfortably be experienced to user.There are also one is double drive to hang
Crane system, this system need while considering position feedback and force feedback, and control difficulty greatly increases, and system is easy to appear
Unstable situation.And the flexibility of electric system is poor, generally requires elastic element auxiliary, and this causes the difficulty in control again
Topic.
Therefore it needs such a weight to support system, can accurately control the loss of weight power for being supplied to user, have simultaneously
There is certain flexibility, does not generate excessive drag force, while reducing the control difficulty for loss of weight power, and be directed to different bodies
The user of high weight can provide different power-assisteds.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, a kind of dynamic suspension type weight support system is provided, is solved
Suspension system subtracts the technical problem that gravitational stability is poor, flexibility is poor, control difficulty is big in the prior art.
To reach above-mentioned technical purpose, technical solution of the present invention provides dynamic suspension type weight and supports system, including electricity
Machine actuating device, pneumatic muscles driving device, motor detection apparatus, pneumatic muscles detection device, controller, suspension unit, company
Order member and frame；
The motor driver and pneumatic muscles driving device are respectively arranged on the frame, the motor driven dress
The side for being placed in the suspension unit is installed, and is connect by the connection unit with the suspension unit, the pneumatic muscles
Driving device is set to the other side of the suspension unit, and is connect by the connection unit with the suspension unit, described
For connecting user, the motor detection apparatus is connect suspension unit with the motor driver, the pneumatic muscles inspection
It surveys device to connect with the pneumatic muscles driving device, the motor driver, pneumatic muscles driving device, electric machines test dress
It sets and pneumatic muscles detection device is electrically connected with the controller respectively.
Compared with prior art, the beneficial effect comprise that the present invention uses pneumatic muscles driving device and motor
Driving device is capable of providing the loss of weight power constant to human body as driving, the design of double drive, meanwhile, the drive that pneumatic muscles provide
Power has certain flexibility, no longer needs to using other flexible members, so that the loss of weight power flexibility that system provides is more preferable, improves
The comfort level and experience sense of human body.Simultaneously by pneumatic muscles detection device and motor detection apparatus respectively to motor driver
It is detected with pneumatic muscles driving device, the separate detection of double drive, so that its detection is more convenient, is also easier in control.
Detailed description of the invention
Fig. 1 is the arrangement structural schematic diagram that dynamic suspension type weight provided by the invention supports one embodiment of system；
Fig. 2 is the structural representation for one embodiment of connection unit that dynamic suspension type weight provided by the invention supports system
Figure；
Fig. 3 is the office for one embodiment of motor driver figure that dynamic suspension type weight provided by the invention supports system
Portion's structural schematic diagram；
Fig. 4 is one embodiment of pneumatic muscles driving device figure that dynamic suspension type weight provided by the invention supports system
Partial structural diagram；
Fig. 5 is the physical structure block diagram that dynamic suspension type weight provided by the invention supports one embodiment of system；
Fig. 6 is the mathematical model schematic diagram that dynamic suspension type weight provided by the invention supports one embodiment of system；
Fig. 7 is the impedance control flow chart that dynamic suspension type weight provided by the invention supports one embodiment of system.
Appended drawing reference:
1, motor driver, 11, motor, 12, retarder, 13, shaft coupling, 14, bearing, 15, roller, 16, mounting rack,
17, copper post, 2, pneumatic muscles driving device, 21, pneumatic muscles, 22, connector, 3, motor detection apparatus, the 31, first power sensing
Device, 4, pneumatic muscles detection device, the 41, second force snesor, 42, displacement sensor, 43, connecting plate, 44, fixing seat, 5, outstanding
Hang unit, 51, drag-line, 6, connection unit, 61, first pulley, 62, second pulley, 63, third pulley, the 64, the 4th pulley, 65,
5th pulley, the 66, the 6th pulley, 67, rope, 7, frame, 81, sliding rail, 82, sliding block, 10, user.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, the embodiment of the present invention 1, which provides dynamic suspension type weight, supports system, hereinafter referred to as this system,
Including motor driver 1, pneumatic muscles driving device 2, motor detection apparatus 3, pneumatic muscles detection device 4, controller, hang
Hang unit 5, connection unit 6 and frame 7；
The motor driver 1 and pneumatic muscles driving device 2 are respectively arranged on the frame 7, and the motor drives
Dynamic device 1 is set to the side of the suspension unit 5, and is connect by the connection unit 6 with the suspension unit 5, described
Pneumatic muscles driving device 2 is set to the other side of the suspension unit 5, and single by the connection unit 6 and the suspention
Member 5 connects, and the suspension unit 5 connects for connecting user 10, the motor detection apparatus 3 with the motor driver 1
It connects, the pneumatic muscles detection device 4 is connect with the pneumatic muscles driving device 2, the motor driver 1, pneumatic flesh
Meat driving device 2, motor detection apparatus 3 and pneumatic muscles detection device 4 are electrically connected with the controller respectively.
The embodiment of the present invention provides double-driving force, motor driven using pneumatic muscles driving device 2 and motor driver 1
Device 1 is used as main suspension force follower, and pneumatic muscles driving device 2 flexible is used as adjuster, when adapting to human motion
The swing of center of gravity is mainly used for being supplied to the constant support force of human body in rehabilitation training.User 10 connects suspension unit 5, electricity
Machine actuating device 1 and pneumatic muscles driving device 2 are connected to suspension unit 5 by connection unit 6, to be supplied to user
10 certain support forces, when human body carries out rehabilitation exercise, controller passes through the collapsing length for changing pneumatic muscles driving device 2,
It adapts to center of gravity when human motion to change up and down, keeps the pulling force on connection unit 6, that is, the holding power for being supplied to user 10 is
Steady state value.Pneumatic muscles driving device 2 is selected to be used as auxiliary drive device, the driving provided due to pneumatic muscles driving device 2
Power has certain flexibility, does not generate excessive drag force, there is no need to reuse other flexible members, but also this system mentions
The loss of weight power flexibility of confession is more preferable, to improve the comfort level and experience sense of human body.Meanwhile the knot of pneumatic muscles driving device 2
Structure is simple, and control is easy.When pneumatic muscles driving device 2 does not work, it can also be used as static suspension system, can be considered tool
There is the static suspension system of certain flexibility, i.e., only has the effect of human body pull-up.Motor detection apparatus 3 is for detecting motor drive
The power of dynamic device 1 and position, pneumatic muscles detection device 4 are used to detect power and the position of pneumatic muscles driving device 2, and motor drives
Dynamic device 1 detects respectively with pneumatic muscles driving device 2, so that detection is more convenient, but also control is simpler.
In use, the height of suspension unit 5 is adjusted on a large scale by motor driver 1 first, so that suspension unit 5 drops
It is low, attachment device is dressed convenient for users to 10, and connect together with suspension unit 5.The adjusting of motor driver 1 later is arrived
Connection unit 6 tenses, and achievees the effect that preload.Controller control motor driver 1 and pneumatic muscles driving device 2 are assisted simultaneously
Allocation and transportation row, realizes dynamic suspension effectiveness.
The present invention is driven on the basis of being adjusted using motor driver 1 as large-scale position using pneumatic muscles
Device 2 solves the problems, such as that flexibility constant force takes into account that be difficult to and control difficulty high in the prior art as second driving, makes
It is aided with flexible drive device with rigid driving device, in human motion, is supplied to the constant holding power of human body to complete rehabilitation
Training content.Meanwhile the detection respectively of double drive, reduce the difficulty detected and controlled.
Preferably, as shown in Figure 2 and Figure 3, the connection unit 6 includes rope 67, first pulley group and second pulley
Group；
One end of the rope 67 passes through the suspension unit 5, and drives around after the first pulley group with the motor
Dynamic device 1 connects, and the other end of the rope 67 connects around after the second pulley group with the pneumatic muscles driving device 2
It connects.
Specifically, first pulley group includes first pulley 61, second pulley 62, third pulley 63 and the 4th pulley 64,
67 one end of rope connects after successively bypassing first pulley 61, second pulley 62, third pulley 63 and the 4th pulley 64 with roller 15
It connects, when motor 11 rotates, rope 67 is wound on roller 15.Second pulley group includes the 5th pulley 65 and the 6th pulley 66, rope
67 other end of rope is connect after successively bypassing the 5th pulley 65 and the 6th pulley 66 with the mobile terminal of pneumatic muscles 21.Pass through rope 67
Loss of weight power dynamically is exported to suspension unit 5, user 10 is connected to suspension unit 5 by drag-line 51, and composition dynamic suspention subtracts
Weight system.Pneumatic muscles driving device 2 and motor driver 1 are separately positioned on the two sides of suspension unit 5, and respectively with rope
67 both ends connection, can reduce the interference between two driving devices, but also simpler to the control of two driving devices.
Preferably, as shown in figure 3, the motor detection apparatus 3 includes the first force snesor 31 and encoder；
The first pulley group includes load-bearing pulley, and first force snesor 31 is installed on the frame 7, described to hold
Weight pulley pressure is set on first force snesor 31, and the rope 67 is set around on the load-bearing pulley and towards first power
Sensor 31 applies pressure；The encoder is installed on the motor driver 1, first force snesor 31 and volume
Code device is electrically connected with the controller respectively.
Specifically, motor driver 1 is driven using motor 11 in the present embodiment, encoder is built in motor 11
In, therefore be not shown in the figure.The first force snesor 31 is used to detect the power output of motor 11 in the present embodiment, and encoder is for examining
The turned position of measured motor 11, thus obtain motor 11 rotate when rope 67 folding and unfolding distance, by the first force snesor 31 with
And encoder detects the force parameter and location parameter of motor 11 respectively, is respectively controlled convenient for controller to its power and position.
When first force snesor 31 works, load-bearing pulley is generated inward pressure by the pressure of rope 67 and passes to the first force snesor
31, the first force snesor 31 receives pressure signal and is converted to electric signal and passes to controller, to complete defeated to motor 11
The detection of power output.Specifically, third pulley 63 is load-bearing pulley in the present embodiment.
Preferably, as shown in figure 4, the pneumatic muscles detection device 4 includes the second force snesor 41 and displacement sensing
Device 42；
One end of second force snesor 41 is fixed on the frame 7, the other end of second force snesor 41
It is connect with the pneumatic muscles driving device 2, institute's displacement sensors 42 are fixed on the frame 7, institute's displacement sensors
42 mobile terminal is connect with the mobile terminal of the pneumatic muscles driving device 2, and follows the pneumatic muscles driving device 2 synchronous
Mobile, second force snesor 41 and displacement sensor 42 are electrically connected with the controller respectively.
Pneumatic muscles driving device 2 is driven using pneumatic muscles 21, and pneumatic muscles 21 are cylinder, the second force snesor
41 for detecting the power output of pneumatic muscles 21, and displacement sensor 42 is used to detect the telescopic location of pneumatic muscles 21.Pass through
Two force snesors 41, displacement sensor 42 detect the force parameter and location parameter of pneumatic muscles 21 respectively, convenient for controller to it
Power and position are respectively controlled.
Specifically, the first force snesor 31 and the second force snesor 41 are respectively arranged at the two sides of suspension unit 5, encoder
It is provided separately with displacement sensor 42, since motor 11 and pneumatic muscles 21 are respectively arranged at the two sides of suspension unit 5, and for
The detection of the power and position of motor 11 and pneumatic muscles 21 is carried out separately, so that the power and position of motor 11 and pneumatic muscles 21
The detection set is more convenient, while can also reduce interfering with each other when motor 11 and pneumatic muscles 21 detect.
Preferably, it as shown in figure 4, institute's displacement sensors 42 are fixed on the frame 7, is also installed on the frame 7
There is sliding rail 81, the telescopic direction of institute's displacement sensors 42 and the sliding rail 81 along the pneumatic muscles driving device 2 is set
It sets, sliding block 82, the mobile terminal of the pneumatic muscles driving device 2 and the sliding block 82 is slidably mounted in the sliding rail 81
Connection.
Displacement sensor 42 is fixed on frame 7 by two fixing seats 44, and the mobile terminal of displacement sensor 42 passes through company
Fishplate bar 43 is connected at the connector 22 of pneumatic muscles 21, and the flexible of pneumatic muscles 21 is followed to move synchronously.Sliding rail 81 and sliding block
82 setting is oriented to for flexible and the flexible of pneumatic muscles 21 of displacement sensor 42.
Preferably, as shown in figure 3, the motor driver 1 includes motor 11, retarder 12, shaft coupling 13, bearing
14, roller 15, mounting rack 16 and copper post 17；
The mounting rack 16 is installed on the frame 7 by the copper post 17, the motor 11 and the retarder
12 are fixed by bolts on the mounting rack 16, and the motor 11 is connect with the retarder 12, wear in the roller 15
There is roller bearing, the output shaft of the retarder 12 is connect by the shaft coupling 13 with the roller bearing, and the roller bearing passes through the axis
It holds 14 to be fixed on the frame 7, the roller 15 is connect by the connection unit 6 with the suspension unit 5, the roller
15 are connect by the connection unit 6 with the power with position detecting device, and the motor 11 is electrically connected with the controller.
Motor 11 drives roller 15 to roll by retarder 12, shaft coupling 13 and bearing 14, and roller 15 passes through when rolling
Connection unit 6 exports loss of weight power to suspension unit 5.Meanwhile it can be adjusted on a large scale by the angle that control roller 15 rotates outstanding
5 height of unit is hung, so that this system can adapt to the human body of different height, and has the effect of pre-tightening.
Preferably, described as shown in figure 4, the pneumatic muscles driving device 2 includes pneumatic muscles 21 and connector 22
One end of pneumatic muscles 21 is connect with the pneumatic muscles detection device 4, and is installed on by pneumatic muscles detection device 4 described
On frame 7, the other end of the pneumatic muscles 21 is connect by the connector 22 with the connection unit 6, the pneumatic flesh
Meat 21 is electrically connected with the controller.
The mobile terminal of pneumatic muscles 21 is connect by rope 67 with suspension unit 5, for providing driving force, pneumatic muscles 21
Non-moving end be fixed on frame 7 by pneumatic muscles detection device 4, to realize power output and the position of pneumatic muscles 21
Detection.
Preferably, the controller is used for the pneumatic muscles driving device according to gravity center of human body's high degree of motion TRAJECTORY CONTROL
2 telescopic moving；The controller is also used to subtract according to expectation the power output of motor driver 1 described in GRAVITY CONTROL.
Controller realizes the adjusting of system position by the position of control pneumatic muscles 21, by the output for controlling motor 11
Power realize system suspension force adjusting, that is, realize power with position while control.Position control is driven by pneumatic muscles and is filled
It sets 2 to complete as actuator, control target is to make the mobile gravity center of human body's height that levels off in the position of pneumatic muscles driving device 2
Motion profile.Power control is driven by motor device 1 and completes as actuator, and control target is make motor driver 1 defeated
Power output maintains a steady state value near desired loss of weight power.
Preferably, the telescopic location of the pneumatic muscles driving device 2 according to gravity center of human body's high degree of motion TRAJECTORY CONTROL, tool
Body are as follows:
Δ x=xp+xm
xd=xp=F (x)-xm
Wherein, Δ x is total movement value of rope 67, xpFor the detected value of 2 distance of stretch out and draw back of pneumatic muscles driving device, xmFor
The calculated value of 11 encoder of motor, xdIt is used to control the control target value of 2 position of pneumatic muscles driving device for controller,
F (x) is gravity center of human body's high degree of motion track.
Preferably, subtract the power output of motor driver 1 described in GRAVITY CONTROL according to expectation, specifically:
FG± Δ F=Fp+Fm-f
Fd=Fm=FG-Fp+f
Wherein, FGFor the expectation loss of weight power, Δ F is allowable error, FpFor the inspection of 2 power output of pneumatic muscles driving device
Measured value, FmFor the detected value of 1 power output of motor driver, FdIt is controller for controlling 1 power output of motor driver
Control target value, f system friction, f is constant.
The accurate adjusting of controller realization position and two parameters of power.When user 10 moves, sensed by the first power
Device 31 obtains the detected value of 11 power output of motor, and the detected value of 11 folding and unfolding rope of motor, 67 length is obtained by encoder, is passed through
Second force snesor 41 obtains the detected value of 21 power output of pneumatic muscles, and it is flexible to obtain pneumatic muscles 21 by displacement sensor 42
The detected value of distance.According to the detected value of 11 power output of motor, the detected value of 21 power output of pneumatic muscles and expectation loss of weight power
The control target value for calculating 11 power output of motor, the control signal as controller control motor 11.According to pneumatic muscles 21
The control of the detected value of position, the detected value of 11 turned position of motor and gravity center of human body's high degree of motion trajectory calculation pneumatic muscles 21
Target value processed, the control signal as controller control pneumatic muscles 21.Power output and pneumatic flesh by control motor 11
The telescopic location of meat 21, realizes while controlling position and two elements of power are reached using keeping the pulling force of rope 67 constant as steady state value
To the effect for exporting constant loss of weight power.
Specifically, initially setting up the physical structure block diagram of this system, such as to realize the control to two parameters of power and position
Shown in Fig. 5, mathematical model schematic diagram is obtained according to physical structure block diagram, as shown in Figure 6.
In Fig. 5, Fig. 6, h is the height of motor 11 and pneumatic muscles 21, and x is the height at 5 center of suspension unit, and T is rope
67 pulling force.
The control law of position control derives as follows
Three element models of pneumatic muscles 21 are as follows:
Wherein, m, b, k are three parameters of 21 3 element model of pneumatic muscles, ysIt is the position of 21 mobile terminal of pneumatic muscles
It sets,For ysFirst derivative,For ysSecond dervative, f (P) is the external force of pneumatic muscles 21.
Enable u=Δ p=P-P0, y=ys-y0, three element models are reduced to:
Wherein, b=(α0-α1P0)/m, c=(β0-β1P0)/m, α=α1/ m, β=β1/ m, γ=(γ1+β1y0)/m；
Enable x1=y,The state-space expression of three element models are as follows:
It enablesThen dynamic error, that is, system model error equation description are as follows:
Based on model error equation, the adaptive control laws of position control are obtained:
Wherein, K1,K2For undetermined parameter, λ, ξ are system parameter,It is the ART network of u.
As shown in fig. 7, the impedance control rate derivation of power control is as follows:
The kinetic model equation of system is described as follows,
Wherein, matrix M, C, G are the state parameter of system, U=[F, τ]TFor the two-dimentional force vector after standardization, F is
Reciprocal force on position, J are Jacobian matrix.
The dynamic control equation of system are as follows:
Wherein, FdFor the control target value of power output, the detected value of F system power output, Kd,Bd,MdRespectively system is rigid
Degree, damping and inertia.
According to kinetic model equation and dynamic control equation, impedance control rule is obtained are as follows:
Wherein, Kp,Kv,KfThe respectively gain matrix of location matrix, rate matrices and power.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications that technical concept of the invention is made should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of dynamic suspension type weight supports system, which is characterized in that including motor driver, pneumatic muscles driving dress
It sets, motor detection apparatus, pneumatic muscles detection device, controller, suspension unit, connection unit and frame；
The motor driver and pneumatic muscles driving device are respectively arranged on the frame, and the motor driver is set
It is placed in the side of the suspension unit, and is connect by the connection unit with the suspension unit, the pneumatic muscles driving
Device is set to the other side of the suspension unit, and is connect by the connection unit with the suspension unit, the suspention
For connecting user, the motor detection apparatus is connect unit with the motor driver, the pneumatic muscles detection dress
Set and connect with the pneumatic muscles driving device, the motor driver, pneumatic muscles driving device, motor detection apparatus with
And pneumatic muscles detection device is electrically connected with the controller respectively.
2. dynamic suspension type weight according to claim 1 supports system, which is characterized in that the connection unit includes rope
Rope, first pulley group and second pulley group；
One end of the rope passes through the suspension unit, and connects around after the first pulley group with the motor driver
It connects, the other end of the rope is connect after bypassing the second pulley group with the pneumatic muscles driving device.
3. dynamic suspension type weight according to claim 2 supports system, which is characterized in that the motor detection apparatus packet
Include the first force snesor and encoder；
The first pulley group includes load-bearing pulley, and first force snesor is installed on the frame, the load-bearing pulley
Pressure is set on first force snesor, and the rope is set around on the load-bearing pulley and applies towards first force snesor
Pressure；The encoder is installed on the motor driver, first force snesor and encoder respectively with it is described
Controller electrical connection.
4. dynamic suspension type weight according to claim 2 supports system, which is characterized in that the pneumatic muscles detection dress
It sets including the second force snesor and displacement sensor；
One end of second force snesor is fixed on the frame, the other end of second force snesor and described pneumatic
The connection of muscle driving device, institute's displacement sensors are fixed on the frame, the mobile terminal of institute's displacement sensors with it is described
The mobile terminal of pneumatic muscles driving device connects, and follows the pneumatic muscles driving device synchronizing moving, and second power passes
Sensor and displacement sensor are electrically connected with the controller respectively.
5. dynamic suspension type weight according to claim 4 supports system, which is characterized in that institute's displacement sensors are fixed
In on the frame, being also equipped with sliding rail on the frame, institute's displacement sensors and the sliding rail are along the pneumatic flesh
The telescopic direction of meat driving device is arranged, and is slidably mounted with sliding block in the sliding rail, the pneumatic muscles driving device
Mobile terminal is connected with the slide block.
6. dynamic suspension type weight according to claim 1 supports system, which is characterized in that the motor driver packet
Include motor, retarder, shaft coupling, roller and mounting rack；
The mounting rack is installed on the frame, and the motor and the retarder are fixed on the mounting rack, described
Motor is connect with the retarder, is equipped with roller bearing in the roller, the output shaft of the retarder by the shaft coupling with
The roller bearing connection, the roller are connect by the connection unit with the suspension unit, and the roller passes through the connection
Unit is connect with the motor detection apparatus, and the motor is electrically connected with the controller.
7. dynamic suspension type weight according to claim 1 supports system, which is characterized in that the pneumatic muscles driving dress
It sets including pneumatic muscles and connector, one end of the pneumatic muscles is connect with the pneumatic muscles detection device, and is passed through
Pneumatic muscles detection device is installed on the frame, and the other end of the pneumatic muscles passes through the connector and the connection
Unit connection, the pneumatic muscles are electrically connected with the controller.
8. -7 any dynamic suspension type weight support system according to claim 1, which is characterized in that the controller is used
In the telescopic moving of the pneumatic muscles driving device according to gravity center of human body's high degree of motion TRAJECTORY CONTROL；The controller is also used to
Subtract the power output of motor driver described in GRAVITY CONTROL according to expectation.
9. dynamic suspension type weight according to claim 8 supports system, which is characterized in that transported according to gravity center of human body's height
The telescopic location of pneumatic muscles driving device described in dynamic TRAJECTORY CONTROL, specifically:
Δ x=xp+xm
xd=xp=F (x)-xm
Wherein, Δ x is total movement value of rope, xpFor the detected value of pneumatic muscles driving device position, xmFor motor driver
The detected value of position, xdIt is used to control the control target value of pneumatic muscles driving device position for controller, F (x) is institute
State gravity center of human body's high degree of motion track.
10. dynamic suspension type weight according to claim 8 supports system, which is characterized in that according to desired loss of weight power control
The power output of the motor driver is made, specifically:
FG± Δ F=Fp+Fm-f
Fd=Fm=FG-Fp+f
Wherein, FGFor the expectation loss of weight power, Δ F is allowable error, FpFor the detected value of pneumatic muscles driving device power output,
FmFor the detected value of motor driver power output, FdIt is used to control the control of the motor driver power output for controller
Target value, f are system friction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694048.XA CN110450135B (en) | 2019-07-30 | 2019-07-30 | Dynamic suspension type weight support system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694048.XA CN110450135B (en) | 2019-07-30 | 2019-07-30 | Dynamic suspension type weight support system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450135A true CN110450135A (en) | 2019-11-15 |
| CN110450135B CN110450135B (en) | 2021-01-19 |
Family
ID=68483961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910694048.XA Active CN110450135B (en) | 2019-07-30 | 2019-07-30 | Dynamic suspension type weight support system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110450135B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904802A (en) * | 2020-07-31 | 2020-11-10 | 曼纽科健康产业(广州)有限公司 | Balancer and control method thereof |
| CN113305809A (en) * | 2021-05-27 | 2021-08-27 | 哈尔滨工业大学 | Force sense simulation control method of fully-constrained space rope driving parallel mechanism |
| CN114344094A (en) * | 2021-12-31 | 2022-04-15 | 华南理工大学 | Robot capable of realizing weight reduction and gravity center transfer |
| CN114800608A (en) * | 2022-04-11 | 2022-07-29 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6146315A (en) * | 1996-10-29 | 2000-11-14 | Woodway Ag | Treadmill |
| EP1586291A1 (en) * | 2004-04-16 | 2005-10-19 | Hocoma AG | Device and process for adjusting the height of and the relief force acting on a weight |
| FR2854794B1 (en) * | 2003-05-15 | 2006-03-03 | Claude Stevens | DEBUTTER COMPRISING MEANS FOR DELAYING A PART OF THE WEIGHT OF THE BODY OF A USER |
| JP2006239150A (en) * | 2005-03-03 | 2006-09-14 | Tokyo Electric Power Co Inc:The | Walking support apparatus, and control device and computer program of walking support apparatus |
| EP2626051A1 (en) * | 2012-02-09 | 2013-08-14 | Lutz Medical Engineering | Apparatus for unloading a user's body weight during a physical activity of said user, particularly for gait training of said user |
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
| CN106535852A (en) * | 2014-07-09 | 2017-03-22 | 浩康股份公司 | Apparatus for gait training |
| CN107666892A (en) * | 2015-07-03 | 2018-02-06 | 洛桑联邦理工学院 | The equipment of applying power in three dimensions |
| CN108272602A (en) * | 2018-03-15 | 2018-07-13 | 哈工大机器人（合肥）国际创新研究院 | A kind of lower limb rehabilitation robot suspention weight reducing device |
| CN108338894A (en) * | 2017-01-24 | 2018-07-31 | 森岛株式会社 | Nurse lift device |
| CN109363896A (en) * | 2018-11-05 | 2019-02-22 | 南开大学 | A kind of duplex type suspension type active loss of weight system of lower limb rehabilitation training |
-
2019
- 2019-07-30 CN CN201910694048.XA patent/CN110450135B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6146315A (en) * | 1996-10-29 | 2000-11-14 | Woodway Ag | Treadmill |
| FR2854794B1 (en) * | 2003-05-15 | 2006-03-03 | Claude Stevens | DEBUTTER COMPRISING MEANS FOR DELAYING A PART OF THE WEIGHT OF THE BODY OF A USER |
| EP1586291A1 (en) * | 2004-04-16 | 2005-10-19 | Hocoma AG | Device and process for adjusting the height of and the relief force acting on a weight |
| JP2006239150A (en) * | 2005-03-03 | 2006-09-14 | Tokyo Electric Power Co Inc:The | Walking support apparatus, and control device and computer program of walking support apparatus |
| EP2626051A1 (en) * | 2012-02-09 | 2013-08-14 | Lutz Medical Engineering | Apparatus for unloading a user's body weight during a physical activity of said user, particularly for gait training of said user |
| CN106535852A (en) * | 2014-07-09 | 2017-03-22 | 浩康股份公司 | Apparatus for gait training |
| CN107666892A (en) * | 2015-07-03 | 2018-02-06 | 洛桑联邦理工学院 | The equipment of applying power in three dimensions |
| CN106176148A (en) * | 2016-08-25 | 2016-12-07 | 陕西艾可瑞医疗器械有限公司 | Device for healing and training |
| CN108338894A (en) * | 2017-01-24 | 2018-07-31 | 森岛株式会社 | Nurse lift device |
| CN108272602A (en) * | 2018-03-15 | 2018-07-13 | 哈工大机器人（合肥）国际创新研究院 | A kind of lower limb rehabilitation robot suspention weight reducing device |
| CN109363896A (en) * | 2018-11-05 | 2019-02-22 | 南开大学 | A kind of duplex type suspension type active loss of weight system of lower limb rehabilitation training |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904802A (en) * | 2020-07-31 | 2020-11-10 | 曼纽科健康产业(广州)有限公司 | Balancer and control method thereof |
| CN111904802B (en) * | 2020-07-31 | 2022-04-22 | 曼纽科医疗器械(湖南)有限公司 | Balancer and control method thereof |
| CN113305809A (en) * | 2021-05-27 | 2021-08-27 | 哈尔滨工业大学 | Force sense simulation control method of fully-constrained space rope driving parallel mechanism |
| CN113305809B (en) * | 2021-05-27 | 2022-04-05 | 哈尔滨工业大学 | Force sense simulation control method of fully-constrained space rope driving parallel mechanism |
| CN114344094A (en) * | 2021-12-31 | 2022-04-15 | 华南理工大学 | Robot capable of realizing weight reduction and gravity center transfer |
| CN114800608A (en) * | 2022-04-11 | 2022-07-29 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
| CN114800608B (en) * | 2022-04-11 | 2023-09-15 | 杭州程天科技发展有限公司 | Robot fault detection method, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110450135B (en) | 2021-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110450135A (en) | A kind of dynamic suspension type weight support system | |
| US10617904B2 (en) | Exercise machine | |
| EP2811962B1 (en) | Apparatus for unloading a user's body weight during a physical activity of said user, particularly for gait training of said user | |
| KR101237194B1 (en) | Training machine and method for controlling training machine | |
| CN111544830B (en) | Lower limb rehabilitation device for weight-reducing walking training and balance assessment | |
| CN107693301A (en) | The adaptive weight reducing device of suspension type and recovery exercising robot of rehabilitation training | |
| US20140121573A1 (en) | Trunk supporting exoskeleton and method of use | |
| CN204529243U (en) | Transporting ancillary equipment | |
| CN104800040B (en) | A kind of waist rehabilitation training devices's dynamic characteristic detection apparatus and method in parallel | |
| EP3988070A1 (en) | Methods and apparatus for body weight support system | |
| CN111759659B (en) | Portable wearable upper limb rehabilitation robot | |
| JP2000279463A (en) | Training device for superior limb function recovery | |
| CN112774085B (en) | Fitness equipment based on flexible mechanical arm principle | |
| CN111544841B (en) | Balance rehabilitation training device and pelvis movement feedback mechanism thereof | |
| CN107551479A (en) | A kind of device of auxiliary exercise chest muscle | |
| CN108836765A (en) | Intelligent walking aid device and for control its provide walk help method | |
| KR102098959B1 (en) | Seating-Type Supporting Unit And Seating-Type Apparatus For Training Walk Using The Same | |
| US11766584B2 (en) | Exercise machine | |
| CN110123587A (en) | A kind of shank healing device tool and single leg supplemental training device | |
| CN102631764B (en) | Lumbar support weight-reducing device | |
| CN108404404B (en) | Real sense type virtual reality gliding motion simulator | |
| CN113244578B (en) | Active mode control system of upper limb rehabilitation robot on upper plane of desktop | |
| CN211326580U (en) | Active and passive upper limb rehabilitation training system based on parallel robot | |
| CN106901944A (en) | The portable device for healing and training that people stands can be helped | |
| JP3575405B2 (en) | Mobile X-ray equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |