CN111296313A - Training device for animal wrist rotation action - Google Patents
Training device for animal wrist rotation action Download PDFInfo
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- CN111296313A CN111296313A CN202010097550.5A CN202010097550A CN111296313A CN 111296313 A CN111296313 A CN 111296313A CN 202010097550 A CN202010097550 A CN 202010097550A CN 111296313 A CN111296313 A CN 111296313A
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- servo motor
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- torsion resistance
- handle
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- 241001465754 Metazoa Species 0.000 title claims abstract description 33
- 210000000707 wrist Anatomy 0.000 title claims abstract description 20
- 230000009471 action Effects 0.000 title claims abstract description 16
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
- A01K15/027—Exercising equipment, e.g. tread mills, carousels
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Toys (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a training device for animal wrist rotation action, which comprises: a handle rotatably disposed, the handle for holding and rotating by an animal; the servo motor is connected to the handle and is used for providing torsion resistance for the handle; an angle sensor for checking a rotation angle of the handle; the power supply is used for providing current for the servo motor so that the servo motor outputs torsion resistance; a memory in which first data including corner-torsion resistance relationship data for training and second data are prestored; the second data comprises current-torsion resistance relation data of the servo motor; a controller configured to: and acquiring the rotation angle of the handle detected by the angle sensor, determining the torsion resistance to be output by the servo motor based on the rotation angle-torsion resistance relation, and controlling the power supply to output the current corresponding to the torsion resistance based on the determined torsion resistance and the current torsion resistance relation.
Description
Technical Field
The invention relates to a training device for animal wrist rotation actions.
Background
In studying the relationship between the force application process of an animal and its muscle signals and its cerebral cortex, it is necessary to provide resistance to the force application process of the animal by using a training device so that the animal outputs a force matching the resistance, in order to obtain the muscle and brain signals corresponding to the force by using other devices and methods.
The prior art has shown a training device for animals to perform a wrist rotation action, which training device is used to provide resistance to twisting when the animal performs the wrist rotation. In particular, the training device has a rotatable handle and a torsion spring for providing the handle with a twisting force, by instructing the animal to output a wrist force matching the twisting force provided by the torsion spring when turning the handle, in which case other devices and methods can be used to obtain muscle and brain signals corresponding to this force.
The above-mentioned training devices in the prior art have the following drawbacks:
the torsion resistance provided by the torsion spring is unique to the rotation angle of the handle, i.e. the rotation angle-torsion resistance provided by the training device is not changeable, which results in a single training mode for the wrist-rotating action of the animal.
Disclosure of Invention
In view of the above technical problems in the prior art, embodiments of the present invention provide a training device for an animal wrist rotation action.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a training device for an animal wrist rotation action, comprising:
a handle rotatably disposed, the handle for holding and rotating by an animal;
the servo motor is connected to the handle and is used for providing torsion resistance for the handle;
an angle sensor for checking a rotation angle of the handle;
the power supply is used for providing current for the servo motor so that the servo motor outputs torsion resistance;
a memory in which first data including corner-torsion resistance relationship data for training and second data are prestored; the second data comprises current-torsion resistance relation data of the servo motor;
a controller configured to:
and acquiring the rotation angle of the handle detected by the angle sensor, determining the torsion resistance to be output by the servo motor based on the rotation angle-torsion resistance relation, and controlling the power supply to output the current corresponding to the torsion resistance based on the determined torsion resistance and the current torsion resistance relation.
Preferably, the training device for the wrist-rotating action of the animal further comprises: a torque sensor and a current sensor; wherein:
the torsion sensor is used for detecting torsion 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 further configured to:
and establishing a current-torque relationship of the servo motor according to the torque force detected by the torque sensor and the current detected by the current sensor, and storing the current-torque relationship in the memory.
Preferably, the training device for the wrist-rotating action of the animal further comprises: a coupling;
an output shaft of the servo motor is connected to the first end of the coupler; the torque sensor is connected between the handle and the second end of the coupler.
Preferably, the angle sensor is a cylindrical encoder; wherein:
the encoder is sleeved outside the connecting shaft between the coupler and the torque sensor.
Preferably, the training device for the wrist-rotating action of the animal further comprises:
the bottom of the base is provided with a foot margin for supporting;
the servo motor is fixed on the rear side of the first vertical plate;
the second vertical plate is arranged on the base and is parallel and opposite to the first vertical plate, and the second vertical plate is positioned in front of the first vertical plate; the coupler is arranged between the first vertical plate and the second vertical plate, and the encoder is fixed on the rear side of the second vertical plate;
the third vertical plate is arranged on the base and is parallel and opposite to the second vertical plate, and the third vertical plate is positioned in front of the second vertical plate; the torsion sensor is arranged between the third vertical plate and the second vertical plate; the handle is located the front side of third riser.
Preferably, the base is provided with a mounting groove extending along the arrangement direction of the three vertical plates; all be provided with the right angle board between every riser and the base, wear to establish right angle board and mounting groove so that the riser can carry out position control by the fastener.
Compared with the prior art, the training device for the animal wrist rotation action provided by the invention comprises the following components:
the corner-torsion resistance relationship output by the training device provided by the invention is not limited by the structure of the training device, and various corner-torsion resistance relationships required by experimenters can be output. That is, the training device can output the relationship of the turning angle and the torsion resistance according to the requirements of the experimenter.
The 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.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. 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 mechanical structure diagram of a training device for an animal wrist rotation action according to an embodiment of the present invention.
Fig. 2 is a control flow chart of the training device for the wrist rotation action of the animal according to the embodiment of the invention.
Reference numerals:
10-a handle; 20-a servo motor; 30-a power supply; 40-a controller; 50-a memory; 60-angle sensor; 70-a torsion sensor; 80-a current sensor; 91-a coupler; 92-a base; 93-ground margin; 94-a first riser; 95-a second riser; 96-a third vertical plate; 97-mounting groove; 98-square plate.
Detailed Description
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the embodiments of the present invention clear and concise, a detailed description of known functions and known components of the invention have been omitted.
As shown in fig. 1 and 2, the disclosed embodiment of the present invention discloses a training device for an animal wrist rotation action, comprising: handle 10, servo motor 20, angle sensor 60, current sensor 80, torque sensor 70, coupling 91, power supply 30, memory 50, controller 40, and mechanical mounting mechanism.
As shown in fig. 1, the mechanical mounting mechanism includes: base 92, first riser 94, second riser 95, third riser 96 and right angle board 98. The lower part of base 92 is provided with lower margin 93, and first riser 94, second riser 95, third riser 96 are arranged from back to front interval in proper order to, seted up mounting groove 97 on base 92, this mounting groove 97 extends along the direction of arranging of three riser. All set up right angle board 98 between every riser and the base 92, a board of this right angle board 98 is fixed with the riser by the fastener, and another board is fixed on base 92 by fastener and mounting groove 97, and this makes the distance between the three risers can be adjusted.
The servo motor 20 is fixed to 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 to the base 92 and/or the first vertical plate 94 adjacent to the servo motor 20. The servo motor 20 passes through the first vertical plate 94 and then is connected to the coupler 91, the torque sensor 70 is arranged between the second vertical plate 95 and the third vertical plate 96, the torque sensor 70 and the coupler 91 are connected through a connecting shaft, and the connecting shaft penetrates 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.
As described above, the torque (specifically, the torque resistance) output from the servo motor 20 can be transmitted to the handle 10.
A current sensor 80 is integrated at the connection of the power supply 30, which current sensor 80 is an ammeter in which a detected current value signal can occur to the outside.
As shown in fig. 2, the interaction between 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 a twisting force to the handle 10 by supplying a current to the servo motor 20. And the servo motor 20 has the following characteristics: the larger the input current is, the larger the torsion resistance output by the servo motor 20 is, i.e. for the same servo motor 20, the servo motor 20 has a determined current-torsion resistance relationship; while for different types and powers of motors, the current-torque resistance relationship may be different.
As described above, the magnitude of the torsional resistance output by the servo motor 20 can be controlled by the current value for the determined servo motor 20.
The angle sensor 60 is used to check the angle at which the animal turns the handle 10 and to transmit the detected angle information to the controller 40.
The memory 50 stores therein two types of data, i.e., first data and second data.
The first data is artificially pre-constructed corner-torsion resistance relationship data, which is constructed according to training requirements, for example, if the experimenter wants to make the curve of the force output by the animal doing the wrist rotation motion be a sine curve during the process of rotating the handle 10 from 0 degree to 60 degrees, it is necessary to make the corner-torsion resistance relationship in the memory 50 be constructed as a sine function relationship.
The second data is current-torsion resistance relation data of the servo motor 20.
The controller 40 functions to:
1. obtaining the real-time rotation angle of the handle 10 by the angle sensor 60; the torsion sensor 70 is used for obtaining the torsion resistance output by the servo motor 20; the current sensor 80 is used to obtain the current supplied by the power supply 30 to the servo motor 20.
2. The controller 40 determines a torsional force to be output from the servo motor 20 based on the rotation angle-torsional force relationship, and controls the power source 30 to output a current corresponding to the torsional force based on the determined torsional force and the current torsional force relationship.
3. The current-torque relationship of the servo motor 20 is established based on the torque force detected by the torque sensor 70 and the current detected by the current sensor 80, and is stored in the memory 50.
The working principle of the training device is described in detail as follows:
the experimenter prestores in the memory 50 the relation data of the turning angle-torsion resistance for embodying the training purpose, for example, if the experimenter wants the force output by the animal to have a sine relation with the turning angle of the handle 10, the experimenter stores in the memory 50 the relation of the turning angle-torsion resistance with the function relation of sine; further, the memory 50 stores current-torsion resistance relation data corresponding to the servo motor 20.
After the animal is instructed to rotate the handle 10, the controller 40 obtains the rotation angle of the handle 10 in real time by means of the angle sensor 60, determines the torsion resistance required to be output by the servo motor 20 according to the obtained rotation angle and the relationship between the rotation angle and the torsion resistance, and controls the power supply 30 according to the relationship between the current and the torsion resistance, so that the power supply 30 outputs the current which enables the servo motor 20 to output the corresponding torsion resistance, and the servo motor 20 outputs the torsion resistance.
According to the above, the relation between the corner and the torsion resistance output by the training device provided by the invention is not limited by the structure of the training device, and various relations between the corner and the torsion resistance required by experimenters can be output. That is, the training device can output the relationship of the turning angle and the torsion resistance according to the requirements of the experimenter.
In addition, the training device provided by the invention also has the following characteristics:
it is understood that when the servo motor 20 is replaced, the current-torque relationship between the replaced servo motor 20 and the servo motor 20 before replacement may be changed, and only the current-torque relationship data before replacement is stored in the memory 50, which may cause the output relationship between the rotation angle and the torque force to be inconsistent with the relationship between the rotation angle and the torque force stored in the memory 50 if the controller 40 still controls the power supply 30 based on the current-torque relationship data in the memory 50.
The training device can take the following measures:
the controller 40 obtains the torsion force output by the replaced servo motor 20 through the torsion sensor 70, and obtains the current supplied by the power supply 30 to the servo motor 20 at this time through the current sensor 80, so as to reestablish the current-torsion relationship of the servo motor 20, and store the current-torsion 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.
Moreover, although exemplary embodiments have been described herein, the scope of the present invention includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above-described embodiments, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that a disclosed feature not claimed 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 as examples or embodiments, 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 scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (6)
1. A training device for an animal wrist rotation action, comprising:
a handle rotatably disposed, the handle for holding and rotating by an animal;
the servo motor is connected to the handle and is used for providing torsion resistance for the handle;
an angle sensor for checking a rotation angle of the handle;
the power supply is used for providing current for the servo motor so that the servo motor outputs torsion resistance;
a memory in which first data including corner-torsion resistance relationship data for training and second data are prestored; the second data comprises current-torsion resistance relation data of the servo motor;
a controller configured to:
and acquiring the rotation angle of the handle detected by the angle sensor, determining the torsion resistance to be output by the servo motor based on the rotation angle-torsion resistance relation, and controlling the power supply to output the current corresponding to the torsion resistance based on the determined torsion resistance and the current torsion resistance relation.
2. The training device for animal wrist rotation according to claim 1, further comprising: a torque sensor and a current sensor; wherein:
the torsion sensor is used for detecting torsion 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 further configured to:
and establishing a current-torque relationship of the servo motor according to the torque force detected by the torque sensor and the current detected by the current sensor, and storing the current-torque relationship in the memory.
3. Training device for animal wrist rotation movement according to claim 2, characterized in that it further comprises: a coupling;
an output shaft of the servo motor is connected to the first end of the coupler; the torque sensor is connected between the handle and the second end of the coupler.
4. A 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 connecting shaft between the coupler and the torque sensor.
5. Training device for animal wrist rotation movement according to claim 4, characterized by further comprising:
the bottom of the base is provided with a foot margin for supporting;
the servo motor is fixed on the rear side of the first vertical plate;
the second vertical plate is arranged on the base and is parallel and opposite to the first vertical plate, and the second vertical plate is positioned in front of the first vertical plate; the coupler is arranged between the first vertical plate and the second vertical plate, and the encoder is fixed on the rear side of the second vertical plate;
the third vertical plate is arranged on the base and is parallel and opposite to the second vertical plate, and the third vertical plate is positioned in front of the second vertical plate; the torsion sensor is arranged between the third vertical plate and the second vertical plate; the handle is located the front side of third riser.
6. The training device for the wrist rotation movement of the animal according to claim 5, wherein the base is provided with a mounting groove extending along the arrangement direction of the three vertical plates; all be provided with the right angle board between every riser and the base, wear to establish right angle board and mounting groove so that the riser can carry out position control by the fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010097550.5A CN111296313A (en) | 2020-02-17 | 2020-02-17 | Training device for animal wrist rotation action |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010097550.5A CN111296313A (en) | 2020-02-17 | 2020-02-17 | Training device for animal wrist rotation action |
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| CN111296313A true CN111296313A (en) | 2020-06-19 |
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| CN202010097550.5A Pending CN111296313A (en) | 2020-02-17 | 2020-02-17 | Training device for animal wrist rotation action |
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| CN109124996A (en) * | 2018-10-25 | 2019-01-04 | 福州大学 | A kind of multi-mode device for healing and training and method with comprehensive assessment function |
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2020
- 2020-02-17 CN CN202010097550.5A patent/CN111296313A/en active Pending
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| WO1993008882A1 (en) * | 1991-11-08 | 1993-05-13 | Cedaron Medical, Inc. | Physiological evaluation and exercise system |
| CN201492855U (en) * | 2009-07-14 | 2010-06-02 | 常州市钱璟康复器材有限公司 | Muscle strength training and evaluation device |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN105310859A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Wrist joint intorsion/extorsion rehabilitation training device |
| CN106621209A (en) * | 2016-09-18 | 2017-05-10 | 上海交通大学 | Force feedback control method and system for power assisting training of wrist rehabilitation robot |
| CN109124996A (en) * | 2018-10-25 | 2019-01-04 | 福州大学 | A kind of multi-mode device for healing and training and method with comprehensive assessment function |
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Application publication date: 20200619 |