A limit device and a limit method for a joint of a rehabilitation robot

Abstract

The present invention discloses a limiting device and a limiting method for a joint of a rehabilitation robot, including a mechanical joint, a braking module and a damping module. The braking unit is used to apply a first braking force to the mechanical joint if the current angle of the mechanical joint exceeds the first safe angle range, and the damping module is used to apply a second braking force to the mechanical joint if the current angle of the mechanical joint exceeds the second safe angle range, which has the advantages of good buffering effect and high safety factor.

Description

Technical Field

[0001] The present invention belongs to the medical technology, and particularly relates to a limit device and a limit method for a joint of a rehabilitation robot. Background Art

[0002] A rehabilitation robot is a medical device that assists patients in performing passive movements, daily activities, and promoting rehabilitation. One type of rehabilitation robot includes a mechanical joint, which can be used to assist the rehabilitation movement of patients after the joint organs are cured, and can also be used to assist the daily activities of people with severe mobility problems such as paraplegia, hemiplegia, quadriplegia, and poliomyelitis.

[0003] During the use of the mechanical joint, it is necessary to limit and protect the mechanical joint so that the mechanical joint moves within a safe range. Generally speaking, the limit protection of the mechanical joint can be achieved by hardware or software methods. The hardware protection method limits the movement range of the mechanical joint by setting a limit structure. When the limit structure limits the mechanical joint, a hard collision occurs, which is likely to cause damage to the mechanical joint, and may even cause unexpected treatment accidents such as strain on the patient's joint or the patient falling. The software protection method detects the angle parameter of the mechanical joint in real time. When the angle parameter exceeds the safety parameter, braking measures are taken. However, software braking usually brakes at the critical point and needs to complete braking in a short time, and there are still problems such as easy damage to the mechanical joint and medical accidents.

[0004] The existing technology is not perfect. When the mechanical joint is limited by a single software or hardware, the movement of the joint cannot be slowed down to a stop well, and there are problems such as poor buffering effect and potential safety hazards. Contents of the Invention

[0005] To overcome the deficiencies and problems of the existing technology, the present invention provides a limit device and a limit method for a joint of a rehabilitation robot. Using the present invention can better protect the joints of patients and make the control more accurate and precise.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] On the one hand, the present invention provides a limit device for a joint of a rehabilitation robot, including:

[0008] A mechanical joint;

[0009] A braking module, configured to apply a first braking force to the mechanical joint if the current angle of the mechanical joint exceeds a first safe angle range;

[0010] A damping module, configured to apply a second braking force to the mechanical joint if the current angle of the mechanical joint exceeds a second safe angle range.

[0011] In some ways, the second safety angle range includes the first safety angle range, or the first safety angle range includes the second safety angle range, or the first safety angle range partially includes the second safety angle range.

[0012] In some ways, it further includes a second detection module for detecting the current motion value of the mechanical joint;

[0013] If the current angle of the mechanical joint exceeds the first safety angle range and the current motion value of the mechanical joint exceeds the safe motion value range, the braking module applies a first braking force to the mechanical joint until the current motion value of the mechanical joint is within the safe motion value range.

[0014] In some ways, the current motion value of the mechanical joint is any one of a torque value, a speed value, and an angular velocity value.

[0015] In some ways, it further includes a first detection module for detecting whether the current angle of the mechanical joint exceeds the first safety angle range.

[0016] In some ways, the first detection module is a position sensor, and the position sensor is arranged within the movable range of the mechanical joint;

[0017] The first safety angle range is determined based on the first movable angle range of the mechanical joint without triggering the position sensor.

[0018] In some ways, the damping module is arranged within the movable angle range of the mechanical joint;

[0019] The second safety angle range is determined as the second movable angle range of the mechanical joint without touching the damping module.

[0020] In some ways, the damping module includes at least one of a friction damping unit, an elastic damping unit, a hydraulic damping unit, and a magnetic damping unit.

[0021] In some ways, the braking module is a motor.

[0022] In some ways, the mechanical joint includes a first component and a second component, and the first component is rotatably arranged on the second component. The current angle of the mechanical joint is determined based on the included angle between the current position of the first component and the reference zero position.

[0023] In another aspect, the present invention also provides a limiting method for a rehabilitation robot joint. Based on the above-mentioned limiting device for a rehabilitation robot joint, it includes:

[0024] When the current angle of the mechanical joint exceeds the first safe angle range, a first braking force is applied to the mechanical joint.

[0025] When the current angle of the mechanical joint exceeds the second safe angle range, a second braking force is applied to the mechanical joint.

[0026] In some ways, the second safe angle range includes the first safe angle range, or the first safe angle range includes the second safe angle range, or the first safe angle range partially includes the second safe angle range.

[0027] In some ways, when the current angle of the mechanical joint exceeds the first safe angle range, applying a first braking force to the mechanical joint specifically includes:

[0028] Detect the current motion value of the mechanical joint;

[0029] If the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, then a first braking force is applied to the mechanical joint until the current motion value of the mechanical joint is within the motion value range.

[0030] In some ways, the current motion value of the mechanical joint is any one of a torque value, a speed value, and an angular speed value.

[0031] In some ways, detect whether the current angle of the mechanical joint exceeds the first safe angle range.

[0032] In some ways, detecting whether the current angle of the mechanical joint exceeds the first safe angle range specifically includes: using a position sensor to detect whether the current angle of the mechanical joint exceeds the first safe angle range, and the position sensor is arranged within the movable angle range of the mechanical joint;

[0033] Determine the first safe angle range based on the first movable angle range of the mechanical joint without triggering the position sensor.

[0034] In some ways, when the current angle of the mechanical joint exceeds the second safe angle range, applying a second braking force to the mechanical joint specifically includes: using a damping module to apply a second braking force to the mechanical joint, and the damping module is arranged within the movable angle range of the mechanical joint;

[0035] Determine the second safe angle range as the second movable angle range of the mechanical joint without touching the damping module.

[0036] The outstanding and beneficial technical effects of the present invention compared with the prior art are:

[0037] (1) During the braking process of the present invention, in the initial stage, only the braking module or the damping module brakes the mechanical joint. In the later stage, the mechanical joint is braked through the combined action of the braking module and the damping module. During the entire braking process, the braking force on the mechanical joint gradually increases, with the characteristics of a slow decrease in the speed of the mechanical joint in the initial stage and a sudden decrease in the speed of the mechanical joint in the later stage. This not only plays a role in limiting and protecting the mechanical joint itself, but also avoids the patient from feeling an obvious sense of impact, and avoids the problem that the mechanical joint exceeds the range of motion of the patient's joint and even causes damage to the patient's joint. Therefore, the present invention has the advantages of step-by-step braking, good buffering effect, high control accuracy, good limiting and protecting effect, and safety.

[0038] (2) In the traditional technology, only software or hardware is used for individual braking. Compared with the traditional technology, the braking module of the present invention is implemented by software control, and the damping module is implemented by a hardware structure. The two are organically combined to achieve the effect of step-by-step braking, overcoming the complexity of traditional software and the problem of inconvenient maintenance, and also overcoming the problems of difficult adjustment of the braking force of traditional mechanical structures and poor braking effect. Moreover, the braking module plays a role in limiting the speed of the mechanical joint, avoiding the problem that the mechanical joint with too high a speed impacts on the damping module and causes the deformation of the damping module to exceed the limit range. Therefore, the present invention also has the advantages of simple and compact structure, convenient adjustment of the braking force, convenient maintenance, and reliable operation. Brief Description of the Drawings

[0039] Figure 1 is a schematic side view of the application of this embodiment of the present invention to a patient;

[0040] Figure 2 is of the present invention Figure 1 circuit structure schematic diagram;

[0041] Figure 3 is a schematic side view of the application of another embodiment of the present invention to a patient;

[0042] Figure 4 is of the present invention Figure 3 circuit structure schematic diagram;

[0043] Figure 5 is a schematic side view of the application of another embodiment of the present invention to a patient;

[0044] Figure 6 is of the present invention Figure 5 circuit structure schematic diagram;

[0045] Figure 7 is a schematic structural diagram of the mechanical joint of the present invention in the reference zero position;

[0046] Figure 8 It is a schematic structural diagram of the mechanical joint of the present invention and creation rotating to the first upper limit position;

[0047] Figure 9 It is a schematic structural diagram of the mechanical joint of the present invention and creation rotating to the first lower limit position;

[0048] Figure 10 It is a schematic structural diagram of the mechanical joint of the present invention and creation rotating to the second upper limit position;

[0049] Figure 11 It is a schematic structural diagram of the mechanical joint of the present invention and creation rotating to the second lower limit position;

[0050] Figures 12a - 12d It is a diagrammatic illustration of the relationship curve between the current angle of the mechanical joint of the present invention and creation in this embodiment and the braking force applied to the mechanical joint;

[0051] Figures 13a - 13d It is a diagrammatic illustration of the relationship curve between the current angle of the mechanical joint of the present invention and creation in another embodiment and the braking force applied to the mechanical joint;

[0052] Figure 14 It is one of the schematic explosion diagrams of the present invention and creation;

[0053] Figure 15 It is the second of the schematic explosion diagrams of the present invention and creation;

[0054] Figure 16 It is the schematic process flow diagram of the present invention and creation;

[0055] In the figure: 1 - first robotic arm, 2 - second component, 3 - first antenna, 4 - second antenna, 5 - first detection module, 6 - second detection module, 7 - braking module, 8 - damping module, 9 - control module, 10 - patient, 11 - first joint head, 12 - first rod segment, 13 - first strap, 21 - second joint head, 22 - second rod segment, 23 - second strap, 31 - first installation segment, 32 - first arc segment, 41 - second installation segment, 42 - second arc segment, 51 - moving contact piece, 81 - elastic damping unit, 82 - base body, 311 - second upper limit surface, 321 - first upper limit surface, 411 - second lower limit surface, 421 - first lower limit surface. Detailed implementation manners

[0056] For the convenience of understanding by those skilled in the art, the present invention and creation will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0057] The present invention provides a limiting device for a rehabilitation robot joint, which can implement all steps in the limiting method for a rehabilitation robot joint provided by the embodiments of the present invention, so as to limit the movement trajectory of a mechanical joint, protect the mechanical joint from damage, and also protect the joints of the patient himself from severe impacts and damages.

[0058] It should be noted that compared with the mechanical joints in traditional industries, the mechanical joints of rehabilitation robots are a device for patients to wear or be dressed in, which assists the movement of the patient's joints to achieve effects such as promoting the patient's rehabilitation and improving the patient's self-care ability. The limiting protection of mechanical joints not only needs to consider protecting the mechanical joints themselves from damage, but also needs to consider protecting the joints of the patient himself from severe impacts and injuries. For example, when a patient has lower limb paralysis, long-term bed rest is likely to cause problems such as lower limb muscle atrophy and joint aging. Let the patient wear or be dressed in this mechanical joint, and the movement of the mechanical joint is assisted by controlling the motor, so as to drive the movement of the patient's lower limbs, especially the movement of the patient's joints, so as to complete the rehabilitation training. In actual use, the mechanical joints of rehabilitation robots have a certain range of movable angles, and the range of movable angles needs to adapt to the range of movable angles of different patients' joints themselves. The range of movable angles of the mechanical joint cannot exceed the range of movable angles of the patient's joint, otherwise it will cause damage to the patient's joint. The movement of the mechanical joint is generally realized by relying on a motor. For the limiting protection of the mechanical joint, if software control is used for braking, the angle of the mechanical joint is measured. When the measured angle of the mechanical joint exceeds the safe range, the motor movement or reverse movement is controlled through the control program, such as stopping the motor, to achieve the purpose of braking. However, the braking of the human joint is completed and controlled by the human muscles, which has slowness and flexibility. The direct braking of a single motor often has suddenness. If the motor imitates the self-braking of the human joint, the control system and software system need to be more complex, but this will undoubtedly greatly increase the cost, such as the accuracy of the electrode and the fine design of the control. If the self-braking of the human joint is not imitated by relying on the control of the motor, and braking is carried out by relying on hardware, such as using a mechanical structure to limit the movement of the mechanical joint, there are greater defects. It can not only imitate the self-braking process of the human joint, but also easily cause irreversible damage to the hardware when the movement speed of the mechanical joint is too large, the product reliability is poor, and the hardware itself has a problem of low angle accuracy in limiting the mechanical joint. Therefore, it is necessary to improve the traditional joint braking to make its braking effect better conform to bionics and be beneficial to the protection of the patient's joints.

[0059] As Figures 1 - 15 shown, the present invention provides a limiting device for a rehabilitation robot joint, including: a mechanical joint, a braking module 7, and a damping module 8. In Figure 1In the case of, Patient 10 is shown as having lower limbs, and a mechanical joint is disposed on the lower limbs of Patient 10.

[0060] In practical applications, the mechanical joint is the most basic unit, including a first member and a second member 2. The first member and the second member 2 can be movably arranged together in a suitable connection manner according to the structure of the human joint. In this embodiment, the first member and the second member 2 are rotatably arranged together and are applied at spherical joint positions such as the ball-and-socket joint, the ellipsoidal joint, and the hip joint of the human body, and the joint surface is a curved surface. In another embodiment, the first member and the second member 2 are slidably arranged together at the plane joint position of the human body, and the joint surface is approximately a plane.

[0061] Among them, the first member is tied to the calf of Patient 10 through a first strap 13, and the second member is tied to the thigh of Patient 13 through a second strap 23. The rotation position of the mechanical joint is aligned with the joint of Patient 13.

[0062] In this embodiment, the angle between the current position of the first member and the reference zero position is determined as the current angle of the mechanical joint. The current angle of the mechanical joint has positive and negative signs to indicate the direction of its movement. The reference zero position of the first member is determined in advance by a person. As Figure 7 shown, it is a schematic structural diagram of the first member in the reference zero position provided by the present invention. At this time, the current angle of the mechanical joint is 0. If the first member rotates clockwise on the second member 2, the current angle of the mechanical joint is positive, and its absolute value gradually increases; if the first member rotates counterclockwise on the second member 2, the current angle of the mechanical joint is negative, and its absolute value gradually increases. In actual use, if the reference zero position of the first member is determined in advance by a person, the angle between the first member at this time and the second member 2 at the reference zero position should be equal to the angle between the two joint heads in the natural state of the human joint.

[0063] The braking module 7 is used to apply a first braking force to the mechanical joint if the current angle of the mechanical joint exceeds the first safety angle range.

[0064] Among them, the first safety angle range refers to a safety value range within the movable angle range of the mechanical joint. If the current angle of the mechanical joint exceeds the first safety angle range, it means that if the mechanical joint continues to move in the current state, the mechanical joint is very likely to be damaged and cause harm to the human joint. The first safety angle range has an upper limit value and a lower limit value. The upper limit value of the first safety angle range is A1, and the lower limit value of the first safety angle range is B1. Among them, A1 > B1.

[0065] In the above, the movable angle range of the mechanical joint refers to the movable angle range of the first component on the second component 2. If the current angle of the mechanical joint exceeds the movable angle range of the mechanical joint, the mechanical joint will be damaged and cause harm to the human joint. During daily use, the angle of the mechanical joint cannot exceed the movable angle range of the mechanical joint. The movable angle range of the mechanical joint also includes an upper limit value and a lower limit value. The upper limit value of the movable angle range of the mechanical joint is A3, and the lower limit value of the movable angle range of the mechanical joint is B3. Among them, A3 > A1 > B1 > B3.

[0066] Among them, the current angle of the mechanical joint exceeding the first safety angle range means that the current angle of the mechanical joint is compared with the first safety angle range. If the current angle of the mechanical joint is greater than the upper limit value of the first safety angle range or the current angle of the mechanical joint is less than the lower limit value of the first safety angle range, it is determined that the current angle of the mechanical joint exceeds the first safety angle range. Therefore, if the current angle of the mechanical joint is within the first safety angle range, the braking module 7 does not apply the first braking force to the mechanical joint, ensuring the flexibility of the mechanical joint and also avoiding overly restricting the movement of the mechanical joint; if the current angle of the mechanical joint exceeds the first safety angle range, the braking module 7 applies the first braking force to the mechanical joint, playing a role of limiting and protecting the mechanical joint.

[0067] Among them, applying the first braking force to the mechanical joint means that the braking module 7 applies the first braking force to the first component to reduce the rotational speed of the first component relative to the first component. The first braking force can be a constant force or a force that gradually increases.

[0068] The braking module 7 is a motor, and the motor is drivingly connected to the first component.

[0069] Specifically, the motor is fixedly arranged on the second component 2, the motor shaft is fixedly arranged on the first component, and the first component and the motor shaft rotate synchronously. The motor can be arranged on the second component 2 by means of bolt fixation, and the motor shaft can also be arranged on the first component by means of bolt fixation. During actual use, if the mechanical joint is within the first safety angle range and also within the second safety angle range, the motor can also apply a driving force to the first component to assist the movement of the patient's joint.

[0070] The damping module 8 is used to apply a second braking force to the mechanical joint if the current angle of the mechanical joint exceeds the second safety angle range.

[0071] Among them, the second safe angle range refers to another safe value range within the movable angle range of the mechanical joint. If the current angle of the mechanical joint exceeds the second safe angle range, it means that if the mechanical joint continues to move in the current state, the mechanical joint is very likely to be damaged and cause harm to the human joint. The second safe angle range of the mechanical joint has a second upper limit value and a second lower limit value. The second upper limit value is A2, and the second lower limit value is B2. Among them, A3 > A2 > B2 > B3.

[0072] Among them, the current angle of the mechanical joint exceeding the second safe angle range means that the current angle of the mechanical joint is compared with the second safe angle range. If the current angle of the mechanical joint is greater than the upper limit value of the second safe angle range or the current angle of the mechanical joint is less than the lower limit value of the second safe angle range, it is determined that the current angle exceeds the second safe angle range. Therefore, when the current angle of the mechanical joint is within the second safe angle range, the damping module 8 does not apply the second braking force to the mechanical joint, ensuring the flexibility of the mechanical joint and avoiding overly restricting the movement of the mechanical joint; when the current angle of the mechanical joint exceeds the second safe angle range, the damping module 8 applies the second braking force to the mechanical joint, playing a role of limiting and protecting the mechanical joint.

[0073] Among them, applying the second braking force to the mechanical joint means that the damping module 8 applies the second braking force to the first component to reduce the rotational speed of the first component relative to the second component 2 until the first component stops on the second component 2. The second braking force can be a constant force or a gradually increasing force. In addition, the second braking force applied by the damping module 8 can be frictional force, fluid resistance, magnetic force, elastic force, etc. The kinetic energy of the first component can be converted into heat energy or the potential energy of the damping module 8, reducing the possible vibration of the first component and having a buffering and shock-absorbing effect.

[0074] The second safe angle range includes the first safe angle range or the first safe angle range includes the second safe angle range or the first safe angle range partially includes the second safe angle range.

[0075] Such as Figures 12a - 12d As shown, in this embodiment, the second safe angle range includes the first safe angle range. When the second safe angle range includes the first safe angle range, the upper limit value of the second safe angle range is not less than the upper limit value of the first safe angle range, that is, A3 > A2 ≥ A1, and the lower limit value of the second safe angle range is not greater than the lower limit value of the first safe angle range, that is, B1 ≥ B2 > B3, then A3 > A2 ≥ A1 > B1 ≥ B2 > B3.

[0076] Among them, Figure 12aIt shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint always exceeds the safe motion value range. Among them, when the current angle of the mechanical joint is between A1 and 0, neither the motor nor the damping module 8 brakes the mechanical joint. When the current angle of the mechanical joint is between A2 and A1, the motor can apply a first braking force to the mechanical joint, and the damping module 8 does not apply a second braking force to the mechanical joint. When the current angle of the mechanical joint is between A3 and A2, the motor and the damping module 8 jointly apply a first braking force and a second braking force to the mechanical joint.

[0077] Among them, Figure 12b It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is braked to within the safe motion value range when the current angle of the mechanical joint is between A1 and A2.

[0078] Among them, Figure 12c It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is braked to within the safe motion value range when the current angle of the mechanical joint is between A2 and A3.

[0079] Among them, Figure 12d It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is always within the safe motion value range.

[0080] As Figures 13a - 13d shown, in another embodiment, the first safety angle range includes the second safety angle range. When the first safety angle range includes the second safety angle range, the upper limit value of the first safety angle range is not less than the upper limit value of the second safety angle range, that is, A3 > A1 ≥ A2, and the lower limit value of the first safety angle range is not greater than the lower limit value of the second safety angle range, that is, B2 ≥ B1 > B3, then A3 > A1 ≥ A2 > B2 ≥ B1 > B3.

[0081] Among them, Figure 13aIt shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint always exceeds the safe motion value range. When the current angle of the mechanical joint is between A2 and 0, neither the motor nor the damping module 8 brakes the mechanical joint. When the current angle of the mechanical joint is between A1 and A2, the damping module 8 can apply a second braking force to the mechanical joint, and the motor does not apply a first braking force to the mechanical joint. When the current angle of the mechanical joint is between A3 and A1, the motor and the damping module 8 jointly apply a first braking force and a second braking force to the mechanical joint. In actual use, when the current angle of the mechanical joint approaches the upper limit value or the lower limit value of the movable angle range of the mechanical joint, the damping module 8 can first apply a second braking force to the mechanical joint, and the motor can then apply a first braking force to the mechanical joint.

[0082] Among them, Figure 13b It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is braked to within the safe motion value range when the current angle of the mechanical joint is between A1 and A3.

[0083] Among them, Figure 13c It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is braked to within the safe motion value range when the current angle of the mechanical joint is between A1 and A2.

[0084] Among them, Figure 13d It shows a diagram of the relationship curve between the current angle of the mechanical joint and the braking force applied to the mechanical joint during the process when the current motion value of the mechanical joint is always within the safe motion value range when the current angle of the mechanical joint is between A1 and A2.

[0085] In another embodiment, there are two situations where the first safety angle range portion includes the second safety angle range. One situation is that the upper limit value of the first safety angle range is greater than the upper limit value of the second safety angle range, and the other situation is that the upper limit value of the first safety angle range is less than the lower limit value of the second safety angle range. For example, when the upper limit value of the first safety angle range is greater than the upper limit value of the second safety angle range, the lower limit value of the first safety angle range is less than the upper limit value of the second safety angle range and greater than the lower limit value of the second safety angle range, that is, A3 > A1 > A2 > B1 > B2 > B3. When the current angle of the mechanical joint is between A1 and A2, the damping module 8 can apply a second braking force to the mechanical joint, and the motor does not apply the first braking force to the mechanical joint. When the current angle of the mechanical joint is between A2 and B1, neither the motor nor the damping module 8 brakes the mechanical joint. When the current angle of the mechanical joint is between B1 and B2, the motor can apply the first braking force to the mechanical joint, and the damping module 8 does not apply the second braking force to the mechanical joint. When the current angle of the mechanical joint is between A3 and A1 or between B2 and B3, the motor and the damping module 8 can apply the first braking force and the second braking force to the mechanical joint. In actual use, when the current angle of the mechanical joint approaches the upper limit value of the movable angle range of the mechanical joint, the damping module 8 can first apply the second braking force to the mechanical joint, and the motor can then also apply the first braking force to the mechanical joint; when the current angle of the mechanical joint approaches the lower limit value of the movable angle range of the mechanical joint, the motor can first apply the first braking force to the mechanical joint, and the damping module 8 can then apply the second braking force to the mechanical joint.

[0086] It further includes a second detection module 6 for detecting the current motion value of the mechanical joint;

[0087] If the current angle of the mechanical joint exceeds the first safety angle range and the current motion value of the mechanical joint exceeds the safe motion value range, the braking module 7 applies the first braking force to the mechanical joint until the current motion value of the mechanical joint is within the safe motion value range.

[0088] Among them, the second detection module 6 detecting the current motion value of the mechanical joint refers to the second detection module 6 detecting the current motion value of the first component on the second component 2. The current motion value of the mechanical joint also has a positive or negative sign to indicate the direction of its motion value. The second detection module 6 can be an encoder.

[0089] Among them, the safe motion value range of the mechanical joint refers to the safe motion value range of the first component rotating on the second component 2 when the current angle of the mechanical joint exceeds the first safe angle range. If the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, it indicates that if the mechanical joint continues to move in the current state, the mechanical joint is very likely to be damaged and cause harm to the human joint.

[0090] Among them, the current motion value of the mechanical joint exceeding the safe motion value range means that the current motion value of the mechanical joint is compared with the safe motion value range. If the current motion value of the mechanical joint is greater than the upper limit value of the safe motion value range or the current motion value of the mechanical joint is less than the lower limit value of the safe motion value range, it is determined that the current motion value of the mechanical joint exceeds the safe motion value range. Therefore, if the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint is within the second safe angle range, the motor does not apply the first braking force to the mechanical joint, ensuring the flexibility of the mechanical joint and also avoiding overly restricting the movement of the mechanical joint; if the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, the motor applies the first braking force to the mechanical joint until the current motion value of the mechanical joint is within the safe motion value range, playing a role of limit protection for the mechanical joint.

[0091] In this embodiment, it further includes a control module 9, and the second detection module 6 is connected to the control module 9. The safe motion value range is pre-set in the control module 9 in a program setting manner.

[0092] Specifically, the control module 9 has a second input pin, and the second detection module 6 is electrically connected to the second input pin of the control module 9. The second detection module 6 converts the currently detected motion value of the mechanical joint into an electrical signal and sends it to the control module 9. The control module 9 compares the currently detected motion value of the mechanical joint with the pre-set safe motion value range. If the current motion value of the mechanical joint exceeds the safe motion value range, the control motor applies the first braking force to the first component.

[0093] The current motion value of the mechanical joint is any one of the torque value, the speed value, and the angular acceleration value. In this embodiment, the current motion value of the mechanical joint is the angular acceleration value. When the mechanical joint operates in the angular acceleration mode and the first member rotates on the second member 2, the second detection module 6 detects the current angular acceleration value of the mechanical joint in real time. In another embodiment, when the mechanical joint operates in the torque mode and the first member rotates on the second member 2, the second detection module 6 detects the current torque value of the mechanical joint in real time. In another embodiment, when the mechanical joint operates in the speed mode and the first member rotates on the second member 2, the second detection module 6 detects the current speed value of the mechanical joint in real time.

[0094] The safe motion value range corresponds to the current motion value of the mechanical joint and is also any one of the safe torque value range, the safe speed value range, and the safe angular acceleration value range. In this embodiment, the current motion value of the mechanical joint is the angular acceleration value, and the safe motion value range is the safe angular acceleration value range.

[0095] It further includes a first detection module 5, and the first detection module 5 is used to detect whether the current angle of the mechanical joint exceeds the first safe angle range.

[0096] Specifically, if the first detection module 5 detects that the current angle of the mechanical joint exceeds the first safe angle range, the motor applies a first braking force to the mechanical joint; if the first detection module 5 detects that the current angle of the mechanical joint is within the first safe angle range, the motor does not apply a first braking force to the mechanical joint.

[0097] In this embodiment, the first detection module 5 is a position sensor, and the position sensor is arranged within the movable range of the mechanical joint;

[0098] The first safe angle range is determined according to the first movable angle range of the mechanical joint on the premise of not triggering the position sensor.

[0099] Wherein, the position sensor is arranged within the movable range of the mechanical joint means that the position sensor is arranged on the rotation path of the first member. When the first member rotates on the second member 2, the first member can trigger the position sensor or move away from the position sensor.

[0100] In another embodiment, the first detection module 5 can also be an encoder. The encoder is used to detect the current angle of the mechanical joint in real time. The encoder converts the current angle of the mechanical joint detected in real time into an electrical signal and sends it to the control module 9. The first safe angle range can be preset in the control module 9 in a programmed manner. The control module 9 detects whether the current angle of the mechanical joint exceeds the first safe angle range by comparing the current angle of the mechanical joint with the preset first safe angle range.

[0101] In this embodiment, the position sensor is connected to the control module 9. Specifically, the control module 9 has a first input pin, and the position sensor is electrically connected to the first input pin. When the first component triggers the position sensor, the position sensor sends a first control instruction to the motor; when the first component does not trigger the position sensor, the position sensor does not send a first control instruction to the control module 9. When the control module 9 receives the first control instruction and the current motion value of the mechanical joint exceeds the safe motion value range, the control module 9 sends a braking instruction to the motor.

[0102] Specifically, the control module 9 is a PID controller. The PID controller is a linear controller, which can effectively improve the stability of the motor control.

[0103] Among them, determining the first safety angle range according to the first movable angle range of the mechanical joint without triggering the position sensor means that the movable angle range of the first component on the second component 2 without triggering the position sensor is determined as the first safety angle range. Specifically, the position sensor is fixedly arranged on the second component 2, and the first safety angle range is determined according to the installation position of the position sensor on the second component 2. When the first component triggers the position sensor, the mechanical joint exceeds the first safety angle range; when the first component does not trigger the position sensor, the mechanical joint is within the first safety angle range.

[0104] There are a pair of position sensors. The pair of position sensors are respectively arranged on the second component 2. When the first component rotates forward, one position sensor can be triggered. When the first component rotates backward, the other position sensor can be triggered.

[0105] Among them, a pair of position sensors are respectively arranged on the second component 2. The position sensors are arranged on the second component 2 by means of bolt connection. The pair of position sensors are independent of each other and do not interfere with each other. One position sensor is used to determine the upper limit value of the first safety angle range, and the other position sensor is used for the lower limit value of the second safety angle range. When the first component just triggers one position sensor, the current angle value of the mechanical joint is equal to the upper limit value of the first safety angle range at this time; when the first component just triggers the other position sensor, the current angle of the mechanical joint is equal to the lower limit value of the first safety angle range at this time. In addition, the installation positions of the two position sensors on the second component 2 can be adjusted separately, so as to adjust the upper limit value or the lower limit value of the first safety angle range separately.

[0106] In this embodiment, a pair of position sensors are symmetrically arranged left and right on the second component 2. When the first component rotates forward, the first component triggers the position sensor on the left; when the first component rotates backward, the first component triggers the position sensor on the right.

[0107] Among them, asFigure 7 As shown, the forward rotation of the first component refers to the first component rotating clockwise on the second component 2. The reverse rotation of the first component refers to the first component rotating counterclockwise on the second component 2. When the first component rotates forward on the second component 2, the first antenna 3 can touch the moving contact piece 51 of the left position sensor and one end of the damping module 8; when the first component rotates backward on the second component 2, the second antenna 4 can touch the moving contact piece 51 of the right position sensor and the other end of the damping module 8.

[0108] Specifically, the first input pins of the control module 9 are in a pair. One position sensor is electrically connected to one of the first input pins of the control module 9, and the other position sensor is electrically connected to the other first input pin of the control module 9. The first control instruction is transmitted to the control module 9 through the first input pin. When the first control instruction is sent to the first input pin, the first input pin presents a high level; when the first control instruction is not sent to the first input pin, the first input pin presents a low level.

[0109] The position sensor has a moving contact piece 51. The moving contact piece 51 is arranged within the movable angle range of the mechanical joint. When the first component touches the moving contact piece 51, the position sensor is triggered; when the first component does not touch the moving contact piece 51, the position sensor is not triggered.

[0110] Among them, the moving contact piece 51 is a metal elastic piece. The moving contact piece 51 has a certain moving stroke on the position sensor, and the moving stroke of the moving contact piece 51 is the detection range of the position sensor. In actual use, the moving stroke of the moving contact piece 51 is adjustable. If the moving stroke of the moving contact piece 51 is adjusted, the first safety angle range is also adjusted.

[0111] As Figure 7 shown, in this embodiment, the damping module 8 is arranged within the movable angle range of the mechanical joint;

[0112] When the mechanical joint touches the damping module 8, the damping module 8 exerts a second braking force on the mechanical joint;

[0113] When the mechanical joint does not touch the damping module 8, the damping module 8 does not exert a second braking force on the mechanical joint;

[0114] The second movable angle range of the mechanical joint without touching the damping module 8 is determined as the second safety angle range.

[0115] Among them, the damping module 8 being arranged within the movable angle range of the mechanical joint means that the damping module 8 is arranged on the rotation path of the first component. Specifically, the damping module 8 is fixedly arranged on the second component 2, and the damping module 8 is arranged on the second component 2 by means of bolt fixation. When the first component rotates on the second component 2, the first component can touch or move away from the damping module 8.

[0116] Among them, when the mechanical joint touches the damping module 8, the damping module 8 exerts a second braking force on the mechanical joint; when the mechanical joint does not touch the damping module 8, the damping module 8 does not exert a second braking force on the mechanical joint. That is to say, the damping module 8 exerts a second braking force on the mechanical joint by means of contact.

[0117] Among them, determining the second movable angle range of the mechanical joint as the second safe angle range without touching the damping module 8 means that the movable angle range of the first component on the second component 2 without touching the damping module 8 is determined as the second safe angle range. Specifically, when the first component just touches one end of the damping module 8, the current angle of the mechanical joint at this time is equal to the upper limit value of the second safe angle range; when the first component just touches the other end of the damping module 8, the current angle of the mechanical joint at this time is equal to the lower limit value of the second safe angle range.

[0118] As Figure 3 and Figure 4 shown, in another embodiment, the damping module 8 may include a magnetic damping unit. The magnetic damping unit is specifically an electromagnet. The damping module 8 with the magnetic damping unit is electrically connected to the control module 9. The second detection module 6 is an encoder and is also used to detect the current angle of the mechanical joint. The second safe angle range can be preset on the control module 9 in a programmed manner. The control module 9 determines whether to control the damping module 8 to exert a second braking force on the mechanical joint by comparing the current angle of the mechanical joint detected by the second detection module 6 with the preset second safe angle range.

[0119] As Figure 5 and Figure 6As shown, in another embodiment, the damping module 8 may include a magnetic damping unit, specifically an electromagnet. The damping module 8 with the magnetic damping unit is electrically connected to the control module 9. The second detection module 6 is an encoder for detecting the current angle and current motion value of the mechanical joint. The first safety angle range, the second safety angle range, and the safe motion value range can be preset on the control module 9 in a programmed manner. The control module 9 can determine whether to control the braking module 7 to apply a first braking force to the mechanical joint by comparing the current angle of the mechanical joint with the preset first safety angle range and comparing the current motion value of the mechanical joint with the preset safe motion value range. It can also determine whether to control the damping module 8 to apply a second braking force to the mechanical joint by comparing the current angle of the mechanical joint with the preset second safety angle range.

[0120] The first component includes a first robotic arm 1, a first antenna 3, and a second antenna 4. The first antenna 3 and the second antenna 4 are respectively detachably arranged on both sides of the first robotic arm 1.

[0121] When the first component rotates forward, the first antenna 3 can trigger the position sensor and touch one end of the damping module 8.

[0122] When the first component rotates backward, the second antenna 4 can trigger the position sensor and touch the other end of the damping module 8.

[0123] Among them, the first robotic arm 1 is used to be fixed at positions such as the human leg and arm, playing a role in supporting the human body. As Figure 7 shown, the first antenna 3 is detachably arranged on the left side of the first robotic arm 1, and the second antenna 4 is detachably arranged on the right side of the first robotic arm 1. The first antenna 3 is used to trigger the position sensor on the left side and touch the left end of the damping module 8, and the second antenna 4 is also used to trigger the position sensor on the right side and touch the right end of the damping module 8.

[0124] Among them, the first antenna 3 and the second antenna 4 are respectively detachably arranged on both sides of the first robotic arm 1 specifically means that the first antenna 3 and the second antenna 4 are respectively detachably arranged on the first robotic arm 1 through bolts. The first antenna 3 and the second antenna 4 are components for limiting positions and have relatively high precision requirements. The detachable structure of the first robotic arm 1, the first antenna 3, and the second antenna 4 facilitates the manufacturing and processing of each component according to different processing requirements, and the structural design is reasonable. In addition, the lesion positions on the joints of different patients are different. By replacing the first antenna 3 and the second antenna 4 with different specifications and sizes, the first safety angle range and the second safety angle range can be adjusted. Therefore, the double-limit protection device of the joint of this rehabilitation robot has the advantages of convenient replacement and wide application range.

[0125] A first upper limit surface 321 and a second upper limit surface 311 are formed on the first antenna 3, and a first lower limit surface 421 and a second lower limit surface 411 are formed on the second antenna 4. The position sensor is disposed on the rotation path where the first upper limit surface 321 and the first lower limit surface 421 are located, and the damping module 8 is disposed on the rotation path where the second upper limit surface 311 and the second lower limit surface 411 are located. The rotation path where the first upper limit surface 321 and the first lower limit surface 421 are located is misaligned with the rotation path where the second upper limit surface 311 and the second lower limit surface 411 are located.

[0126] Wherein, both the first upper limit surface 321 and the second upper limit surface 311 are planes, and both the first lower limit surface 421 and the second lower limit surface 411 are also planes. The first upper limit surface 321 and the first lower limit surface 421 can be in surface contact with the position sensor together, and the second upper limit surface 311 and the second lower limit surface 411 can be in surface contact with the damping module 8 together, improving the response efficiency.

[0127] Wherein, the position sensor is disposed on the rotation path where the first upper limit surface 321 and the first lower limit surface 421 are located means that when the first component rotates forward on the second component 2, the first upper limit surface 321 can touch the moving contact piece 51 of a position sensor; when the first component rotates backward on the second component 2, the first lower limit surface 421 can touch the moving contact piece 51 of another position sensor.

[0128] Wherein, the damping module 8 is disposed on the rotation path where the second upper limit surface 311 and the second lower limit surface 411 are located means that when the first component rotates forward on the second component 2, the second upper limit surface 311 can touch one end of the damping module 8; when the first component rotates backward on the second component 2, the second lower limit surface 411 can touch the other end of the damping module 8.

[0129] Wherein, the rotation path where the first upper limit surface 321 and the first lower limit surface 421 are located is misaligned with the rotation path where the second upper limit surface 311 and the second lower limit surface 411 are located. The first upper limit surface 321 and the second upper limit surface 311 are misaligned and arranged on the first antenna 3, the first lower limit surface 421 and the second lower limit surface 411 are misaligned and arranged on the second antenna 4, and the damping module 8 and the position sensor are also misaligned and arranged on the second component 2, improving the structural compactness.

[0130] The first robotic arm 1 includes a first joint head 11 and a first rod segment 12. The first antenna 3 includes a first mounting segment 31 and a first arc segment 32. The second antenna 4 includes a second mounting segment 41 and a second arc segment 42. The first mounting segment 31 and the second mounting segment 41 are respectively detachably disposed on both sides of the first rod segment 12, and the first arc segment 32 and the second arc segment 42 respectively surround both sides of the first joint head 11.

[0131] Among them, the overall structure of the first joint head 11 is in the shape of a cylindrical barrel, the overall structure of the first rod segment 12 is in the shape of a straight rod, the first rod segment 12 is welded to the side of the first joint head 11, and the first robotic arm 1 resembles bones such as the femur and fibula of the human body, playing a role in bionics. The first joint head 11 is sleeved on the motor shaft and bolted to the motor shaft. The first rod segment 12 can be used to position at locations such as the legs and arms of the human body.

[0132] Among them, the overall structure of the first mounting section 31 is in the shape of a plate, the overall structure of the first arc section 32 is in the shape of an arc-shaped plate, the overall structure of the second mounting section 41 is in the shape of a plate, and the overall structure of the second arc section 42 is in the shape of an arc. The first mounting section 31 and the second mounting section 41 are respectively attached to both sides of the first rod segment 12, and the first arc section 32 and the second arc section 42 are also respectively attached to both sides of the first joint head 11, further improving the compactness of the structure.

[0133] Among them, the first upper limit surface 321 and the second upper limit surface 311 being arranged in a staggered manner on the first antenna 3 means that the first upper limit surface 321 and the second upper limit surface 311 are staggered with each other in the axial direction of the first joint head 11. The first lower limit surface 421 and the second lower limit surface 411 being arranged in a staggered manner on the second antenna 4 means that the first lower limit surface 421 and the second lower limit surface 411 are staggered with each other in the axial direction of the first joint head 11.

[0134] Specifically, the first upper limit surface 321 is formed at the outer end of the first arc section 32, the second upper limit surface 311 is formed on the first mounting section 31, and the first arc section 32 extends outward from the first mounting section 31, so as to realize that the first upper limit surface 321 and the second upper limit surface 311 are arranged in a staggered manner on the first antenna 3. The first lower limit surface 421 is formed at the outer end of the second arc section 42, the second lower limit surface 411 is formed on the second mounting section 41, and the second arc section 42 extends outward from the second mounting section 41, so as to realize that the first lower limit surface 421 and the second lower limit surface 411 are arranged in a staggered manner on the second antenna 4.

[0135] The overall structure of the damping module 8 is in the shape of an arc, and the damping module 8 surrounds the first joint head 11.

[0136] Specifically, the overall structure of the damping module 8 is in the shape of an arc-shaped rod, and the damping module 8 is attached to the side of the first joint head 11, improving the overall compactness of the damping module 8 and the first component.

[0137] Specifically, the damping module 8 can be arranged on the second member 2 by means of bolt fixation and is arranged circumferentially around the first joint head 11. The damping module 8 can adjust the fixed position on the second joint head 21, thereby adjusting the circumferential position on the first joint head 11. Through the above adjustment, the adjustment of the second safety angle range of the mechanical joint can be achieved.

[0138] The second member 2 includes a second joint head 21 and a second rod segment 22. The damping module 8 and the position sensor are respectively and fixedly arranged on the second joint head 21.

[0139] Among them, the overall structure of the second joint head 21 is cylindrical. The second joint head 21 is sleeved on the motor. The overall structure of the second rod segment 22 is straight rod-shaped, and the second rod segment 22 is welded to the side surface of the second joint head 21.

[0140] The damping module 8 includes at least one of a friction damping unit, an elastic damping unit 81, a hydraulic damping unit, and a magnetic damping unit.

[0141] For example, the friction damping unit generates a frictional force on the mechanical joint. The frictional force serves as the second braking force, and the kinetic energy of the first member is converted into heat energy for dissipation. For another example, the magnetic damping unit generates a magnetic force on the mechanical joint. The magnetic force serves as the second braking force. The magnetic damping unit can be an electromagnet, and the movement of the first member is slowed down by the magnetic force to achieve the effect of dissipating the kinetic energy of the mechanical joint. For another example, the hydraulic damping unit can generate a hydraulic pressure on the first member. The hydraulic pressure serves as the second braking force, and the kinetic energy of the mechanical joint is absorbed through the medium flow of the hydraulic damping unit.

[0142] In this embodiment, the damping module 8 includes an elastic damping unit 81. The elastic damping unit 81 generates an elastic force on the mechanical joint. The elastic force serves as the second braking force, and the kinetic energy of the first member can be converted into the potential energy of the elastic damping unit 81, thereby slowing down the movement of the mechanical joint.

[0143] Among them, the elastic damping unit 81 is made of an elastic material. The elastic damping unit 81 utilizes its own characteristic of absorbing energy through deformation to absorb and dissipate the kinetic energy of the mechanical joint. The elastic material can be a polyurethane material. The hardness of the polyurethane is not higher than 85A, which can significantly play a role in buffering and shock absorption.

[0144] In actual use, when the absolute value of the difference between the current angle of the mechanical joint and the second safety angle range is larger, the elastic force of the elastic damping unit 81 on the mechanical joint is also larger, and the second braking force is also larger. If the first member is stationary on the second member 2, the elastic damping unit 81 also exerts a second braking force on the first member. At this time, the second braking force drives the mechanical joint to move within the second safety angle range, and the elastic potential energy of the elastic damping unit 81 is converted into the kinetic energy of the first member.

[0145] Wherein, the absolute value of the difference between the current angle of the mechanical joint and the second safe angle range means that when the current angle of the mechanical joint is greater than the upper limit value of the second safe angle range, it is the absolute value of the difference between the current angle of the mechanical joint and the upper limit value of the second safe angle range; when the current angle of the mechanical joint is less than the lower limit value of the second safe angle range, it is the absolute value of the difference between the current angle of the mechanical joint and the lower limit value of the second safe angle range.

[0146] The damping module 8 further includes a base body 82, and the elastic damping is coated on the base body 82.

[0147] Wherein, the base body 82 is made of metal, which ensures the overall structural strength of the damping module 8. The damping unit is coated on the base body 82 by a rubber coating process. The rubber coating process can be directly wrapping polyurethane soft rubber on the base body 82 or using an injection molding process to coat polyurethane plastic on the base body 82, providing elastic damping on the surface of the base body 82 in all directions.

[0148] Correspondingly, an embodiment of the present invention further provides a limiting method for a rehabilitation robot joint, which is executed by using the limiting device for a rehabilitation robot joint provided in the embodiment of the present invention, and this method is used for the mechanical joint of a rehabilitation robot.

[0149] As Figure 16 shown, it is a schematic flowchart of the steps of an embodiment of the limiting method for a rehabilitation robot joint of the present invention, including:

[0150] S1: When the current angle of the mechanical joint exceeds the first safe angle range, apply a first braking force to the mechanical joint;

[0151] In actual use, a motor is used to apply the first braking force to the mechanical joint, and the control module 9 is used to control the motor.

[0152] S2: When the current angle of the mechanical joint exceeds the second safe angle range, apply a second braking force to the mechanical joint.

[0153] In this embodiment, the second safe angle range includes the first safe angle range or the first safe angle range includes the second safe angle range or the first safe angle range partially includes the second safe angle range.

[0154] In this embodiment, when the current angle of the mechanical joint exceeds the first safe angle range, applying a first braking force to the mechanical joint specifically includes:

[0155] Detect the current motion value of the mechanical joint;

[0156] If the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, then a first braking force is applied to the mechanical joint until the current motion value of the mechanical joint is within the motion value range.

[0157] In actual use, an encoder is used to detect the current motion value of the mechanical joint, and a control module 9 is used to analyze whether the current angle of the mechanical joint exceeds the first safe angle range and whether the current motion value of the mechanical joint exceeds the safe motion value range.

[0158] In this embodiment, the current motion value of the mechanical joint is any one of a torque value, a speed value, and an angular velocity value.

[0159] In this embodiment, it also includes detecting whether the current angle of the mechanical joint exceeds the first safe angle range.

[0160] In this embodiment, detecting whether the current angle of the mechanical joint exceeds the first safe angle range specifically includes: using a position sensor to detect whether the current angle of the mechanical joint exceeds the first safe angle range, and the position sensor is arranged within the movable angle range of the mechanical joint;

[0161] The first safe angle range is determined according to the first movable angle range of the mechanical joint on the premise of not triggering the position sensor.

[0162] When the mechanical joint triggers the position sensor, the current angle of the mechanical joint exceeds the first safe angle range; when the mechanical joint does not trigger the position sensor, the current angle of the mechanical joint is within the first safe angle range.

[0163] In this embodiment, when the current angle of the mechanical joint exceeds the second safe angle range, applying a second braking force to the mechanical joint specifically includes: using a damping module 8 to apply a second braking force to the mechanical joint, and the damping module 8 is arranged within the movable angle range of the mechanical joint;

[0164] The second safe angle range is determined as the second movable angle range of the mechanical joint on the premise of not touching the damping module 8.

[0165] When the first component touches the damping module 8, the current angle of the mechanical joint is within the second safe angle range; when the first component touches the damping module 8, the current angle of the mechanical joint exceeds the second safe angle range.

[0166] In actual use, the damping module 8 includes an elastic damping unit 81, and the elastic damping unit 81 is used to apply a second braking force to the mechanical joint. The elastic damping unit 81 can absorb the kinetic energy of the mechanical joint and convert it into its own elastic potential energy. When the braking of the mechanical joint ends, the elastic potential energy of the elastic damping unit 81 can be converted into the kinetic energy of the mechanical joint, driving the mechanical joint to move within the second safe angle range.

[0167] In summary, during the braking process of the present invention, in the initial stage, only the braking module 7 or the damping module 8 is used to brake the mechanical joint. In the later stage, the mechanical joint is braked through the combined action of the braking module 7 and the damping module 8. During the entire braking process, the braking force on the mechanical joint gradually increases, with the characteristics of a slow decrease in the speed of the mechanical joint in the initial stage and a sudden decrease in the speed of the mechanical joint in the later stage. It not only plays a role in limiting and protecting the mechanical joint itself, but also avoids the patient feeling an obvious sense of impact, and avoids the problem that the mechanical joint exceeds the range of motion of the patient's joint and even causes damage to the patient's joint. Therefore, the present invention has the advantages of step-by-step braking, good buffering effect, high control accuracy, good limiting protection effect, and safety.

[0168] In the present invention, in the traditional technology, only software or hardware is used for separate braking. Compared with the traditional technology, the braking module 7 of the present invention is implemented by means of software control, and the damping module 8 is implemented by means of a hardware structure. The two are organically combined to achieve the effect of step-by-step braking, overcoming the complexity of traditional software and the problem of inconvenient maintenance, and also overcoming the problem that the braking force of traditional mechanical structures is difficult to adjust and the braking effect is poor. In addition, the braking module 7 plays a role in limiting the speed of the mechanical joint, avoiding the problem that the mechanical joint with too high a speed impacts on the damping module 8 and causes the deformation of the damping module 8 to exceed the limit range. Therefore, the present invention also has the advantages of simple and compact structure, convenient adjustment of braking force, convenient maintenance, and reliable operation.

[0169] In the present invention, the first antenna 3 and the second antenna 4 are components for limiting, and have relatively high precision requirements. The detachable structures of the first robotic arm 1, the first antenna 3, and the second antenna 4 facilitate the manufacturing and processing of each component according to different processing requirements, and the structural design is reasonable. In addition, the lesion positions on the joints of different patients are different. By replacing the first antenna 3 and the second antenna 4 with different specifications and sizes, the first safe angle range and the second safe angle range can be adjusted. Therefore, the present invention has the advantages of convenient replacement and wide application range.

[0170] The above embodiments are only the preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A limiting device for a joint of a rehabilitation robot, characterized in that, it includes: a mechanical joint; a braking module for applying a first braking force to the mechanical joint if the current angle of the mechanical joint exceeds the first safe angle range; the braking module is a motor, the upper limit value of the first safe angle range is A1, and the lower limit value is B1; a damping module for applying a second braking force to the mechanical joint if the current angle of the mechanical joint exceeds the second safe angle range; the damping module includes at least one of a friction damping unit, an elastic damping unit, a hydraulic damping unit, and a magnetic damping unit; the upper limit value of the second safe angle range is A2, and the lower limit value is B2; the upper limit value of the movable angle range of the mechanical joint is A3, and the lower limit value of the movable angle range of the mechanical joint is B3; When A3 > A2 ≥ A1 > B1 ≥ B2 > B3, if the current angle of the mechanical joint is between A1 and 0, neither the motor nor the damping module brakes the mechanical joint; if the current angle of the mechanical joint is between A2 and A1, the motor applies a first braking force to the mechanical joint, and the damping module does not apply a second braking force to the mechanical joint; if the current angle of the mechanical joint is between A3 and A2, the motor and the damping module jointly apply a first braking force and a second braking force to the mechanical joint; When A3 > A1 ≥ A2 > B2 ≥ B1 > B3, if the current angle of the mechanical joint is between A2 and 0, neither the motor nor the damping module brakes the mechanical joint; if the current angle of the mechanical joint is between A1 and A2, the damping module applies a second braking force to the mechanical joint, and the motor does not apply a first braking force to the mechanical joint; if the current angle of the mechanical joint is between A3 and A1, the motor and the damping module jointly apply a first braking force and a second braking force to the mechanical joint; When A3 > A1 > A2 > B1 > B2 > B3, if the current angle of the mechanical joint is between A1 and A2, the damping module applies a second braking force to the mechanical joint, and the motor does not apply a first braking force to the mechanical joint; if the current angle of the mechanical joint is between A2 and B1, neither the motor nor the damping module brakes the mechanical joint; if the current angle of the mechanical joint is between B1 and B2, the motor applies a first braking force to the mechanical joint, and the damping module does not apply a second braking force to the mechanical joint; If the current angle of the mechanical joint is between A3 and A1 or between B2 and B3, the motor and the damping module apply a first braking force and a second braking force to the mechanical joint.

2. The limiting device for a joint of a rehabilitation robot according to claim 1, characterized in that, it further includes a second detection module for detecting the current motion value of the mechanical joint; If the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, the braking module applies a first braking force to the mechanical joint until the current motion value of the mechanical joint is within the safe motion value range.

3. The limiting device for a joint of a rehabilitation robot according to claim 2, characterized in that, The current motion value of the mechanical joint is any one of a torque value, a speed value, and an angular velocity value.

4. A limiting device for a joint of a rehabilitation robot according to claim 1, wherein, it further includes a first detection module, and the first detection module is used to detect whether the current angle of the mechanical joint exceeds a first safe angle range.

5. A limiting device for a joint of a rehabilitation robot according to claim 4, wherein, the first detection module is a position sensor, and the position sensor is arranged within the movable range of the mechanical joint; The first safe angle range is determined according to the first movable angle range of the mechanical joint on the premise of not triggering the position sensor.

6. A limiting device for a joint of a rehabilitation robot according to claim 1, wherein, the damping module is arranged within the movable angle range of the mechanical joint; The second safe angle range is determined as the second movable angle range of the mechanical joint on the premise of not touching the damping module.

7. A limiting device for a joint of a rehabilitation robot according to claim 1, wherein, the mechanical joint further includes a second component, and the first component is rotatably arranged on the second component, and the current angle of the mechanical joint is determined according to the included angle between the current position of the first component and the reference zero position.

8. A limiting method for a joint of a rehabilitation robot, wherein, it includes: When the current angle of the mechanical joint exceeds the first safe angle range, a first braking force is applied to the mechanical joint; The first braking force is the force applied by the motor; The upper limit value of the first safe angle range is A1, and the lower limit value is B1; When the current angle of the mechanical joint exceeds the second safe angle range, a second braking force is applied to the mechanical joint; The second braking force is the force applied by the damping module; the damping module includes at least one of a friction damping unit, an elastic damping unit, a hydraulic damping unit, and a magnetic damping unit; the upper limit value of the second safe angle range is A2, and the lower limit value is B2; the upper limit value of the movable angle range of the mechanical joint is A3, and the lower limit value of the movable angle range of the mechanical joint is B3; When A3 > A2 ≥ A1 > B1 ≥ B2 > B3, when the current angle of the mechanical joint is between A1 and 0, neither the motor nor the damping module brakes the mechanical joint; when the current angle of the mechanical joint is between A2 and A1, the motor applies a first braking force to the mechanical joint, and the damping module does not apply a second braking force to the mechanical joint; when the current angle of the mechanical joint is between A3 and A2, the motor and the damping module jointly apply a first braking force and a second braking force to the mechanical joint; When A3 > A1 ≥ A2 > B2 ≥ B1 > B3, if the current angle of the mechanical joint is between A2 and 0, neither the motor nor the damping module brakes the mechanical joint; if the current angle of the mechanical joint is between A1 and A2, the damping module applies a second braking force to the mechanical joint, and the motor does not apply a first braking force to the mechanical joint; if the current angle of the mechanical joint is between A3 and A1, the motor and the damping module jointly apply a first braking force and a second braking force to the mechanical joint. When A3 > A1 > A2 > B1 > B2 > B3, if the current angle of the mechanical joint is between A1 and A2, the damping module applies a second braking force to the mechanical joint, and the motor does not apply a first braking force to the mechanical joint; if the current angle of the mechanical joint is between A2 and B1, neither the motor nor the damping module brakes the mechanical joint; if the current angle of the mechanical joint is between B1 and B2, the motor applies a first braking force to the mechanical joint, and the damping module does not apply a second braking force to the mechanical joint. If the current angle of the mechanical joint is between A3 and A1 or between B2 and B3, the motor and the damping module apply a first braking force and a second braking force to the mechanical joint.

9. A limiting method for a joint of a rehabilitation robot according to claim 8, characterized in that, when the current angle of the mechanical joint exceeds the first safe angle range, applying a first braking force to the mechanical joint specifically includes: detecting the current motion value of the mechanical joint; if the current angle of the mechanical joint exceeds the first safe angle range and the current motion value of the mechanical joint exceeds the safe motion value range, then applying a first braking force to the mechanical joint until the current motion value of the mechanical joint is within the motion value range.

10. A limiting method for a joint of a rehabilitation robot according to claim 9, characterized in that, the current motion value of the mechanical joint is any one of a torque value, a speed value, and an angular velocity value.

11. A limiting method for a joint of a rehabilitation robot according to any one of claims 8 to 10, characterized in that, further comprising: detecting whether the current angle of the mechanical joint exceeds the first safe angle range.

12. A limiting method for a joint of a rehabilitation robot according to claim 11, characterized in that, detecting whether the current angle of the mechanical joint exceeds the first safe angle range specifically includes: using a position sensor to detect whether the current angle of the mechanical joint exceeds the first safe angle range, and the position sensor is arranged within the movable angle range of the mechanical joint; determining the first safe angle range according to the first movable angle range of the mechanical joint on the premise of not triggering the position sensor.

13. A limiting method for a joint of a rehabilitation robot according to claim 8, characterized in that, when the current angle of the mechanical joint exceeds the second safe angle range, applying a second braking force to the mechanical joint specifically includes: using a damping module to apply a second braking force to the mechanical joint, and the damping module is arranged within the movable angle range of the mechanical joint. The second movable angle range of the mechanical joint is determined as the second safety angle range on the premise of not touching the damping module.

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