A kind of pulse condition automatic collection device and method

Abstract

The present invention discloses an automatic pulse acquisition device and method, the automatic pulse acquisition device comprises a SCARA mechanical arm, a limiting mechanism in the same plane as the SCARA mechanical arm; the SCARA mechanical arm comprises: a fixed bracket, a movable bracket, a first rotating arm, a second rotating arm and a composite pulse sensor; the limiting mechanism comprises: a fixed part, a handle located on one side of the fixed part, a limiting part located on the same side as the handle, and a camera device for acquiring images. The automatic pulse acquisition device is based on the three-channel pulse sensor spatial position control structure of the SCARA mechanical arm, and the composite pulse sensor can be used to simultaneously control the pulse pressure, output two different types of pressure pulse signals, and the limiting mechanism is used to limit and maintain the posture of the wrist, and the imaging device for recording the acquisition position can achieve the uniformity of the acquisition position between multiple acquisitions of the same person being acquired.

Description

Technical Field

[0001] The present invention relates to the technical field of traditional Chinese medicine pulse data collection, and in particular to an automatic pulse collection device and method. Background Art

[0002] In recent years, as Chinese medicine diagnostic and treatment equipment has received more and more attention from the country and recognition from the general public, pulse diagnosis, as one of the main diagnostic methods of traditional Chinese medicine, urgently needs to be improved in terms of objectivity, practicality and standardization in terms of collection methods and data analysis.

[0003] In order to eliminate the subjective factors of traditional pulse diagnosis and transition from qualitative pulse description and diagnostic methods relying on personal experience to standardized and objective pulse signal acquisition and quantitative analysis, modern sensor technology, automation technology, signal processing technology and data-based statistical pattern recognition methods have provided a new idea and solution for the modernization of traditional Chinese medicine pulse diagnosis.

[0004] The existing patent CN113995385A proposes a pulse acquisition device with an automatic pulse finding function. Before each signal acquisition, the system traverses the wrist position to obtain the acquisition position; this method consumes a lot of time and does not propose a specific position selection method. Patent CN114287901A also proposes an automatic pulse acquisition system based on a 3D printer structure. However, the device can only locate and collect signals at one point in space, and cannot realize the synchronous acquisition of different positions of Cun, Guan, and Chi in traditional Chinese medicine theory. Another is a compact pulse data acquisition device proposed by patent CN114569088A, which has a complex structure, poor flexibility, and a complex positioning process, and cannot realize the recording of acquisition position information.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a pulse automatic acquisition device and method, aiming to solve the problem that the existing pulse signal acquisition process has a low degree of automation and intelligence, resulting in the lack of acquisition standards and effective variable control of the acquired signals.

[0007] The technical solution of the present invention is as follows:

[0008] An automatic pulse acquisition device, comprising a SCARA mechanical arm and a limiting mechanism located in the same plane as the SCARA mechanical arm;

[0009] The SCARA robot arm comprises:

[0010] Fixed bracket;

[0011] A movable bracket, the movable bracket is sleeved on the fixed bracket and moves along the fixed bracket;

[0012] a first rotating arm, the first rotating arm being rotatably connected to the movable bracket;

[0013] a second rotating arm, the second rotating arm being rotatably connected to an end of the first rotating arm away from the movable bracket;

[0014] A composite pulse sensor, wherein the composite pulse sensor is fixed to an end of the second rotating arm away from the first rotating arm;

[0015] The limiting mechanism comprises: a fixing part, a handle located at one side of the fixing part, a limiting part arranged at the same side as the handle, and a camera device for acquiring images.

[0016] An automatic pulse collecting method utilizing the automatic pulse collecting device comprises the steps of:

[0017] After the first rotating arm L1 and the second rotating arm L2 respectively touch the limit switch, the position at which they rebound 2 degrees is set as the 0-point position, and the positions of the Cun part SCARA mechanical arm, the Guan part SCARA mechanical arm, and the Chi part SCARA mechanical arm are calibrated;

[0018] The arm is placed on the limiting mechanism, the Guan part SCARA mechanical arm moves to the arm position, and the distance between the composite pulse sensor and the skin is calculated, and then the Cun part SCARA mechanical arm and the Chi part SCARA mechanical arm move to corresponding positions;

[0019] The Cun part SCARA mechanical arm, Guan part SCARA mechanical arm, and Chi part SCARA mechanical arm are respectively quickly sunk to the positions in contact with Cun, Guan, and Chi;

[0020] Read the pulse pressure sensor data and slowly sink to the preset pressure;

[0021] After the collection is completed, the Cun SCARA robotic arm, Guan SCARA robotic arm, and Chi SCARA robotic arm simultaneously rise along the Z axis and leave the skin.

[0022] Beneficial effect: The present invention provides an automatic pulse acquisition device and method, the automatic pulse acquisition device comprises a SCARA mechanical arm and a limiting mechanism on the same plane as the SCARA mechanical arm; the SCARA mechanical arm comprises: a fixed bracket, a movable bracket, a first rotating arm, a second rotating arm and a composite pulse sensor; 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 bracket, the second rotating arm is rotatably connected with an end of the first rotating arm away from the movable bracket, and the composite pulse sensor is fixed to an end of the second rotating arm away from the first rotating arm; the limiting mechanism comprises: a fixed portion, a handle located on one side of the fixed portion, a limiting portion arranged on the same side as the handle, and a camera device for acquiring images. The automatic pulse acquisition device is based on the spatial position control structure of the three-channel pulse sensor of the SCARA mechanical arm. The composite pulse sensor can simultaneously control the pulse pressure and output two different types of pressure pulse signals. The position of the wrist is limited and maintained by a limit mechanism, and an imaging device for recording the acquisition position can achieve the uniformity of the acquisition position between multiple acquisitions of the same person. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is the overall structure schematic diagram of the automatic pulse collecting device of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a SCARA mechanical arm in the automatic pulse acquisition device of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the limit mechanism in the automatic pulse acquisition device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of a composite pulse sensor in a SCARA mechanical arm of the present invention;

[0027] Figure 5 Be the data and control flow chart of pulse condition automatic collection method of the present invention;

[0028] Figure 6 This is a flow chart of the position location acquisition of the camera device of the present invention;

[0029] Figure 7 It is a three-channel independent motion control flow chart of the SCARA mechanical arm of the pulse automatic acquisition method of the present invention;

[0030] Figure 8 This is a schematic diagram of positioning the robot arm of the present invention;

[0031] Fig. 9 Schematic diagram of different motion schemes for the same point in the XOY plane according to the present invention;

[0032] Fig.10 This is a schematic diagram of the SCARA robot arm at the 0 point position of the present invention;

[0033] Explanation of the accompanying drawings: SCARA robot arm 100, fixed bracket 101, bottom plate 1011, support column 1012, top plate 1013, screw stepper motor 1014, movable bracket 102, first motor 1021, second motor 1022, first rotating arm 103, second gear 1031, power arm 1032, auxiliary arm 1033, second rotating arm 104, third gear 1041, composite pulse sensor 105, weighing sensor 1051, connecting member 1052, cantilever beam 1053, film sensor 1054, first fixing member 1055, second fixing member 1056, first limit switch 1061, second limit switch 1062, third limit switch 1063, limit plate 107, limit mechanism 200, fixing part 201, handle 202, limit part 203, camera device 204, camera bracket 205. DETAILED DESCRIPTION

[0034] The present invention provides a pulse automatic collection device and method, in order to make the purpose, technical scheme and effect of the present invention clearer and more specific, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] In the embodiments and the scope of the patent application, unless the text specifically defines the article, "a", "an", "the" and "the" may also include plural forms. If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0036] It should be further understood that the wording "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. The wording "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0037] 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 generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0038] The pulse wave acquisition system is built using standardized sensors to convert the changes in the strength of the pulse waves felt by the fingers into objectively recorded digital signals. Based on the theoretical system of traditional Chinese pulse diagnosis, modern signal analysis technology and pattern recognition technology are used to extract effective diagnostic information from the enhanced pulse signal to achieve automatic classification of pulse signals and classification of diseases based on pulse waves. This is the main technical route for the current standardization and objectivity research of Chinese pulse diagnosis.

[0039] Acquiring comprehensive, accurate and stable pulse wave signals in an efficient manner is the basis for objective research on pulse diagnosis. The basic method is to use various sensors, assisted by corresponding mechanical components and circuits, to convert pulse wave beats into electrical signals and store them in a digital way. Due to the different working principles and performances of various sensors, existing research has explored the acquisition of pulse signals using different types of sensors and designed various acquisition systems.

[0040] At present, although there are many different pulse acquisition / analysis devices with different architectures available and a small number of clinical applications, some key issues have not been effectively resolved, and practicality and standardization are seriously insufficient, so they have not been widely popularized. For example, the wrist acquisition position of the pulse is one of the main factors affecting the waveform of the pulse wave signal. For different measurements of the same person, due to the subjectivity of decision-making, the consistency of the position between multiple acquisitions cannot be guaranteed. The non-pathological signal differences caused by this uncontrollable factor seriously affect the reliability and scientificity of the conclusions during subsequent signal analysis. In addition, the current signal acquisition system is difficult to use, requiring users to have a certain basic knowledge of pulse diagnosis, and the acquisition process requires a certain amount of manual operation and familiarity, which reduces the user's willingness to use. These factors ultimately lead to a low degree of automation and intelligence in the pulse wave signal acquisition process, which makes the acquired signal lack acquisition standards and effective variable control. The above problem is one of the main basic problems to be solved in the objectification and modernization of pulse diagnosis, and it is also the main obstacle to the promotion and application of pulse wave acquisition systems.

[0041] Based on this, Figure 1-3 As shown, the present invention provides an automatic pulse acquisition device, comprising a SCARA mechanical arm 100, and a limiting mechanism 200 in the same plane as the SCARA mechanical arm 100;

[0042] The SCARA robot arm 100 comprises:

[0043] A fixing bracket 101;

[0044] A movable bracket 102, wherein the movable bracket 102 is sleeved on the fixed bracket 101 and moves along the fixed bracket 101;

[0045] A first rotating arm 103, wherein the first rotating arm 103 is rotatably connected to the movable bracket 102;

[0046] A second rotating arm 104, the second rotating arm 104 is rotatably connected to an end of the first rotating arm 103 away from the movable bracket 102;

[0047] A composite pulse sensor 105, wherein the composite pulse sensor 105 is fixed to an end of the second rotating arm 104 away from the first rotating arm 103;

[0048] The limiting mechanism 200 includes: a fixing portion 201, a handle 202 located at one side of the fixing portion 201, a limiting portion 203 located at the same side as the handle 202, and a camera device 204 for acquiring images.

[0049] Through the flexible movement of the SCARA mechanical arm 100 in space, combined with the composite pulse sensor 105 having different sensor performance characteristics and obtaining different types of signals, the composite pulse sensor 105 can simultaneously control the pulse feeling pressure and output two different types of pressure pulse signals; thereby, the automatic pulse acquisition device can obtain richer and more accurate pulse feeling pressure and pulse signals, and the limiting mechanism 200 is set, and the camera device can be used to store the positioned wrist image, so as to achieve rapid positioning of Cun, Guan and Chi when acquiring again, and to ensure the position consistency of the same person being acquired in multiple acquisitions.

[0050] In some embodiments, the SCARA mechanical arm 100 includes three units, which are respectively used to collect the pulse signals of Cun, Guan, and Chi, namely, Cun SCARA mechanical arm, Guan SCARA mechanical arm, and Chi SCARA mechanical arm. Three independently moving SCARA mechanical arms are used to control the composite pulse sensor 105 to reach a specific spatial position, and synchronously collect the pulse signals of Cun, Guan, and Chi.

[0051] In some embodiments, the fixed bracket 101 includes a base plate 1011, a plurality of support columns 1012 vertically fixed to the base plate 1011, a top plate 1013 fixed to one end of the support columns 1012 away from the base plate 1011, and a lead screw stepper motor 1014 for moving the movable bracket 102 along the fixed bracket 101.

[0052] Specifically, the bottom plate 1011 and the top plate 1013 are triangular in shape, and the support columns 1012 include three and are respectively arranged at three corners of the bottom plate 1011 and the top plate 1013 of the triangular shape, 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 in the vertical direction along the fixed bracket 101, that is, the movement of the composite pulse condition sensor 105 in the Z-axis direction can be controlled.

[0053] In some embodiments, the movable bracket 102 is mounted on the support column 1012 and moves in a vertical direction along the support column 1012; the first rotating arm 103 rotates around the support column 1012; the movable bracket 102 is provided with a first motor 1021 and a second motor 1022; the fixed bracket 101, the first rotating arm 103 and the second rotating arm 104 are all provided with limit switches.

[0054] Specifically, the movable bracket 102 uses the support column 1012 as a movable track, and the lead screw stepping motor 1014 cooperates with the lead screw nut provided on the movable bracket 102, so that the movable bracket 102 can move in a vertical direction along the support column 1012. The first rotating arm 103 is rotatably connected to the movable bracket 102, and uses one of the support columns 1012 as an axis, so as to improve the rotation stability of the first rotating arm 103.

[0055] The limit switch includes a first limit switch 1061, a second limit switch 1062, and a third limit switch 1063, which are respectively arranged on the top plate 1013, an end of the first rotating arm 103 close to the second rotating arm 104, and an end of the second rotating arm 104 away from the first rotating arm 103. When the movable bracket 102 moves in the vertical direction along the support column 1012, when the highest point of the movable bracket 102 (the second motor 1022 in this embodiment) touches the first limit switch 1061, the lead screw stepper motor 1014 stops working immediately; when the rotation angle of the first rotating arm 103 is too large, until the end close to the second rotating arm 104 (the second limit switch 1062) 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 the end away from the first rotating arm 103 (the third limit switch 1063) touches the fixed bracket 101, the second motor 1022 stops working. The limit switch effectively prevents the mechanical arm from moving too far and causing irreversible structural damage, and effectively limits the movement range of the movable bracket, the first rotating arm and the second rotating arm, thereby protecting the safety of the person being collected, and can also be used for reset after use.

[0056] In some embodiments, a first gear (not shown) is disposed at one end of the first rotating arm 103 close to the supporting column 1012, and the first motor 1021 and the first gear form a transmission structure; an independent second gear 1031 is disposed at one side of the first rotating arm 103 away from the first gear;

[0057] 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 .

[0058] Specifically, the first gear is fixedly connected to the first rotating arm 103, and the first gear is rotatably connected to the support column 1012, that is, the first gear can rotate around the support column 1012, and at the same time drive the first rotating arm 103 to rotate; the second gear is not fixed to the first rotating arm 103 and is rotatably connected to the support column, playing a transmission role, and the third gear 1041 is fixedly connected to the second rotating arm 104. When the second motor 1022 drives the second gear 1031 to rotate, the second gear 1031 also drives the third gear 1041 to rotate, so that the second motor 1022 can control the second rotating arm 104 to rotate.

[0059] In a preferred embodiment, both the first motor 1021 and the second motor 1022 are stepper motors, which can better control the first rotating arm and the second rotating arm to move flexibly in the XOY plane.

[0060] In some embodiments, the first rotating arm 103 includes a power arm 1032 provided with the first gear, and an auxiliary arm 1033 spaced apart from the power arm 1032; the second gear 1031 is disposed between the power arm 1032 and the auxiliary arm 1033; and the second rotating arm 104 is disposed between the power arm 1032 and the auxiliary arm 1033.

[0061] The first motor 1021 drives the first gear to make the power arm 1032 rotate around the support column, and the auxiliary arm 1033 is coaxially arranged with the power arm 1032 and connected at both ends, so as the power arm 1032 rotates, the auxiliary arm 1033 also rotates at the same time. The auxiliary arm can strengthen the structure of the first rotating arm 103 so that it will not swing up and down during rotation; and the second rotating arm 104 achieves the purpose of rotation through the transmission effect of the second gear 1031.

[0062] In a preferred embodiment, the first motor 1021 and the first gear are connected by a belt to achieve a transmission effect; the second motor 1022 and the second gear 1031 and the second gear 1031 and the third gear 1041 are both connected by a belt to achieve a transmission effect; wherein the belt between the second gear 1031 and the third gear 1041 is not shown. In addition, multiple gears can be used instead of the belt to achieve the transmission effect.

[0063] In some embodiments, a limit plate 107 is further provided between the fixed bracket 101 and the movable bracket 102 to limit the lowest point of the movable bracket 102 in the vertical direction to prevent it from sinking too low, causing the robotic arm to exert excessive force on the hand of the person being collected.

[0064] In some embodiments, the composite pulse sensor 105 includes a weighing sensor 1051 fixed on the second rotating arm 104, a connecting member 1052, a cantilever beam 1053 connecting the weighing sensor 1051 and the connecting member 1052, and a thin film sensor 1054 arranged at one end of the connecting member 1052 away from the cantilever beam 1053; a semiconductor strain gauge is attached to the cantilever beam 1053.

[0065] Specifically, Figure 4As shown, the weighing sensor 1051 is arranged on the side of the second rotating arm 104 away from the auxiliary arm 1033, and the weighing sensor 1051 partially extends out of the second rotating arm 104 and is in a suspended state; the weighing sensor 1051 is a high-precision cantilever beam type weighing sensor, which is used to measure the pulse pressure, and is fixed on the second rotating arm 104 through a first fixing member 1055; the cantilever beam 1053 and the weighing sensor 1051 are connected through a second fixing member 1056, and the second fixing member is located at the suspended part of the weighing sensor 1051, on the same side as 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 for measuring pulse signals; the connecting member is cylindrical, and a thin film sensor 1054 is connected to the end away from the cantilever beam 1053, which is also used to sense pulse signals. That is, the composite pulse sensor 105 is synthesized by utilizing the performance characteristics of different sensors to obtain different types of signals, and the pulse feeling pressure can be controlled at the same time to output two different types of pressure pulse signals.

[0066] In some embodiments, the automatic pulse acquisition device also includes a host 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 bracket 102 in the Z-axis direction, and recording and analyzing pulse signals.

[0067] In some embodiments, a distance sensor is provided at one end of the second rotating arm 104 away from the first rotating arm 103 for acquiring the distance from the composite pulse sensor 105 to the arm, so as to determine the descending distance of the Z axis.

[0068] In some embodiments, in the limiting mechanism 200, the fixing portion 201 is a retaining wall fixed on the same plane as the SCAPR robotic arm 100; a handle 102 is provided on one side of the retaining wall to limit the arm of the subject; a limiting portion 203 is provided on the same side of the handle 202 to appropriately limit and fix the rear half of the arm through the limiting portion 203, and the subject can fine-tune the arm posture to achieve a comfortable state; a camera bracket 205 is provided on the side of the fixing portion 201 away from the handle 202, and a camera device 204 is fixed on the camera bracket 205 to obtain the wrist image of the subject, which is then uploaded to the host computer to automatically determine the Cun, Guan, and Chi collection positions.

[0069] The automatic pulse acquisition device can realize automatic acquisition of pulse signals, so that the acquisition personnel do not need to directly operate the acquisition system hardware. They only need to send instructions to the acquisition system on the computer to complete the acquisition and recording of pulse signals at different parts of Cun, Guan and Chi using different pulse feeling pressures, thereby improving the objectivity, practicality and automation of the pulse acquisition device.

[0070] In addition, the present invention also provides a kind of pulse condition automatic collection method, comprising the steps of:

[0071] Step S10: setting the position where the first rotating arm L1 and the second rotating arm L2 rebound 2 degrees after touching the limit switch respectively as the 0-point position, and calibrating the positions of the Cun part SCARA mechanical arm, the Guan part SCARA mechanical arm, and the Chi part SCARA mechanical arm;

[0072] Step S20: placing the arm on the limiting mechanism, the Guan SCARA mechanical arm moves to the arm position, and calculates the distance between the composite pulse sensor and the skin, and then the Cun SCARA mechanical arm and the Chi SCARA mechanical arm move to corresponding positions;

[0073] Step S30: the Cun part SCARA mechanical arm, the Guan part SCARA mechanical arm, and the Chi part SCARA mechanical arm are quickly sunk to the positions in contact with Cun, Guan, and Chi respectively;

[0074] Step S40: Read the pulse pressure sensor data and slowly sink to the preset pressure;

[0075] Step S50: After the acquisition is completed, the Cun SCARA robot arm, Guan SCARA robot arm, and Chi SCARA robot arm simultaneously rise along the Z axis and leave the skin.

[0076] Specifically, Figure 5As shown, the automatic pulse acquisition method first calibrates the positions of the Cun SCARA mechanical arm, the Guan SCARA mechanical arm, and the Chi SCARA mechanical arm, and then limits the posture of the wrist through the limiting mechanism 200 and uses the camera device on the limiting mechanism 200 to obtain the wrist image, and then sends it to the host computer to analyze and determine the acquisition position. When the positions of Cun, Guan, and Chi are determined, the Guan SCARA mechanical arm moves to the Guan position, and calculates the distance between the composite pulse sensor and the skin, and then the Cun SCARA mechanical arm The ARA robotic arm and the Chi-bu SCARA robotic arm move to corresponding positions, read the pulse pressure sensor data and upload it to the host computer, and the host computer adjusts the Z-axis to rise or fall through the lead screw stepping electrode. Through continuous feedback and adjustment, the pulse pressure reaches a specified value or range, and finally the composite pulse sensor outputs the measured pulse signal to the host computer for storage. After the acquisition is completed, the Cun-bu SCARA robotic arm, Guan-bu SCARA robotic arm, and Chi-bu SCARA robotic arm simultaneously rise along the Z-axis and leave the skin.

[0077] In a specific embodiment, Figure 6 As shown, the camera device acquires the wrist image, sends it to the host computer for analysis and acquisition position determination, and specifically includes the following steps:

[0078] Step IM001: photographing a wrist image by the camera device;

[0079] Step IM002: input the image into the host computer and scale it proportionally to adapt to the host computer software for easy calibration;

[0080] Step IM003: Determine the acquisition position, which can be manually calibrated by the acquisition personnel, or the system can automatically traverse the position in a limited area to obtain the best acquisition point. After determining the acquisition position of Cun, Guan, and Chi, it is output to the robotic arm system for positioning on the XOY plane;

[0081] Step IM004: Save wrist image and positioning information to the host computer;

[0082] Step IM005: When the same person is collected again, retrieve the historical positioning data;

[0083] Step IM006: Compare the differences between the newly acquired wrist image and the historically stored wrist image, and make appropriate corrections to align them with the historical image as much as possible;

[0084] Step IM007: using the historical positioning data, initializing the acquisition position in the newly acquired wrist image;

[0085] Step IM008: The collector makes adjustments based on the initial position to prevent a large position deviation from occurring during step IM007.

[0086] In this embodiment, when the automatic pulse collection method is used to collect pulses from the same person, it only needs to perform a more detailed positioning process during the first collection. When collecting again, it can be quickly positioned based on the historical positioning information, which can effectively ensure the consistency of the collection position and facilitate the continuous and long-term tracking of the pulse changes of the person being collected.

[0087] In some embodiments, the step includes moving the Cun SCARA mechanical arm to the arm position and calculating the distance between the composite pulse sensor and the skin, and then before the Cun SCARA mechanical arm and the Chi SCARA mechanical arm move to the corresponding positions, further including calculating the movement angle of the SCARA mechanical arm, including the following:

[0088] Establish world coordinates XO world Y, let (X 1 ,Y 1 ), (X 2 ,Y 2 ), (X 3 ,Y 3 ) are Cun, Guan, Chi in XO world Points in the Y plane; take the intersection of the first rotating arm and the support column as the coordinate origin, establish the XOY plane; the position of the SCARA robot arm in the XOY coordinate system is:

[0089] X CUN = X cun ;

[0090] Y CUN = Y cun ;

[0091] X GUAN = X guan ;

[0092] Y GUAN = Y guan ;

[0093] X CHI = X chi ;

[0094] Y CHI = Y chi ;

[0095] Among them, XCUN , X GUAN , X CHI are the horizontal coordinates of Cun, Guan and Chi in the XOY plane, CUN , Y GUAN , Y CHI are the ordinates of Cun, Guan and Chi in the XOY plane; cun , X guan , X chi The intersection of the first rotating arm and the support column, which are Cun, Guan and Chi, is at XO world The horizontal coordinate in the Y plane, Y cun , Y guan , Y chi The intersection of the first rotating arm and the support column, which are Cun, Guan and Chi, is at XO world The ordinate in the Y plane;

[0096] For a point (X, Y) in the XOY plane and θ 1 and θ 2 The relationship can be expressed as:

[0097] X = Len_L1 × cos(θ 1 )+Len_L2×cos(θ 1 +θ 2 )(1);

[0098] Y = Len_L1 × sin(θ 1 )+Len_L2×sin(θ 1 +θ 2 )(2);

[0099] Wherein, Len_L1 and Len_L2 are the lengths of the first rotating arm L1 and the second rotating arm L2 respectively, θ 1 is the rotation angle of the first rotating arm L1 relative to the X-axis, θ 2 is the angle at which the second rotating arm L2 rotates relative to the first rotating arm L1;

[0100] At this time, θ 1 and θ 2 There are two sets of solutions, namely (θ 1 ,θ 2 ) and (θ 1 `,θ 2 `), where θ 1 <θ 1 `,θ 2 = -θ 2 `;

[0101] Then (X CUN ,Y CUN )(XGUAN ,Y GUAN )(X CHI ,Y CHI ) are substituted into formula (1) (2) respectively;

[0102] The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the Cun SCARA robot arm, Guan SCARA robot arm, and Chi SCARA robot arm in the XOY plane are calculated as follows:

[0103] (θ 1-CUN , θ 2-CUN ), take the solution θ 1-CUN =θ 1 `, that is, θ 1-CUN Take the larger value of the result;

[0104] (θ 1-GUAN ,θ 2-GUAN ), take the solution θ 1-GUAN =θ 1 , that is, θ 1-GUAN Take the smaller value of the result;

[0105] (θ 1-CHI , θ 2-CHI ), take the solution θ 1-CHI =θ 1 , that is, θ 1-CHI Take the smaller value of the result;

[0106] Specifically, the rotation angles of the first rotating arm L1 and the second rotating arm L2 in the Cunbu SCARA robot arm in the XOY plane have two sets of solutions, which are (θ 1-cun , θ 2-cun ) and (θ 1-cun `, θ 2-cun `), if θ 1-cun >θ 1-cun `, take (θ 1-cun ,θ 2-cun ); otherwise, take (θ 1-cun `, θ 2-cun `);

[0107] The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the SCARA robot arm of the joint in the XOY plane have two sets of solutions, respectively (θ 1-guan , θ 2-guan ) and (θ 1-guan `, θ 2-guan `), if θ 1-guan <θ 1-guan `, take (θ 1-guan ,θ 2-guan ); otherwise, take (θ 1-guan `, θ2-guan `);

[0108] The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the ruler SCARA robot arm in the XOY plane have two sets of solutions, respectively: 1-chi , θ 2-chi ) and (θ 1-chi `, θ 2-chi `), if θ 1-chi <θ 1-chi `, take (θ 1-chi ,θ 2-chi ); otherwise, take (θ 1-chi `, θ 2-chi `).

[0109] The offset angles of the first rotating arm L1 and the second rotating arm L2 of Cun, Guan and Chi relative to the X-axis and Y-axis of the XOY plane at the 0-point position are:

[0110] (L1 CUN , L2 CUN );(L1 GUAN , L2 GUAN );(L1 CHI , L2 CHI );

[0111] The rotation angles of the first rotating arm L1 and the second rotating arm L2 relative to the zero point position are:

[0112] MOTION_L1 CUN =θ 1-CUN -L1 CUN ;

[0113] MOTION_L1 GUAN =θ 1-GUAN -L1 GUAN ;

[0114] MOTION_L1 CHI =θ 1-CHI -L1 CHI ;

[0115] MOTION_L2 CUN =θ 1-CUN -L2 CUN ;

[0116] MOTION_L2 GUAN =θ 1-GUAN -L2 GUAN ;

[0117] MOTION_L2 CHI =θ 1-CHI -L2CHI .

[0118] That is, firstly establish the world coordinate X0 in the common plane of the inch SCARA robot arm, the joint SCARA robot arm, and the ruler SCARA robot arm. world Y, then convert the world coordinates of Cun, Guan, and Chi into coordinates of the XOY plane, calculate the angles that the first rotating arm and the second rotating arm need to rotate in the XOY plane, and then combine the position of the 0 point to calculate the angles that the first rotating arm and the second rotating arm need to rotate relative to the 0 point. At this time, the first rotating arm and the second rotating arm can move to the corresponding XOY plane according to the calculated angles. world The angle that the Y coordinate needs to rotate. After obtaining the distance through the distance sensor of the SCARA robot arm, the space can be moved.

[0119] In some embodiments, in order to more accurately make the composite pulse sensor 105 fall on Cun, Guan, and Chi, the calculation of the movement angle of the SCARA mechanical arm also includes compensating the rotation angle of the second rotating arm L2: for every 1 degree of movement of the first rotating arm L1, the second rotating arm L2 moves 33 / 62 degrees in the opposite direction, counted as A, and the rotation angle of the second rotating arm L2 is:

[0120] MOTION_L2 CUN =θ 1-CUN -L2 CUN +MOTION_L1 CUN ×A;

[0121] MOTION_L2 GUAN =θ 1-GUAN -L2 GUAN +MOTION_L1 GUAN ×A;

[0122] MOTION_L2 CHI =θ 1-CHI -L2 CHI +MOTION_L1 CHI ×A.

[0123] Specifically, Figure 7 As shown, in the C001 process, the XO of Cun, Guan, and Chi are obtained. worldAfter the Y coordinate is obtained, the C002 process is calculated according to the above-mentioned SCARA robot arm's motion angle calculation method to calculate the swing angle of the L1 and L2 arms of each of the Cun, Guan and Chi arms; the C003 process controls the robot arm to touch the limit switch and rebound a certain angle and distance, that is, the 0-point position (without loss of generality, L1 and L2 can be set to rebound 2 degrees respectively, and the Z axis rebounds 5mm). In this process, the accumulated motion error is eliminated and the positioning accuracy is improved; in the C004 process, the Guan SCARA robot arm first moves to the "Cun" position to prevent interference from the Cun robot arm, and uses the distance sensor to read and calculate the distance between the composite pulse sensor and the skin; in the C005 process, the Cun SCARA robot arm and the Chi SCARA robot arm move to the positions relative to the "Cun" and "Chi" respectively; in the C006 process, the Cun SCARA robot arm, the Guan SCARA robot arm, and the Chi SCARA robot arm quickly sink a distance together, and after approaching the skin, enter the C007 process. , start the slow descent mode to prevent the oppression caused by rapid sinking to the human body; in this mode, the upper computer control software will synchronously read the pulse pressure data of Cun, Guan, and Chi, and adjust the pulse pressure according to the real-time value, that is, adjust the rise and fall of the Z axis until the pulse pressure meets the requirements or meets other conditions for stopping adjustment (generally time conditions and distance conditions, to avoid endless adjustment and ensure human-machine safety); after the data collection is completed, enter the C008 process, the Z axes of the Cun SCARA robot arm, Guan SCARA robot arm, and Chi SCARA robot arm are lifted at the same time, as quickly as possible away from the skin to avoid the discomfort of long-term compression; in the C009 process, after the Z axis touches the limit switch and rebounds, the L1 arm and L2 arm of the Cun SCARA robot arm and the Chi SCARA robot arm first return to the 0 point position; finally, in the C010 process, the L1 arm and L2 arm of the Guan SCARA robot arm return to the 0 point position to prevent collision with the Cun SCARA robot arm during movement.

[0124] The following further examples are given to illustrate the present invention in detail. It should also be understood that the following examples are only used to further illustrate the present invention and cannot be understood as limiting the scope of protection of the present invention. Some non-essential improvements and adjustments made by those skilled in the art based on the above content of the present invention belong to the scope of protection of the present invention.

[0125] When the pulse automatic acquisition method is actually used, the calculation instructions of the motion angle of the SCARA mechanical arm in the host computer include the following:

[0126] First, establish the world coordinate XO world Y, let (X 1 ,Y 1 ), (X 2 ,Y2 ), (X 3 ,Y 3 ) are Cun, Guan, Chi in XO world Points in the Y plane; take the intersection of the first rotating arm and the support column as the coordinate origin, establish the XOY plane; the position of the SCARA robot arm in the XOY coordinate system is:

[0127] SCARA_X_AXES_CUN= SCARA_OFFSET_X_CUN;

[0128] SCARA_Y_AXES_CUN= SCARA_OFFSET_Y_CUN;

[0129] SCARA_X_AXES_GUAN= SCARA_OFFSET_X_GUAN;

[0130] SCARA_Y_AXES_GUAN= SCARA_OFFSET_Y_GUAN;

[0131] SCARA_X_AXES_CHI= SCARA_OFFSET_X_CHI;

[0132] SCARA_Y_AXES_CHI= SCARA_OFFSET_Y_CHI;

[0133] Among them, SCARA_X_AXES_CUN, SCARA_X_AXES_GUAN, and SCARA_X_AXES_CHI are the horizontal coordinates of Cun, Guan, and Chi in the XOY plane respectively;

[0134] SCARA_Y_AXES_CUN, SCARA_Y_AXES_GUAN, SCARA_Y_AXES_CHI are the ordinates of Cun, Guan, Chi in the XOY plane respectively;

[0135] SCARA_OFFSET_X_CUN, SCARA_OFFSET_X_GUAN, SCARA_OFFSET_X_CHI are the intersection points of the first rotating arm and the support column of Cun, Guan, and Chi respectively. world The horizontal coordinate in the Y plane;

[0136] SCARA_OFFSET_Y_CUN, SCARA_OFFSET_Y_GUAN, SCARA_OFFSET_Y_CHI are the intersection points of the first rotating arm and the support column of Cun, Guan, and Chi respectively. world The ordinate in the Y plane;

[0137] Then, if Figure 8 As shown, for a point (X, Y) in the XOY plane and θ 1 and θ 2 The relationship can be expressed as:

[0138] X = Len_L1 × cos(θ 1 )+Len_L2×cos(θ 1 +θ 2 )(1);

[0139] Y = Len_L1 × sin(θ 1 )+Len_L2×sin(θ 1 +θ 2 )(2);

[0140] Wherein, Len_L1 and Len_L2 are the lengths of the first rotating arm L1 and the second rotating arm L2 respectively, θ 1 is the rotation angle of the first rotating arm L1 relative to the X-axis, θ 2 is the angle at which the second rotating arm L2 rotates relative to the first rotating arm L1;

[0141] At this time, θ 1 and θ 2 There are two sets of solutions, namely Fig. 9 The two motion results shown, where θ 1 <θ 1 `, and θ 2 = -θ 2 `. Since the positions of the Cun SCARA robot arm and the Chi SCARA robot arm are relatively close, in order to keep the corresponding robot arms as far away as possible, the movement result of the Cun SCARA robot arm is similar to (θ 1 `,θ 2 `) result, the motion result of the ruler SCARA robot arm is similar to (θ 1 ,θ 2 ) results.

[0142] Then

[0143] (SCARA_X_AXES_CUN,SCARA_Y_AXES_CUN),

[0144] (SCARA_X_AXES_GUAN,SCARA_Y_AXES_GUAN),

[0145] Substitute (SCARA_X_AXES_CHI, SCARA_Y_AXES_CHI) into formula (1) (2) respectively;

[0146] The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the Cun SCARA robot arm, Guan SCARA robot arm, and Chi SCARA robot arm in the XOY plane are calculated as follows:

[0147] (SCARA_ANGLE_θ 1 _CUN, SCARA_ANGLE_θ 2 _CUN): Solving Take the larger one;

[0148] (SCARA_ANGLE_θ 1 _GUAN, SCARA_ANGLE_θ 2 _GUAN): Solving Take the smaller one;

[0149] (SCARA_ANGLE_θ 1 _CHI, SCARA_ANGLE_θ 2 _CHI): Solution in progress Take the smaller one;

[0150] The offset angles (in radians) of the first rotating arm L1 and the second rotating arm L2 of the Cun, Guan, Chi relative to the X-axis and Y-axis of the XOY plane at the 0-point position are:

[0151] (SCARA_ANGLE_L1_CUN, SCARA_ANGLE_L2_CUN);

[0152] (SCARA_ANGLE_L1_GUAN, SCARA_ANGLE_L2_GUAN);

[0153] (SCARA_ANGLE_L1_CHI, SCARA_ANGLE_L2_CHI);

[0154] Fig.10 It is a schematic diagram of the 0-point position of the inch SCARA robot arm, the joint SCARA robot arm, and the ruler SCARA robot arm.

[0155] Due to the structural characteristics, when the L1 arm moves, it will drive the L2 arm to move in the opposite direction, and the movement ratio is -33 / 62, that is, for every degree of movement of L1, L2 moves in the opposite direction by AIXS_CORRECTION=33 / 62 degrees. Therefore, it is necessary to compensate for the movement angle of L2; the rotation angle of the first rotating arm L1 and the second rotating arm L2 relative to the 0 point position is:

[0156] SCARA_MOTION_L1_CUN=SCARA_ANGLE_θ 1 _CUN SCARA_ANGLE_L1_CUN;

[0157] SCARA_MOTION_L1_GUAN=SCARA_ANGLE_θ 1 _GUAN SCARA_ANGLE_L1_GUAN;

[0158] SCARA_MOTION_L1_CHI=SCARA_ANGLE_θ 1 _CHI SCARA_ANGLE_L1_CHI;

[0159] SCARA_MOTION_L2_CUN=SCARA_ANGLE_θ 2 _CUN SCARA_ANGLE_L2_CUN+SCARA_MOTION_L1_CUN*AIXS_CORRECTION;

[0160] SCARA_MOTION_L2_GUAN=SCARA_ANGLE_θ 2 _GUAN SCARA_ANGLE_L2_GUAN+SCARA_MOTION_L1_GUAN*AIXS_CORRECTION;

[0161] SCARA_MOTION_L2_CHI=SCARA_ANGLE_θ 2 _CHI SCARA_ANGLE_L2_CHI+SCARA_MOTION_L1_CHI*AIXS_CORRECTION;

[0162] So far, the system has solved the L1 and L2 motions of each robot arm to the corresponding XO world The angle that the Y coordinate needs to rotate. After obtaining the distance through the distance sensor of the joint robot arm, the spatial position can be moved.

[0163] In summary, the present invention provides an automatic pulse acquisition device and method, the automatic pulse acquisition device comprises a SCARA mechanical arm and a limiting mechanism in the same plane as the SCARA mechanical arm; the SCARA mechanical arm comprises: a fixed bracket, a movable bracket, a first rotating arm, a second rotating arm and a composite pulse sensor; 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 bracket, the second rotating arm is rotatably connected with an end of the first rotating arm away from the movable bracket, and the composite pulse sensor is fixed to an end of the second rotating arm away from the first rotating arm; the limiting mechanism comprises: a fixed portion, a handle located on one side of the fixed portion, a limiting portion arranged on the same side as the handle, and a camera device for acquiring an image. The automatic pulse acquisition device is based on the spatial position control structure of the three-channel pulse sensor of the SCARA mechanical arm. The composite pulse sensor can simultaneously control the pulse pressure and output two different types of pressure pulse signals. The position of the wrist is limited and maintained by a limit mechanism, and an imaging device for recording the acquisition position can achieve the uniformity of the acquisition position between multiple acquisitions of the same person.

[0164] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A pulse automatic collection device, characterized in that: It includes a SCARA mechanical arm and a limiting mechanism located in the same plane as the SCARA mechanical arm; The SCARA robot arm comprises: Fixed bracket; A movable bracket, the movable bracket is sleeved on the fixed bracket and moves along the fixed bracket; a limiting plate is also provided between the fixed bracket and the movable bracket; a first rotating arm, the first rotating arm being rotatably connected to the movable bracket; a second rotating arm, the second rotating arm being rotatably connected to an end of the first rotating arm away from the movable bracket; A composite pulse sensor, wherein the composite pulse sensor is fixed to an end of the second rotating arm away from the first rotating arm; The limiting mechanism comprises: a fixing portion, a handle located at one side of the fixing portion, a limiting portion provided at the same side as the handle, and a camera device for acquiring an image; The SCARA mechanical arm comprises a Cun SCARA mechanical arm, a Guan SCARA mechanical arm, and a Chi SCARA mechanical arm, which are respectively used to collect pulse signals of Cun, Guan, and Chi; The composite pulse condition sensor comprises a weighing sensor fixed on the second rotating arm, a connecting member, a cantilever beam connecting the weighing sensor and the connecting member, and a thin film sensor arranged at one end of the connecting member away from the cantilever beam; a semiconductor strain gauge is attached to the cantilever beam; The automatic pulse acquisition device also includes a host computer, which is used to control the movement of the first rotating arm and the second rotating arm in the XOY plane and the movement of the movable bracket in the Z-axis direction, and record and analyze the pulse signal; the end of the second rotating arm away from the first rotating arm is provided with a distance sensor, which is used to obtain the distance from the composite pulse sensor to the arm, and is used to determine the descending distance of the Z-axis; The fixed bracket includes a base plate, a plurality of support columns vertically fixed to the base plate, a top plate fixed to one end of the support columns away from the base plate, and a lead screw stepper motor for moving the movable bracket along the fixed bracket; limit switches are provided on the fixed bracket, the first rotating arm and the second rotating arm.

2. The automatic pulse collecting device according to claim 1, characterized in that: The movable bracket is sleeved on the support column and moves vertically along the support column; the first rotating arm rotates with the support column as an axis; and the movable bracket is provided with a first motor and a second motor.

3. The automatic pulse collecting device according to claim 2, characterized in that: A first gear is disposed 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 disposed at a side of the first rotating arm away from the first gear; A third gear is disposed at one end of the second rotating arm connected to the first rotating arm, and a transmission structure is formed between the second motor and the second gear, and between the second gear and the third gear.

4. The automatic pulse collecting device according to claim 3, characterized in that: The first rotating arm comprises a power arm provided with the first gear and an auxiliary arm spaced apart from the power arm; the second gear is provided between the power arm and the auxiliary arm; and the second rotating arm is provided between the power arm and the auxiliary arm.

5. A method for automatically collecting pulse using the automatic pulse collecting device according to any one of claims 1 to 4, characterized in that: Includes steps: After the first rotating arm L1 and the second rotating arm L2 respectively touch the limit switch, the position at which they rebound 2 degrees is set as the 0-point position, and the positions of the Cun part SCARA mechanical arm, the Guan part SCARA mechanical arm, and the Chi part SCARA mechanical arm are calibrated; The arm is placed on the limiting mechanism, the Guan part SCARA mechanical arm moves to the arm position, and the distance between the composite pulse sensor and the skin is calculated, and then the Cun part SCARA mechanical arm and the Chi part SCARA mechanical arm move to corresponding positions; The Cun part SCARA mechanical arm, Guan part SCARA mechanical arm, and Chi part SCARA mechanical arm are respectively quickly sunk to the positions in contact with Cun, Guan, and Chi; Read the pulse pressure sensor data and slowly sink to the preset pressure; After the collection is completed, the Cun SCARA robotic arm, Guan SCARA robotic arm, and Chi SCARA robotic arm simultaneously rise along the Z axis and leave the skin.

6. The automatic pulse acquisition method according to claim 5, characterized in that: The step includes moving the Cun SCARA mechanical arm to the arm position and calculating the distance between the composite pulse sensor and the skin, and then before the Cun SCARA mechanical arm and the Chi SCARA mechanical arm move to the corresponding positions, calculating the movement angle of the SCARA mechanical arm, including the following: Establish world coordinates XO world Y, let (X1, Y1), (X2, Y2), (X3, Y3) be Cun, Guan, Chi in XO respectively. world Points in the Y plane; take the intersection of the first rotating arm and the support column as the coordinate origin, establish the XOY plane; the position of the SCARA robot arm in the XOY coordinate system is: X CUN = X cun ; AND CUN = AND cun ; X GUAN = X guan ; AND GUAN = AND guan ; X CHI = X chi ; AND CHI = AND chi ; Among them, X CUN , X GUAN , X CHI are the horizontal coordinates of Cun, Guan and Chi in the XOY plane, Y CUN , Y GUAN , Y CHI are the ordinates of Cun, Guan and Chi in the XOY plane; cun , X guan , X chi The intersection of the first rotating arm and the support column, which are Cun, Guan and Chi, is at XO world The horizontal coordinate in the Y plane, Y cun , Y guan , Y chi The intersection of the first rotating arm and the support column, which are Cun, Guan and Chi, is at XO world The ordinate in the Y plane; The relationship between a point (X, Y) in the XOY plane and θ1 and θ2 can be expressed as: X=Len_L1×cos(θ1)+Len_L2×cos(θ1+θ2); Y=Len_L1×sin(θ1)+Len_L2×sin(θ1+θ2); Wherein, Len_L1 and Len_L2 are the lengths of the first rotating arm L1 and the second rotating arm L2 respectively, θ1 is the rotation angle of the first rotating arm L1 relative to the X-axis, and θ2 is the rotation angle of the second rotating arm L2 relative to the first rotating arm L1; There are two sets of solutions for θ1 and θ2, namely (θ1, θ2) and (θ1`, θ2`), where θ1<θ1`, θ2=-θ2`; The rotation angles of the first rotating arm L1 and the second rotating arm L2 in the Cun SCARA robot arm, Guan SCARA robot arm, and Chi SCARA robot arm in the XOY plane are calculated as follows: (θ 1-CUN , θ 2-CUN ), take the solution where θ 1-CUN = θ1`; (θ 1-GUAN , θ 2-GUAN ), take the solution where θ 1-GUAN = θ1; (θ 1-CHI , θ 2-CHI ), when solving, take θ 1-CHI = θ1; The offset angles of the first rotating arm L1 and the second rotating arm L2 of Cun, Guan and Chi relative to the X-axis and Y-axis of the XOY plane at the 0-point position are: <h2 style=";text-align:left;direction:ltr">(L1<h2 style=";text-align:left;direction:ltr"> CUN <h2 style=";text-align:left;direction:ltr"> , L2<h2 style=";text-align:left;direction:ltr"> CUN <h2 style=";text-align:left;direction:ltr"> );(L1<h2 style=";text-align:left;direction:ltr"> GUAN <h2 style=";text-align:left;direction:ltr"> , L2<h2 style=";text-align:left;direction:ltr"> GUAN <h2 style=";text-align:left;direction:ltr"> );(L1<h2 style=";text-align:left;direction:ltr"> CHI <h2 style=";text-align:left;direction:ltr"> , L2<h2 style=";text-align:left;direction:ltr"> CHI <h2 style=";text-align:left;direction:ltr"> ); The rotation angles of the first rotating arm L1 and the second rotating arm L2 relative to the zero 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 。 7. The automatic pulse acquisition method according to claim 6, characterized in that: The calculation of the movement angle of the SCARA robot arm also includes compensating the rotation angle of the second rotating arm L2: for every 1 degree of movement of the first rotating arm L1, the second rotating arm L2 moves 33 / 62 degrees in the opposite direction, which is counted as A. 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。

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