An upper limb rehabilitation robot with force feedback function

Abstract

The present invention discloses an upper limb rehabilitation robot with force feedback function, comprising a main body, a bracket, an arc-shaped desktop, a first reversing unit and a second reversing unit connected, a monitoring unit, a force feedback control unit and a grip unit; the bracket is connected to the main body and is provided with an arc-shaped groove; the arc-shaped desktop cooperates with the arc-shaped groove and performs arc reversal along the arc-shaped groove; the monitoring unit monitors the real-time position and angle of the first reversing unit and the second reversing unit; the input end of the force feedback control unit is connected to the output end of the monitoring unit, and the output end is connected to the control end of the first reversing unit and the second reversing unit; the grip unit is connected to the control end of the first reversing unit and the second reversing unit. The present invention enables the human body to obtain the sense of touch of force feedback, so as to achieve the effect of stimulating the terminal nerve rehabilitation.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to an upper limb rehabilitation robot with a force feedback function. Background Art

[0002] Stroke or spinal cord injuries can impair the motor function of multiple muscle groups. The process of terminal nerve remodeling demonstrates that regular or irregular repetitive training rehabilitation exercises with force feedback can restore some or most motor function starting from the nerve endings, and can also switch between left and right hands within a 120-degree range to expand the training range.

[0003] There is no upper limb rehabilitation robot with multiple degrees of freedom in the prior art that can use force feedback to assist in rehabilitation training, and the training range cannot reach more than 100 degrees for a single hand. Summary of the Invention

[0004] In response to the above problems, the present invention proposes an upper limb rehabilitation robot with force feedback function, which can realize real-time collection of position and angle data of the first reversing unit and the second reversing unit in active training mode, and send them to the force feedback control unit. When the position and angle of the first reversing unit and the second reversing unit exceed the preset range value, the force feedback control unit sends a control signal to control the first reversing unit and the second reversing unit, so that the human body can obtain the tactile sensation of force feedback, thereby stimulating the terminal nerve rehabilitation.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] An upper limb rehabilitation robot with force feedback function, comprising:

[0007] main body;

[0008] a bracket connected to the main body and provided with an arc-shaped groove;

[0009] The arc-shaped tabletop cooperates with the arc-shaped groove and performs arc-shaped reversing along the arc-shaped groove;

[0010] a first reversing unit and a second reversing unit connected to each other;

[0011] A monitoring unit, monitoring the real-time positions and angles of the first reversing unit and the second reversing unit;

[0012] a force feedback control unit, whose input end is connected to the output end of the monitoring unit, and whose output end is connected to the control ends of the first and second reversing units;

[0013] The handle unit is connected to the control ends of the first reversing unit and the second reversing unit.

[0014] As a further improvement of the present invention, the first reversing unit includes a first connecting rod mechanism and a first drive motor connected to each other; the first connecting rod mechanism is arranged on the curved table top, and can rotate around the connection point between the first connecting rod mechanism and the curved table top under the action of the first drive motor; the first drive motor is respectively connected to the handle unit and the force feedback control unit.

[0015] As a further improvement of the present invention, the second reversing unit includes a connected second connecting rod mechanism and a second drive motor; the second connecting rod mechanism is arranged on the curved table top and is connected to the first connecting rod mechanism. Under the action of the second drive motor, it can perform telescopic movement relative to the connection point between it and the first connecting rod mechanism; the second drive motor is respectively connected to the handle unit and the force feedback control unit.

[0016] As a further improvement of the present invention, the monitoring unit includes a first position sensor, a first angle sensor, a second position sensor, and a second angle sensor;

[0017] The first position sensor and the first angle sensor are used to measure the real-time position and angle of the first reversing unit respectively;

[0018] The second position sensor and the second angle sensor are used to measure the real-time position and angle of the second reversing unit respectively.

[0019] As a further improvement of the present invention, the handle unit includes a connected rotating handle and a handle; the rotating handle has damping, and its swing angle is 0-90°; the rotation angle of the handle is 0-360°.

[0020] As a further improvement of the present invention, an arm support seat is also provided on the curved table top, which is rotatably connected to the curved table top and can rotate 0-120° in the horizontal plane, and is connected to the end of the second reversing unit away from the first reversing unit through a bracket.

[0021] As a further improvement of the present invention, the upper limb rehabilitation robot with force feedback function further includes a host computer, and the host computer is connected to the force feedback control unit.

[0022] As a further improvement of the present invention, the upper limb rehabilitation robot with force feedback function also includes a display, which is connected to the main body through a lifting axis and is used for immersive training rehabilitation programs and game image transmission.

[0023] As a further improvement of the present invention, the main body is provided with fixed load-bearing casters capable of axial linear motion and guide casters capable of 360-degree rotation in a horizontal plane.

[0024] As a further improvement of the present invention, the curved desktop is provided with a power display light, which includes a first LED light ring and a second LED light ring, and the first LED light ring and the second LED light ring are used for power indication and motion indication respectively.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention proposes an upper limb rehabilitation robot with a force feedback function, which can realize real-time collection of position and angle data of the first reversing unit and the second reversing unit in an active training mode, and send them to a force feedback control unit. When the position and angle of the first reversing unit and the second reversing unit exceed the preset range value, the force feedback control unit sends a control signal to control the first reversing unit and the second reversing unit, so that the human body can obtain the tactile sensation of force feedback, thereby achieving the effect of stimulating terminal nerve rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is an overall structural diagram of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;

[0029] Figure 2 This is one of the partial structural diagrams of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;

[0030] Figure 3 This is a second partial structural diagram of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;

[0031] Figure 4 This is the third partial structural diagram of an upper limb rehabilitation robot with force feedback function according to an embodiment of the present invention;

[0032] In the picture:

[0033] 1-display, 2-arc-shaped desktop, 3-arm support base, 4-bracket, 5-main body, 6-fixed load-bearing casters, 7-guide casters, 8-emergency brake switch, 9-handle rotation handle, 10-handle, 11-lifting shaft, 12-power display light, 13-bracket, 14-second connecting rod mechanism, 15-link seat, 16-second drive motor, 17-first connecting rod mechanism. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the 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 scope of protection of the present invention.

[0035] The application principle of the present invention is described in detail below with reference to the accompanying drawings.

[0036] like Figure 1-4 As shown, the present invention provides an upper limb rehabilitation robot with force feedback function, comprising:

[0037] Main body 5; in a specific application process, the main body 5 is provided with a central square column, and the central square column is driven by an internal screw rod to be able to move vertically up and down;

[0038] The display 1 is connected to the main body 5 via a lifting shaft 11, and is used for immersive training and rehabilitation programs and game image transmission. In specific applications, the lifting shaft 11 can be selected to have a stepless positioning lock, and can move vertically up and down and rotate left and right around the main axis. The lifting shaft 11 is arranged perpendicular to the horizontal plane.

[0039] The bracket 4 is connected to the main body 5 and is provided with an arc-shaped groove;

[0040] The arc-shaped tabletop 2 cooperates with the arc-shaped groove and performs arc reversal along the arc-shaped groove. In a specific application process, the arc-shaped tabletop 2 performs arc reversal with the long arc side as the center.

[0041] a first reversing unit and a second reversing unit connected to each other;

[0042] A monitoring unit, monitoring the real-time positions and angles of the first reversing unit and the second reversing unit;

[0043] a force feedback control unit (not shown in the figure), whose input end is connected to the output end of the monitoring unit, and whose output end is connected to the control ends of the first and second reversing units;

[0044] The handle unit is connected to the control ends of the first reversing unit and the second reversing unit.

[0045] In a specific implementation of an embodiment of the present invention, the first reversing unit includes a first connecting rod mechanism 17 and a first drive motor (not shown in the figure); the first connecting rod mechanism 17 is arranged on the curved table top 2, and can rotate around the connection point between the first connecting rod mechanism 17 and the curved table top 2 under the action of the first drive motor; the first drive motor is respectively connected to the handle unit and the force feedback control unit; the first connecting rod mechanism 17 can be a connecting rod mechanism that can swing left and right, fixed on the curved table top 2 through a base, and connected to the first drive motor with an axis, and the first drive motor can be a driving servo motor.

[0046] In a specific implementation of an embodiment of the present invention, the second reversing unit includes a connected second link mechanism 14 and a second drive motor 16; the second link mechanism 14 is arranged on the curved table top 2, and is connected to the first link mechanism 17. Under the action of the second drive motor 16, it can perform telescopic movement relative to the connection point between it and the first link mechanism 17; the second drive motor 16 is respectively connected to the handle unit and the force feedback control unit; the second link mechanism 14 can be a parallelogram link mechanism, and the second link mechanism 14 is connected to the first link mechanism 17 through a link seat 15, and the second drive motor 16 is installed below the link seat 15.

[0047] In a specific implementation of the embodiment of the present invention, the monitoring unit includes a first position sensor (not shown in the figure), a first angle sensor (not shown in the figure), a second position sensor (not shown in the figure) and a second angle sensor (not shown in the figure);

[0048] The first position sensor and the first angle sensor are used to measure the real-time position and angle of the first reversing unit respectively;

[0049] The second position sensor and the second angle sensor are used to measure the real-time position and angle of the second reversing unit respectively.

[0050] In a specific implementation of the embodiment of the present invention, the grip unit includes a connected rotating handle 9 and a grip 10; the rotating handle 9 has damping, and its swing angle is 0-90°; the rotation angle of the grip 10 is 0-360°.

[0051] In a specific implementation of an embodiment of the present invention, an arm support seat 3 is also provided on the curved table top 2. The arm support seat 3 is rotatably connected to the curved table top 2 and can rotate 0-120° in the horizontal plane. It is connected to the end of the second reversing unit away from the first reversing unit through the bracket 13. The arm support seat 3 is used to place the arm.

[0052] In a specific implementation of the embodiment of the present invention, the upper limb rehabilitation robot with force feedback function further includes a host computer (not shown in the figure), and the host computer is connected to the force feedback control unit.

[0053] In a specific implementation of an embodiment of the present invention, the main body 5 is provided with a fixed load-bearing caster 6 that can move axially in a straight line and a guide caster 7 that can turn 360 degrees in the horizontal plane. During the specific implementation process, the fixed load-bearing caster 6 is installed at the front and bottom of the main body 5, and the guide caster 7 is installed at the rear and bottom of the main body 5.

[0054] In a specific implementation of the embodiment of the present invention, the curved desktop 2 is provided with a power display light 12, and the power display light 12 includes a first LED light ring and a second LED light ring, and the first LED light ring and the second LED light ring are used for power indication and motion indication respectively.

[0055] In a specific implementation of an embodiment of the present invention, the curved table top 2 is provided with emergency brake switches 8 on both edges of the long arc, and the emergency brake switches 8 are respectively connected to the control ends of the first steering unit and the second steering unit to control the emergency stop of the first steering unit and the second steering unit.

[0056] The working process of the robot is specifically as follows:

[0057] Adjust the lifting shaft 11 so that the display 1 is in a suitable position in the user's field of view;

[0058] Adjust the central square column of the main body 5 so that the height of the curved table top 2 is within the appropriate height for the user;

[0059] The position of the curved desktop 2 on the bracket 4 is adjusted by using the positioning holes (located at the center and 45 degrees on both sides of the curved groove). With the user's use point as the center, the range after switching between left and right hands can be expanded.

[0060] The arm support base 3 can rotate in the horizontal plane and is used to support the human hand.

[0061] During rehabilitation training, the person places his hands on the arm support seat 3 and holds the handle 10. By telescoping the second link mechanism 14 forward and backward and the first link mechanism 17 left and right, four degrees of freedom of movement can be achieved, thus realizing flexible and varied rehabilitation training.

[0062] The position and angle data of the first reversing unit and the second reversing unit are collected in real time by the monitoring unit and sent to the force feedback control unit. When the position and angle of the first reversing unit and the second reversing unit exceed the preset range value, the force feedback control unit sends a control signal to control the first reversing unit and the second reversing unit, so that the human body can obtain the tactile sensation of force feedback, thereby stimulating the rehabilitation of the terminal nerves.

[0063] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An upper limb rehabilitation robot with force feedback function, It is characterized in that include: main body; A bracket, connected to the main body, and provided with an arc-shaped groove; An arc-shaped tabletop cooperates with the arc-shaped groove and performs arc-shaped reversal along the arc-shaped groove; A first switching unit and a second switching unit connected to each other; A monitoring unit, monitoring the real-time position and angle of the first reversing unit and the second reversing unit; A force feedback control unit, whose input end is connected to the output end of the monitoring unit, and whose output end is connected to the control ends of the first and second switching units; A handle unit connected to the control ends of the first reversing unit and the second reversing unit; The first reversing unit includes a first connecting rod mechanism and a first driving motor connected to each other; the first connecting rod mechanism is arranged on the arc-shaped desktop, and can rotate around the connection point between the first connecting rod mechanism and the arc-shaped desktop under the action of the first driving motor; the first driving motor is respectively connected to the handle unit and the force feedback control unit; The second reversing unit comprises a second connecting rod mechanism and a second driving motor connected to each other; the second connecting rod mechanism is arranged on the arc-shaped tabletop and connected to the first connecting rod mechanism, and can perform telescopic movement relative to the connection point between the second connecting rod mechanism and the first connecting rod mechanism under the action of the second driving motor; the second driving motor is respectively connected to the handle unit and the force feedback control unit; An arm support seat is also provided on the arc-shaped desktop. The arm support seat is rotatably connected to the arc-shaped desktop and can rotate 0-120° in a horizontal plane. The arm support seat is connected to an end of the second reversing unit away from the first reversing unit through a bracket.

2. An upper limb rehabilitation robot with force feedback function according to claim 1, Features: The monitoring unit includes a first position sensor, a first angle sensor, a second position sensor, and a second angle sensor; The first position sensor and the first angle sensor are used to measure the real-time position and angle of the first commutation unit respectively; The second position sensor and the second angle sensor are used to measure the real-time position and angle of the second switching unit respectively.

3. An upper limb rehabilitation robot with force feedback function according to claim 1, Features: The grip unit comprises a connected rotating handle and a grip; the rotating handle has damping, and its swing angle is 0-90°; the rotation angle of the grip is 0-360°.

4. The upper limb rehabilitation robot with force feedback function according to claim 1, Features: The upper limb rehabilitation robot with force feedback function also includes a host computer, which is connected to the force feedback control unit.

5. The upper limb rehabilitation robot with force feedback function according to claim 1, Features: The upper limb rehabilitation robot with force feedback function also includes a display, which is connected to the main body through a lifting shaft and is used for immersive training rehabilitation programs and game image transmission.

6. The upper limb rehabilitation robot with force feedback function according to claim 1, Features: The main body is provided with a fixed load-bearing caster capable of axial linear motion and a guide caster capable of 360-degree steering in a horizontal plane.

7. The upper limb rehabilitation robot with force feedback function according to claim 1, Features: The arc-shaped desktop is provided with a power display light, and the power display light includes a first LED light ring and a second LED light ring, and the first LED light ring and the second LED light ring are used for power indication and motion indication respectively.

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