Parallel high-speed positioning rehabilitation robot and control method thereof

Abstract

The present disclosure relates to a parallel high-speed positioning rehabilitation robot and a control method thereof. The parallel high-speed positioning rehabilitation robot comprises a base, a support column, a transmission assembly and a telescopic positioning assembly. The support column is arranged on the base in a vertical direction. One end of each of the two groups of transmission assemblies is rotationally connected to the end of the support column away from the base, and the transmission assemblies rotate in a horizontal direction along the support column. Each group of transmission assemblies rotationally connects at least two groups of telescopic positioning assemblies. The telescopic positioning assembly comprises two telescopic mechanisms and a positioning ring. One end of the telescopic mechanism is rotationally connected to the transmission assembly, and the other end of the telescopic mechanism is connected to the positioning ring. The present disclosure has the structure composed of the above-mentioned multiple independent parts. Such a distributed structure significantly improves the stability of the robot during work. Moreover, such a parallel structure enables the rehabilitation robot to respond to control instructions more quickly, realizes high-speed and accurate positioning, and has higher efficiency and better effect.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, in particular to a parallel high-speed positioning rehabilitation robot and a control method thereof. BACKGROUND

[0002] The stroke rehabilitation robot can not only provide precise rehabilitation training for patients with central nervous system damage, but also provide rehabilitation physicians with the results of patient rehabilitation training in real time, trace the rehabilitation progress of patients, and evaluate the motor function trend of patients.

[0003] Most of the existing rehabilitation robots are mainly serial robots. Such serial rehabilitation robots have the disadvantage of insufficient precision. When a single instruction is executed, the actual position of the rehabilitation robot may deviate greatly from the expected position, and insufficient precision may result in discounted rehabilitation training effect, or even unnecessary harm to patients. They also have the disadvantage of poor positioning ability. They are usually composed of multiple joints and connecting rods in series. The movement of each joint will affect the position and posture of the subsequent joints. This structure makes it necessary to adjust the angle of each joint in sequence when the rehabilitation robot is positioned, thereby increasing the positioning time and making it impossible to achieve rapid positioning, so that the rehabilitation training of patients cannot complete multiple action sequences in a short time. SUMMARY

[0004] In order to solve the problems existing in the prior art, the present disclosure aims to provide a parallel high-speed positioning rehabilitation robot and a control method thereof. The parallel high-speed positioning rehabilitation robot is composed of a support column, a transmission assembly and a telescopic positioning assembly. This distributed structure significantly improves the stability of the robot during operation. The structure is relatively simple, and the connection and transmission mode between the components are relatively direct, which helps to reduce maintenance difficulty and cost. Moreover, this parallel structure enables the rehabilitation robot to respond to control instructions more quickly, achieving high-speed and precise positioning, which is more efficient and effective for rehabilitation training that requires frequent adjustment of position and posture.

[0005] The parallel high-speed positioning rehabilitation robot according to the present disclosure is used for rehabilitation movement of both arms and includes a base, a support column, a transmission assembly and a telescopic positioning assembly.

[0006] The support column is arranged on the base in the vertical direction, and one end of the support column is connected to the base.

[0007] One end of each of the two groups of transmission assemblies is rotatably connected to the end of the support column away from the base. The two groups of transmission assemblies have a certain included angle in the horizontal direction. The transmission assemblies rotate in the horizontal direction along the support column, so that the included angle between the two groups of transmission assemblies increases or decreases.

[0008] Each of the transmission assemblies is rotatably connected with two sets of the telescopic positioning assemblies, and the two sets of the transmission assemblies correspond to the left arm and the right arm, respectively;

[0009] The telescopic positioning assembly comprises two telescopic mechanisms and a positioning ring, one end of the telescopic mechanism is rotatably connected to the transmission assembly, the other end of the telescopic mechanism is connected to the positioning ring, and the positioning ring moves away from or approaches the transmission assembly by the same distance of the telescopic mechanism.

[0010] Preferably, the telescopic mechanism is rotatably connected to the transmission assembly through a spherical gear, and the telescopic mechanism rotates in the vertical direction through the spherical gear.

[0011] Preferably, the end of the telescopic mechanism connected to the positioning ring is in a spherical structure, both sides of the positioning ring have recessed connecting holes, and the ends of the two telescopic mechanisms with the spherical structure are respectively embedded in the connecting holes on both sides of the positioning ring, and the telescopic mechanisms are telescoped by different distances to make the positioning ring rotate by a certain angle.

[0012] Preferably, the end of the telescopic mechanism close to the transmission assembly is provided with a ventilation hole on the side surface, and the ventilation hole is used for connecting the air pressure assembly.

[0013] Preferably, the telescopic mechanism comprises a first telescopic rod and a second telescopic rod connected in sliding mode, and the first telescopic rod and the second telescopic rod are sequentially arranged from the transmission assembly to the positioning ring.

[0014] The first telescopic rod is in a hollow structure, the end of the first telescopic rod away from the transmission assembly is sleeved with the end of the second telescopic rod away from the positioning ring, and the second telescopic rod telescopes to approach or away from the transmission assembly along the first telescopic rod.

[0015] Preferably, the transmission assembly comprises a first mechanical rod and a second mechanical rod rotatably connected, and the first mechanical rod and the second mechanical rod are sequentially arranged from the support column to the direction away from the support column.

[0016] The lower part of the first mechanical rod and the second mechanical rod is rotatably connected with the telescopic positioning assembly, the telescopic positioning assembly below the first mechanical rod corresponds to the elbow position of the arm, and the telescopic positioning assembly below the second mechanical rod corresponds to the wrist position of the arm.

[0017] Preferably, the parallel high-speed positioning rehabilitation robot further comprises a driving assembly and a control assembly, the control assembly is arranged in the base, and the driving assembly is electrically connected with the control assembly.

[0018] The driving assembly is arranged at the rotating connection between the support column and the transmission assembly, the rotating connection between the transmission assembly and the telescopic mechanism, and the rotating connection between the first mechanical rod and the second mechanical rod.

[0019] Preferably, the length of the first mechanical rod is 300-330 mm.

[0020] The length of the second mechanical rod is 229-253 mm.

[0021] The sum of the height of the base and the support column is 1640-1850 mm.

[0022] The present disclosure also provides a control method of a parallel high-speed positioning rehabilitation robot, which is applied to the parallel high-speed positioning rehabilitation robot as described above and includes the following steps:

[0023] S1, the positioning rings at different positions are respectively tightly buckled at the wrists and elbows of the left and right hands;

[0024] S2, the rehabilitation movement coefficient is calculated, and various parameter values of the arm movement are selected according to the rehabilitation movement coefficient;

[0025] S3, the arms of the two hands simultaneously perform the expansion and contraction movement, the pitching movement and the turning movement.

[0026] Preferably, in the step S2, the calculation of the rehabilitation movement coefficient includes the following steps:

[0027] The rehabilitation movement coefficient is set as K, the straight-line distance L between the positioning ring at the wrist and the positioning ring at the elbow is obtained s , the age A of the user, the health state score H of the user and the rehabilitation stage R of the user, and the rehabilitation movement coefficient K is calculated according to the following formula:

[0028] K=X1*(H*R) / A+X2*[L s *|L min / L max |]+X3*[L s *|(B 1min -B 2min )| / |(B 1max -B 2max )

[0029] |]+X4*[L s *|(C 1min -C 2min )| / |(C 1max -C 2max )|]

[0030] Wherein, L minTheoretical minimum value of expansion and contraction distance; L max Theoretical maximum value of expansion and contraction distance; B 1min Theoretical minimum value of elbow flexion and extension; B 1max Theoretical maximum value of elbow flexion and extension; B 2min Theoretical minimum value of wrist flexion and extension; B 2max Theoretical maximum value of wrist flexion and extension; C 1min Theoretical minimum value of elbow rotation; C 1max Theoretical maximum value of elbow rotation; C 2min Theoretical minimum value of wrist rotation; C 2max Theoretical maximum value of wrist rotation; X1, X2, X3 and X4 are correction factors.

[0031] The parallel high-speed positioning rehabilitation robot and the control method thereof have the following advantages:

[0032] 1. The parallel high-speed positioning rehabilitation robot comprises a base, a support column, a transmission assembly and an extension positioning assembly. The support column is arranged on the base in a vertical direction, and one end of the support column is connected to the base. One end of each of the two groups of transmission assemblies is rotationally connected to the end of the support column away from the base. The two groups of transmission assemblies have a certain included angle in the horizontal direction. The transmission assembly rotates in the horizontal direction along the support column, so that the included angle between the two groups of transmission assemblies increases or decreases. Each group of transmission assemblies rotationally connects at least two groups of extension positioning assemblies, and the two groups of transmission assemblies correspond to the left arm and the right arm, respectively. The extension positioning assembly comprises two extension mechanisms and a positioning ring. One end of the extension mechanism is rotationally connected to the transmission assembly, and the other end of the extension mechanism is connected to the positioning ring. The positioning ring moves away from or approaches the transmission assembly by the same distance through the extension mechanism. The above structure is composed of multiple independent parts of the support column, the transmission assembly and the extension positioning assembly. This distributed structure significantly improves the stability of the robot during work. The structure is relatively simple, and the connection and transmission mode between the components are relatively direct, which helps to reduce the maintenance difficulty and cost. In addition, this parallel structure can make the rehabilitation robot respond to the control instruction faster, realize high-speed and accurate positioning, which has higher efficiency and better effect for rehabilitation training that needs to frequently adjust the position and posture. Compared with the serial rehabilitation robot, the parallel rehabilitation robot can realize rapid positioning, so that the patient's rehabilitation training can complete multiple action sequences in a short time.

[0033] 2. This disclosure discloses a parallel high-speed positioning rehabilitation robot control method, applied to the parallel high-speed positioning rehabilitation robot described above, comprising the following steps: S1, fastening positioning rings at different positions to the wrists and elbows of the left and right hands respectively; S2, calculating rehabilitation motion coefficients and selecting various parameter values ​​for arm movements based on the rehabilitation motion coefficients; S3, simultaneously performing expansion and contraction movements, pitching movements, and rotation movements of both arms. The above method enables the rehabilitation robot to respond to control commands more quickly, achieving high-speed and precise positioning. The rehabilitation robot can accurately execute corresponding operations, which has higher efficiency and better results for rehabilitation training that requires frequent adjustments to position and posture. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a parallel high-speed positioning rehabilitation robot as described in this disclosure;

[0035] Figure 2 This is a schematic diagram of the telescopic positioning component structure of a parallel high-speed positioning rehabilitation robot as described in this disclosure;

[0036] Figure 3 This is a schematic diagram of the spherical gear structure of a parallel high-speed positioning rehabilitation robot as described in this disclosure;

[0037] Figure 4 This is an exploded schematic diagram of the telescopic mechanism of a parallel high-speed positioning rehabilitation robot as described in this disclosure;

[0038] Figure 5 This is a schematic diagram of the assembly of spherical gears and drive components of a parallel high-speed positioning rehabilitation robot as described in this disclosure;

[0039] Figure 6 This is a flowchart of a parallel high-speed positioning rehabilitation robot control method as described in this disclosure.

[0040] Explanation of reference numerals in the attached figures:

[0041] 10-Base;

[0042] 20-Support column;

[0043] 30 - Transmission assembly; 301 - First mechanical rod; 302 - Second mechanical rod;

[0044] 40-Telescopic positioning assembly; 401-Telescopic mechanism; 4011-First telescopic rod; 4012-Second telescopic rod; 402-Positioning ring; 403-Ventilation hole; 404-Sealing ring;

[0045] 50 - Drive components;

[0046] 60-Spherical gear;

[0047] 70 - drive gear. DETAILED DESCRIPTION

[0048] As shown in the drawings, the parallel high-speed positioning rehabilitation robot of the present disclosure is used for rehabilitation movement of two arms, and comprises a base 10, a support column 20, a transmission assembly 30 and a telescopic positioning assembly 40. Figure 1 - Figure 6 As shown in the drawings, the parallel high-speed positioning rehabilitation robot of the present disclosure is used for rehabilitation movement of two arms, and comprises a base 10, a support column 20, a transmission assembly 30 and a telescopic positioning assembly 40.

[0049] The support column 20 is arranged on the base 10 in the vertical direction, and one end of the support column 20 is connected to the base 10.

[0050] One end of each of the two groups of transmission assemblies 30 is rotationally connected to the end of the support column 20 away from the base 10, and the two groups of transmission assemblies 30 have a certain included angle in the horizontal direction, and the transmission assembly 30 rotates in the horizontal direction along the support column 20, so that the included angle between the two groups of transmission assemblies 30 increases or decreases.

[0051] Each group of transmission assemblies 30 rotationally connects at least two groups of telescopic positioning assemblies 40, and the two groups of transmission assemblies 30 correspond to left and right arms, respectively.

[0052] The telescopic positioning assembly 40 comprises two telescopic mechanisms 401 and a positioning ring 402, one end of the telescopic mechanism 401 is rotationally connected to the transmission assembly 30, the other end of the telescopic mechanism 401 is connected to the positioning ring 402, and the positioning ring 402 moves away from or approaches the transmission assembly 30 by the same distance of the telescopic mechanism 401.

[0053] The positioning ring 402 has a ring structure and is used for tightly holding the wrist or elbow of the arm, and one group of transmission assemblies 30 rotationally connects two groups of telescopic positioning assemblies 40, which correspond to the wrist and elbow of the same arm, respectively, and the two groups of transmission assemblies 30 correspond to left and right arms, respectively, and the rotation of the transmission assembly 30 drives the horizontal movement of the arm, i.e., the expansion movement or contraction movement of the arm.

[0054] Further, in the embodiment, the telescopic mechanism 401 is rotationally connected to the transmission assembly 30 through the spherical gear 60, and the telescopic mechanism 401 rotates in the vertical direction through the spherical gear 60; the rotation of the telescopic mechanism 401 in the vertical direction, in combination with the rotation of the transmission assembly 30, can drive the arm to perform the expansion movement or contraction movement in the inclined direction.

[0055] The connection between the telescopic mechanism 401 and the spherical gear 60 adopts key connection.

[0056] The spherical gear 60 has the advantages of strong bearing capacity, high precision, smooth transmission, space saving and universal transmission.

[0057] In other alternative embodiments, the spherical gear 60 can be replaced by other components with the same function, such as a rotating hinge.

[0058] Further, in the embodiment, one end of the telescopic mechanism 401 connected with the positioning ring 402 is in a spherical structure, both sides of the positioning ring 402 have recessed connecting holes, and the two telescopic mechanisms 401 have the spherical structure embedded in the connecting holes on both sides of the positioning ring 402 respectively, and the telescopic mechanisms 401 are telescoped by different distances to make the positioning ring 402 rotate by a certain angle.

[0059] The positioning ring 402 is tightly buckled on the arm, and the telescopic mechanisms 401 of the same set of telescopic positioning assemblies 40 are telescoped by different distances to make the telescopic mechanisms 401 have a height difference, realize the rotation of the positioning ring 402, and further drive the arm to rotate outward or inward along the arm axis, thereby completing the flipping movement of the arm.

[0060] Further, in the embodiment, one end of the telescopic mechanism 401 close to the transmission assembly is provided with an air hole 403 on the side surface, and the air hole 403 is used for connecting the air pressure assembly.

[0061] The air pressure assembly includes an air compressor and an air pipe, and the telescopic mechanism 401 is driven by the air pressure assembly to realize the telescopic movement of the telescopic mechanism 401, different amounts of gas are introduced into the telescopic mechanisms 401 of the same set of telescopic positioning assemblies 40, and the telescopic mechanisms 401 of the same set of telescopic positioning assemblies 40 can be telescoped by different distances to make the telescopic mechanisms 401 have a height difference and realize the rotation of the positioning ring 402.

[0062] Further, in the embodiment, the telescopic mechanism 401 includes a first telescopic rod 4011 and a second telescopic rod 4012 connected in sliding mode, and the first telescopic rod 4011 and the second telescopic rod 4012 are sequentially arranged from the transmission assembly 30 to the positioning ring 402.

[0063] The first telescopic rod 4011 is in a hollow structure, and one end of the first telescopic rod 4011 away from the transmission assembly 30 is sleeved on one end of the second telescopic rod 4012 away from the positioning ring 402, and the second telescopic rod 4012 makes telescopic movement along the first telescopic rod 4011 to approach or move away from the transmission assembly 30.

[0064] A sealing ring 404 is arranged at the connection between the first telescopic rod 4011 and the second telescopic rod 4012 to prevent the gas introduced by the air pressure assembly from leaking, and specifically, the air pressure assembly introduces gas into the first telescopic rod 4011 to generate air pressure transmission, thereby realizing the telescopic movement of the second telescopic rod 4012 along the first telescopic rod 4011 to approach or move away from the transmission assembly 30.

[0065] Further, in the embodiment, the transmission assembly 30 comprises a first mechanical rod 301 and a second mechanical rod 302 rotatably connected, and the first mechanical rod 301 and the second mechanical rod 302 are sequentially arranged from the support column 20 to the direction away from the support column 20.

[0066] The first mechanical rod 301 and the second mechanical rod 302 are rotatably connected with the telescopic positioning assembly below, and the telescopic positioning assembly 40 below the first mechanical rod 301 corresponds to the elbow position of the arm, and the telescopic positioning assembly 40 below the second mechanical rod 302 corresponds to the wrist position of the arm.

[0067] Further, in the embodiment, the parallel high-speed positioning rehabilitation robot further comprises a driving assembly 50 and a control assembly, the control assembly is arranged in the base, and the driving assembly 50 is electrically connected with the control assembly; the driving assembly 50 can select a driving motor, and the control assembly can select a servo controller.

[0068] The driving assembly 50 is arranged at the rotatable connection between the support column 20 and the transmission assembly 30, the rotatable connection between the transmission assembly 30 and the telescopic mechanism 401, and the rotatable connection between the first mechanical rod 301 and the second mechanical rod 302.

[0069] Two groups of driving assemblies 50 are arranged at the rotatable connection between the support column 20 and the transmission assembly 30, one group is arranged in the support column 20, and the other group is arranged outside, and the two groups of transmission assemblies 30 are respectively driven.

[0070] The driving assembly 50 is arranged at the rotatable connection between the transmission assembly 30 and the telescopic mechanism 401 for driving the spherical gear, two groups of driving assemblies are arranged at each spherical gear 60, and are respectively located at the two sides of the spherical gear 60, as shown in the figure, the output end of the driving assembly 50 is connected with the spherical gear 60 through the transmission gear 70 and transmits driving force to drive the rotation of the spherical gear 60, and the two groups of driving assemblies 50 respectively drive the spherical gear 60 to rotate in different directions. Figure 5

[0071] The driving assembly 50 is arranged at the rotatable connection between the first mechanical rod 301 and the second mechanical rod 302.

[0072] Further, in the embodiment, the length of the first mechanical rod 301 is 300-330 mm.

[0073] The length of the second mechanical rod 302 is 229-253 mm; the specific length is selected according to the actual use.

[0074] The sum of the height of the base 10 and the height of the support column 20 is 1640-1850 mm; the specific sum of the height is selected according to the actual use.

[0075] ​In summary, the parallel high-speed positioning rehabilitation robot is composed of a support column, a transmission assembly and a plurality of independent parts of the telescopic positioning assembly. The distributed structure significantly improves the stability of the robot during work. The structure is relatively simple, and the connection and transmission mode between the components are relatively direct, which helps to reduce maintenance difficulty and cost. Moreover, the parallel structure enables the rehabilitation robot to respond to control instructions faster, achieving high-speed and accurate positioning. This has higher efficiency and better effect for rehabilitation training that needs to frequently adjust position and posture. Compared with the serial rehabilitation robot, it can achieve rapid positioning, so that the patient's rehabilitation training can complete multiple action sequences in a short time.

[0076] The present disclosure also proposes a parallel high-speed positioning rehabilitation robot control method applied to the parallel high-speed positioning rehabilitation robot described above, comprising the following steps:

[0077] S1, the positioning rings 402 at different positions are respectively tightly buckled at the wrists and elbows of the left and right hands;

[0078] S2, calculate the rehabilitation movement coefficient, and select various parameter values of the arm movement according to the rehabilitation movement coefficient;

[0079] S3, the two arms simultaneously perform the expansion and contraction movement, the pitching movement and the turning movement of the arms;

[0080] According to the structure of the parallel high-speed positioning rehabilitation robot described above, the expansion and contraction movement, the pitching movement and the turning movement of the arms are specifically implemented as follows:

[0081] The expansion and contraction movement of the arm is realized by rotating the transmission assembly 30, driving the arm to expand outward or contract inward, and driving the movement of the wrist and elbow through the first mechanical rod 301 and the second mechanical rod 302. Further, by rotating the telescopic mechanism 401 in the vertical direction, combined with the rotation of the transmission assembly 30, the arm can be driven to expand or contract in the inclined direction, completing the expansion and contraction movement of the arm.

[0082] The pitching movement of the arm is realized by not rotating the transmission assembly 30. The two telescopic mechanisms 401 of the same set of telescopic positioning assemblies 40 are extended or retracted by the same distance to drive the arm to pitch in the vertical direction. The telescopic positioning assemblies 40 below the first mechanical rod 301 and the second mechanical rod 302 are moved to drive the arm to pitch. Only the telescopic positioning assembly 40 below the second mechanical rod 302 is moved to drive the wrist to pitch. The telescopic positioning assembly 40 is retracted or extended to complete the pitching movement of the arm.

[0083] The turning movement of the arm is not rotated by the transmission assembly 30, two telescopic mechanisms 401 of the same set of telescopic positioning assemblies 40 are telescoped by different distances, so that the two telescopic mechanisms 401 generate a height difference, the rotation of the positioning ring 402 is realized, and then the arm is rotated outward or inward along the arm axis, and the turning movement of the arm is completed.

[0084] The above-mentioned left arm and right arm can move simultaneously or a single arm moves, complete the expansion and contraction movement, the pitching movement and the turning movement of the arm once, and complete a rehabilitation action.

[0085] Further, in the embodiment, in step S2, calculating the rehabilitation movement coefficient includes the following steps:

[0086] The rehabilitation movement coefficient is set as K, the straight-line distance L between the positioning ring 402 at the wrist and the positioning ring 402 at the elbow is obtained s , the age A of the user, the health state score H of the user and the rehabilitation stage R of the user, and the rehabilitation movement coefficient K is calculated according to the following formula:

[0087] K=X1*(H*R) / A+X2*[L s *|L min / L max |]+X3*[L s *|(B 1min -B 2min )| / |(B 1max -B 2max )

[0088] |]+X4*[L s *|(C 1min -C 2min )| / |(C 1max -C 2max )|]

[0089] Wherein, L min is the theoretical minimum value of the expansion and contraction distance; L max is the theoretical maximum value of the expansion and contraction distance; B 1min is the theoretical minimum value of the elbow joint flexion; B 1max is the theoretical maximum value of the elbow joint flexion; B 2min is the theoretical minimum value of the wrist joint flexion; B 2max is the theoretical maximum value of the wrist joint flexion; C 1min is the theoretical minimum value of the elbow joint rotation; C 1max is the theoretical maximum value of the elbow joint rotation; C 2min is the theoretical minimum value of the wrist joint rotation; C 2max is the theoretical maximum value of the wrist joint rotation; X1, X2, X3 and X4 are correction coefficients.

[0090] Examples are as follows:

[0091] L s = 220 mm, A = 60 (years old), H = 80, R = 2 (rehabilitation stage is initial stage 1, middle stage 2, and later stage 3), L min = -48°, L max = 150°, B 1min = 0°, B 1max = 145°, B 2min = -70°, B 2max = 85°, C 1min = -90°, C 1max = 90°, C 2min = -75°, C 2max = 75°, X1 = 0.1, X2 = 0.001, X3 = 0.001, X4 = 0.001;

[0092] K = 0.1 * (80 * 2) / 60 + 0.001 * [220 * |-48° / 150°|] + 0.001 * [220 * | (0° - (-70°)) / | (145° - 85°) |] + 0.001 * [220 * | (-90° - (-75°)) / | (90° - 75°) |] = 0.844 According to the calculated rehabilitation movement coefficient K = 0.844, various parameter values of arm movement are selected again according to the following theoretical rehabilitation movement parameter values:

[0093] The conventional movement range value of expansion and contraction is: (0, 120°);

[0094] The conventional movement range value of elbow flexion and extension is: (0, 110°);

[0095] The conventional movement range value of elbow rotation is: (-75°, 75°);

[0096] The conventional movement range value of wrist flexion and extension is: (-40°, 40°);

[0097] The conventional movement range value of wrist rotation is: (-50°, 50°);

[0098] The parameter values of actual arm movement are obtained by multiplying each movement range value by the rehabilitation movement coefficient K, as follows (the calculation results are rounded off):

[0099] The actual movement range value of expansion and contraction is: (0, 101°);

[0100] The actual movement range value of elbow flexion and extension is: (0, 92°);

[0101] The actual motion range value of elbow joint rotation is (-63°, 63°);

[0102] The actual motion range value of wrist joint flexion and extension is (-33°, 33°);

[0103] The actual motion range value of wrist joint rotation is (-42°, 42°).

[0104] In summary, the control method of the parallel high-speed positioning rehabilitation robot can make the rehabilitation robot respond to the control instruction faster, realize high-speed and accurate positioning, and the rehabilitation robot can accurately perform the corresponding operation. This has higher efficiency and better effect for the rehabilitation training which needs to frequently adjust the position and posture.

[0105] In the description of the present disclosure, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate and imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the protection scope of the present disclosure.

[0106] For those skilled in the art, other various corresponding changes and modifications can be made according to the above described technical solutions and concepts, and all these changes and modifications should belong to the protection scope of the claims of the present disclosure.

Claims

1. A parallel type high-speed positioning rehabilitation robot for rehabilitation exercise of both arms, characterized by, Base (10), support column (20), transmission assembly (30) and telescopic positioning assembly (40) are included. The support column (20) is arranged on the base (10) in the vertical direction, and one end of the support column (20) is connected with the base (10). One end of each of the two groups of transmission assemblies (30) is rotatably connected with the end of the support column (20) away from the base (10), the two groups of transmission assemblies (30) have a certain angle in the horizontal direction, and the transmission assembly (30) rotates in the horizontal direction along the support column (20), so that the angle between the two groups of transmission assemblies (30) increases or decreases. Each group of transmission assemblies (30) is rotatably connected with at least two groups of telescopic positioning assemblies (40), and the two groups of transmission assemblies (30) correspond to left and right arms respectively. The telescopic positioning assembly (40) includes two telescopic mechanisms (401) and a positioning ring (402), one end of the telescopic mechanism (401) is rotatably connected with the transmission assembly (30), the other end of the telescopic mechanism (401) is connected with the positioning ring (402), and the positioning ring (402) moves away from or approaches the transmission assembly (30) by the same distance of the telescopic mechanism (401). The end of the telescopic mechanism (401) connected with the positioning ring (402) is in a spherical structure, both sides of the positioning ring (402) have recessed connecting holes, and the ends of the two telescopic mechanisms (401) with spherical structures are respectively embedded in the connecting holes on both sides of the positioning ring (402), and the telescopic mechanisms (401) are telescoped by different distances to make the positioning ring (402) rotate by a certain angle.

2. The parallel type high-speed positioning rehabilitation robot according to claim 1, characterized in that, The telescopic mechanism (401) is rotatably connected with the transmission assembly (30) through a spherical gear (60), and the telescopic mechanism (401) rotates in the vertical direction through the spherical gear (60).

3. The parallel type high-speed positioning rehabilitation robot according to claim 1, wherein The side surface of the end of the telescopic mechanism (401) close to the transmission assembly is provided with a ventilation hole (403), and the ventilation hole (403) is used for connecting the air pressure assembly.

4. The parallel type high-speed positioning rehabilitation robot according to claim 1, wherein The telescopic mechanism (401) includes a first telescopic rod (4011) and a second telescopic rod (4012) connected in sliding mode, and the first telescopic rod (4011) and the second telescopic rod (4012) are sequentially arranged from the transmission assembly (30) to the positioning ring (402). The first telescopic rod (4011) is in a hollow structure, one end of the first telescopic rod (4011) away from the transmission assembly (30) is sleeved with one end of the second telescopic rod (4012) away from the positioning ring (402), and the second telescopic rod (4012) telescopes to approach or away from the transmission assembly (30) along the first telescopic rod (4011).

5. The parallel kinematic high-speed positioning rehabilitation robot according to claim 1, wherein, The transmission assembly (30) comprises a first mechanical rod (301) and a second mechanical rod (302) rotationally connected, the first mechanical rod (301) and the second mechanical rod (302) are sequentially arranged from the support column (20) to the direction away from the support column (20); The first mechanical rod (301) and the second mechanical rod (302) are rotationally connected with the telescopic positioning assembly below, the telescopic positioning assembly (40) below the first mechanical rod (301) corresponds to the elbow position of the arm, and the telescopic positioning assembly (40) below the second mechanical rod (302) corresponds to the wrist position of the arm.

6. The parallel kinematic high-speed positioning rehabilitation robot according to claim 5, characterized in that, Further comprising a driving assembly (50) and a control assembly, the control assembly is arranged in the base (10), and the driving assembly (50) is electrically connected with the control assembly; The support column (20) and the transmission assembly (30) rotationally connected, the transmission assembly (30) and the telescopic mechanism (401) rotationally connected, and the first mechanical rod (301) and the second mechanical rod (302) rotationally connected are all provided with the driving assembly (50).

7. The parallel kinematic high-speed positioning rehabilitation robot according to claim 5, wherein, The length of the first mechanical rod (301) is 300-330mm; The length of the second mechanical rod (302) is 229-253mm; The sum of the height of the base (10) and the support column (20) is 1640-1850mm.

8. The parallel kinematic high-speed positioning rehabilitation robot according to claim 1, wherein, The process of controlling the parallel high-speed positioning rehabilitation robot to perform rehabilitation training is specifically: After the patient tightly holds the positioning rings (402) of different positions at the wrists and elbows of the left and right hands respectively, the rehabilitation movement coefficient is determined, the rehabilitation movement coefficient is various parameter values used for the patient to simultaneously perform the extension and contraction movement, the pitching movement and the turning movement of the arms.

9. The parallel kinematic high-speed positioning rehabilitation robot according to claim 8, characterized in that, The determination of the rehabilitation movement coefficient comprises the following steps: The rehabilitation exercise coefficient is set as K, and a straight line distance L between a positioning ring located at a wrist and a positioning ring located at an elbow is obtained s , an age A of the user, a health state score H of the user, and a rehabilitation stage R of the user, and the rehabilitation exercise coefficient K is calculated according to the following formula: ， wherein, L min is the theoretical minimum of the expansion and contraction distance; L max is the theoretical maximum of the expansion and contraction distance; B 1min is the theoretical minimum of the elbow joint flexion; B 1max is the theoretical maximum of the elbow joint flexion; B 2min is the theoretical minimum of the wrist joint flexion; B 2max is the theoretical maximum of the wrist joint flexion; C 1min is the theoretical minimum of the elbow joint rotation; C 1max is the theoretical maximum of the elbow joint rotation; C 2min is the theoretical minimum of the wrist joint rotation; C 2max is the theoretical maximum of the wrist joint rotation; X1, X2, X3 and X4 are all correction factors.

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