A three-axis force measuring mechanism, an upper limb rehabilitation robot system and a control method

Abstract

The application discloses a three-axis force measuring mechanism, an upper limb rehabilitation robot system and a control method. The three-axis force measuring mechanism comprises a Z-axis force measuring mechanism arranged on a bottom plate of the upper limb rehabilitation robot. An upper end of the Z-axis force measuring mechanism is provided with an X-Y composite force measuring mechanism. The force transmission rod is located directly above the center of the bottom plate. The Z-axis force measuring rod is at least partially exposed to the force transmission platform. The length of the Z-axis force measuring rod is 10-20 cm. The spacing between the Z-axis support frame and the center of the bottom plate is 15-25 cm. The test torque is amplified by a long force arm after a slight force change. Then, the test torque is converted into force data. The test precision is improved. Meanwhile, the internal structure is more compact.

Description

Technical Field

[0001] This invention relates to the field of upper limb rehabilitation robot technology, and in particular to a triaxial force measuring mechanism, an upper limb rehabilitation robot system and control method. Background Technology

[0002] Rehabilitation training is an important method in rehabilitation medicine. It primarily uses equipment and appropriate, targeted, or specific physical movements to help the body return to a normal state, enabling patients to regain normal self-care function in affected limbs and achieving therapeutic effects. For patients recovering from cerebral thrombosis surgery, those who are bedridden for extended periods, those who have undergone surgery for upper or lower limb injuries, and those with hemiplegic sequelae, rehabilitation training can maximize muscle strength and flexibility, promote blood circulation in the limbs, and restore function to the upper and lower limbs.

[0003] Currently available upper limb rehabilitation robots have the following drawbacks:

[0004] 1. Most traditional upper limb rehabilitation robots used to restore elbows or arms do not have the ability to measure force in the vertical direction. Therefore, they can generally only allow users to swing their arms in the horizontal plane on the support frame, and cannot meet the testing of users' arm raising activities.

[0005] 2. For upper limb rehabilitation robots equipped with vertical force sensors, the vertical force sensors are generally located inside the load-bearing mechanism. Under direct pressure, these force sensors have difficulty detecting subtle force changes, which will lead to inaccurate final test results and affect the user's assessment of rehabilitation level.

[0006] 3. Traditional upper limb rehabilitation robots have extremely tedious rehabilitation processes, which can easily make users feel irritable and give up on the rehabilitation process. Summary of the Invention

[0007] To address the above problems, this invention provides a triaxial force measuring mechanism, an upper limb rehabilitation robot, and a control method, which are implemented as follows:

[0008] A triaxial force-measuring mechanism is disposed inside the shell of an upper limb rehabilitation robot and connected to a force-transmitting rod supporting the rehabilitation mechanism, comprising:

[0009] The Z-axis force measuring mechanism is installed on the base plate of the upper limb rehabilitation robot, and the upper end of the Z-axis force measuring mechanism is provided with an XY composite force measuring mechanism.

[0010] The Z-axis force measuring mechanism includes a Z-axis support frame fixed to the edge of the base plate, a Z-axis force measuring rod provided on the upper surface of the Z-axis support frame, the Z-axis force measuring rod extending horizontally in a direction away from the Z-axis support frame, and a Z-axis force sensor provided inside the Z-axis force measuring rod;

[0011] The X-Y compound force measuring mechanism comprises a force transmission platform fixed to the upper end of the Z-axis force measuring rod away from the Z-axis support frame, an X-axis force measuring rod fixed to the left side or the right side of the force transmission platform, an X-axis force sensor arranged in the X-axis force measuring rod, a Y-axis force measuring rod fixed to the front side or the rear side of the force transmission platform, a Y-axis force sensor arranged in the Y-axis force measuring rod, a pair of X-axis guide rails arranged on the upper end surface of the force transmission platform in the left-right direction, an X-axis force transmission plate movably arranged on the X-axis guide rail, an X-axis force transmission part arranged on the side of the X-axis force transmission plate close to the X-axis force measuring rod, the X-axis force transmission part covering the outside of the X-axis force measuring rod, a Y-axis guide rail arranged on the upper surface of the X-axis force transmission plate in the front-rear direction, a Y-axis force transmission plate movably arranged on the Y-axis guide rail, a Y-axis force transmission part arranged on the side of the Y-axis force transmission plate close to the Y-axis force measuring rod, the Y-axis force transmission part covering the outside of the Y-axis force measuring rod, and the force transmission rod detachably inserted into the upper end surface of the Y-axis force transmission plate.

[0012] The force transmission rod is located directly above the center of the bottom plate, the Z-axis force measuring rod is at least partially exposed to the force transmission platform, the Z-axis force measuring rod is 10-20 cm long, and the distance between the Z-axis support frame and the center of the bottom plate is 15-25 cm.

[0013] As a further improvement, a limiting cylinder is further included, the limiting cylinder penetrating the X-axis force transmission plate and the Y-axis force transmission plate and being fixed to the upper end surface of the force transmission platform, the force transmission rod being sleeved in the limiting cylinder, and the upper end of the force transmission rod extending out of the limiting cylinder and bearing the rehabilitation mechanism.

[0014] The limiting cylinder specifically comprises a cylindrical cylinder portion arranged below the rehabilitation mechanism, a cross portion arranged at the lower end of the cylinder portion, four foot portions downwardly extended at the four inner corners of the cross portion, and the lower end of the foot portion being fixed to the upper surface of the force transmission platform.

[0015] The X-axis force transmission plate specifically comprises a first panel arranged above the upper surface of the force transmission platform, an avoiding hole for the limiting cylinder penetrating arranged in the middle portion of the first panel, guide portions upwardly and outwardly folded at the front and rear sides of the first panel, X-axis sliders arranged at the lower end of the guide portions and matched with the X-axis guide rails, and the X-axis force transmission part being arranged in the form of an inverted U on the side of the first panel close to the X-axis force measuring rod.

[0016] The Y-axis force transmission plate specifically comprises a second panel arranged above the first panel, a lower end surface of the second panel is provided with a Y-axis slider matched with the Y-axis guide rail, a middle portion of the second panel is provided with a through hole, a middle portion of the through hole is provided with a mounting table through two pairs of two-by-two vertical support rods, a lower end of the force transmission rod is inserted into the mounting table, the support rods and the mounting table divide the through hole into four openings corresponding to the foot portions, and the second force transmission portion is arranged in an inverted L shape on one side of the second panel close to the Y-axis force bar.

[0017] As a further improvement, the force transmission platform comprises a rectangular bearing portion, a front side or a rear side portion of the bearing portion extends left to form an extension portion, a left side or a right side of the bearing portion away from one end portion of the bearing portion is folded upward to form an X-axis sensor mounting portion, one side of the extension portion away from the X-axis sensor mounting portion is folded upward to form a Y-axis sensor mounting portion, the X-axis force bar is fixedly connected to the X-axis sensor mounting portion, and the X-axis force transmission portion covers one end of the X-axis force bar away from the X-axis sensor mounting portion, the Y-axis force bar is fixedly connected to the Y-axis sensor mounting portion, and the Y-axis force transmission portion covers one end of the Y-axis force bar away from the Y-axis sensor mounting portion.

[0018] As a further improvement, the X-axis force sensor is arranged in the X-axis force bar away from the X-axis force transmission portion, the Y-axis force sensor is arranged in the Y-axis force bar away from the Y-axis force transmission portion, and the Z-axis force sensor is arranged in the Z-axis force bar close to the Z-axis support frame.

[0019] Preferably, the length of the bearing portion is defined as L, the width of the bearing portion is defined as D, the extension length of the extension portion is defined as l, and the width of the extension portion is defined as d, and there is D+l=L, and the axis of the force transmission rod corresponds to a position 2 / 3L and 1 / 2D away from the X-axis sensor mounting portion on the force transmission platform.

[0020] The axis of the Z-axis force bar corresponds to a position 2 / 3L away from the X-axis sensor mounting portion on the force transmission platform.

[0021] Preferably, the length L of the bearing portion is 15-20 cm, the width D of the bearing portion is 10-15 cm, the extension length l of the extension portion is 5-10 cm, and the width d of the extension portion is 2-3 cm.

[0022] The application also provides an upper limb rehabilitation robot system, which comprises an upper limb rehabilitation robot, and the upper limb rehabilitation robot is provided with any one of the three-axis force mechanisms described above, and further comprises:

[0023] A data processing module is in communication connection with the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor respectively, and is used to collect force signals Fx, Fy and Fz collected by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor, and send the force signals to a control module, which is also in communication connection with the moving mechanism;

[0024] A display device, and the control module forwards the force signals to the display device and displays the sizes of forces in X, Y and Z directions on the screen of the display device;

[0025] A storage module in which small games are stored, the small games including a flying small game and a parkour small game, the control module sends control signals to the display device according to the type of small game selected by a user, the display device displays a corresponding game interface according to the control signals, and the small game is difficulty graded according to a rehabilitation level.

[0026] The application further provides a control method of an upper limb rehabilitation robot, which is applied to the upper limb rehabilitation robot system and includes the following steps:

[0027] S1. The position of the upper limb rehabilitation robot is acquired and displayed in the form of a light point on a display device, a three-dimensional coordinate system interface is established with the initial position of the upper limb rehabilitation robot as an origin (0, 0, 0), a direction parallel to the X-axis guide rail is defined as the X-axis, a direction parallel to the Y-axis guide rail is defined as the Y-axis, and a direction parallel to the force transmission rod is defined as the Z-axis;

[0028] S2. An instruction is sent on the display device according to the type of small game selected by a user and the user is informed, the data processing module acquires force signals Fx, Fy and Fz sensed by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor and sends the force signals to the control module, the control module forwards the force signals to the display device after acquiring the force signals and displays the sizes of forces in X, Y and Z directions on the screen of the display device, and the moving mechanism moves the upper limb rehabilitation robot in the working plane according to the force signals Fx and Fy;

[0029] S3. Step S2 is repeated multiple times;

[0030] S4. Instruction completion data in a small game process is stored, and rehabilitation training is completed.

[0031] As a further improvement, the instruction includes a translation instruction and a lifting instruction, and step S2 specifically includes:

[0032] S201. Display the operation target on the display device according to the mini-game type selected by the user. The coordinates of the operation target are (Xi, Yi, Zi). In the initial state, i = 0. At the same time, display the game instructions on the display device and record the initial force signal Fz0.

[0033] S202. The coordinates of the target object change at a corresponding rate according to the force signals Fx, Fy and Fz.

[0034] As a further improvement, when the user selects the flight mini-game, the target of the operation is an aircraft that always moves in the positive direction of the Y-axis. The user needs to operate the target according to the game instructions to complete actions such as lateral movement, deceleration, or climbing.

[0035] When a user selects the parkour mini-game, the target is a parkour athlete who always runs in the positive Y-axis direction. The user needs to follow the game instructions to control the target to avoid obstacles and complete the parkour.

[0036] The beneficial effects of this invention are as follows:

[0037] 1. By setting up a Z-axis support frame and installing a Z-axis force measuring rod on the upper surface of the Z-axis support frame, the Z-axis force measuring rod extends horizontally in a direction away from the Z-axis support frame. The XY composite force measuring mechanism is set at the end of the Z-axis force measuring rod away from the Z-axis support frame, and at least part of the Z-axis force measuring rod is exposed on the force transmission platform. The Z-axis force measuring rod is 10-20cm long, and the distance between the center of the Z-axis support frame and the base plate is 15-25cm. This allows the vertical force to be converted into a torque at the connection with the Z-axis support frame through the Z-axis force measuring rod, amplifying small force changes and making force testing more accurate.

[0038] 2. By setting up corresponding mini-games, the user experience of using the upper limb rehabilitation robot is enhanced, making customers more willing to complete rehabilitation training independently. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0040] Figure 2 This is a schematic diagram of the exploded structure of the present invention.

[0041] Figure 3 This is a schematic diagram of the appearance of an upper limb rehabilitation robot.

[0042] Figure 4 This is a schematic diagram of the overall structure of the force transmission platform of the present invention.

[0043] Figure 5 This is a schematic diagram of the overall structure of the X-axis force transmission plate of the present invention.

[0044] Figure 6 It is a schematic diagram of the overall structure of the Y-axis force transmission plate of the present application.

[0045] Figure 7 It is a schematic diagram of the overall structure of the force transmission rod and the limiting cylinder of the present application.

[0046] Figure 8 It is a schematic diagram of the module structure of the present application.

[0047] Figure 9 It is a logic flow chart of the control method of the present application. DETAILED DESCRIPTION

[0048] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application.

[0049] In the description of the present application, the terms "first" and "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features.

[0050] A three-axis force measuring mechanism is arranged in the inside of a shell 6 of an upper limb rehabilitation robot, connected with a force transmission rod 3 bearing a rehabilitation mechanism 7, comprising:

[0051] A Z-axis force measuring mechanism 1 is arranged on a bottom plate 4 of the upper limb rehabilitation robot, and an upper end of the Z-axis force measuring mechanism 1 is provided with an X-Y composite force measuring mechanism 2;

[0052] The Z-axis force measuring mechanism 1 comprises a Z-axis support frame 11 fixed to the edge of the bottom plate 4, and an upper end surface of the Z-axis support frame 11 is provided with a Z-axis force measuring rod 12, which extends horizontally away from the Z-axis support frame 11, and a Z-axis force sensor is arranged in the Z-axis force measuring rod 12;

[0053] The X-Y compound force measuring mechanism 2 comprises a force transmission platform 21 fixed to the upper end of the Z-axis force measuring rod 12 away from the Z-axis support frame 11, an X-axis force measuring rod 24 fixed to the left or right side of the force transmission platform 21, an X-axis force sensor arranged in the X-axis force measuring rod 24, a Y-axis force measuring rod 25 fixed to the front or rear side of the force transmission platform 21, a Y-axis force sensor arranged in the Y-axis force measuring rod 25, a pair of X-axis guide rails 213 arranged on the upper end surface of the force transmission platform 21 in the left-right direction, an X-axis force transmission plate 22 movably arranged on the X-axis guide rails 213, an X-axis force transmission part 223 arranged on one side of the X-axis force transmission plate 22 close to the X-axis force measuring rod 24, the X-axis force transmission part 223 being covered outside the X-axis force measuring rod 24, Y-axis guide rails 224 arranged on the upper surface of the X-axis force transmission plate 22 in the front-rear direction, a Y-axis force transmission plate 23 movably arranged on the Y-axis guide rails 224, a Y-axis force transmission part 232 arranged on one side of the Y-axis force transmission plate 23 close to the Y-axis force measuring rod 25, the Y-axis force transmission part 232 being covered outside the Y-axis force measuring rod 25, and the force transmission rod 3 being detachably inserted into the upper end surface of the Y-axis force transmission plate 23.

[0054] The force transmission rod 3 is located directly above the center of the bottom plate 4, the Z-axis force measuring rod 12 is at least partially exposed from the force transmission platform 21, the length of the Z-axis force measuring rod 12 is 10-20 cm, and the distance between the Z-axis support frame 11 and the center of the bottom plate 4 is 15-25 cm.

[0055] As a further improvement, a limiting cylinder 5 is further included, the limiting cylinder 5 penetrating the X-axis force transmission plate 22 and the Y-axis force transmission plate 23 and being fixed to the upper end surface of the force transmission platform 21, the force transmission rod 3 being sleeved in the limiting cylinder 5, and the upper end of the force transmission rod 3 extending out of the limiting cylinder 5 and bearing the rehabilitation mechanism 7.

[0056] The limiting cylinder 5 specifically comprises a cylindrical cylinder part 51 arranged below the rehabilitation mechanism 7, a cross part 52 arranged at the lower end of the cylinder part 51, four supporting leg parts downwardly extended at four inner corners of the cross part 52, and the lower ends of the supporting leg parts being fixed to the upper surface of the force transmission platform 21.

[0057] The X-axis force transmission plate 22 specifically comprises a first panel 221 arranged above the upper surface of the force transmission platform 21, an avoiding hole for the limiting cylinder 5 being arranged in the middle part of the first panel 221, guide parts 222 upwardly and outwardly folded at the front and rear sides of the first panel 221, X-axis sliding blocks 225 arranged at the lower ends of the guide parts 222 and adapted to the X-axis guide rails 213, and the X-axis force transmission part 223 being arranged in the form of an inverted U on one side of the first panel 221 close to the X-axis force measuring rod 24.

[0058] The Y-axis force transmission plate 23 specifically comprises a second panel 231 arranged above the first panel 221, the lower end surface of the second panel 231 is provided with a Y-axis slider 235 matched with the Y-axis guide rail 224, the middle part of the second panel 231 is provided with a through hole, the middle part of the through hole is provided with a mounting table 234 through two pairs of two vertical support rods 233, the lower end of the force transmission rod 3 is inserted into the mounting table 234, the support rods 233 and the mounting table 234 divide the through hole into four openings corresponding to the foot portions, and the second force transmission portion is arranged in an inverted L shape on one side of the second panel 231 close to the Y-axis force bar 25.

[0059] As a further improvement, the force transmission platform 21 comprises a rectangular bearing portion 211, the front side or rear side portion of the bearing portion 211 extends to the left to form an extension portion 212, the left side or right side of the bearing portion 211 is folded upward to form an X-axis sensor mounting portion 214 away from one end of the bearing portion 211, the side of the extension portion 212 away from the X-axis sensor mounting portion 214 is folded upward to form a Y-axis sensor mounting portion 215, the X-axis force bar 24 is fixedly connected to the X-axis sensor mounting portion 214, and the X-axis force transmission portion 223 covers one end of the X-axis force bar 24 away from the X-axis sensor mounting portion 214, the Y-axis force bar 25 is fixedly connected to the Y-axis sensor mounting portion 215, and the Y-axis force transmission portion 232 covers one end of the Y-axis force bar 25 away from the Y-axis sensor mounting portion 215.

[0060] As a further improvement, the X-axis force bar 24 comprises an elastic rod fixedly connected to the X-axis sensor bracket, a strain gauge is arranged in the elastic rod, and a threaded hole is formed in the side of the elastic rod away from the X-axis sensor bracket and away from the force transmission platform 21, the Y-axis force bar 25 and the Z-axis force bar 12 are the same in structure as the X-axis force bar 24. A first U-shaped groove corresponding to the threaded hole of the X-axis force bar 24 is formed in one end of the X-axis force transmission portion 223 away from the first panel 221, a first force transmission bolt penetrates through the first U-shaped groove and is screwed into the threaded hole. A second U-shaped groove corresponding to the threaded hole of the Y-axis force bar 25 is formed in one end of the Y-axis force transmission portion 232 away from the second panel 231, and a second force transmission bolt penetrates through the second U-shaped groove and is screwed into the threaded hole. The screw rod diameter of the first force transmission bolt and the second force transmission bolt is smaller than the groove width of the U-shaped groove, and the nut diameter of the first force transmission bolt and the second force transmission bolt is greater than the groove width of the U-shaped groove.

[0061] In order to improve the user experience, a certain displacement compensation is made in the X direction, therefore, as a further improvement, the X-axis force transmission part 223 is wrapped around the outer periphery of the X-axis force measuring rod 24 with a spacing of 0.5-2 mm, and the Y-axis force transmission part 232 is wrapped around and abuts against the outer periphery of the Y-axis force measuring rod 25.

[0062] As a further improvement, the X-axis force sensor is arranged at one end of the X-axis force measuring rod 24 away from the X-axis force transmission part 223, the Y-axis force sensor is arranged at one end of the Y-axis force measuring rod 25 away from the Y-axis force transmission part 232, and the Z-axis force sensor is arranged at one end of the Z-axis force measuring rod 12 close to the Z-axis support frame 11. Specifically, the X-axis force sensor, the Y-axis force sensor and the strain gauges inside the Y-axis force sensor are arranged on the side close to the fixed end, which ensures the extension of the force arm and makes the force measurement in the X, Y and Z directions more accurate.

[0063] Preferably, the length of the bearing part 211 is defined as L, the width is defined as D, the extension length of the extension part 212 is defined as l, and the width is defined as d, then D+l=L, and the axis of the force transmission rod 3 corresponds to a position on the force transmission platform 21 away from the X-axis sensor mounting part 214 2 / 3L and 1 / 2D; the axis of the Z-axis force measuring rod 12 corresponds to a position on the force transmission platform 21 away from the X-axis sensor mounting part 214 2 / 3L. Since the X-axis force measuring rod 24 and the Y-axis force measuring rod 25 are asymmetrically arranged on the force transmission platform 21, the center of gravity of the whole force transmission platform 21 and the mechanism carried thereby is not at the geometric center of the bearing part 211. This arrangement ensures that when the force transmission platform 21 is arranged on the Z-axis force measuring rod 12, it will not produce excessive deflection or deviation, and the installation is more stable, and the overall force measurement accuracy is ensured.

[0064] Preferably, the length L of the bearing part 211 is 15-20 cm, the width D of the bearing part 211 is 10-15 cm, the extension length l of the extension part 212 is 5-10 cm, and the width d of the extension part 212 is 2-3 cm.

[0065] The application also provides an upper limb rehabilitation robot system, which comprises an upper limb rehabilitation robot, and the upper limb rehabilitation robot is provided with any one of the three-axis force measuring mechanisms described above, and further comprises:

[0066] A data processing module is in communication connection with the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor, respectively, and is used to collect the force signals Fx, Fy and Fz collected by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor. The data processing module sends the force signals to a control module, and the control module is also in communication connection with the moving mechanism.

[0067] a display device, the control module forwards the force signal to the display device and displays the force size in X, Y and Z directions on the screen of the display device;

[0068] a storage module, the small game is stored in the storage module, the small game includes a flight small game and a parkour small game, the control module sends the control signal to the display device according to the small game type selected by the user, the display device displays the corresponding game interface according to the control signal, and the small game is difficulty graded according to the rehabilitation level.

[0069] The application further provides a control method of the upper limb rehabilitation robot, which is applied to the upper limb rehabilitation robot system and includes the following steps:

[0070] S1. the position of the upper limb rehabilitation robot is acquired and displayed in the form of a light point on a display device, a three-dimensional coordinate system interface is established with the initial position of the upper limb rehabilitation robot as an origin (0, 0, 0), a direction parallel to the X-axis guide rail 213 is defined as an X-axis, a direction parallel to the Y-axis guide rail 224 is defined as a Y-axis, and a direction parallel to the force transmission rod 3 is defined as a Z-axis;

[0071] S2. according to the small game type selected by the user, an instruction is sent on the display device and the user is informed, the data processing module acquires force signals Fx, Fy and Fz sensed by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor and sends the force signals to the control module, the control module forwards the force signals to the display device and displays the force size in X, Y and Z directions on the screen of the display device after acquiring the force signals, and the moving mechanism drives the upper limb rehabilitation robot to move in the working plane according to the force signals Fx and Fy;

[0072] S3. step S2 is repeated multiple times;

[0073] S4. the instruction completion degree data in the small game process is stored, and the rehabilitation training is completed.

[0074] As a further improvement, the instruction includes a translation instruction and a lifting instruction, and step S2 specifically includes:

[0075] S201. according to the small game type selected by the user, an operation target is displayed on the display device, the coordinates of the operation target are (Xi, Yi, Zi), i=0 in the initial state, and at the same time, game instructions are displayed on the display device, and the initial force signal Fz0 is recorded;

[0076] S202. The coordinate of the operation target is changed according to the force signals Fx, Fy and Fz at corresponding rates.

[0077] As a further improvement, when the user selects the flight mini-game, the operation target is a plane always moving forward along the positive direction of the Y axis, and the user needs to operate the operation target to complete left-right translation, forward-backward deceleration or upward climbing according to the game instructions.

[0078] Specifically, the plane moves at a constant speed V0 along the positive direction of the Y axis. When Fx is positive to the left, the plane appears to be moving to the left on the display device, and the moving mechanism drives the upper limb rehabilitation robot to move to the left. When Fx is positive to the right, the plane moves to the right. When Fy is positive forward, the flight speed of the plane increases, and the acceleration is proportional to the size of Fy. When Fy is positive backward, the plane decelerates. When Fz < Fz0, the plane appears to be lifting upward on the display device. The display device randomly displays instructions for left-right translation by a preset distance, acceleration or deceleration to a predetermined value, and upward climbing by a preset height, each lasting 10 seconds. If the instructions are completed within the duration, the user scores. If not, the user does not score.

[0079] When the user selects the parkour mini-game, the operation target is a parkour athlete always running forward along the positive direction of the Y axis, and the user needs to operate the operation target to avoid obstacles to complete parkour according to the game instructions, and a preset take-off force change threshold ΔFz.

[0080] Specifically, at least three tracks are arranged from left to right on the parkour route. The parkour athlete moves at a constant speed V1 along the positive direction of the Y axis. On the route, I-level high, II-level high, hole-type obstacles with only a middle part available, and pole-type obstacles with only a lower part available will appear randomly, each occupying at least one track. When Fx is positive to the left, the parkour athlete appears to move one track to the left on the display device, and the moving mechanism drives the upper limb rehabilitation robot to move to the left to bypass the obstacles. When Fx is positive to the right, the parkour athlete moves to the right. When Fy is positive forward, the parkour athlete appears to jump forward to pass through the hole-type obstacles. When Fy is positive backward, the parkour athlete appears to slide and shovel to pass through the pole-type obstacles. When Fz - Fz0 ≥ ΔFz, the parkour athlete appears to jump over the I-level high obstacle. The athlete scores after passing through an obstacle. If the athlete fails to pass through an obstacle, the game ends.

[0081] The above only describes preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A triaxial force measuring mechanism provided inside a housing of an upper limb rehabilitation robot, connected to a force transmission rod of a rehabilitation mechanism, characterized in that, The utility model relates to a kind of upper limb rehabilitation robot, including: Z-axis force measuring mechanism arranged on the bottom plate of the upper limb rehabilitation robot, the upper end of the Z-axis force measuring mechanism is arranged X-Y composite force measuring mechanism; The Z-axis force measuring mechanism includes Z-axis support frame fixed at the edge of the bottom plate, the upper end surface of the Z-axis support frame is arranged Z-axis force measuring rod, the Z-axis force measuring rod extends horizontally towards the direction away from the Z-axis support frame, Z-axis force sensor is arranged in the Z-axis force measuring rod; The X-Y composite force measuring mechanism includes force transmission platform fixed on the upper end of the Z-axis force measuring rod away from the Z-axis support frame, X-axis force measuring rod is fixed on the left side or right side of the force transmission platform, X-axis force sensor is arranged in the X-axis force measuring rod, Y-axis force measuring rod is fixed on the front side or rear side of the force transmission platform, Y-axis force sensor is arranged in the Y-axis force measuring rod, a pair of X-axis guide rails is arranged on the upper end surface of the force transmission platform along left-right direction, X-axis force transmission plate is movably arranged on the X-axis guide rail, X-axis force transmission part is arranged on the side of the X-axis force transmission plate close to the X-axis force measuring rod, the X-axis force transmission part is covered outside the X-axis force measuring rod, the upper surface of the X-axis force transmission plate is arranged Y-axis guide rail along front-back direction, Y-axis force transmission plate is movably arranged on the Y-axis guide rail, Y-axis force transmission part is arranged on the side of the Y-axis force transmission plate close to the Y-axis force measuring rod, the Y-axis force transmission part is covered outside the Y-axis force measuring rod, the force transmission rod can be detachably inserted into the upper end surface of the Y-axis force transmission plate, the X-axis force measuring rod includes elastic rod fixed on the X-axis sensor support, strain gauge is arranged in the elastic rod; Wherein, the force transmission rod is located directly above the center of the bottom plate, the Z-axis force measuring rod at least partially exposes the force transmission platform, the Z-axis force measuring rod is 10-20cm long, the distance between the Z-axis support frame and the center position of the bottom plate is 15-25cm. It also includes limiting cylinder, the limiting cylinder penetrates the X-axis force transmission plate and the Y-axis force transmission plate and is fixed on the upper end surface of the force transmission platform, the force transmission rod is sleeved in the limiting limiting cylinder, and the upper end of the force transmission rod protrudes from the limiting cylinder and bears the rehabilitation mechanism; The limiting cylinder specifically includes cylindrical cylinder portion arranged below the rehabilitation mechanism, cross portion is arranged on the lower end of the cylinder portion, four inner corners of the cross portion downwardly extend to form four support leg portions, the lower end of the support leg portion is fixed on the upper surface of the force transmission platform; 2. The triaxial force measuring mechanism of claim 1, wherein The X-axis force transmission plate specifically includes first panel arranged above the upper surface of the force transmission platform, the middle part of the first panel is provided with a avoiding hole for the limiting cylinder to pass through, the front and rear sides of the first panel are folded upward and outward to form guide portion, the lower end of the guide portion is provided with X-axis slider matched with the X-axis guide rail, the X-axis force transmission part is arranged on the side of the first panel close to the X-axis force measuring rod in inverted U shape; The Y-axis force transmission plate specifically includes second panel arranged above the first panel, the lower end surface of the second panel is provided with Y-axis slider matched with the Y-axis guide rail, the second panel is arranged on the side of the Y-axis force transmission plate close to the Y-axis force measuring rod in inverted U shape, ​ ​ ​ The middle part of the plate is provided with a through hole, the middle part of the through hole is provided with a mounting table through two pairs of two vertical support rods, the lower end of the force transmission rod is inserted into the mounting table, the support rods and the mounting table divide the through hole into four openings corresponding to the foot parts, and the second force transmission part is arranged in an inverted L shape on the side of the second panel close to the Y-axis force rod.

3. The three-axis force measuring mechanism of claim 2, wherein, The force transmission platform comprises a rectangular bearing part, a front side or a rear side part of the bearing part extends to the left to form an extension part, a left side or a right side part of the bearing part away from one end of the bearing part is folded upward to form an X-axis sensor mounting part, and a side of the extension part away from the X-axis sensor mounting part is folded upward to form a Y-axis sensor mounting part, the X-axis force rod is fixedly connected to the X-axis sensor mounting part, the X-axis force transmission part covers one end of the X-axis force rod away from the X-axis sensor mounting part, the Y-axis force rod is fixedly connected to the Y-axis sensor mounting part, and the Y-axis force transmission part covers one end of the Y-axis force rod away from the Y-axis sensor mounting part.

4. The triaxial force measuring mechanism of claim 3, wherein, The X-axis force sensor is arranged in the X-axis force rod away from the X-axis force transmission part, the Y-axis force sensor is arranged in the Y-axis force rod away from the Y-axis force transmission part, and the Z-axis force sensor is arranged in the Z-axis force rod close to the Z-axis support frame.

5. The triaxial force measuring mechanism of claim 3 wherein, The length of the bearing part is defined as L, the width of the bearing part is defined as D, the extension length of the extension part is defined as l, and the width of the extension part is defined as d, so that D+l=L, the axis of the force transmission rod corresponds to a position on the force transmission platform away from the X-axis sensor mounting part by 2 / 3L and 1 / 2D, and the axis of the Z-axis force rod corresponds to a position on the force transmission platform away from the X-axis sensor mounting part by 2 / 3L.

6. The triaxial force measuring mechanism of claim 5 wherein, The length L of the bearing part is 15-20 cm, the width D of the bearing part is 10-15 cm, the extension length l of the extension part is 5-10 cm, and the width d of the extension part is 2-3 cm.

7. An upper limb rehabilitation robot system, characterized by, The upper limb rehabilitation robot comprises the three-axis force measuring mechanism as claimed in any one of claims 1-6, and further comprises a data processing module in communication connection with the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor respectively, the data processing module being configured to collect force signals Fx, Fy and Fz collected by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor, and transmit the force signals to a control module, the control module being further in communication connection with a moving mechanism; a display device, the control module being configured to forward the force signals to the display device and display the force values in X, Y and Z directions on a screen of the display device; and a storage module, the storage module storing a small game therein, the small game comprising a flight game and a parkour game, the control module being configured to transmit a control signal to the display device according to a game type selected by a user, the display device being configured to display a corresponding game interface according to the control signal, and the small game being configured to be classified into different levels of difficulty according to rehabilitation levels.

8. A control method of an upper limb rehabilitation robot, characterized by, The upper limb rehabilitation robot system as claimed in claim 7 comprises the following steps: S1. obtaining a position of the upper limb rehabilitation robot and displaying the position in the form of a light point on a display device, establishing a three-dimensional coordinate system interface with an initial position (0, 0, 0) of the upper limb rehabilitation robot as an origin, defining a direction parallel to the X-axis guide rail as the X-axis, a direction parallel to the Y-axis guide rail as the Y-axis, and a direction parallel to the force transmission rod as the Z-axis; S2. according to a game type selected by a user, issuing an instruction on the display device and notifying the user, the data processing module obtaining force signals Fx, Fy and Fz sensed by the X-axis force sensor, the Y-axis force sensor and the Z-axis force sensor and transmitting the force signals to the control module, the control module forwarding the force signals to the display device and displaying force values in X, Y and Z directions on a screen of the display device after obtaining the force signals, and the moving mechanism moving the upper limb rehabilitation robot in a working plane according to the force signals Fx and Fy; S3. repeating step S2 multiple times; S4. storing instruction completion data in a small game process and completing rehabilitation training. The instruction comprises a translation instruction and a lifting instruction, and step S2 specifically comprises:

9. The control method of an upper limb rehabilitation robot according to claim 8, wherein, S201. according to a game type selected by a user, displaying an operation target on the display device, the coordinates of the operation target being (Xi, Yi, Zi), and simultaneously displaying a game instruction on the display device and recording an initial force signal Fz0 in an initial state where i = 0; S202. the coordinates of the operation target are changed at corresponding rates according to the force signals Fx, Fy and Fz. When the user selects the flight game, the operation target is a flight vehicle always moving towards the positive direction of the Y-axis, and the user needs to operate the operation target to complete left-right translation, forward-backward deceleration or upward climbing according to the game instruction; 10. The control method of an upper limb rehabilitation robot according to claim 9, wherein, ​ When the user selects the parkour mini-game, the operation target is a parkour athlete always running towards the positive direction of the Y axis, and the user needs to operate the operation target to avoid obstacles and complete the parkour according to the game instructions.

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