CN111296313A - Training device for animal wrist rotation - Google Patents

Abstract

The invention discloses a training device for animal wrist rotation, comprising: a handle with a rotatable setting, the handle is used for the animal to hold and rotate; a servo motor is connected to the handle and used for The handle provides torque resistance; an angle sensor is used to check the rotation angle of the handle; a power supply is used to provide current for the servo motor to make the servo motor output torque resistance; a memory, which pre-stores the first data and the first data Two data, the first data includes the angle-torsional force relationship data for training; the second data includes the current-torsional force relationship data of the servo motor; the controller is configured to: acquire the angle sensor The detected rotation angle of the handle, and based on the rotation angle-torsional resistance relationship, determine the torsional resistance that the servo motor should output, and control the power output and the torque based on the determined torsional resistance and the current torsional resistance relationship. The current corresponding to the resistance.

Description

Training device for animal wrist rotation

technical field

The invention relates to a training device for animal wrist rotation.

Background technique

When studying the relationship between the animal's force application process and its muscle signals and its cerebral cortex, it is necessary to use a training device to provide resistance to the animal's force application process so that the animal outputs a force that matches the resistance, so that other equipment and methods can be used. Obtain muscle and brain signals corresponding to the force.

There is a training device in the prior art, the training device is used for the animal to realize the wrist rotation action, and the training device is used to provide the animal with torsional resistance when the wrist is rotated. Specifically, the training device has a handle that can be rotated and a torsion spring for providing torsional resistance to the handle. By instructing the animal to turn the handle, the animal outputs a wrist rotation force that matches the torsional resistance provided by the torsion spring. Other devices and methods are used to obtain muscle and brain signals corresponding to the force.

The above-mentioned training device in the prior art has the following defects:

The relationship between the torsional resistance provided by the torsion spring and the rotation angle of the handle is unique, that is, the relationship between the rotation angle and the torsional resistance provided by the training device cannot be changed, which leads to a single training mode for the animal's wrist rotation.

SUMMARY OF THE INVENTION

In view of the above technical problems existing in the prior art, embodiments of the present invention provide a training device for animal wrist rotation.

In order to solve the above-mentioned technical problems, the technical solutions adopted in the embodiments of the present invention are:

A training device for animal wrist rotation, comprising:

a handle, its rotatable arrangement, the handle is used for the animal to hold and turn;

a servo motor connected to the handle and used to provide torsional resistance to the handle;

an angle sensor for checking the angle of rotation of the handle;

a power supply, which is used to provide current for the servo motor to enable the servo motor to output torque resistance;

a memory, which pre-stores first data and second data, the first data includes rotational angle-torsion resistance relationship data for training; the second data includes current-torque resistance relationship data of the servo motor;

Controller, which is configured to:

Acquiring the rotation angle of the handle detected by the angle sensor, and determining the torque resistance that the servo motor should output based on the rotation angle-torsion resistance relationship, and controlling the torque resistance based on the determined torque resistance force and the current torque resistance relationship The power supply outputs a current corresponding to the torque resistance.

Preferably, the training device for animal wrist rotation further comprises: a torque sensor and a current sensor; wherein:

The torque sensor is used to detect the torque resistance output by the servo motor;

the current sensor is used for detecting the current output by the power supply to the motor;

The controller is respectively electrically connected with the torque sensor and the current sensor

The controller is also configured to:

According to the torque force detected by the torque sensor and the current detected by the current sensor, the current-torque relationship of the servo motor is established, and the current-torque relationship is stored in the memory.

Preferably, the training device for animal wrist rotation further comprises: a coupling;

The output shaft of the servo motor is connected to the first end of the coupling; the torque sensor is connected between the handle and the second end of the coupling.

Preferably, the angle sensor is a cylindrical encoder; wherein:

The encoder is sleeved outside the connection shaft between the coupling and the torque sensor.

Preferably, the training device for animal wrist rotation further comprises:

a base, the bottom of which is provided with a foot for supporting;

a first vertical plate, which is arranged on the base, and the servo motor is fixed on the rear side of the first vertical plate;

A second vertical plate is disposed on the base and parallel to the first vertical plate, the second vertical plate is located in front of the first vertical plate; the coupling is interposed between the first vertical plate between the vertical plate and the second vertical plate, the encoder is fixed on the rear side of the second vertical plate;

A third vertical plate is disposed on the base and parallel to the second vertical plate, the third vertical plate is located in front of the second vertical plate; the torsion sensor is located between the third vertical plate between the plate and the second vertical plate; the handle is located on the front side of the third vertical plate.

Preferably, the base is provided with installation grooves extending along the arrangement direction of the three vertical plates; a right-angle plate is arranged between each vertical plate and the base, and the right-angle plate and the installation groove are penetrated by fasteners to make The vertical plate can be adjusted in position.

Compared with the prior art, the training device for animal wrist rotation provided by the present invention is:

The rotation angle-torsion resistance relationship output by the training device provided by the present invention is not limited by its own structure, and can output various rotation angle-torsion resistance relationships required by the experimenter. That is, the training device can output the rotation angle-torsion resistance relationship according to the requirements of the test personnel.

This summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the full scope or all features of the disclosed technology.

Description of drawings

In the drawings, which are not necessarily to scale, the same reference numbers may describe similar parts in different views. The same reference number with a letter suffix or a different letter suffix may denote different instances of similar components. The drawings illustrate various embodiments generally by way of example and not limitation, and together with the description and claims serve to explain the embodiments of the invention. Where appropriate, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

FIG. 1 is a schematic diagram of the mechanical structure of a training device for animal wrist rotation provided by an embodiment of the present invention.

FIG. 2 is a control flow chart of a training device for animal wrist rotation provided by an embodiment of the present invention.

Reference number:

10-handle; 20-servo motor; 30-power; 40-controller; 50-memory; 60-angle sensor; 70-torque sensor; 80-current sensor; 91-coupling; 92-base; 93-ground foot; 94-first vertical plate; 95-second vertical plate; 96-third vertical plate; 97-installation slot; 98-right-angle plate.

Detailed ways

Unless otherwise defined, technical or scientific terms used in the present invention should have the ordinary meaning as understood by one of ordinary skill in the art to which the present invention belongs. The terms "first," "second," and similar terms used herein do not denote any order, quantity, or importance, but are merely used to distinguish different components. "Comprises" or "comprising" and similar words mean that the elements or things appearing before the word encompass the elements or things recited after the word and their equivalents, but do not exclude other elements or things. Words like "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right", etc. are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In order to keep the following description of the embodiments of the present invention clear and concise, the present invention omits detailed descriptions of well-known functions and well-known components.

As shown in FIG. 1 and FIG. 2 , the embodiment disclosed in the present invention discloses a training device for animal wrist rotation, including: a handle 10 , a servo motor 20 , an angle sensor 60 , a current sensor 80 , a torque sensor 70 , Coupling 91, power supply 30, memory 50, controller 40, and mechanical mounting mechanism.

As shown in FIG. 1 , the mechanical installation mechanism includes: a base 92 , a first vertical plate 94 , a second vertical plate 95 , a third vertical plate 96 and a right-angle plate 98 . The lower part of the base 92 is provided with feet 93 , the first vertical plate 94 , the second vertical plate 95 , and the third vertical plate 96 are arranged at intervals from the back to the front in sequence, and a mounting groove 97 is opened on the base 92 for the installation The grooves 97 extend along the arrangement direction of the three vertical plates. A right-angle plate 98 is arranged between each vertical plate and the base 92 , one plate of the right-angle plate 98 is fixed to the vertical plate by means of fasteners, and the other plate is fixed to the base 92 by means of fasteners and installation grooves 97 , This enables the distance between the three risers to be adjusted.

The servo motor 20 is fixed on the rear side of the first vertical plate 94 , and the power supply 30 , the controller 40 and the memory 50 (not shown) are fixed on the base 92 and/or the first vertical plate 94 adjacent to the servo motor 20 . The servo motor 20 is connected to the coupling 91 after passing through the first vertical plate 94 . The torque sensor 70 is arranged between the second vertical plate 95 and the third vertical plate 96 . The connecting shaft is connected, and the connecting shaft passes through the second vertical plate 95 ; the angle sensor 60 is a cylindrical encoder, which is sleeved outside the connecting shaft and fixed on the second vertical plate 95 .

The handle 10 is located on the front side of the third vertical plate 96 , and the handle 10 and the torque sensor 70 are connected by another connecting shaft, which passes through the third vertical plate 96 .

As can be seen from the above, the torque force (specifically, the torque resistance force) output by the servo motor 20 can be transmitted to the handle 10 .

The current sensor 80 is integrated at the connector of the power supply 30, and the current sensor 80 is an ammeter that can generate a detected current value signal to the outside world.

As shown in FIG. 2 , the interaction among the servo motor 20 , the power supply 30 , the angle sensor 60 , the torque sensor 70 , the current sensor 80 , the controller 40 and the memory 50 will be described below.

The power supply 30 enables the servo motor 20 to provide torsional resistance to the handle 10 by supplying current to the servo motor 20 . And the characteristics of the servo motor 20 are: the greater the input current, the greater the torsional resistance output of the servo motor 20, that is, for the same servo motor 20, the servo motor 20 has a certain current-torque resistance relationship; For different types and power motors, the current-torque resistance relationship may be different.

It can be seen from the above that, for the determined servo motor 20, the magnitude of the torsional resistance output by the servo motor 20 can be controlled by the current value.

The angle sensor 60 is used to check the angle at which the animal turns the handle 10 , and sends the detected angle information to the controller 40 .

There are two types of data stored in the memory 50, ie, first data and second data.

The first data is the artificially pre-built rotation angle-torsion resistance relationship data, which is constructed according to the training requirements. The curve of the force output by the wrist rotation action is a sinusoidal curve, which requires the rotation angle-torsion resistance relationship in the memory 50 to be constructed as a sinusoidal function relationship.

The second data is current-torque relationship data of the servo motor 20 .

The role of the controller 40 is to:

1. Obtain the real-time rotation angle of the handle 10 through the angle sensor 60; obtain the torque resistance output by the servo motor 20 through the torque sensor 70; obtain the current delivered by the power supply 30 to the servo motor 20 through the current sensor 80 .

2. The controller 40 determines the torque resistance to be output by the servo motor 20 based on the relationship between the rotation angle and the torque resistance, and controls the power supply 30 to output a current corresponding to the torque resistance based on the determined relationship between the torque resistance and the current torque resistance.

3. According to the torque resistance detected by the torque sensor 70 and the current detected by the current sensor 80 , the current-torque relationship of the servo motor 20 is established, and the current-torque relationship is stored in the memory 50 .

The working principle of the above training device is described in detail below:

The experimenter pre-stores in the memory 50 the rotation angle-torsion resistance relationship data reflecting the training purpose. For example, if the experimenter wants the force output by the animal to have a sine relationship with the rotation angle of the handle 10, the experimenter stores it in the memory 50 as the function relationship is sine In addition, the memory 50 also stores the current-torsion resistance relationship data consistent with the servo motor 20 .

After instructing the animal to turn the handle 10, the controller 40 obtains the rotation angle of the handle 10 in real time through the angle sensor 60, and at the same time, according to the obtained rotation angle and the relationship between the rotation angle and the torsional resistance force, determines the torsional resistance force that the servo motor 20 needs to output, and according to The power supply 30 is controlled according to the relationship between the current and the torque resistance, so that the power supply 30 can output and enable the servo motor 20 to output the current corresponding to the torque resistance, thereby enabling the servo motor 20 to output the torque resistance.

According to the above, the rotation angle-torsion resistance relationship output by the training device provided by the present invention is not limited by its own structure, and can output various rotation angle-torsion resistance force relationships required by the experimenter. That is, the training device can output the rotation angle-torsion resistance relationship according to the requirements of the test personnel.

In addition, the training device provided by the present invention also has the following characteristics:

Understandably, after the servo motor 20 is replaced, the current-torque relationship between the replaced servo motor 20 and the pre-replacement servo motor 20 may change, and the memory 50 only stores the current-torque relationship data before the replacement, If the controller 40 still controls the power supply 30 based on the current-torque relationship data in the memory 50 , the output angle-torque relationship may be inconsistent with the pre-stored angle-torque relationship in the memory 50 .

The training device can take the following measures:

The controller 40 obtains the torque resistance output by the replaced servo motor 20 through the torque sensor 70 , and at the same time obtains the current delivered by the power supply 30 to the servo motor 20 through the current sensor 80 , so as to re-establish the current of the servo motor 20 - the torque relationship, and store the current-torque relationship in the memory 50 . As such, in subsequent use, the controller 40 controls the current delivered by the power supply 30 to the servo motor 20 based on the newly established current-torque relationship.

Furthermore, although exemplary embodiments have been described in this invention, the scope thereof includes any and all equivalents, modifications, omissions, combinations (eg, where various embodiments intersect), adaptations, or alterations based on this invention Example. Elements in the claims are to be construed broadly based on the language employed in the claims, and are not to be limited to the examples described in this specification or during the practice of this application, the examples of which are to be construed as non-exclusive. Therefore, this specification and examples are intended to be regarded as examples only, with the true scope and spirit being indicated by the following claims along with their full scope of equivalents.

The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more of them) may be used in combination with each other. For example, other embodiments may be utilized by those of ordinary skill in the art upon reading the above description. Additionally, in the above Detailed Description, various features may be grouped together to simplify the present invention. This should not be construed as an intention that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description by way of example or embodiment, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present invention within the spirit and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present invention.

Claims (6)

1. a training device for animal wrist rotation, is characterized in that, comprises: a handle, its rotatable arrangement, the handle is used for the animal to hold and rotate; a servo motor connected to the handle and used to provide torsional resistance to the handle; an angle sensor for checking the angle of rotation of the handle; a power supply, which is used to provide current for the servo motor to enable the servo motor to output torque resistance; a memory, which pre-stores first data and second data, the first data includes rotational angle-torsion resistance relationship data for training; the second data includes current-torque resistance relationship data of the servo motor; Controller, which is configured to: Acquiring the rotation angle of the handle detected by the angle sensor, and determining the torque resistance that the servo motor should output based on the rotation angle-torsion resistance relationship, and controlling the torque resistance based on the determined torque resistance force and the current torque resistance relationship The power supply outputs a current corresponding to the torque resistance. 2. The training device for animal wrist rotation according to claim 1, wherein the training device for animal wrist rotation further comprises: a torque sensor and a current sensor; wherein: The torque sensor is used to detect the torque resistance output by the servo motor; the current sensor is used for detecting the current output by the power supply to the motor; The controller is respectively electrically connected with the torque sensor and the current sensor The controller is also configured to: According to the torque force detected by the torque sensor and the current detected by the current sensor, the current-torque relationship of the servo motor is established, and the current-torque relationship is stored in the memory. 3. The training device for animal wrist rotation according to claim 2, wherein the training device for animal wrist rotation further comprises: a coupling; The output shaft of the servo motor is connected to the first end of the coupling; the torque sensor is connected between the handle and the second end of the coupling. 4. The training device for animal wrist rotation according to claim 3, wherein the angle sensor is a cylindrical encoder; wherein: The encoder is sleeved outside the connection shaft between the coupling and the torque sensor. 5. The training device for animal wrist rotation according to claim 4, wherein the training device for animal wrist rotation further comprises: a base, the bottom of which is provided with a foot for supporting; a first vertical plate, which is arranged on the base, and the servo motor is fixed on the rear side of the first vertical plate; A second vertical plate is disposed on the base and parallel to the first vertical plate, the second vertical plate is located in front of the first vertical plate; the coupling is interposed between the first vertical plate between the vertical plate and the second vertical plate, the encoder is fixed on the rear side of the second vertical plate; A third vertical plate is disposed on the base and parallel to the second vertical plate, the third vertical plate is located in front of the second vertical plate; the torsion sensor is located between the third vertical plate between the plate and the second vertical plate; the handle is located on the front side of the third vertical plate. 6 . The training device for animal wrist rotation according to claim 5 , wherein the base is provided with installation grooves extending along the arrangement directions of the three vertical plates; between each vertical plate and the base Both are provided with right-angle plates, and the right-angle plates and installation grooves are passed through by means of fasteners so that the vertical plates can be adjusted in position.

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