CN205263661U - Supplementary robot control system that stands - Google Patents
Supplementary robot control system that stands Download PDFInfo
- Publication number
- CN205263661U CN205263661U CN201520914522.2U CN201520914522U CN205263661U CN 205263661 U CN205263661 U CN 205263661U CN 201520914522 U CN201520914522 U CN 201520914522U CN 205263661 U CN205263661 U CN 205263661U
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- control system
- robot control
- target machine
- patient
- stands
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Abstract
The utility model discloses a supplementary robot control system that stands, including target machine and host computer, and read yard a ware module and an analog -to -digital conversion module with the target machine through what data collection card and data bus electricity were connected, and with the hydraulic servo valve that the analog -to -digital conversion module electricity is connected, reach the electric hydraulic pump of being connected with hydraulic servo valve, the motion joint that yard ware module was assembled reaches and reads, it is provided with linkage hydraulic pressure district to move articular one side. The utility model discloses a supplementary robot control system that stands, when accomplishing stand up to the supplementary patient of robot, each joint movement track of patient and kinematics parameter are tested, establish the basis with the research of patient stand up process mechanics for the stand up position control of robot.
Description
Technical field
The present invention relates to a kind of robot control system, be specifically related to a kind of aiding upright robot control system, belong to smart electronics product technical field.
Background technology
Standing up is one of motion the most basic in life, also be the first position of other motions, but to the elderly, dysfunction, spinal cord injury, the patient such as hemiplegia and pamplegia, completing stands will pay great efforts, or even the task that cannot complete, cause its long-term sitting posture that keeps, cannot or little motion and cause relevant physiological to weigh and provide part auxiliary force to complete to stand up but rely on that upper limbs is auxiliary to stand up completely, requirement patient upper limbs is sound and muscular force is larger, assist upper limbs immediately will bear health total weight, easily damaged, and can cause for a long time the each joint of upper limbs complication, the motion of standing up is not only very high to the requirement of human muscle's skeletal system, and require patient's sense of direction and balanced capacity stronger, particularly lower limb muscles intensity has been the key factor of standing up, the training so the auxiliary patient of exploitation stands up, the auxiliary implement that keeps the lower limb sense of equilibrium and recover gradually muscle strength highly significant, at present, functional electrostimulation technology can assist patient to complete the training of standing up, but training process needs lot of experiments assessment, patient is tediously long to new control method and adjustment parameter adaptation process, patient tends to because dull training is lost patience, therefore the training time is unsuitable long, mechanical device also can be assisted and stand up, but before mouthful, designed apparatus structure is simple, control system, signals collecting and reponse system imperfection, both cannot feedback training information, also cannot control in real time and monitor training process, more cannot carry out planning able to programme to patient's movement locus that stands up, patient is fixed in servicing unit and cannot initiatively participates in training process.
Summary of the invention
(1) technical problem that will solve
For addressing the above problem, the present invention proposes a kind of aiding upright robot control system, robot assisted patient has been completed immediately, and the each joint motions track of patient and kinematics parameters are tested, and lay the foundation for the robot location that stands up controls with patient's process mechanics study that stands up.
(2) technical scheme
Aiding upright robot control system of the present invention, comprise target machine and host, and the code reader module and the analog-to-digital conversion module that are electrically connected by data collecting card and data/address bus with target machine, and the hydraulic efficiency servo-valve being electrically connected with analog-to-digital conversion module, and the hydraulic pump being electrically connected with hydraulic efficiency servo-valve, and with the movable joint of code reader module assembled; One side of described movable joint is provided with linked hydraulic district.
Further, in described target machine and host, network interface card is all installed; Described target machine and host carry out communication by Ethernet.
Further, described code reader module comprises encoder.
Again further, described encoder is installed on movable joint place; Described encoder is incremental encoder.
(3) beneficial effect
Compared with prior art, aiding upright robot control system of the present invention, robot assisted patient has been completed immediately, and the each joint motions track of patient and kinematics parameters are tested, and lay the foundation for the robot location that stands up controls with patient's process mechanics study that stands up.
Brief description of the drawings
Fig. 1 is overall structure schematic block diagram of the present invention.
Detailed description of the invention
A kind of aiding upright robot control system as shown in Figure 1, comprise target machine 1 and host 2, and the code reader module 5 and the analog-to-digital conversion module 6 that are electrically connected by data collecting card 3 and data/address bus 4 with target machine 1, and the hydraulic efficiency servo-valve 7 being electrically connected with analog-to-digital conversion module 6, and the hydraulic pump 8 being electrically connected with hydraulic efficiency servo-valve 7, and the movable joint 10 of assembling with code reader module 5; One side of described movable joint 10 is provided with linked hydraulic district 11.
Wherein, in described target machine 1 and host's 2 machines, network interface card 9 is all installed; Described target machine 1 and host 2 carry out communication by Ethernet.
Described code reader module 5 comprises encoder.
Described encoder (not shown) is installed on movable joint 10 places; Described encoder (not shown) is incremental encoder.
Aiding upright robot control system of the present invention, target machine is connected with host and the mode of swap data is that network connects, in LAN, Ethernet carries out transfer of data by ICP/IP protocol, data transmission bauds is 100Mbit/s, analog signal and code device signal are the collection of pci interface plate by two blocks of data capture cards, and bus and system host CPU swap data, control signal is by I/O module, D/A and A/D module, encoder/decoder module is carried out exchanges data, by voltage signal control hydraulic efficiency servo-valve opening and closing degree, control the hydraulic oil amount that supplies, Driven by Hydraulic Cylinder end effector moves with friction speed, thereby realize the robot motion that stands up, the incremental encoder that is installed on movable joint returns to surveyed data to encoder/decoder module, target machine will show test data.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited. Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents of request protection of the present invention, has all been documented in claims.
Claims (4)
1. an aiding upright robot control system, it is characterized in that: comprise target machine and host, and the code reader module and the analog-to-digital conversion module that are electrically connected by data collecting card and data/address bus with target machine, and the hydraulic efficiency servo-valve being electrically connected with analog-to-digital conversion module, and the hydraulic pump being electrically connected with hydraulic efficiency servo-valve, and with the movable joint of code reader module assembled; One side of described movable joint is provided with linked hydraulic district.
2. aiding upright robot control system according to claim 1, is characterized in that: network interface card is all installed in described target machine and host; Described target machine and host carry out communication by Ethernet.
3. aiding upright robot control system according to claim 1, is characterized in that: described code reader module comprises encoder.
4. aiding upright robot control system according to claim 2, is characterized in that: described encoder is installed on movable joint place; Described encoder is incremental encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520914522.2U CN205263661U (en) | 2015-11-16 | 2015-11-16 | Supplementary robot control system that stands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520914522.2U CN205263661U (en) | 2015-11-16 | 2015-11-16 | Supplementary robot control system that stands |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205263661U true CN205263661U (en) | 2016-05-25 |
Family
ID=56005179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520914522.2U Expired - Fee Related CN205263661U (en) | 2015-11-16 | 2015-11-16 | Supplementary robot control system that stands |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205263661U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087993A (en) * | 2019-04-12 | 2020-12-15 | 株式会社富士 | Nursing device |
-
2015
- 2015-11-16 CN CN201520914522.2U patent/CN205263661U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087993A (en) * | 2019-04-12 | 2020-12-15 | 株式会社富士 | Nursing device |
| CN112087993B (en) * | 2019-04-12 | 2022-09-13 | 株式会社富士 | Nursing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20161116 |