Rotary hand support and desktop type upper limb rehabilitation robot

Abstract

The invention provides a rotary hand support and a desktop type upper limb rehabilitation robot, the rotary hand support comprises a bottom structure, a force sensor fixed on the bottom structure, a force bearing piece arranged on the force sensor and a hand support structure annularly arranged on the bottom structure, and the hand support structure is rotatably connected with the bottom structure; the hand support structure, the bottom structure and the force bearing member enclose to form an accommodating cavity used for accommodating the force sensor. According to the rotary hand support and the desktop type upper limb rehabilitation robot, the hand support structure does not make contact with the force sensor during rotation, and detection of the force sensor on external force cannot be affected. Therefore, the rotary hand support not only can rotate freely, but also can accurately detect the magnitude of the force applied by the hand to the stressed piece.

Description

Technical Field

[0001] The invention belongs to the technical field of medical auxiliary appliances, and more specifically, relates to a rotating hand rest and a desktop upper limb rehabilitation robot. Background Art

[0002] Desktop upper limb rehabilitation robots can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. Some desktop upper limb rehabilitation robots are desktop trainers. The hand rest is set on the desktop through a guide mechanism. As the guide mechanism works, the hand rest can be driven to move in a plane, thereby pulling the upper limb to move. When the patient uses the desktop trainer, the arm is placed on the hand rest, and the palm is held on the gripping part of the hand rest. The hand rest is generally rotatable, and when the arm angle changes, the hand rest can still support the arm. A sensor is also designed inside the hand rest to detect the patient's force on the hand rest. When the hand rest is rotating or in use, it will affect the force on the sensor, so the sensor's detection data will be inaccurate. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a rotating hand rest and a desktop upper limb rehabilitation robot to solve the technical problem in the prior art that the hand rest may cause inaccurate detection data of the sensor when in use.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a rotating palm rest, including a bottom structure, a force sensor fixed on the bottom structure, a force-bearing member arranged on the force sensor, and a palm rest structure arranged around the bottom structure, the force-bearing member is for the hand to hold, the palm rest structure is used to support the arm, the palm rest structure is rotatably connected to the bottom structure, and the palm rest structure, the bottom structure and the force-bearing member form a accommodating cavity for accommodating the force sensor.

[0005] In the above scheme, the rotating hand rest includes a bottom structure, a force sensor, a force-bearing member and a hand rest structure, wherein the force sensor is arranged on the bottom structure, the force-bearing member is arranged on the force sensor, and the hand rest structure is arranged around the periphery of the bottom structure. The hand rest structure does not contact the force sensor when rotating, and will not affect the detection of external force by the force sensor. Therefore, the rotating hand rest can not only rotate freely, but also accurately detect the magnitude of the force applied by the hand to the force-bearing member.

[0006] Optionally, the bottom structure has a first annular portion, the hand rest structure has a second annular portion, and the first annular portion and the second annular portion are coaxially arranged.

[0007] In the above scheme, by setting the first annular portion and the second annular portion, the palm rest structure is connected to the periphery of the bottom structure, and the palm rest structure can be smoothly rotated around the bottom structure to realize the rotation of the palm rest structure relative to the bottom structure.

[0008] Optionally, the bottom structure is formed with a first annular protrusion protruding toward the accommodating cavity, so that a first annular groove is formed at the outer periphery of the first annular protrusion, and the hand rest structure includes an annular shell rotatably connected to the bottom structure and a hand rest body connected to the annular shell, and the inner wall of the annular shell is formed with a second annular protrusion protruding toward the accommodating cavity, and a first rotating bearing is arranged between the first annular groove and the second annular protrusion.

[0009] In the above scheme, by setting a first rotating bearing between the second annular protrusion of the annular shell and the first annular groove of the bottom structure, the rotation of the hand rest structure relative to the bottom structure can be made smoother, reducing the vibration effect of the hand rest structure on the bottom structure when rotating, thereby ensuring the accuracy of force sensor detection.

[0010] Optionally, the rotating palm rest further includes a second rotating bearing and a fixing member, the first rotating bearing and the second rotating bearing are arranged on opposite sides of the second annular protrusion, and the fixing member is used to fix the first rotating bearing, the second annular protrusion and the second rotating bearing.

[0011] In the above solution, by arranging the first rotating bearing and the second rotating bearing on opposite sides of the second annular protrusion respectively, both sides of the second annular protrusion can be supported, and the rotation of the hand support structure is more stable. In addition, the fixing member is used to fix the first rotating bearing, the second annular protrusion and the second rotating bearing, so that the first rotating bearing and the second rotating bearing can be stably installed on the bottom structure and the hand support structure.

[0012] Optionally, the fixing member includes a first fixing portion, a second fixing portion and a third fixing portion which are bent and connected in sequence, the first fixing portion is pressed against a side of the second rotating bearing which is away from the second annular protrusion, and the third fixing portion is fixed to the bottom structure.

[0013] In the above scheme, by setting the fixing member as the first fixing part, the second fixing part and the third fixing part which are bent and connected, the fixing member can press the first rotating bearing, the second annular protrusion and the second rotating bearing to achieve the installation and fixation of the two rotating bearings and the second annular protrusion.

[0014] Optionally, a friction gasket is provided between the outer peripheral wall of the second annular protrusion and the second fixing portion.

[0015] In the above solution, the provision of the friction gasket can increase the friction between the palm rest structure and the base structure, so that the palm rest structure has a better feel when rotating, and can enable the palm rest structure to stop stably at any angle.

[0016] Optionally, both the first rotating bearing and the second rotating bearing are thrust bearings.

[0017] In the above scheme, the two shaft sheets of the thrust bearing are arranged in sequence along the axial direction of the annular shell, and can withstand a larger axial load. When the hand support structure supports the arm, the second annular protrusion is subjected to axial pressure, that is, the first rotating bearing and the second rotating bearing will both be subjected to axial force. When the first thrust bearing and the second thrust bearing are thrust bearings, the axial force will not affect the operation of the thrust bearings.

[0018] Optionally, the first rotating bearing, the second annular protrusion and the second rotating bearing are arranged in sequence along the axial direction of the annular shell.

[0019] In the above scheme, when the palm rest structure is subjected to the pressure of the arm, the second annular protrusion will correspondingly generate downward (axial) pressure on the first rotating bearing. The first rotating bearing, the second annular protrusion and the second rotating bearing are arranged axially, which can withstand the axial pressure and avoid bearing damage or poor rotation.

[0020] Optionally, at least part of the bottom structure and the force-bearing member is plate-shaped, the hand rest structure includes an annular shell rotatably connected to the bottom structure, the annular shell is cylindrical, and the bottom structure and the annular shell are respectively arranged at two axial ends of the annular shell.

[0021] In the above scheme, by setting at least part of the bottom structure and the force-bearing member in a plate shape, the two axial ends of the annular shell can be blocked, so that the rotating hand rest becomes a relatively closed structure to protect the force sensor inside. Moreover, the structure of the bottom structure and the force-bearing member can be set relatively simple, and the structural design cost is relatively low.

[0022] The present invention also provides a desktop upper limb rehabilitation robot, comprising the above-mentioned rotating hand rest.

[0023] In the above scheme, the rotating hand rest includes a bottom structure, a force sensor, a force-bearing member and a hand rest structure, wherein the force sensor is arranged on the bottom structure, the force-bearing member is arranged on the force sensor, and the hand rest structure is arranged around the periphery of the bottom structure. The hand rest structure does not contact the force sensor when rotating, and will not affect the detection of external force by the force sensor. Therefore, the rotating hand rest can not only rotate freely, but also accurately detect the magnitude of the force applied by the hand to the force-bearing member. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional structural diagram of a rotating hand rest provided in an embodiment of the present invention;

[0026] Figure 2 A cross-sectional view of a rotating palm rest provided by an embodiment of the present invention;

[0027] Figure 3 for Figure 2 An enlarged structural diagram at the accommodation cavity;

[0028] Figure 4 A three-dimensional structural diagram of an annular shell provided in an embodiment of the present invention;

[0029] Figure 5 This is a three-dimensional structural diagram of a desktop upper limb rehabilitation robot provided in an embodiment of the present invention.

[0030] Among them, the reference numerals in the figure are:

[0031] 1000-desktop upper limb rehabilitation robot;

[0032] 100-rotating hand rest; 10-bottom structure; 11-first annular protrusion; 12-first annular groove; 20-hand rest structure; 21-annular shell; 211-second annular protrusion; 212-first concave-convex structure; 213-accommodating cavity; 22-hand rest body; 221-second concave-convex structure; 30-force sensor; 40-force bearing; 51-first rotating bearing; 52-second rotating bearing; 53-fixing member; 531-first fixing part; 532-second fixing part;

[0033] 200-guiding mechanism; 300-desktop. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. 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] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] Desktop upper limb rehabilitation robots can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. Some desktop upper limb rehabilitation robots are desktop trainers. The hand rest is set on the desktop through a guide mechanism. As the guide mechanism works, the hand rest can be driven to move in a plane, thereby pulling the upper limb to move. When the patient uses the desktop trainer, the arm is placed on the hand rest, and the palm is held on the gripping part of the hand rest. The hand rest is generally rotatable, and when the arm angle changes, the hand rest can still support the arm. A sensor is also designed inside the hand rest to detect the patient's force on the hand rest. When the hand rest is rotating or in use, it will affect the force on the sensor, so the sensor's detection data will be inaccurate.

[0039] In order to solve the above technical problems, the present invention proposes a rotating palm rest 100, which includes a bottom structure 10, a force sensor 30, a force-bearing member 40 and a palm rest structure 20. The force sensor 30 is arranged on the bottom structure 10, the force-bearing member 40 is arranged on the force sensor 30, and the palm rest structure 20 is arranged around the bottom structure 10. The palm rest structure 20 is separated from the force sensor 30 and the force-bearing member 40. No matter what state the palm rest structure 20 is in, it will not affect the force sensor 30 and the force-bearing member 40. When the force-bearing member 40 is subjected to pressure applied by the hand, the force sensor 30 can accurately detect the magnitude of the force.

[0040] Please also read Figures 1 to 5 , the rotating hand rest 100 and the desktop upper limb rehabilitation robot 1000 provided in the embodiments of the present invention are described.

[0041] Please also read Figures 1 to 3 The rotating palm rest 100 includes a bottom structure 10 , a force sensor 30 , a force receiving member 40 and a palm rest structure 20 .

[0042] The bottom structure 10 can be placed on the desktop 300 and is the main installation and support structure of the rotating palm rest 100. The force sensor 30 and the palm rest structure 20 are both installed on the bottom structure 10. The bottom structure 10 is an integrated structure or a component structure, and its specific structure and shape are not limited here.

[0043] The force sensor 30 is used to detect the magnitude of the force, and the force sensor 30 can be a pressure sensor or a tension sensor. The force sensor 30 is fixed on the bottom structure 10. The force sensor 30 has a fixed part and a detection part, the fixed part can be a structure such as a shell, and the detection part can be a pressure-sensitive element, etc. The fixed part of the force sensor 30 is fixed on the bottom structure 10, so that the force sensor 30 and the bottom structure 10 are fixedly connected.

[0044] The force-bearing member 40 is arranged on the force sensor 30. When the hand can hold the force-bearing member 40, when the hand applies external force to the force-bearing member 40, the external force is transmitted to the force sensor 30 through the force-bearing member 40, and the magnitude of the external force is detected by the force sensor 30. The force-bearing member 40 is mainly used to bear the external force. The external force does not need to act directly on the force sensor 30. On the one hand, it can protect the force sensor 30, and on the other hand, it can increase the force-bearing area.

[0045] The hand rest structure 20 is used to support the arm. The hand rest structure 20 is arranged around the bottom structure 10 and is connected to the outer periphery of the bottom structure 10. The hand rest structure 20 is rotatably connected to the bottom structure 10 so that the hand rest structure 20 can rotate relative to the bottom structure 10 and adjust the angle of the hand rest structure 20, which is suitable for a variety of usage scenarios.

[0046] The palm rest structure 20, the bottom structure 10 and the force-bearing member 40 form a accommodating cavity 213. The force sensor 30 is fixed to the bottom structure 10 and is arranged inside the accommodating cavity 213. The palm rest structure 20 is connected to the outer periphery of the bottom structure 10. The palm rest structure 20 and the force sensor 30 do not interfere with each other. When the palm rest structure 20 is rotated or used, it has no effect on the force sensor 30, so that the force sensor 30 can accurately detect external force.

[0047] The rotating hand rest 100 in the above embodiment includes a bottom structure 10, a force sensor 30, a force receiving member 40 and a hand rest structure 20. The force sensor 30 is arranged on the bottom structure 10, the force receiving member 40 is arranged on the force sensor 30, and the hand rest structure 20 is arranged around the periphery of the bottom structure 10. The hand rest structure 20 does not contact the force sensor 30 when rotating, and will not affect the detection of external force by the force sensor 30. Therefore, the rotating hand rest 100 can not only rotate freely, but also accurately detect the magnitude of the force applied by the hand to the force receiving member.

[0048] In some embodiments of the present invention, the palm rest structure 20 can rotate 360 ​​degrees relative to the bottom structure 10, that is, the palm rest structure 20 can be adjusted to any angle on the horizontal plane.

[0049] In some embodiments of the present invention, see Figure 3 The bottom structure 10 has a first annular portion, and the hand rest structure 20 has a second annular portion, and the first annular portion and the second annular portion are coaxially matched. The first annular portion and the second annular portion are coaxially matched, which can be understood as the first annular portion and the second annular portion being directly matched or indirectly matched. The direct match between the first annular portion and the second annular portion means that the two are in contact with each other or plugged into each other, and the indirect match between the first annular portion and the second annular portion means that they can be connected through a connector such as a bearing.

[0050] By setting the first annular portion and the second annular portion, the hand rest structure 20 can be connected to the periphery of the bottom structure 10 , and the hand rest structure 20 can be smoothly rotated around the bottom structure 10 , thereby realizing the rotation of the hand rest structure 20 relative to the bottom structure 10 .

[0051] In some embodiments, one of the first annular portion and the second annular portion is an annular groove, and the other is an annular protrusion, which is embedded in the annular groove, so that the rotation of the hand support structure 20 can be guided. The rotation axis of the hand support structure 20 is the central axis of the first annular portion and the second annular portion.

[0052] In some embodiments of the present invention, see Figure 3 and Figure 4 The bottom structure 10 is formed with a first annular protrusion 11 protruding toward the accommodating cavity 213, so that a first annular groove 12 is formed at the outer periphery of the first annular protrusion 11. The hand support structure 20 includes an annular shell 21 rotatably connected to the bottom structure 10 and a hand support body 22 connected to the annular shell 21. The inner wall of the annular shell 21 is formed with a second annular protrusion 211 protruding toward the accommodating cavity 213, and a first rotating bearing 51 is provided between the first annular groove 12 and the second annular protrusion 211. In this embodiment, the first annular groove 12 is the first annular portion mentioned above, and the second annular groove is the second annular portion mentioned above.

[0053] The first annular protrusion 11 is formed by the bottom structure 10 protruding toward one side of the accommodating cavity 213, the inner periphery of the first annular protrusion 11 is close to the center of the base structure, and the outer periphery of the first annular protrusion 11 is close to the edge of the base structure. The first annular protrusion 11 is at a certain distance from the edge of the bottom structure 10, so that a first annular groove 12 is formed at the outer periphery of the first annular protrusion 11. The cross section of the first annular groove 12 is L-shaped, the bottom wall of the first annular groove 12 is the side of the bottom structure 10 facing the accommodating cavity 213, and the side wall of the first annular groove 12 is the outer peripheral wall of the first annular protrusion 11. The hand support structure 20 includes an annular shell 21 and a hand support body 22, the annular shell 21 is arranged around the bottom structure 10, the annular shell 21 is cylindrical, the second annular protrusion 211 is arranged on the inner wall of the annular shell 21, and the hand support body 22 is used to support the patient's arm.

[0054] By setting a first rotating bearing 51 between the second annular protrusion 211 of the annular shell 21 and the first annular groove 12 of the bottom structure 10, the rotation of the hand support structure 20 relative to the bottom structure 10 can be smoother, reducing the vibration effect of the hand support structure 20 on the bottom structure 10 when rotating, thereby ensuring the accuracy of detection by the force sensor 30.

[0055] The first annular protrusion 11 , the first annular groove 12 , and the second annular protrusion 211 are all annular structures and are coaxially arranged, and the central axis thereof is the rotation axis of the hand support structure 20 .

[0056] In some embodiments, the first rotating bearing 51 includes two bearing plates that can rotate relative to each other and a ball structure arranged between the two bearing plates, one of the bearing plates is fixedly connected to the second annular protrusion 211, and the other bearing plate is fixedly connected to the bottom wall of the first annular groove 12, so that the palm rest structure 20 is rotatably connected to the base structure through the first rotating bearing 51.

[0057] In some embodiments, see Figure 3 and Figure 4 The rotating hand rest 100 further includes a second rotating bearing 52 and a fixing member 53. The first rotating bearing 51 and the second rotating bearing 52 are arranged on opposite sides of the second annular protrusion 211, and the fixing member 53 is used to fix the first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52. The first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52 are arranged in sequence, and the bearing sheets of the first rotating bearing 51 and the second rotating bearing 52 close to the second annular protrusion 211 are fixedly connected to the second annular protrusion 211, so that the first rotating bearing 51 and the second rotating bearing 52 support the second annular protrusion 211 at the same time. The fixing member 53 can fix the first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52 in their stacking direction, and can also fix the above three components in the radial direction of the annular shell 21.

[0058] By arranging the first rotating bearing 51 and the second rotating bearing 52 on opposite sides of the second annular protrusion 211, both sides of the second annular protrusion 211 can be supported, and the rotation of the hand support structure 20 is more stable. In addition, the fixing member 53 is used to fix the first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52, so that the first rotating bearing 51 and the second rotating bearing 52 can be stably installed on the bottom structure 10 and the hand support structure 20.

[0059] Optionally, the first rotating bearing 51 and the second rotating bearing 52 are both thrust bearings. The thrust bearing includes two bearing plates and a ball disposed between the two bearing plates. One of the bearing plates of the first rotating bearing 51 is disposed in close contact with the second annular protrusion 211, and one of the bearing plates of the second rotating bearing 52 is disposed in close contact with the second annular protrusion 211.

[0060] The two shaft sheets of the thrust bearing are arranged in sequence along the axial direction of the annular shell 21, and can withstand a larger axial load. When the hand support structure 20 supports the arm, the second annular protrusion 211 is subjected to axial pressure, that is, the first rotating bearing 51 and the second rotating bearing 52 are both subjected to axial force. When the first rotating bearing 51 and the second rotating bearing 52 are thrust bearings, the axial force will not affect the operation of the thrust bearing.

[0061] Optionally, the first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52 are sequentially arranged along the axial direction of the annular shell 21. When the hand support structure 20 is subjected to the pressure of the arm, the second annular protrusion 211 will correspondingly generate downward (axial) pressure on the first rotating bearing 51. The first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52 are arranged along the axial direction, which can withstand the axial pressure and avoid bearing damage or poor rotation.

[0062] In some embodiments, see Figure 3The fixing member 53 includes a first fixing portion 531, a second fixing portion 532 and a third fixing portion which are bent and connected in sequence. The first fixing portion 531 is pressed against the side of the second rotating bearing 52 which faces away from the second annular protrusion 211, and the third fixing portion is fixed to the bottom structure 10. The first fixing portion 531, the second fixing portion 532 and the third fixing portion are bent and connected in sequence, which can be understood as: the first fixing portion 531 and the second fixing portion 532 are connected at a certain angle, and the second fixing portion 532 and the third fixing portion are connected at a certain angle. The first rotating bearing 51, the second annular protrusion 211 and the second rotating bearing 52 form a bearing assembly. The first fixing portion 531 is located at one axial end of the bearing assembly, and the bottom structure 10 is located at the other axial end of the bearing assembly, so that the bearing assembly can be axially pressed against the bottom structure 10 through the first fixing portion 531. The second fixing portion 532 is arranged on the inner side wall of the bearing assembly, and the circumferential position of the bearing assembly can be positioned. The third fixing portion is fixed to the bottom structure 10, so that the first fixing portion 531 can press the second rotating bearing 52.

[0063] By configuring the fixing member 53 to be a first fixing portion 531 , a second fixing portion 532 and a third fixing portion that are bent and connected, the fixing member 53 can press the first rotating bearing 51 , the second annular protrusion 211 and the second rotating bearing 52 , thereby achieving installation and fixation of the two rotating bearings and the second annular protrusion 211 .

[0064] Optionally, the first fixing portion 531 and the second fixing portion 532 are vertically connected, and the second fixing portion 532 and the third fixing portion are vertically connected, so that the second fixing portion 532 can be set close to the inner wall of the bearing assembly, making the connection between the fixing member 53 and the bottom structure 10 and the rotating bearing more stable.

[0065] Optionally, the first fixing portion 531, the second fixing portion 532, and the third fixing portion are all annular and arranged around the rotation axis of the hand support structure 20. The annular fixing member 53 can press the second rotating bearing 52 at various positions in the circumferential direction, making the installation structure of the bearing assembly more stable.

[0066] In some embodiments, a friction pad is provided between the outer peripheral wall of the second annular protrusion 211 and the second fixing portion 532. The provision of the friction pad can increase the friction between the hand rest structure 20 and the base structure, so that the hand rest structure 20 has a better feel when rotating, and can enable the hand rest structure 20 to stably stop at any angle.

[0067] Optionally, the friction pad is fixed to the outer peripheral wall of the second annular protrusion 211 , or the friction pad is fixed to the side of the second fixing portion 532 facing the second annular protrusion 211 .

[0068] Optionally, the friction pad is annular, so that each circumferential position of the second annular protrusion 211 has a friction pad.

[0069] Optionally, the friction pad comprises a plurality of circumferentially arranged pad units.

[0070] Optionally, the friction pad comprises a nickel-coated steel substrate and partially embedded diamond particles.

[0071] In some embodiments of the present invention, the bottom structure 10 is formed with a first annular protrusion 11 protruding toward the accommodating cavity 213, the hand rest structure 20 includes an annular shell 21 rotatably connected to the bottom structure 10 and a hand rest body 22 connected to the annular shell 21, a support bearing is arranged between the first annular protrusion 11 and the annular shell 21, and the first annular protrusion 11, the support bearing and the annular shell 21 are sequentially distributed along the radial direction of the annular shell 21. The support bearing includes an inner ring, an outer ring and balls, the inner ring of the support bearing is fixedly connected to one of the first annular protrusion 11 and the annular shell 21, and the outer ring of the support bearing is fixedly connected to the other of the first annular protrusion 11 and the annular shell 21, so that the annular shell 21 can rotate smoothly relative to the bottom structure 10.

[0072] Optionally, the first annular protrusion 11 is disposed inside the annular shell 21, so that the first annular protrusion 11 is shielded by the annular shell 21. The outer ring of the support bearing is fixedly connected to the annular shell 21, and the inner ring of the support bearing is fixedly connected to the first annular protrusion 11.

[0073] Optionally, the first annular protrusion 11 is disposed outside the annular shell 21 . The outer ring of the support bearing is fixedly connected to the first annular protrusion 11 , and the inner ring of the support bearing is fixedly connected to the annular shell 21 .

[0074] In some embodiments of the present invention, see Figure 3 and Figure 4 The annular shell 21 and the hand rest body 22 are connected to each other by screws or other fixing members 53. A connecting hole is provided on the hand rest body 22, and a connecting hole is also provided on the annular shell 21. The screws or other connecting members pass through the connecting holes on the hand rest body 22 and are connected to the connecting holes on the annular shell 21.

[0075] In some embodiments, a first concave-convex structure 212 is provided at the edge of the annular shell 21, and a second concave-convex structure 221 is provided at the edge of the hand rest body 22. The first concave-convex structure 212 and the second concave-convex structure 221 cooperate with each other so that the hand rest body 22 and the annular shell 21 can be positioned relative to each other during installation.

[0076] In some embodiments of the present invention, see Figure 3 and Figure 4At least part of the bottom structure 10 and the force-bearing member 40 is in plate shape, the hand support structure 20 includes an annular shell 21 rotatably connected to the bottom structure 10, the annular shell 21 is in cylindrical shape, and the bottom structure 10 and the annular shell 21 are respectively arranged at the axial ends of the annular shell 21. The axial ends of the annular shell 21 are open, and the bottom structure 10 and the annular shell 21 are respectively blocked at the two openings, so that the inside of the rotating hand support 100 forms the above-mentioned accommodating cavity 213, and the force sensor 30 is arranged inside the accommodating cavity 213.

[0077] By setting at least part of the bottom structure 10 and the force-bearing member 40 in a plate shape, the two axial ends of the annular shell 21 can be blocked, so that the rotating hand rest 100 becomes a relatively closed structure to protect the force sensor 30 inside. Moreover, the structure of the bottom structure 10 and the force-bearing member 40 can be set relatively simple, and the structural design cost is relatively low.

[0078] Optionally, the force sensor 30 is arranged in the middle position of the bottom structure 10, and the annular shell 21 is connected to the edge position of the bottom structure 10. The annular shell 21 and the force sensor 30 are spaced apart from each other without structural contact or interference, so that the palm rest structure 20 will not affect the pressure detection of the force sensor 30.

[0079] In some embodiments of the present invention, see Figure 3 , the annular shell 21 is spaced apart from the adjacent side wall of the force-bearing member 40. In this way, the annular shell 21 and the force-bearing member 40 can be spaced apart from each other, and when the force-bearing member 40 is subjected to pressure, the annular shell 21 remains relatively independent from the annular shell 21, and the annular shell 21 does not bear the pressure on the force-bearing member 40, so that the pressure can be accurately detected by the force sensor 30.

[0080] In some embodiments, the outer peripheral wall of the force-bearing member 40 and the inner peripheral wall of the annular shell 21 are spaced apart. Alternatively, the inner peripheral wall of the force-bearing member 40 and the outer peripheral wall of the annular shell 21 are spaced apart.

[0081] The present invention also provides a desktop upper limb rehabilitation robot 1000, see Figure 5 The desktop upper limb rehabilitation robot 1000 includes the rotating hand support 100 in any of the above embodiments. When using the desktop upper limb rehabilitation robot 1000, the hand is held on the force-bearing member 40, the arm is placed on the hand support structure 20, and the rotating hand support 100 as a whole moves to drive the upper limb to move, so as to achieve the effect of muscle training.

[0082] The above-mentioned rehabilitation training device, the rotating hand rest 100 includes a bottom structure 10, a force sensor 30, a force receiving member 40 and a hand rest structure 20, wherein the force sensor 30 is arranged on the bottom structure 10, the force receiving member 40 is arranged on the force sensor 30, and the hand rest structure 20 is arranged around the periphery of the bottom structure 10. The hand rest structure 20 does not contact the force sensor 30 during rotation, and will not affect the detection of external force by the force sensor 30. Therefore, the rotating hand rest 100 can not only rotate freely, but also accurately detect the magnitude of the force applied by the hand to the force receiving member.

[0083] In some embodiments of the present invention, see Figure 5 The desktop upper limb rehabilitation robot 1000 also includes a desktop 300 and a guide mechanism 200. The guide structure is arranged on the desktop 300. The guide mechanism 200 can output movement in the horizontal direction. The rotating hand rest 100 is connected to the movement output end of the guide mechanism 200, so that the rotating hand rest 100 can move in the horizontal direction, thereby driving the movement of the upper limbs.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rotating palm rest, characterized in that: It includes a bottom structure, a force sensor fixed on the bottom structure, a force-bearing member arranged on the force sensor, and a hand-rest structure arranged around the bottom structure, the force-bearing member is for hand holding, the hand-rest structure is used to support the arm, the hand-rest structure is rotatably connected to the bottom structure, and the hand-rest structure, the bottom structure and the force-bearing member form a housing cavity for accommodating the force sensor.

2. The rotating hand rest according to claim 1, characterized in that: The bottom structure has a first annular portion, and the hand support structure has a second annular portion, and the first annular portion and the second annular portion are coaxially matched and arranged.

3. The rotating hand rest according to claim 1, characterized in that: The bottom structure is formed with a first annular protrusion protruding toward the accommodating cavity, and a first annular groove is formed at the outer peripheral edge of the first annular protrusion. The hand rest structure includes an annular shell rotatably connected to the bottom structure and a hand rest body connected to the annular shell. The inner wall of the annular shell is formed with a second annular protrusion protruding toward the accommodating cavity, and a first rotating bearing is arranged between the first annular groove and the second annular protrusion.

4. The rotating hand rest according to claim 3, characterized in that: The rotating palm rest also includes a second rotating bearing and a fixing member. The first rotating bearing and the second rotating bearing are arranged on opposite sides of the second annular protrusion, and the fixing member is used to fix the first rotating bearing, the second annular protrusion and the second rotating bearing.

5. The rotating hand rest according to claim 4, characterized in that: The fixing member comprises a first fixing portion, a second fixing portion and a third fixing portion which are bent and connected in sequence, the first fixing portion is pressed against a side of the second rotating bearing which faces away from the second annular protrusion, and the third fixing portion is fixed to the bottom structure.

6. The rotating hand rest according to claim 5, characterized in that: A friction pad is arranged between the outer peripheral wall of the second annular protrusion and the second fixing portion.

7. The rotating hand rest according to claim 4, characterized in that: The first rotating bearing and the second rotating bearing are both thrust bearings.

8. The rotating hand rest according to claim 4, characterized in that: The first rotating bearing, the second annular protrusion and the second rotating bearing are arranged in sequence along the axial direction of the annular shell.

9. The rotating palm rest according to any one of claims 1 to 8, characterized in that: At least part of the bottom structure and the force-bearing member are in plate shape, the hand support structure comprises an annular shell rotatably connected to the bottom structure, the annular shell is in cylindrical shape, and the bottom structure and the annular shell are respectively arranged at two axial ends of the annular shell.

10. A desktop upper limb rehabilitation robot, characterized in that: The invention comprises the rotating palm rest as described in any one of claims 1 to 9.

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