CN115177220A - Automatic pulse condition acquisition device and method - Google Patents

Automatic pulse condition acquisition device and method Download PDF

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Publication number
CN115177220A
CN115177220A CN202210819898.XA CN202210819898A CN115177220A CN 115177220 A CN115177220 A CN 115177220A CN 202210819898 A CN202210819898 A CN 202210819898A CN 115177220 A CN115177220 A CN 115177220A
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CN
China
Prior art keywords
arm
cun
chi
guan
rotating arm
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CN202210819898.XA
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Chinese (zh)
Inventor
江志兴
董文
郭超勋
张大鹏
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Shenzhen Research Institute of Big Data SRIBD
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Shenzhen Research Institute of Big Data SRIBD
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Priority to CN202210819898.XA priority Critical patent/CN115177220A/en
Publication of CN115177220A publication Critical patent/CN115177220A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4854—Diagnosis based on concepts of traditional oriental medicine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Abstract

The invention discloses a pulse condition automatic acquisition device and a method, wherein the pulse condition automatic acquisition device comprises an SCARA mechanical arm and a limiting mechanism on the same plane with the SCARA mechanical arm; the SCARA arm includes: the device comprises a fixed support, a movable support, a first rotating arm, a second rotating arm and a composite pulse condition sensor; the stop gear includes: the camera comprises a fixing part, a grip positioned on one side of the fixing part, a limiting part arranged on the same side of the grip, and a camera device for acquiring images. The composite pulse condition sensor can simultaneously control pulse feeling pressure, output two types of different pressure pulse condition signals, limit and maintain the posture of the wrist through the limiting mechanism, and realize the uniformity of the acquisition position of the same person to be acquired among multiple acquisitions.

Description

Automatic pulse condition acquisition device and method
Technical Field
The invention relates to the technical field of traditional Chinese medicine pulse data acquisition, in particular to an automatic pulse condition acquisition device and method.
Background
In recent years, as the traditional Chinese medicine diagnosis and treatment equipment is more and more emphasized by the nation and recognized by the masses of people, the pulse diagnosis which is one of the main diagnosis modes of the traditional Chinese medicine needs to be objectively, practically and standardly improved in the aspects of acquisition method and data analysis.
In order to eliminate subjective factors of the traditional pulse diagnosis, the method is shifted from qualitative pulse description and a diagnosis method depending on personal experience to standardized and objective pulse signal acquisition and quantitative analysis, and a brand-new thought and solution are provided for modern development of traditional Chinese medicine pulse diagnosis by a modern sensor technology, an automation technology, a signal processing technology and a statistical mode identification method based on data.
In the prior patent CN113995385a, a pulse condition acquisition device with an automatic pulse finding function is proposed, and a system traverses a wrist position to acquire an acquisition position before signal acquisition each time; the method is time consuming and no specific location selection method is proposed. Patent CN114287901A also provides a pulse condition automatic acquisition system based on 3D printer structure, however, the device can only position and signal acquisition a point in space, and can not realize synchronous acquisition of different positions of cun, guan and chi in the traditional Chinese medicine theory. In addition, the device is a compact pulse data acquisition device provided in patent CN114569088a, which has a complex structure, poor flexibility, and a complex positioning process, and cannot record the acquired position information.
Accordingly, there is a need for improvements and developments in the art.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides an automatic pulse condition collecting device and method, and aims to solve the problems of the existing pulse signal collecting process that the automation and the intelligence are low, and the collected signals lack the collecting standard and the effective variable control.
The technical scheme of the invention is as follows:
an automatic pulse condition acquisition device comprises a SCARA mechanical arm and a limiting mechanism which is positioned on the same plane with the SCARA mechanical arm;
the SCARA arm includes:
fixing a bracket;
the movable bracket is sleeved on the fixed bracket and moves along the fixed bracket;
the first rotating arm is rotatably connected with the movable support;
the second rotating arm is rotatably connected with one end, far away from the movable support, of the first rotating arm;
the composite pulse condition sensor is fixed at one end of the second rotating arm far away from the first rotating arm;
the stop gear includes: the camera comprises a fixing part, a grip positioned on one side of the fixing part, a limiting part arranged on the same side of the grip, and a camera device for acquiring images.
An automatic pulse condition acquisition method using the automatic pulse condition acquisition device comprises the following steps:
after the first rotating arm L1 and the second rotating arm L2 are set to respectively touch the limit switches, the position where the resilience is 2 degrees is set as the position of 0 point, and the positions of the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm are calibrated;
placing an arm on the limiting mechanism, moving the close SCARA mechanical arm to the arm position, calculating the distance between the composite pulse condition sensor and the skin, and then moving the inch SCARA mechanical arm and the ruler SCARA mechanical arm to corresponding positions;
the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm respectively sink to the positions in contact with the inch, the close and the ruler rapidly;
reading data of a pulse feeling pressure sensor, and slowly sinking to a preset pressure;
after the collection is finished, the cun portion SCARA mechanical arm, the close portion SCARA mechanical arm and the chi portion SCARA mechanical arm simultaneously ascend along the Z axis and leave the skin.
Has the beneficial effects that: the invention provides a pulse condition automatic acquisition device and a method, wherein the pulse condition automatic acquisition device comprises an SCARA mechanical arm and a limiting mechanism on the same plane as the SCARA mechanical arm; the SCARA arm includes: the device comprises a fixed support, a movable support, a first rotating arm, a second rotating arm and a composite pulse condition sensor; the movable support is sleeved on the fixed support and moves along the fixed support, the first rotating arm is in rotating connection with the movable support, the second rotating arm is in rotating connection with one end, far away from the movable part, of the first rotating arm, and the combined pulse condition sensor is fixed at one end, far away from the first rotating arm, of the second rotating arm; the stop gear includes: the camera comprises a fixing part, a grip positioned on one side of the fixing part, a limiting part arranged on the same side of the grip, and a camera device for acquiring images. The composite pulse condition sensor can simultaneously control pulse feeling pressure, output two types of different pressure pulse condition signals, limit and maintain the posture of the wrist through the limiting mechanism, and realize the uniformity of the acquisition position of the same person to be acquired among multiple acquisitions.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic pulse-taking device according to the present invention;
FIG. 2 is a schematic structural diagram of a SCARA robot in the automatic pulse condition acquisition device of the present invention;
FIG. 3 is a schematic structural diagram of a limiting mechanism in the automatic pulse-taking device according to the present invention;
FIG. 4 is a schematic structural view of a composite pulse condition sensor in the SCARA mechanical arm according to the present invention;
FIG. 5 is a data and control flow chart of the automatic pulse condition acquisition method of the present invention;
FIG. 6 is a flow chart of the present invention for positioning the acquisition position of the camera device;
FIG. 7 is a flow chart of three-channel independent motion control of the SCARA robot arm according to the automatic pulse condition collection method of the invention;
FIG. 8 is a schematic view of the positioning of the robotic arm of the present invention;
FIG. 9 is a schematic diagram of the present invention for different motion schemes at the same point of the XOY plane;
FIG. 10 is a schematic view of the SCARA robot of the present invention in the 0-point position;
description of reference numerals: the SCARA robot comprises a SCARA mechanical arm 100, a fixed bracket 101, a bottom plate 1011, a support column 1012, a top plate 1013, a lead screw stepping motor 1014, a movable bracket 102, a first motor 1021, a second motor 1022, a first rotating arm 103, a second gear 1031, a power arm 1032, an auxiliary arm 1033, a second rotating arm 104, a third gear 1041, a composite pulse condition sensor 105, a weighing sensor 1051, a connecting member 1052, a cantilever beam 1053, a film sensor 1054, a first fixing part 1055, a second fixing part 1056, a first limit switch 1061, a second limit switch 1062, a third limit switch 1063, a limit plate 107, a limit mechanism 200, a fixing part 201, a handle 202, a limit part 203, a camera device 204 and a camera bracket 205.
Detailed Description
The invention provides an automatic pulse condition acquisition device and a method, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description and claims, the terms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. If there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
A pulse wave acquisition system is built by utilizing a standardized sensor, and the strength change of pulse waves sensed by fingers is converted into digital signals which are objectively recorded; based on the traditional Chinese medicine pulse diagnosis theory system, the effective diagnosis information is extracted from the enhanced pulse signals by utilizing the modern signal analysis technology and the mode recognition technology, the automatic classification of the pulse signals and the disease classification based on the pulse waves are realized, and the method is a main technical route of the current traditional Chinese medicine pulse diagnosis standardization and objective research.
The comprehensive, accurate and stable pulse wave signals are obtained in an efficient mode, and the basis of pulse diagnosis objectification research is provided. The basic method is to convert pulse wave pulsation into electric signals by using various sensors and corresponding mechanical components and circuits, and store the electric signals in a digital mode. Because the working principle and the performance of various sensors are different, the existing research has conducted discussion on pulse condition signal acquisition on different types of sensors and various acquisition systems are designed.
At present, although various pulse condition acquisition/analysis equipment with different structures are available and have a small amount of clinical applications, part of key problems are still not solved effectively, and the practicability and the standardization are seriously insufficient, so that the pulse condition acquisition/analysis equipment is not popularized on a large scale. For example, the pulse condition wrist acquisition position is one of the main factors influencing the pulse wave signal waveform, and for different measurements of the same person, the position consistency among multiple acquisitions cannot be ensured due to the subjectivity of decision making. The non-pathological signal difference caused by the uncontrollable factors seriously influences the reliability and the scientificity of the conclusion in the subsequent signal analysis. In addition, the current signal acquisition system is high in use difficulty, a user needs to have certain basic pulse diagnosis knowledge, a certain amount of manual operation and familiarity process are needed in the acquisition process, and the use intention of the user is reduced. These factors ultimately lead to a low degree of automation and intelligence in the pulse wave signal acquisition process, so that the acquired signals lack acquisition standards and effective variable control. The above-mentioned problem is one of the main fundamental problems to be solved in the objective and modernization of pulse condition diagnosis, and is also a main obstacle to the popularization and application of the pulse wave acquisition system.
Based on this, as shown in fig. 1-3, the invention provides an automatic pulse condition acquisition device, which comprises a SCARA mechanical arm 100 and a limiting mechanism 200 on the same plane as the SCARA mechanical arm 100;
the SCARA robot arm 100 includes:
a fixed bracket 101;
the movable bracket 102 is sleeved on the fixed bracket 101 and moves along the fixed bracket 101;
a first rotating arm 103, wherein the first rotating arm 103 is in rotating connection with the movable bracket 102;
a second rotating arm 104, wherein the second rotating arm 104 is in rotating connection with one end of the first rotating arm 103 far away from the movable bracket 102;
the composite pulse condition sensor 105, the composite pulse condition sensor 105 is fixed at one end of the second rotating arm 104 away from the first rotating arm 103;
the limiting mechanism 200 comprises: the image capturing device comprises a fixing part 201, a handle 202 positioned on one side of the fixing part 201, a limiting part 203 arranged on the same side of the handle 202, and an image capturing device 204 for capturing images.
Through the flexible motion of the SCARA mechanical arm 100 in space, the combined type pulse condition sensor 105 has different sensor performance characteristics and acquires different types of signals, so that the combined type pulse condition sensor 105 can simultaneously control pulse feeling pressure and output two types of different pressure pulse condition signals; and then make pulse condition automatic acquisition device can obtain richer and accurate pulse feeling pressure and pulse condition signal, and set up stop gear 200 can utilize camera device saves the wrist image after the location to when reaching once more to gather, to the quick location of cun, guan, chi, and can make same by the position uniformity of gathering under the condition of gathering many times.
In some embodiments, the SCARA robot 100 includes three SCARA robots for acquiring pulse signals of cun, guan and chi, respectively, namely cun SCARA robot, guan SCARA robot and chi SCARA robot. Three independent SCARA mechanical arms are used for respectively controlling the composite pulse condition sensor 105 to reach a specific spatial position, and pulse condition signals of cun, guan and chi are synchronously acquired.
In some embodiments, the fixed frame 101 includes a bottom plate 1011, a plurality of support columns 1012 vertically fixed on the bottom plate 1011, a top plate 1013 fixed on an end of the support columns 1012 far from the bottom plate 1011, and a lead screw stepping motor 1014 for moving the movable frame 102 along the fixed frame 101.
Specifically, the bottom plate 1011 and the top plate 1013 are triangular, and the support columns 1012 include three support columns and are respectively disposed at three corners of the triangular bottom plate 1011 and the triangular top plate 1013, so that a space for the vertical movement of the movable bracket 102 is left between the bottom plate 1011 and the top plate 1013. The lead screw nut of the lead screw stepping motor 1014 is arranged on the movable bracket 102, so that the movable bracket 102 can move along the fixed bracket 101 in the vertical direction, i.e. the movement of the compound pulse condition sensor 105 in the Z-axis direction can be controlled.
In some embodiments, the movable bracket 102 is sleeved on the supporting column 1012 and moves vertically along the supporting column 1012; the first rotating arm 103 rotates around the supporting column 1012; a first motor 1021 and a second motor 1022 are arranged on the movable bracket 102; limit switches are arranged on the fixed support 101, the first rotating arm 103 and the second rotating arm 104.
Specifically, the movable bracket 102 takes the supporting column 1012 as a movable track, and the lead screw stepper motor 1014 is matched with a lead screw nut arranged on the movable bracket 102, so that the movable bracket 102 can move in the vertical direction along the supporting column 1012. The first rotation arm 103 is rotatably connected to the movable bracket 102, and the rotation stability of the first rotation arm 103 is improved by using one of the support columns 1012 as an axis.
The limit switches include a first limit switch 1061, a second limit switch 1062, and a third limit switch 1063, which are respectively disposed on the top plate 1013, one end of the first rotating arm 103 close to the second rotating arm 104, and one end of the second rotating arm 104 far from the first rotating arm 103. When the movable bracket 102 moves vertically along the supporting column 1012, the lead screw stepping motor 1014 stops working immediately when the highest point (in this embodiment, the second motor 1022) of the movable bracket 102 touches the first limit switch 1061; when the rotation angle of the first rotating arm 103 is too large and until one end (the second limit switch 1062) close to the second rotating arm 104 touches the fixed bracket 101, the first motor 1021 stops working; when the rotation angle of the second rotating arm 104 is too large until one end (the third limit switch 1063) far from the first rotating arm 103 contacts the fixed bracket 101, the second motor 1022 stops working. The limit switch effectively prevents the irreversible structural damage caused by the overlarge movement amplitude of the mechanical arm, effectively limits the movement range of the movable support, the first rotating arm and the second rotating arm, protects the safety of a person to be collected, and can also be used for resetting after use.
In some embodiments, an end of the first rotating arm 103 close to the supporting column 1012 is provided with a first gear (not shown), and the first motor 1021 and the first gear form a transmission structure; an independent second gear 1031 is arranged on one surface of the first rotating arm 103, which is far away from the first gear;
a third gear 1041 is disposed at one end of the second rotating arm 104 connected to the first rotating arm 103, and a transmission structure is formed between the second motor 1022 and the second gear 1031, and between the second gear 1031 and the third gear 1041.
Specifically, the first gear is fixedly connected to the first rotating arm 103, and the first gear is rotatably connected to the supporting column 1012, that is, the first gear can rotate around the supporting column 1012 and drive the first rotating arm 103 to rotate; the second gear is not fixed to the first rotating arm 103 and is rotationally connected to the supporting column, so as to perform a transmission function, the third gear 1031 is fixedly connected to the second rotating arm 104, and when the second motor 1022 drives the second gear 1031 to rotate, the second gear 1031 drives the third gear 1041 to rotate at the same time, so that the second motor 1022 can control the second rotating arm 104 to rotate.
In a preferred embodiment, the first motor 1021 and the second motor 1022 are both stepping motors, so that the flexible movement of the first rotating arm and the second rotating arm in the XOY plane can be better controlled.
In some embodiments, the first rotating arm 103 comprises a power arm 1032 provided with the first gear, an auxiliary arm 1033 provided spaced apart from the power arm 1032; the second gear 1031 is arranged between the power arm 1032 and the auxiliary arm 1033; the second rotating arm 104 is disposed between the power arm 1032 and the auxiliary arm 1033.
The first motor 1021 drives the first gear, so that the power arm 1032 rotates around the support column, and the auxiliary arm 1033 and the power arm 1032 are coaxially arranged and are connected at the head end and the tail end, so that along with the rotation of the power arm 1032, the auxiliary arm 1033 also rotates at the same time, and the auxiliary arm can play a role in reinforcing the structure of the first rotating arm 103, and cannot swing up and down during rotation; and the second rotating arm 104 achieves the rotating purpose through the transmission effect of the second gear 1031.
In a preferred embodiment, the first motor 1021 and the first gear are connected through a belt to achieve the transmission effect; the second motor 1022 and the second gear 1031 and the third gear 1041 are connected by a belt to realize a transmission effect; wherein a belt between the second gear 1031 and the third gear 1041 is not shown. Besides, a plurality of gears can be used for replacing the belt to achieve the transmission effect.
In some embodiments, a limiting plate 107 is further disposed between the fixed bracket 101 and the movable bracket 102, and is used for limiting the lowest point of the movable bracket 102 in the vertical direction, so as to avoid sinking too low, which results in an excessive force applied by the mechanical arm to the hand of the person to be collected.
In some embodiments, the composite pulse sensor 105 comprises a load cell 1051 fixed on the second rotating arm 104, a connecting member 1052, a cantilever beam 1053 connecting the load cell 1051 with the connecting member 1052, and a membrane sensor 1054 disposed at an end of the connecting member 1052 remote from the cantilever beam 1053; a semiconductor strain gauge is attached to the cantilever 1053.
Specifically, as shown in fig. 4, the load cell 1051 is disposed on a surface of the second rotating arm 104 facing away from the auxiliary arm 1033, and a portion of the load cell 1051 extends out of the second rotating arm 104 to be in a suspended state; the weighing sensor 1051 is a high-precision cantilever beam type weighing sensor for measuring pulse-taking pressure, and is fixed on the second rotating arm 104 by a first fixing member 1055; the cantilever 1053 and the load cell 1051 are connected by a second fixing member 1056, which is located at the suspended portion of the load cell 1051 and on the same side of the second rotating arm 104; the cantilever beam 1053 is a beryllium bronze cantilever beam, and a high-sensitivity semiconductor strain gauge is attached to the cantilever beam 1053 and used for measuring pulse signals; the connecting member is cylindrical and the end facing away from the cantilever beam 1053 is connected to a membrane sensor 1054, which is also used to sense pulse signals. The composite pulse condition sensor 105 is synthesized by using the performance characteristics of different sensors to obtain different types of signals, and the pulse feeling pressure can be simultaneously controlled to output two types of different pressure pulse condition signals.
In some embodiments, the automatic pulse condition collecting device further includes an upper computer for controlling the movement of the first rotating arm 103 and the second rotating arm 104 in the XOY plane and the movement of the movable support 102 in the Z-axis direction, and recording and analyzing pulse condition signals.
In some embodiments, a distance sensor is disposed at an end of the second rotating arm 104 away from the first rotating arm 103, and is used for obtaining a distance from the composite pulse sensor 105 to the arm to determine a descending distance of the Z-axis.
In some embodiments, in the limiting mechanism 200, the fixing portion 201 is a retaining wall fixed on the same plane as the SCAPR robot arm 100; a handle 102 is arranged on one side of the retaining wall and used for limiting the arms of the person to be collected; a limiting part 203 is arranged on the same side of the handle 202 and used for limiting and fixing the rear half part of the arm at a proper position through the limiting part 203, and the collected person can finely adjust the posture of the arm to enable the arm to reach a comfortable state; the fixing part 201 is provided with a camera bracket 205 on one side deviating from the grip 202, and a camera device 204 is fixed on the camera bracket 205 and used for acquiring wrist images of a person to be acquired and then uploading the images to an upper computer to automatically determine size, closing and size acquisition positions.
Through pulse condition automatic acquisition device can realize the automatic acquisition of pulse condition signal, makes the collection personnel need not directly to operate acquisition system hardware, only needs carry out the instruction at the computer end to acquisition system and can accomplish in cun, pass, chi different positions, uses different pulse feeling pressure to carry out the acquireing and the record of pulse condition signal, improves pulse condition acquisition device's objectification, practicality and automation.
In addition, the invention also provides an automatic pulse condition acquisition method, which comprises the following steps:
step S10: after the first rotating arm L1 and the second rotating arm L2 are set to respectively touch the limit switches, the position where the resilience is 2 degrees is set as the position of 0 point, and the positions of the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm are calibrated;
step S20: placing an arm on the limiting mechanism, moving the close SCARA mechanical arm to the arm position, calculating the distance between the composite pulse sensor and the skin, and then moving the cun SCARA mechanical arm and the chi SCARA mechanical arm to corresponding positions;
step S30: the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm respectively sink to the positions in contact with the inch, the close and the ruler rapidly;
step S40: reading data of a pulse feeling pressure sensor, and slowly sinking to a preset pressure;
step S50: after the collection is finished, the cun portion SCARA mechanical arm, the close portion SCARA mechanical arm and the chi portion SCARA mechanical arm ascend along the Z axis simultaneously and leave the skin.
Specifically, as shown in fig. 5, the pulse automatic acquisition method firstly calibrates the positions of the cun portion SCARA mechanical arm, the guan portion SCARA mechanical arm and the chi portion SCARA mechanical arm, then limits the posture of the wrist through the limiting mechanism 200, acquires a wrist image by using the camera device on the limiting mechanism 200, sends the wrist image to the upper computer to analyze the acquisition position and determine the acquisition position, after the cun, guan and chi positions are determined, the guan portion SCARA mechanical arm moves to the closed position, calculates the distance between the composite pulse sensor and the skin, then the cun portion SCARA mechanical arm and the chi portion SCARA mechanical arm move to the corresponding positions, and by reading data of the pulse cutting pressure sensor and uploading the data to the upper computer, the upper computer adjusts the Z axis to ascend or descend through the lead screw stepping electrode, the pulse cutting pressure reaches a specified value or range through the uninterrupted feedback and adjustment of the lead screw stepping electrode, finally the composite pulse sensor outputs a measured pulse signal to the upper computer for storage, and after the acquisition is completed, the cun portion SCARA mechanical arm, the guan portion SCARA mechanical arm and the chi portion SCARA mechanical arm and the skin simultaneously ascend along the Z axis.
In a specific embodiment, as shown in fig. 6, the acquiring, by the camera device, a wrist image, sending the wrist image to an upper computer for analyzing an acquisition position and determining the acquisition position specifically includes the steps of:
step IM001: shooting a wrist image through the camera device;
step IM002: inputting the image into an upper computer, and scaling the image in equal proportion to adapt to upper computer software, so that the calibration is convenient;
step IM003: determining a collecting position, manually calibrating by a collecting person, or automatically traversing the position in a limited area by the system to obtain an optimal collecting point, and outputting the optimal collecting point to a mechanical arm system to position an XOY plane after determining the size, the closing and the size collecting positions;
step IM004: storing the wrist image and positioning information to an upper computer;
step IM005: when the same person to be collected is collected again, calling historical positioning data;
step IM006: comparing the difference between the newly acquired wrist image and the historical wrist image, and properly correcting the difference to align the newly acquired wrist image with the historical wrist image as much as possible;
step IM007: initializing a collection position in a newly collected wrist image by using historical positioning data;
step IM008: the acquisition personnel adjust the position of the IM007 on the basis of the initial position to prevent the position deviation during the step IM 007.
In this embodiment, when the pulse condition automatic acquisition method is used for acquiring the same acquired person, only a careful positioning process needs to be performed during the first acquisition, and when the pulse condition automatic acquisition method is used for acquiring the same acquired person again, the pulse condition automatic acquisition method can perform quick positioning according to historical positioning information, thereby effectively ensuring the consistency of the acquisition position and facilitating the continuous and long-term pulse condition change tracking of the acquired person.
In some embodiments, the step of moving the close SCARA robot arm to the arm position and calculating the distance between the composite pulse condition sensor and the skin, and then before moving the inch SCARA robot arm and the ruler SCARA robot arm to the corresponding positions, further calculating the movement angle of the SCARA robot arm, including the following steps:
establishing world coordinates XO world Y, is (X) 1 ,Y 1 )，(X 2 ,Y 2 )，(X 3 ,Y 3 ) Cun, guan and chi are respectively in XO world A point in the Y plane; establishing an XOY plane by taking the intersection point of the first rotating arm and the supporting column as a coordinate origin; the position of the SCARA mechanical arm in the XOY coordinate system is as follows:
X CUN ＝X 1 -X CUN ；
Y CUN ＝Y 1 -Y CUN ；
X GUAN ＝-X 2 +X GUAN ；
Y GUAN ＝-Y 2 +Y GUAN ；
X CHI ＝X 3 -X CHI ；
Y CHI ＝Y 3 -Y CHI ；
wherein, X CUN 、X GUAN 、X CHI Respectively, the abscissa, Y, of the cun, guan, chi in the XOY plane CUN 、Y GUAN 、Y CHI The longitudinal coordinates of the cun, guan and chi in the XOY plane are respectively; x CUN 、X GUAN 、X CHI The intersection point of the first rotating arm and the supporting column which are respectively inch, close and scale is positioned at the XO world Abscissa in the Y plane, Y CUN 、Y GUAN 、Y CHI The crossing point of the first rotating arm and the supporting column of the inch, the close and the scale is at the XO world Ordinate in the Y plane;
for a point (X, Y) and θ in the XOY plane 1 And theta 2 The relationship of (c) can be expressed as:
X＝Len_L1×cos(θ 1 )+Len_L2×cos(θ 1 +θ 2 ) (1)；
Y＝Len_L1×sin(θ 1 )+Len_L2×sin(θ 1 +θ 2 ) (2)；
wherein Len _ L1 and Len _ L2 are lengths of the first rotating arm L1 and the second rotating arm L2, respectively, and θ 1 Is a rotation angle, theta, of the first rotation arm L1 with respect to the X-axis 2 Angle of rotation of the second rotating arm L2 with respect to the first rotating arm L1Degree;
at this time, θ 1 And theta 2 There are two groups of solutions, each being (θ) 1 ,θ 2 ) And (theta) 1 `,θ 2 ') wherein theta 1 <θ 1 `，θ 2 ＝-θ 2 `；
Then (X) CUN ,Y CUN )(X GUAN ,Y GUAN )(X CHI ,Y CHI ) Respectively substituting into formulas (1) and (2);
the rotation angles of a first rotating arm L1 and a second rotating arm L2 in the cun-portion SCARA mechanical arm, the close-portion SCARA mechanical arm and the ruler-portion SCARA mechanical arm in the XOY plane are obtained through calculation and are respectively as follows:
(θ 1-CUN ,θ 2-CUN ) Taking out of theta 1-CUN ＝θ 1 ' i.e. theta 1-CUN Taking the larger value in the result;
(θ 1-GUAN ,θ 2-GUAN ) Taking out of theta 1-GUAN ＝θ 1 I.e. theta 1-GUAN Taking the smaller value in the result;
(θ 1-CHI ,θ 2-CHI ) Taking the mean θ of solution 1-CHI ＝θ 1 I.e. theta 1-CHI Taking the smaller value in the result;
specifically, the rotation angles of the first rotating arm L1 and the second rotating arm L2 in the inch SCARA mechanical arm in the XOY plane have two sets of solutions, which are respectively (θ) 1-CUN ,θ 2-CUN ) And (theta) 1-CUN `,θ 2-CUN "is), if theta 1-CUN >θ 1-CUN "is taken in (theta) 1-CUN ,θ 2-CUN ) (ii) a Otherwise, get (theta) 1-CUN `,θ 2-CUN `)；
The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the closed SCARA mechanical arm in the XOY plane have two solutions, wherein the two solutions are respectively (theta) 1-GUAN ,θ 2-GUAN ) And (theta) 1-GUAN `,θ 2-GUAN Is all) if theta 1-GUAN <θ 1-GUAN ' taking (theta) 1-GUAN ,θ 2-GUAN ) (ii) a Otherwise get (theta) 1-GUAN `,θ 2-GUAN `)；
First rotating arm in scale SCARA mechanical armThe rotation angles of L1 and the second rotating arm L2 in the XOY plane have two solutions, which are respectively (theta) 1-CHI ,θ 2-CHI ) And (theta) 1-CHI `,θ 2-CHI "is), if theta 1-CHI <θ 1-CHI "is taken in (theta) 1-CHI ,θ 2-CHI ) (ii) a Otherwise get (theta) 1-CHI `,θ 2-CHI `)。
The offset angles of the first rotating arm L1 and the second rotating arm L2 of the inch, the close and the ruler relative to the X axis and the Y axis of the XOY plane at the 0 point position are as follows:
(L1 CUN ,L2 CUN )；(L1 GUAN ,L2 GUAN )；(L1 CHI ,L2 CHI )；
the rotation angles of the first rotating arm L1 and the second rotating arm L2 relative to the 0 point position are as follows:
MOTION_L1 CUN ＝θ 1-CUN -L1 CUN ；
MOTION_L1 GUAN ＝θ 1-GUAN -L1 GUAN ；
MOTION_L1 CHI ＝θ 1-CHI -L1 CHI ；
MOTION_L2 CUN ＝θ 1-CUN -L2 CUN ；
MOTION_L2 GUAN ＝θ 1-GUAN -L2 GUAN ；
MOTION_L2 CHI ＝θ 1-CHI -L2 CHI 。
namely, world coordinates XO are established in a common plane of the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm world Y, then after world coordinates of cun, guan and chi are converted into coordinates of an XOY plane, calculating angles of the first rotating arm and the second rotating arm which need to rotate on the XOY plane, and finally calculating the angles of the first rotating arm and the second rotating arm which need to rotate relative to the position of 0 point by combining the position of 0 point, wherein at the moment, the first rotating arm and the second rotating arm can move to corresponding XOs according to the calculated angles world The angle the Y coordinate needs to be rotated. And then the distance sensor of the closed SCARA mechanical arm is used for obtainingAfter the distance, a spatial position shift can be performed.
In some embodiments, to more accurately position the composite pulse sensor 105 in cun, guan, and chi, the calculation of the SCARA arm motion angle further includes compensating for the rotation angle of the second rotating arm L2: every time the first rotating arm L1 moves by 1 degree, the second rotating arm L2 moves by 33/62 degrees in the opposite direction, which is counted as a, and the rotating angle of the second rotating arm L2 is:
MOTION_L2 CUN ＝θ 1-CUN -L2 CUN +MOTION_L1 CUN ×A；
MOTION_L2 GUAN ＝θ 1-GUAN -L2 GUAN +MOTION_L1 GUAN ×A；
MOTION_L2 CHI ＝θ 1-CHI -L2 CHI +MOTION_L1 CHI ×A。
specifically, as shown in fig. 7, the inch, close, and size XOs were obtained in the C001 process world After Y coordinate, calculating the C002 process according to the motion angle calculation method of the SCARA mechanical arm, and calculating the L1 and L2 arm swing angles of each mechanical arm of inch, close and size; in the C003 process, the mechanical arm is controlled to touch the limit switch and rebound for a certain angle and distance, namely the position of a 0 point (without loss of generality, L1 and L2 can be respectively rebounded for 2 degrees, and Z axis rebounds for 5 mm), and in the process, the motion accumulated error is relatively eliminated, and the positioning precision is improved; in the C004 process, the closed SCARA mechanical arm firstly moves to a closed position to prevent the closed SCARA mechanical arm from being interfered by an cun mechanical arm, and a distance sensor is used for reading and calculating the distance between the composite pulse condition sensor and the skin; in the C005 process, the inch SCARA mechanical arm and the ruler SCARA mechanical arm move to positions corresponding to the inch and the ruler respectively; in the C006 process, the cun SCARA mechanical arm, the guan SCARA mechanical arm and the chi SCARA mechanical arm sink for a certain distance together, and enter a C007 process after approaching skin, and start a slow descending mode to prevent the oppression feeling to the human body caused by fast sinking; under the mode, the upper computer control software can synchronously read pulse feeling pressure data of cun, guan and chi and adjust the pulse feeling pressure according to real-time numerical values, namely the Z axisThe pulse feeling pressure meets the requirement or meets other conditions (generally time conditions and distance conditions, so that the endless adjustment is avoided and the man-machine safety is ensured) for stopping the adjustment; after data acquisition is finished, entering a C008 process, and simultaneously lifting Z axes of a cun SCARA mechanical arm, a guan SCARA mechanical arm and a chi SCARA mechanical arm to be away from the skin as fast as possible so as to avoid discomfort caused by long-time compression; in the C009 process, after a Z axis touches a limit switch and rebounds, the L1 arm and the L2 arm of the cun SCARA mechanical arm and the chi SCARA mechanical arm firstly return to the 0 point position; and finally, in the C010 process, the L1 arm and the L2 arm of the close SCARA mechanical arm are restored to the 0 point positions, so that collision with the cun SCARA mechanical arm in the moving process is prevented.
The present invention will be described in further detail with reference to examples. It is also to be understood that the following examples are illustrative of the present invention and are not to be construed as limiting the scope of the invention, and that insubstantial modifications and adaptations of the invention by those skilled in the art based on the foregoing description are intended to be included within the scope of the invention.
When the pulse condition automatic acquisition method is actually used, the calculation instruction of the motion angle of the SCARA mechanical arm in the upper computer comprises the following steps:
first, world coordinates XO are established world Y, is (X) 1 ,Y 1 )，(X 2 ,Y 2 )，(X 3 ,Y 3 ) Cun, guan and chi are respectively at XO world A point in the Y plane; establishing an XOY plane by taking the intersection point of the first rotating arm and the supporting column as a coordinate origin; the position of the SCARA mechanical arm in the XOY coordinate system is as follows:
SCARA_X_AXES_CUN＝X 1 -SCARA_OFFSET_X_CUN；
SCARA_Y_AXES_CUN＝Y 1 -SCARA_OFFSET_Y_CUN；
SCARA_X_AXES_GUAN＝-X 2 +SCARA_OFFSET_X_GUAN；
SCARA_Y_AXES_GUAN＝-Y 2 +SCARA_OFFSET_Y_GUAN；
SCARA_X_AXES_CHI＝X 3 -SCARA_OFFSET_X_CHI；
SCARA_Y_AXES_CHI＝Y 3 -SCARA_OFFSET_Y_CHI；
wherein, SCARA _ X _ AXES _ CUN, SCARA _ X _ AXES _ GUAN and SCARA _ X _ AXES _ CHI are respectively the horizontal coordinates of inch, close and ruler in XOY plane;
SCARA _ Y _ AXES _ CUN, SCARA _ Y _ AXES _ GUAN and SCARA _ Y _ AXES _ CHI are respectively the vertical coordinates of inch, close and ruler in XOY plane;
the intersection points of the first rotating arm and the supporting column, of which SCARA _ OFFSET _ X _ CUN, SCARA _ OFFSET _ X _ GUAN and SCARA _ OFFSET _ X _ CHI are inch, close and scale respectively, are positioned in the XO world Abscissa in the Y plane;
the intersection points of the first rotating arm and the supporting column, of which SCARA _ OFFSET _ Y _ CUN, SCARA _ OFFSET _ Y _ GUAN and SCARA _ OFFSET _ Y _ CHI are respectively inch, close and size, are positioned in the XO world Ordinate in the Y plane;
then, as shown in FIG. 8, for a point (X, Y) and θ in the XOY plane 1 And theta 2 The relationship of (c) can be expressed as:
X＝Len_L1×cos(θ 1 )+Len_L2×cos(θ 1 +θ 2 ) (1)；
Y＝Len_L1×sin(θ 1 )+Len_L2×sin(θ 1 +θ 2 ) (2)；
wherein Len _ L1 and Len _ L2 are lengths of the first rotating arm L1 and the second rotating arm L2, respectively, and θ 1 Is a rotation angle, theta, of the first rotation arm L1 with respect to the X-axis 2 The angle of rotation of the second rotating arm L2 with respect to the first rotating arm L1;
at this time, θ 1 And theta 2 There are two sets of solutions, two motion results shown in FIG. 9, where θ 1 <θ 1 Phi of theta 2 ＝-θ 2 And (5) allowing the strain to stand. Because the positions of the inch SCARA mechanical arm and the ruler SCARA mechanical arm are close to each other, in order to make the corresponding mechanical arms far away as possible, the motion result of the inch SCARA mechanical arm is similar to (theta) 1 `,θ 2 ") the motion results of the scale SCARA robot arm are taken to be similar to (theta) 1 ,θ 2 ) The result of (1).
Then will be
(SCARA_X_AXES_CUN,SCARA_Y_AXES_CUN)、
(SCARA_X_AXES_GUAN,SCARA_Y_AXES_GUAN)、
(SCARA _ X _ AXES _ CHI, SCARA _ Y _ AXES _ CHI) are respectively substituted into the formulas (1) and (2);
the rotation angles of a first rotating arm L1 and a second rotating arm L2 in the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm in the XOY plane are obtained through calculation and respectively are as follows:
(SCARA_ANGLE_θ 1 _CUN,SCARA_ANGLE_θ 2 _ CUN): get θ in solution 1 Taking the larger;
(SCARA_ANGLE_θ 1 _GUAN,SCARA_ANGLE_θ 2 GUAN): get θ in solution 1 Taking the smaller;
(SCARA_ANGLE_θ 1 _CHI,SCARA_ANGLE_θ 2 CHI): get θ in solution 1 Taking the smaller;
the offset angles (in radian) of the first rotating arm L1 and the second rotating arm L2 of the inch, the close and the ruler relative to the X axis and the Y axis of the XOY plane at the 0 point position are as follows:
(SCARA_ANGLE_L1_CUN,SCARA_ANGLE_L2_CUN)；
(SCARA_ANGLE_L1_GUAN,SCARA_ANGLE_L2_GUAN)；
(SCARA_ANGLE_L1_CHI,SCARA_ANGLE_L2_CHI)；
fig. 10 is a schematic 0-point position diagram of the inch SCARA robot, the close SCARA robot, and the ruler SCARA robot.
Due to the structural characteristics, when the L1 arm moves, the L2 arm is driven to move reversely, the movement ratio is-33/62, namely every time the L1 moves once, the L2 moves in the reverse direction by AIXS _ CORRECTION =33/62 degrees, and therefore the movement angle of the L2 needs to be compensated; the rotation angles of the first rotating arm L1 and the second rotating arm L2 relative to the 0 point position are:
SCARA_MOTION_L1_CUN＝SCARA_ANGLE_θ 1 _CUN-SCARA_ANGLE_L1_CUN；
SCARA_MOTION_L1_GUAN＝SCARA_ANGLE_θ 1 _GUAN-SCARA_ANGLE_L1_GUAN；
SCARA_MOTION_L1_CHI＝SCARA_ANGLE_θ 1 _CHI-SCARA_ANGLE_L1_CHI；
SCARA_MOTION_L2_CUN＝SCARA_ANGLE_θ 2 _CUN-SCARA_ANGLE_L2_CUN+SCARA_MOTION_L1_CUN*AIXS_CORRECTION；
SCARA_MOTION_L2_GUAN＝SCARA_ANGLE_θ 2 _GUAN-SCARA_ANGLE_L2_GUAN+SCARA_MOTION_L1_GUAN*AIXS_CORRECTION；
SCARA_MOTION_L2_CHI＝SCARA_ANGLE_θ 2 _CHI-SCARA_ANGLE_L2_CHI+SCARA_MOTION_L1_CHI*AIXS_CORRECTION；
to this end, the system has solved the movement of L1 and L2 for each arm to the corresponding XO world The angle the Y coordinate needs to be rotated. And then the distance is acquired by a distance sensor of the Guan Buji mechanical arm, and the spatial position can be moved.
In summary, the present invention provides an automatic pulse acquisition device and method, wherein the automatic pulse acquisition device includes a SCARA mechanical arm and a limit mechanism in the same plane as the SCARA mechanical arm; the SCARA arm includes: the device comprises a fixed support, a movable support, a first rotating arm, a second rotating arm and a composite pulse condition sensor; the movable support is sleeved on the fixed support and moves along the fixed support, the first rotating arm is in rotating connection with the movable support, the second rotating arm is in rotating connection with one end, far away from the movable part, of the first rotating arm, and the combined pulse condition sensor is fixed at one end, far away from the first rotating arm, of the second rotating arm; the stop gear includes: the camera comprises a fixing part, a grip positioned on one side of the fixing part, a limiting part arranged on the same side of the grip, and a camera device for acquiring images. The composite pulse condition sensor can simultaneously control pulse feeling pressure, output two types of different pressure pulse condition signals, limit and maintain the posture of the wrist through the limiting mechanism, and realize the uniformity of the acquisition position of the same person to be acquired among multiple acquisitions.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims (10)

1. An automatic pulse condition acquisition device is characterized by comprising an SCARA mechanical arm and a limiting mechanism which is positioned on the same plane with the SCARA mechanical arm;
the SCARA arm includes:
a fixed bracket;
the movable bracket is sleeved on the fixed bracket and moves along the fixed bracket;
the first rotating arm is rotatably connected with the movable support;
the second rotating arm is rotatably connected with one end, far away from the movable support, of the first rotating arm;
the composite pulse condition sensor is fixed at one end of the second rotating arm, which is far away from the first rotating arm;
the stop gear includes: the camera comprises a fixing part, a grip positioned on one side of the fixing part, a limiting part arranged on the same side of the grip, and a camera device for acquiring images.
2. The automatic pulse condition acquisition device according to claim 1, wherein the SCARA mechanical arm comprises three units for acquiring pulse condition signals of cun, guan and chi respectively.
3. The automatic pulse condition acquisition device according to claim 1, wherein the fixed support comprises a bottom plate, a plurality of support pillars vertically fixed on the bottom plate, a top plate fixed at one end of the support pillars far from the bottom plate, and a lead screw stepping motor for moving the movable support along the fixed support.
4. The automatic pulse manifestation collecting device of claim 3, wherein the movable support is sleeved on the support column and moves along the support column in a vertical direction; the first rotating arm rotates by taking the supporting column as an axis; the movable bracket is provided with a first motor and a second motor; and limit switches are arranged on the fixed support, the first rotating arm and the second rotating arm.
5. The automatic pulse condition acquisition device according to claim 4, wherein a first gear is arranged at one end of the first rotating arm close to the supporting column, and the first motor and the first gear form a transmission structure; an independent second gear is arranged on one surface, deviating from the first gear, of the first rotating arm;
and a third gear is arranged at one end of the second rotating arm connected with the first rotating arm, and a transmission structure is formed between the second motor and the second gear as well as between the second gear and the third gear.
6. The pulse condition automatic acquisition device according to claim 5, wherein the first rotating arm comprises a power arm provided with the first gear, and an auxiliary arm arranged at a distance from the power arm; the second gear is arranged between the power arm and the auxiliary arm; the second rotating arm is arranged between the power arm and the auxiliary arm.
7. The automatic pulse condition acquisition device according to claim 1, wherein the composite pulse condition sensor comprises a load cell fixed on the second rotating arm, a connecting member, a cantilever beam connecting the load cell with the connecting member, and a membrane sensor arranged at one end of the connecting member away from the cantilever beam; and a semiconductor strain gauge is attached to the cantilever beam.
8. An automatic pulse condition collecting method using the automatic pulse condition collecting device according to any one of claims 1 to 7, comprising the steps of:
after the first rotating arm L1 and the second rotating arm L2 are set to respectively touch the limit switches, the position where the resilience is 2 degrees is set as the position of 0 point, and the positions of the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm are calibrated;
placing an arm on the limiting mechanism, moving the close SCARA mechanical arm to the arm position, calculating the distance between the composite pulse condition sensor and the skin, and then moving the inch SCARA mechanical arm and the ruler SCARA mechanical arm to corresponding positions;
the inch part SCARA mechanical arm, the close part SCARA mechanical arm and the scale part SCARA mechanical arm are respectively and quickly sunk to positions in contact with the inch part, the close part and the scale part;
reading data of a pulse feeling pressure sensor, and slowly sinking to a preset pressure;
after the collection is finished, the cun portion SCARA mechanical arm, the close portion SCARA mechanical arm and the chi portion SCARA mechanical arm simultaneously ascend along the Z axis and leave the skin.
9. The method for automatically acquiring the pulse condition according to claim 8, wherein the step of moving the close SCARA mechanical arm to the arm position and calculating the distance between the composite pulse condition sensor and the skin, and then before moving the inch SCARA mechanical arm and the size SCARA mechanical arm to the corresponding positions, further comprises calculating the movement angle of the SCARA mechanical arm, comprising the following steps:
establishing world coordinates XO world Y, is (X) 1 ,Y 1 )，(X 2 ,Y 2 )，(X 3 ,Y 3 ) Cun, guan and chi are respectively at XO world A point in the Y plane; establishing an XOY plane by taking the intersection point of the first rotating arm and the supporting column as an origin of coordinates; the position of the SCARA mechanical arm in the XOY coordinate system is as follows:
X CUN ＝X 1 -X CUN ；
Y CUN ＝Y 1 -Y CUN ；
X GUAN ＝-X 2 +X GUAN ；
Y GUAN ＝-Y 2 +Y GUAN ；
X CHI ＝X 3 -X CHI ；
Y CHI ＝Y 3 -Y CHI ；
wherein, X CUN 、X GUAN 、X CHI Respectively, the abscissa, Y, of the cun, guan, respectively in the XOY plane CUN 、Y GUAN 、Y CHI The longitudinal coordinates of the cun, guan and chi in the XOY plane are respectively; x CUN 、X GUAN 、X CHI The intersection point of the first rotating arm and the supporting column which are respectively inch, close and scale is positioned at the XO world Abscissa in the Y plane, Y CUN 、Y GUAN 、Y CHI The intersection point of the first rotating arm and the supporting column which are respectively inch, close and scale is positioned at the XO world Ordinate in the Y plane;
for a point (X, Y) in the XOY plane and θ 1 And theta 2 The relationship of (c) can be expressed as:
X＝Len_L1×cos(θ 1 )+Len_L2×cos(θ 1 +θ 2 )；
Y＝Len_L1×sin(θ 1 )+Len_L2×sin(θ 1 +θ 2 )；
wherein Len _ L1 and Len _ L2 are lengths of the first rotating arm L1 and the second rotating arm L2, respectively, and θ 1 Is a rotation angle, theta, of the first rotation arm L1 with respect to the X-axis 2 The angle of rotation of the second rotating arm L2 with respect to the first rotating arm L1;
θ 1 and theta 2 There are two groups of solutions, each being (θ) 1 ,θ 2 ) And (theta) 1 `,θ 2 ') wherein θ) 1 <θ 1 `，θ 2 ＝-θ 2 `；
The rotation angles of a first rotating arm L1 and a second rotating arm L2 in the inch SCARA mechanical arm, the close SCARA mechanical arm and the ruler SCARA mechanical arm in the XOY plane are obtained through calculation and respectively are as follows:
(θ 1-CUN ,θ 2-CUN ) Taking out of theta 1-CUN ＝θ 1 `；
(θ 1-GUAN ,θ 2-GUAN ) Taking the mean θ of solution 1-GUAN ＝θ 1 ；
(θ 1-CHI ,θ 2-CHI ) Taking the mean θ of solution 1-CHI ＝θ 1 ；
And the offset angles of the first rotating arm L1 and the second rotating arm L2 of the inch, the close and the ruler relative to the X axis and the Y axis of the XOY plane at the 0 point position are as follows:
(L1 CUN ,L2 CUN )；(L1 GUAN ,L2 GUAN )；(L1 CHI ,L2 CHI )；
the rotation angles of the first rotating arm L1 and the second rotating arm L2 relative to the 0 point position are:
MOTION_L1 CUN ＝θ 1-CUN -L1 CUN ；
MOTION_L1 GUAN ＝θ 1-GUAN -L1 GUAN ；
MOTION_L1 CHI ＝θ 1-CHI -L1 CHI ；
MOTION_L2 CUN ＝θ 1-CUN -L2 CUN ；
MOTION_L2 GUAN ＝θ 1-GUAN -L2 GUAN ；
MOTION_L2 CHI ＝θ 1-CHI -L2 CHI 。
10. the method for automatically acquiring pulse conditions according to claim 9, wherein the calculation of the SCARA mechanical arm motion angle further comprises compensating for the rotation angle of the second rotating arm L2: when the first rotating arm L1 moves by 1 degree, the second rotating arm L2 moves by 33/62 degrees in the opposite direction, which is denoted by a, and the rotation angle of the second rotating arm L2 is:
MOTION_L2 CUN ＝θ 1-CUN -L2 CUN +MOTION_L1 CUN ×A；
MOTION_L2 GUAN ＝θ 1-GUAN -L2 GUAN +MOTION_L1 GUAN ×A；
MOTION_L2 CHI ＝θ 1-CHI -L2 CHI +MOTION_L1 CHI ×A。
CN202210819898.XA 2022-07-13 2022-07-13 Automatic pulse condition acquisition device and method Pending CN115177220A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115778320A (en) * 2022-11-10 2023-03-14 北京悬丝医疗科技有限公司 Movable joint type pulse feeling instrument
CN115781686A (en) * 2022-12-26 2023-03-14 北京悬丝医疗科技有限公司 Mechanical arm for remotely diagnosing pulse and control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115778320A (en) * 2022-11-10 2023-03-14 北京悬丝医疗科技有限公司 Movable joint type pulse feeling instrument
CN115781686A (en) * 2022-12-26 2023-03-14 北京悬丝医疗科技有限公司 Mechanical arm for remotely diagnosing pulse and control method

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