CN111728819A - Multi-stage protection device and method for upper limb rehabilitation robot - Google Patents
Multi-stage protection device and method for upper limb rehabilitation robot Download PDFInfo
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- CN111728819A CN111728819A CN202010664182.8A CN202010664182A CN111728819A CN 111728819 A CN111728819 A CN 111728819A CN 202010664182 A CN202010664182 A CN 202010664182A CN 111728819 A CN111728819 A CN 111728819A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012549 training Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 5
- 230000004064 dysfunction Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 210000001061 forehead Anatomy 0.000 description 1
- 239000003607 modifier Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-stage protection device and a method for an upper limb rehabilitation robot, which comprises the following steps: the system comprises a first-level software protection system, a second-level electrical protection system and a third-level mechanical protection system; the software protection system comprises an overspeed protection module, a driver module speed protection module and an overcurrent protection module; the electrical protection system includes: the system comprises an emergency stop switch, a controller enabling protection module, an equipment network power supply end short-circuit protection and overload protection module, a switching power supply overcurrent protection and overvoltage protection module, a lifting upright column interlocking protection module and an actuator end limit switch protection device; the mechanical protection system comprises an actuating mechanism end mechanical limit protection device. The invention solves the problems of incomplete safety protection measures and low safety of related products in the current market, eliminates the potential safety hazard in the using process of equipment, and improves the reliability and safety of the rehabilitation robot.
Description
Technical Field
The invention belongs to the technical field of rehabilitation robots, and particularly relates to a multi-stage protection device and method for an upper limb rehabilitation robot.
Background
The upper limb rehabilitation robot is used as rehabilitation medical equipment and assists a patient to carry out scientific and effective rehabilitation training, so that the aim of recovering the limb function of the patient is fulfilled. In the process of using the rehabilitation equipment, the electrical safety and mechanical safety problems are the problems of important attention of users and patients, the safety of the equipment is the most basic and most important function of the equipment, in the process of designing a product, the safety problems are not considered, and improper and unreasonable safety measures are designed, so that potential safety hazards of the product can be caused, and the quality of the product and the safety of the patients are seriously influenced. Therefore, it is necessary to develop an upper limb rehabilitation training and evaluation device which can overcome the above disadvantages.
The emergency stop switch and the limit switch are widely applied to the rehabilitation robot equipment, but the safety measures are far from sufficient, for example, in a patent of a six-degree-of-freedom upper limb rehabilitation robot control system applied by the international innovation research institute of haharangda (combined fertilizer), a control system of an upper limb rehabilitation robot is introduced, and the patent is as follows: the patent aims to solve the problems of how to simplify the structure of the control system, improve the execution efficiency of the control system and improve the synchronism of equipment joints. In terms of safety measures, the measures adopted by the patent are as follows: and the digital quantity module is connected with the emergency stop switch and the limit switch.
Huazhong university of science and technology has announced the patent of "an under-actuated upper limbs rehabilitation robot control system", has introduced an under-actuated upper limbs rehabilitation robot control system, including microcomputer, power distribution module, data acquisition module and motion control module. The data acquisition module collects relevant data of human motion intention and transmits the data to the microcomputer, the microcomputer processes the relevant data and identifies the human motion intention, the motion intention is output as motion data and transmitted to the motion control module, the power of the motion control module is output to the rehabilitation robot, the rehabilitation robot is fixed with a patient through a bandage and moves according to a planned forehead track or the motion intention which follows a plurality of people, and therefore rehabilitation motion is achieved. In terms of safety measures, the measures adopted by the patent are as follows: with the emergency stop switch and the limit switch, no other safety-related measures are described.
Zhengzhou university publishes a patent named 'a retractable and movable ICU ward horizontal type lower limb rehabilitation robot', introduces a lower limb rehabilitation robot, and the device comprises a human body sign acquisition module, a base module, a lower limb exoskeleton and a control module level rehabilitation evaluation system, and can realize rehabilitation evaluation and training of different joints of the lower limbs of a human body. In terms of safety measures, the measures adopted by the patent are as follows: the emergency stop switch, the alarm lamp, the large and small leg exoskeleton limiting blocks and the foot movement limiting blocks are designed, so that the safe and reliable operation of the lower limb rehabilitation training process is ensured, and other safety related measures are not described.
The main problems of the existing rehabilitation training equipment are as follows:
1. most products adopt an emergency stop switch, a limiting block and a limiting switch as safety protection measures, the protection measures are single, and safety holes exist;
2. there is no selectivity between the protective measures. The protection measure selectivity means that the designed multi-level protection measure can realize selective triggering, and the protection measures at different levels are triggered step by step. The easily triggered protective measures can be realized by software setting, and the intermediate-level protection and the mechanical protection are realized by the electric elements as final protective measures;
3. most products are not provided with electric protection measures, and have great potential safety hazards.
Disclosure of Invention
In order to overcome the technical problems in the prior art, one aspect of the present invention provides a multi-stage protection device for an upper limb rehabilitation robot, comprising:
a first level software protection system, a second level electrical protection system, and a third level mechanical protection system; starting a second-level electrical protection system when the first-level software protection system fails; starting a third-level mechanical protection system when the second-level electrical protection system fails;
the software protection system comprises an overspeed protection module, a driver module speed protection module and an overcurrent protection module;
an electrical protection system, a software protection system and a mechanical protection system;
the electrical protection system includes: the system comprises an emergency stop switch, a controller enabling protection module, an equipment network power supply end short-circuit protection and overload protection module, a switching power supply overcurrent protection and overvoltage protection module, a lifting upright column interlocking protection module and an actuator end limit switch protection device;
the mechanical protection system comprises an actuating mechanism end mechanical limit protection device.
Preferably, the device network power supply end short-circuit protection and overload protection module comprises a low-voltage fuse, and when the load loop generates an excessive current, the low-voltage fuse is fused to play a protection role.
Furthermore, the lifting upright column interlocking protection module comprises a lifting upright column driving control module, an upright column relay, a controller, an upper computer and a lower computer; the equipment starts to operate by receiving the instruction of the upper computer, and the controller enables the normally closed contact of the relay to be disconnected, so that the power supply of the lifting upright column is cut off.
Preferably, the software overspeed protection module sets maximum rotation speed limits of a shoulder motor and an elbow motor of the upper limb rehabilitation robot in the configuration software, when the rotation speed of the motor exceeds the set value, the driver will remove the enable, stop outputting the motor motion parameters, and enable the motor to realize self-locking, thereby playing the overspeed protection role.
Preferably, the driver module speed protection module and the overcurrent protection module are implemented by setting software parameters of a lower computer.
Preferably, the mechanical limiting protection device comprises a mechanical limiting block or a mechanical limiting pin.
Another aspect of the present invention provides a multi-stage protection method for a multi-stage protection device of an upper limb rehabilitation robot, including the following steps:
s1: setting software protection;
s2, setting electric system protection;
s3: and setting mechanical protection.
Further, S1 includes the following steps:
s21: setting overspeed protection through software;
s22: through driver module speed protection setting, overcurrent protection setting.
Further, S2 includes the following steps:
s21: setting emergency stop switch protection;
s22: setting controller enable protection;
s23: the short-circuit protection and overload protection of the power end of the equipment network are realized by a low-voltage fuse, and when the load loop generates overlarge current, the low-voltage fuse can be fused to play a protection role;
s24: setting overcurrent protection and overvoltage protection of a switching power supply, wherein the overcurrent protection and the overvoltage protection are realized by a switching power supply overcurrent protection circuit and an overvoltage protection circuit;
s25: setting up the interlocking protection of the lifting upright post module;
s26: and arranging limit switch protection at the end of the actuating mechanism.
Further, S3 includes the steps of:
and mechanical limit protection is arranged at the end of the actuating mechanism.
The invention discloses a multi-stage protection device and method for an upper limb rehabilitation robot, which are used for assisting the rehabilitation training process of patients with upper limb dysfunction by the upper limb rehabilitation robot, belong to but not limited to the technical field of rehabilitation robot control, and can also be applied to the technical field of industrial robot control. The method is characterized in that: the rehabilitation robot adopts multi-level safety protection measures, and the reliability and the safety of the system are improved. The multi-stage safety protection measures comprise the following parts: short-circuit protection and overload protection of a network power supply end; overcurrent protection and overvoltage protection of the switching power supply module; the lifting upright post module is interlocked and protected; driver module speed protection settings, over-current protection settings; protecting an actuating mechanism end limit switch; mechanical limit protection of an actuating mechanism end; a scram switch; controller enable protection, etc. The multi-stage protection measures realize protection in three aspects of an electrical system, software control and a mechanical device, and improve the safety and reliability of equipment. The invention solves the problems of incomplete safety protection measures and low safety of related products in the current market, eliminates the potential safety hazard in the using process of equipment, and improves the reliability and safety of the rehabilitation robot.
The multi-stage protection device and the method for the upper limb rehabilitation robot have the following beneficial effects:
a) the electrical system protection, the software protection and the mechanical protection are adopted to realize the multi-level omnibearing protection, so that the product safety is improved;
b) the protection measures have selectivity, so that protection at different levels is realized, and safety accidents and property loss are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the apparatus and method consistent with the invention and, together with the detailed description, serve to explain the advantages and principles consistent with the invention.
Fig. 1 is a schematic diagram of a multi-stage protection device and method for an upper limb rehabilitation robot according to a preferred embodiment of the invention;
FIG. 2 is a schematic diagram of the power supply end short-circuit protection and overload protection structure of the grid according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of an upper limb rehabilitation robot system according to a preferred embodiment of the invention;
FIG. 4 is a flow chart of the interlock protection of the lifting column module according to a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a driver module speed protection arrangement in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of a driver module current protection arrangement according to a preferred embodiment of the present invention;
fig. 7 is a schematic view of a mechanical stop device according to a preferred embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other, and the technical idea of the present invention may be implemented in combination with other known techniques or other techniques identical to those known techniques.
The terms "first" and "second" as used herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another, unless otherwise specified. Similarly, modifiers similar to "about", "approximately" or "approximately" that occur before a numerical term herein typically include the same number, and their specific meaning should be read in conjunction with the context. Similarly, unless a specific number of a claim recitation is intended to cover both the singular and the plural, and also that claim may include both the singular and the plural.
In the description of the specific embodiments above, the use of the directional terms "upper", "lower", "left", "right", "top", "bottom", "vertical", "transverse", and "lateral", etc., are for convenience of description only and should not be considered limiting.
As shown in fig. 1, a preferred embodiment of the present invention provides a multi-stage protection device for an upper limb rehabilitation robot, comprising:
a first level software protection system, a second level electrical protection system, and a third level mechanical protection system; starting a second-level electrical protection system when the first-level software protection system fails; starting a third-level mechanical protection system when the second-level electrical protection system fails;
the software protection system comprises an overspeed protection module, a driver module speed protection module and an overcurrent protection module;
software protection systems, electrical protection systems and mechanical protection systems;
the software protection system comprises an overspeed protection module, a driver module speed protection module and an overcurrent protection module;
the electrical protection system includes: the system comprises an emergency stop switch, a controller enabling protection module, an equipment network power supply end short-circuit protection and overload protection module, a switching power supply overcurrent protection and overvoltage protection module, a lifting upright column interlocking protection module and an actuator end limit switch protection device;
the mechanical protection system comprises an actuating mechanism end mechanical limit protection device.
As shown in fig. 2, the short-circuit protection and overload protection module at the power supply end of the equipment network comprises a low-voltage fuse, and when an excessive current occurs in a load loop, the low-voltage fuse is fused to play a protection role; s1 — switch module in the figure; h1 — indicator light; f1 — low voltage fuse; l-a live line; n-zero line; PE-protective earth wire.
As shown in fig. 3, the embodiment provides an upper limb rehabilitation robot with multi-stage protection, which can be used for rehabilitation training of patients with upper limb dysfunction caused by stroke and brain trauma. The upper limb rehabilitation robot comprises the following components: a PC host 1; a control box 2 (comprising a controller, a digital input DI/digital output DO module, a 24VDC power supply module and a relay); a lifting upright column 3; a base plate 4; the elbow motor 5 is provided with a first acquisition card; the shoulder motor 6 is provided with a second acquisition card; a cantilever 7.
The elbow motor 5 and the shoulder motor 6 are connected to a driver (not shown in the figure) through power lines and signal lines, and the first acquisition card and the second acquisition card are connected to the driver through a CAN bus; the PC host 1 sends a motion instruction to the controller 2 through a signal line, the controller 2 sends an instruction to the driver, and the driver converts the motion instruction into a driving parameter and sends the driving parameter to the shoulder and elbow motors 6 and 5 to realize motion; the first acquisition card and the second acquisition card acquire the actual motion parameters of the motor through the CAN bus and feed back the actual motion parameters to the driver. The lifting column interlocking protection module comprises a lifting column driving control module, a column relay, a controller, an upper computer and a lower computer; the equipment starts to operate by receiving the instruction of the upper computer, and the controller enables the normally closed contact of the relay to be disconnected, so that the power supply of the lifting upright column is cut off.
And (3) setting software overspeed protection, namely setting the maximum rotating speed limit of a shoulder motor 6 and an elbow motor 5 of the upper limb rehabilitation robot in configuration software, and when the rotating speed of the motors exceeds the set value, removing the enabling of the drivers, stopping outputting motor motion parameters, and realizing self-locking of the motors so as to play the overspeed protection role.
The speed protection setting and the overcurrent protection setting of the driver module are realized by the setting of the parameters of the lower computer software.
As shown in fig. 7, the mechanical limiting protection device includes a mechanical limiting block or a mechanical limiting pin 8.
Another embodiment of the present invention provides a multi-stage protection method for a multi-stage protection device of an upper limb rehabilitation robot, including the following steps:
s1: setting software protection;
s2, setting electric system protection;
s3: and setting mechanical protection.
S1 includes the steps of:
s11: setting overspeed protection through software;
s12: through driver module speed protection setting, overcurrent protection setting.
1) The software sets overspeed protection, and the implementation method is as follows: the maximum rotating speed limit of the shoulder motor and the elbow motor is set in the configuration software, when the rotating speed of the motor exceeds the set value, the driver can remove the enable, stop outputting the motor motion parameters, and enable the motor to realize self-locking, thereby playing the role of overspeed protection;
2) the speed protection setting and the overcurrent protection setting of the driver module are realized by the setting of the parameters of the lower computer software. Specifically, as shown in fig. 5 and fig. 6, the maximum speed limit is set as shown by a speed limit (speed limit) marked as 1 in fig. 5, the speed following alarm is set as shown by a speed following window (speed following window) and a speed following time (speed following time) marked as 2 in fig. 5, and when the actual speed and the running time of the motor exceed the set values, the driver alarms; the current peak setting is shown as peak current limit (peak current limit) at 1 in fig. 6, and the rated current setting is shown as continuous current limit (continuous current limit) at 2 in fig. 6, and the driver will alarm when the motor current exceeds the set limit. S2 includes the steps of:
s21: setting emergency stop switch protection;
s22: setting controller enable protection;
s23: the short-circuit protection and overload protection of the power end of the equipment network are realized by a low-voltage fuse, and when the load loop generates overlarge current, the low-voltage fuse can be fused to play a protection role;
s24: setting overcurrent protection and overvoltage protection of a switching power supply, wherein the overcurrent protection and the overvoltage protection are realized by a switching power supply overcurrent protection circuit and an overvoltage protection circuit;
s25: setting up the interlocking protection of the lifting upright post module;
the lifting upright post module comprises a 3-stage telescopic cylinder, a push rod motor, an upright post driving control panel and an upright post lifting control handle. The 3-stage telescopic cylinder is connected with the push rod motor through a mechanical bolt, the push rod motor is connected to the stand column driving control board through a power line, and the stand column lifting control handle is connected to the stand column driving control board through a control signal line. As shown in fig. 4, when the PC host interface is in the training mode, the device receives the instruction from the host computer to start the operation of the device, and at this time, the controller sets DO (2) of the digital output D0 module to 1 to open the normally closed contact of the relay, thereby cutting off the power supply of the lifting column. At the moment, the manual operating plate for operating the lifting upright post is not effective any more, and the safety of the equipment in use is ensured.
S26: and arranging limit switch protection at the end of the actuating mechanism.
S3 includes the steps of:
and the mechanical limit protection of the end of the actuating mechanism is realized by a normally closed contact limit switch.
The invention discloses a multi-stage protection device and method for an upper limb rehabilitation robot, which are used for assisting the rehabilitation training process of patients with upper limb dysfunction by the upper limb rehabilitation robot, belong to but not limited to the technical field of rehabilitation robot control, and can also be applied to the technical field of industrial robot control. The method is characterized in that: the rehabilitation robot adopts multi-level safety protection measures, and the reliability and the safety of the system are improved. The multi-stage safety protection measures comprise the following parts: short-circuit protection and overload protection of a network power supply end; overcurrent protection and overvoltage protection of the switching power supply module; the lifting upright post module is interlocked and protected; driver module speed protection settings, over-current protection settings; protecting an actuating mechanism end limit switch; mechanical limit protection of an actuating mechanism end; a scram switch; controller enable protection, etc. The multi-stage protection measures realize protection in three aspects of an electrical system, software control and a mechanical device, and improve the safety and reliability of equipment. The invention solves the problems of incomplete safety protection measures and low safety of related products in the current market, eliminates the potential safety hazard in the using process of equipment, and improves the reliability and safety of the rehabilitation robot.
The upper limb rehabilitation robot multistage protection device and the use method have the following beneficial effects:
a) the electrical system protection, the software protection and the mechanical protection are adopted to realize the multi-level omnibearing protection, so that the product safety is improved;
b) the protection measures have selectivity, so that protection at different levels is realized, and safety accidents and property loss are avoided.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The utility model provides a recovered robot multistage protection device of upper limbs which characterized in that includes:
a first level software protection system, a second level electrical protection system, and a third level mechanical protection system; starting a second-level electrical protection system when the first-level software protection system fails; starting a third-level mechanical protection system when the second-level electrical protection system fails;
the software protection system comprises an overspeed protection module, a driver speed protection module and an overcurrent protection module;
the electrical protection system includes: the system comprises an emergency stop switch, a controller enabling protection module, an equipment network power supply end short-circuit protection and overload protection module, a switching power supply overcurrent protection and overvoltage protection module, a lifting upright column interlocking protection module and an actuator end limit switch protection device;
the mechanical protection system comprises an actuating mechanism end mechanical limit protection device.
2. The upper limb rehabilitation robot multi-stage protection device according to claim 1, wherein the equipment network power supply end short-circuit protection and overload protection module comprises a low-voltage fuse, and when excessive current occurs in a load loop, the low-voltage fuse is fused to play a protection role.
3. The multi-stage protection device for the upper limb rehabilitation robot according to claim 1, wherein the lifting column interlocking protection module comprises a lifting column driving control module, a column relay, a controller, an upper computer and a lower computer; the equipment receives the instruction of the upper computer to enable the equipment to start running, and the controller enables the normally closed contact of the relay to be disconnected, so that the power supply of the lifting upright column is cut off.
4. The multi-stage protection device for the upper limb rehabilitation robot according to claim 1, wherein the software overspeed protection module sets the maximum rotation speed limit of the shoulder motor and the elbow motor of the upper limb rehabilitation robot in configuration software, when the rotation speed of the motor exceeds the set value, the driver removes the enable, stops outputting the motor motion parameters, and enables the motor to realize self-locking, thereby playing the overspeed protection role.
5. The upper limb rehabilitation robot multistage protection device according to claim 3, wherein the driver speed protection module and the overcurrent protection module are implemented by lower computer software parameter setting.
6. The upper limb rehabilitation robot multistage protection device according to claim 1, wherein the mechanical limit protection device comprises a mechanical limit block or a mechanical limit pin.
7. A multi-stage protection method of a multi-stage protection device of an upper limb rehabilitation robot is characterized by comprising the following steps:
s1: setting software protection;
s2, setting electric system protection;
s3: and setting mechanical protection.
8. The multi-stage protection method for the upper limb rehabilitation robot according to claim 7, wherein the S1 comprises the following steps:
s11: setting overspeed protection through software;
s12: through driver module speed protection setting, overcurrent protection setting.
9. The multi-stage protection method for the upper limb rehabilitation robot according to claim 7, wherein the S2 comprises the following steps:
s21: setting emergency stop switch protection;
s22: setting controller enable protection;
s23: the short-circuit protection and the overload protection of the power end of the equipment network are set and are realized by a low-voltage fuse, and when the load loop generates overlarge current, the low-voltage fuse can be fused to play a protection role;
s24: setting overcurrent protection and overvoltage protection of a switching power supply, wherein the overcurrent protection and the overvoltage protection are realized by a switching power supply overcurrent protection circuit and an overvoltage protection circuit;
s25: setting up the interlocking protection of the lifting upright post module;
s26: and arranging limit switch protection at the end of the actuating mechanism.
10. The multi-stage protection method for the upper limb rehabilitation robot according to claim 7, wherein the S3 comprises the following steps:
and mechanical limit protection is arranged at the end of the actuating mechanism.
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| CN202010664182.8A CN111728819A (en) | 2020-07-10 | 2020-07-10 | Multi-stage protection device and method for upper limb rehabilitation robot |
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| CN202010664182.8A CN111728819A (en) | 2020-07-10 | 2020-07-10 | Multi-stage protection device and method for upper limb rehabilitation robot |
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| CN204400374U (en) * | 2014-12-19 | 2015-06-17 | 中矿金业股份有限公司 | Elevator system stop device interlocking protective device |
| CN104970947A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Safety control method and apparatus for upper limb rehabilitation robot |
| CN105853141A (en) * | 2016-03-28 | 2016-08-17 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation mechanism |
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2020
- 2020-07-10 CN CN202010664182.8A patent/CN111728819A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203498016U (en) * | 2013-09-22 | 2014-03-26 | 江苏光阳机械制造有限公司 | Portal frame type elevating platform |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN104970947A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Safety control method and apparatus for upper limb rehabilitation robot |
| CN204400374U (en) * | 2014-12-19 | 2015-06-17 | 中矿金业股份有限公司 | Elevator system stop device interlocking protective device |
| CN105853141A (en) * | 2016-03-28 | 2016-08-17 | 南京邮电大学 | Shoulder rehabilitation system with gravity compensation mechanism |
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Application publication date: 20201002 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: A multi-level protection device and method for upper limb rehabilitation robot License type: Exclusive License Record date: 20230919 |
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Application publication date: 20201002 |