Upper limb flexible force-controlled rehabilitation robot and force control method thereof

Abstract

The present invention relates to an upper limb flexible force-controlled rehabilitation robot and a force-control method thereof, which comprises a housing, an auxiliary motion device, a connecting piece, a first elastic component, a second elastic component, a position sensor and a handle; the auxiliary motion device comprises a moving component that can be driven by a driving device to move; the connecting piece is slidably arranged on the housing; a first push plate and a second push plate are fixedly arranged on the connecting piece; the handle and the position sensor are both fixedly arranged on the connecting piece; a sensed component is fixedly arranged on the moving component; the first elastic component is arranged between one side of the moving component and the first push plate; the second elastic component is arranged between the other end of the moving component and the second push plate; the connecting piece moves with the movement of the moving component under the action of the first elastic component and the second elastic component. When the present invention is used for hand rehabilitation training, it can monitor the traction force given to the hand by the auxiliary motion device in real time, thereby making automatic adjustments, automatically optimizing the rehabilitation assistance plan, and greatly improving the rehabilitation effect.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation equipment, and in particular to an upper limb flexible force-controlled rehabilitation robot and a force control method thereof. Background Art

[0002] The rehabilitation training of the upper limbs of stroke patients is a special training to help patients recover their upper limb motor ability due to stroke, which helps patients recover their self-care ability. Traditional rehabilitation training often requires one-on-one, face-to-face training with rehabilitation experts. The entire rehabilitation training process is highly dependent on rehabilitation experts. The scarcity of rehabilitation experts is also one of the problems that cannot be solved in the short term in my country's rehabilitation field.

[0003] Based on this, people began to develop relevant rehabilitation training equipment, including upper limb rehabilitation training equipment. Existing upper limb rehabilitation training equipment generally uses a power-assisting device to drive the patient's limbs to participate in exercise. Although the power-assisting device provides assistance for the patient's training, the patient's force is often inconsistent with the output force of the power-assisting device. Therefore, it is impossible to reasonably evaluate how much traction the patient actually needs during the entire training process. At the same time, the slightest carelessness may cause secondary injuries to the patient. At the same time, the output force of the power-assisting device is generally set according to the training mode. The output force is constant or adopts a predetermined change rule according to the training mode. Therefore, the power-assisting device can only provide assistance, but cannot make adaptive changes to the assistance based on the patient's actual participation force.

[0004] Therefore, there is an urgent need to design an upper limb rehabilitation training device that can monitor the actual traction force in real time and can adaptively change the assistance. Summary of the invention

[0005] The first purpose of the present invention is to provide an upper limb flexible force-controlled rehabilitation robot, which can monitor the traction force given to the hand by the auxiliary motion device in real time, so as to make automatic adjustments and automatically optimize the rehabilitation assistance plan, thereby greatly improving the rehabilitation effect.

[0006] The technical solution for achieving the first purpose of the present invention is: the upper limb flexible force-controlled rehabilitation robot in the present invention has a casing, an auxiliary motion device, a connecting piece, a first elastic component, a second elastic component, a position sensor and a handle; the casing is provided with an auxiliary motion device; the auxiliary motion device includes a moving component that can be moved under the drive of a driving device; the connecting piece is slidably arranged on the casing; the connecting piece is fixedly provided with a first push plate and a second push plate; the handle and the position sensor are both fixedly arranged on the connecting piece; the moving component is fixedly provided with a sensed component for cooperating with the position sensor to sense the position change of the moving component; the first elastic component is arranged between one side of the moving component and the first push plate, and changes elastically with the position change between the moving component and the first push plate; the second elastic component is arranged between the other end of the moving component and the second push plate, and changes elastically with the position change between the moving component and the second push plate; the connecting piece moves with the movement of the moving component under the action of the first elastic component and the second elastic component.

[0007] It also includes a control unit, an input unit and an interactive output unit; the input unit is used to select a training mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive device and the position sensor are both electrically connected to the control unit.

[0008] Furthermore, the auxiliary motion device comprises a stepper motor, a screw rod, a screw rod nut and a scribing blade; the stepper motor is a driving device; the screw rod nut is a moving component; the sensed component is a scribing blade; the screw rod is rotatably arranged in a housing; the output end of the stepper motor is transmission-connected to one end of the screw rod through a coupling; the screw rod nut is sleeved on the screw rod and is slidably arranged in the housing along the extension direction of the screw rod; the screw rod nut is matched with the screw rod thread; the screw rod nut is fixed with a scribing blade through a fixing frame; the position sensor is a linear position sensor; the scribing blade is matched with the position sensor; The first elastic component and the second elastic component are respectively the first return spring and the second return spring; the first return spring and the second return spring are both mounted on the screw rod; the first push plate and the second push plate are straddled on the screw rod; the two ends of the first return spring act on one end of the screw rod nut and the first push plate respectively; the two ends of the second return spring act on the other end of the screw rod nut and the second push plate respectively.

[0009] Furthermore, the connecting member comprises a main body; a fork arm is provided at the upper end of the main body, a first installation cavity is formed between the fork arms, and a second installation cavity is provided at the lower end of the main body; The housing comprises a bottom housing and a top housing; A slider is fixedly provided on the connecting member in the first installation cavity; a slide groove through which the fork arm can pass is provided on the top shell; a slide rail is fixedly provided on the top shell and located in the casing; the extension direction of the slide groove and the extension direction of the slide rail are both consistent with the extension direction of the screw rod; the slider is slidably provided on the slide rail; the fork arm is slidably provided in the slide groove, and a cover is fixedly provided on the part of the fork arm passing through the slide groove; the two sides of the cover are fixedly connected to the two arm posts of the fork arm; the cover is located outside the casing; a handle is fixedly provided on the cover; The screw nut, the first return spring and the second return spring are all arranged in the second installation cavity; the second installation cavity is arranged on the screw; the cavity walls at both ends of the second installation cavity arranged on the screw are respectively the first push plate and the second push plate; The lead screw and the stepping motor are both arranged on the bottom shell.

[0010] It also includes a position adjustment component; the position adjustment component includes a fixed base, a first connecting rod and a second connecting rod for fixing on an object; the two ends of the fixed base are rotatably connected to one end of the first connecting rod and one end of the second connecting rod respectively; the other end of the first connecting rod and the other end of the second connecting rod are rotatably connected to the two ends of the casing respectively; the first connecting rod and the second connecting rod are arranged crosswise up and down.

[0011] Further, the two ends of the bottom of the housing are respectively fixed with a lower housing shaft; the two ends of the fixed base are respectively fixed with a base shaft; one end of the first connecting rod is provided with a through first tube body which can be sleeved on the base shaft and can form a rotational fit; the other end of the first connecting rod is provided with a first sleeve which can be sleeved on the lower housing shaft and can form a rotational fit; the bottom of the first sleeve is sealed, and the corresponding lower housing shaft is inserted from the upper end of the first sleeve; One end of the second connecting rod is provided with a through second tube body which can be sleeved on the base rotating shaft and can form a rotational fit; the other end of the second connecting rod is provided with a second sleeve which can be sleeved on the lower shell rotating shaft and can form a rotational fit; the bottom of the second sleeve is sealed, and the corresponding lower shell rotating shaft is inserted from the upper end of the second sleeve; The two base rotating shafts extend from the upper ends of the corresponding first tube body and the second tube body respectively, and the extended ends are provided with locking threads; the extended ends are equipped with locking nuts; the locking nuts are used to lock the rotation angles of the first tube body and the second tube body by cooperating with the locking threads.

[0012] Furthermore, the above-mentioned interactive output unit is a display screen, and the display screen is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

[0013] The second object of the present invention is to provide a force control method using the above-mentioned upper limb flexible force-controlled rehabilitation robot. This method monitors the traction force in real time through a position sensor, so that the output force can be automatically adjusted according to different training modes to achieve better rehabilitation effects.

[0014] The technical solution for achieving the second object of the present invention is: the force control method using the above-mentioned upper limb flexible force-controlled rehabilitation robot in the present invention comprises the following steps: S1. Prepare the upper limb flexible force-controlled rehabilitation robot mentioned above; S2. The training mode is selected through the input unit, and the interactive output unit displays corresponding interactive information; the interactive output unit is a display screen; the interactive information is an interactive game or interactive instruction performed through mobile control; S3. According to the selected training mode, the control unit controls the stepper motor to operate, and the stepper motor drives the lead screw to rotate and drives the entire connecting piece to move; S4, the rehabilitation trainee holds the handle and controls the handle to move back and forth according to the interactive information on the display screen; S5. The control unit calculates the traction force given to the hand of the rehabilitator by the auxiliary exercise device. The specific calculation process is as follows: When there is a phase difference between the handle and the lead screw nut driven by the stepper motor, one of the first return spring and the second return spring is released and the other is compressed; at this time, the relative displacement value of the scribe is sensed by the position sensor, and the relative displacement value is the compression amount of the compressed first return spring or the second return spring. The spring force F is calculated by the compression amount, and the spring force F is the traction force given to the hand of the rehabilitator; spring force F=2*K*X (N); K is the stiffness of the first return spring and the second return spring, in N / mm; X is the relative displacement value of the scribe sensed by the position sensor, in mm; S6. Based on the calculated traction force, the control unit automatically adjusts the output force of the auxiliary motion device according to the training mode.

[0015] The output force of the stepper motor of the auxiliary motion device can be used as a power assist or as a power assist. After being added to the training mode, the types of training modes can be greatly increased. When different training modes are selected, the control unit can adaptively adjust the output force of the auxiliary motion device according to the training mode and the actually calculated traction force.

[0016] The present invention has positive effects: (1) The present invention can monitor the traction force given to the hand by the auxiliary exercise device in real time, thereby making automatic adjustments and automatically optimizing the rehabilitation assistance plan, greatly improving the rehabilitation effect. At the same time, the interactive output unit can make patients feel more involved.

[0017] (2) The auxiliary motion device of the present invention realizes power assistance by driving the handle on the connecting piece through the moving part, and at the same time realizes flexible buffering force in two directions between the moving part and the connecting piece through the first elastic element and the second elastic element, which is not only conducive to improving the hand feel and reducing secondary injuries, but also uses the position sensor to detect the elastic compression of the first elastic element and the second elastic element, thereby indirectly monitoring the actual traction force. The whole structural design is simple and ingenious, with low manufacturing cost and low failure rate in later use.

[0018] (3) In the present invention, only the handle and the cover connected to the handle are exposed outside the casing, and other components are hidden inside the casing, making the overall appearance simple and safe.

[0019] (4) The present invention can adjust the position of the device from the left side to the right side of the patient and hover at any position therebetween through the position adjustment component, and can lock the position through the locking nut to meet the training requirements in different body positions.

[0020] (5) The force control method of the present invention can calculate the actual traction force according to the position sensor, and thus provide assistance or resistance according to the setting requirements of the training mode. In this way, while achieving adaptive adjustment, it can also enrich the rehabilitation training mode and greatly improve the rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1 It is a structural schematic diagram of the upper limb flexible force-controlled rehabilitation robot of the present invention; Figure 2 It is a connection diagram of the auxiliary exercise device, the connecting member, the first elastic component, the second elastic component, the position sensor and the handle in the present invention; Figure 3 is a schematic diagram of the structure of the auxiliary exercise device in the present invention; Figure 4 This is a schematic diagram of the installation of the first elastic component and the second elastic component of the auxiliary exercise device of the present invention; Figure 5 It is a structural schematic diagram of the connecting member in the present invention; Figure 6 for Figure 2 The enlarged schematic diagram of point A in the middle; Figure 7 It is a structural schematic diagram of the position bar adjustment component in the present invention; Figure 8 This is a schematic diagram of the electrical connections of the upper limb flexible force-controlled rehabilitation robot of the present invention.

[0022] In the figure, the casing 1, the bottom casing 1-1, the top casing 1-2, the slide groove 1-3, the lower casing shaft 1-4, the auxiliary motion device 2, the driving device 21, the moving component 22, the sensed component 23, the screw 24, the fixing frame 25, the connecting piece 3, the first push plate 31, the second push plate 32, the fork arm 33, the slider 34, the slide rail 35, the cover 36, the first elastic component 4, the second elastic component 5, the position sensor 6, the handle 7, the control unit 8, the input unit 9, the interactive output unit 10, the position adjustment component 11, the fixed base 111, the first connecting rod 112, the second connecting rod 113, the locking nut 114, the base shaft 111-1, the first tube 112-1, the first sleeve 112-2, the second tube 113-1, and the second sleeve 113-2. DETAILED DESCRIPTION

[0023] See Figures 1 to 8 The upper limb flexible force-controlled rehabilitation robot of the present invention comprises a housing 1, an auxiliary motion device 2, a connecting member 3, a first elastic component 4, a second elastic component 5, a position sensor 6 and a handle 7; the housing 1 is provided with an auxiliary motion device 2; the auxiliary motion device 2 comprises a moving component 22 which can move under the drive of a driving device 21; the connecting member 3 is slidably arranged on the housing 1; a first push plate 31 and a second push plate 32 are fixedly arranged on the connecting member 3; the handle 7 and the position sensor 6 are both fixedly arranged on the connecting member 3; the moving component 22 is fixedly provided with a The sensed component 23 cooperates with the position sensor 6 to sense the position change of the moving component 22; the first elastic component 4 is arranged between one side of the moving component 22 and the first push plate 31, and elastically changes with the position change between the moving component 22 and the first push plate 31; the second elastic component 5 is arranged between the other end of the moving component 22 and the second push plate 32, and elastically changes with the position change between the moving component 22 and the second push plate 32; the connecting member 3 moves with the movement of the moving component 22 under the action of the first elastic component 4 and the second elastic component 5.

[0024] It also includes a control unit 8, an input unit 9 and an interactive output unit 10; the input unit 9 is used to select a training mode; the interactive output unit 10 is used to output interactive information; the input unit 9 and the interactive output unit 10 are both electrically connected to the control unit 8; the drive device 21 and the position sensor 6 are both electrically connected to the control unit 8. The interactive output unit 10 is a display screen, which is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

[0025] Specifically, the auxiliary motion device 2 includes a stepper motor, a screw rod 24, a screw nut and a scribing piece; the stepper motor is a driving device 21; the screw nut is a moving component 22; the sensed component 23 is a scribing piece; the screw rod 24 is rotatably arranged in the housing 1; the output end of the stepper motor is transmission-connected to one end of the screw rod 24 through a coupling; the screw nut is sleeved on the screw rod 24 and is slidingly arranged in the housing 1 along the extension direction of the screw rod 24; the screw nut is threadedly matched with the screw rod 24; the screw nut is fixedly provided with a scribing piece through a fixing frame 25; the position sensor 6 is a linear position sensor; the scribing piece corresponds to the position sensor 6; the position sensor 6 is used to sense the displacement value of the scribing piece, and the specific setting method is the traditional setting method of the linear position sensor for position sensing, so it will not be repeated here, and at the same time, from Figure 6 A specific display was also given.

[0026] The first elastic component 4 and the second elastic component 5 are respectively the first return spring and the second return spring; the first return spring and the second return spring are both mounted on the screw rod 24; the first push plate 31 and the second push plate 32 are straddled on the screw rod 24 (the so-called straddled can also be understood as the first push plate 31 and the second push plate 32 are provided with through holes for the screw rod 24 to pass through); the two ends of the first return spring act on one end of the screw rod nut and the first push plate 31 respectively; the two ends of the second return spring act on the other end of the screw rod nut and the second push plate 32 respectively.

[0027] The connecting member 3 includes a main body; a fork arm 33 is provided at the upper end of the main body, a first installation cavity is formed between the fork arms 33, and a second installation cavity is provided at the lower end of the main body; the housing 1 includes a bottom housing 1-1 and a top housing 1-2; A slider 34 is fixedly provided on the connecting member 3 in the first mounting cavity; a slide groove 1-3 for the fork arm 33 to pass through is provided on the top shell 1-2; a slide rail 35 is fixedly provided on the top shell 1-2 and located in the housing 1; the extension direction of the slide groove 1-3 and the extension direction of the slide rail 35 are both consistent with the extension direction of the screw rod 24; the slider 34 is slidably provided on the slide rail 35; the fork arm 33 is slidably provided in the slide groove 1-3, and a cover 36 is fixedly provided on the part of the fork arm 33 passing through the slide groove 1-3; both sides of the cover 36 are fixedly connected to the two arm posts of the fork arm 33; the cover 36 is located outside the housing 1; a handle 7 is fixedly provided on the cover 36; The screw nut, the first return spring and the second return spring are all arranged in the second installation cavity; the second installation cavity is arranged on the screw 24; the cavity walls at both ends of the second installation cavity arranged on the screw 24 serve as the first push plate 31 and the second push plate 32 respectively; The screw rod 24 and the stepping motor are both arranged on the bottom shell 1 - 1 .

[0028] In this embodiment, the method of driving the scriber is the coordinated transmission of the screw rod 24 and the screw rod nut. Other embodiments can also use the transmission method of gear racks, for example: the output shaft of the stepper motor is connected to the gear transmission, and the gear and the rack transmission cooperate; the rack is slidably arranged in the housing 1, and the rack passes through the connecting piece 3; the rack is provided with a moving part 22, and the moving part 22 can be an action plate, and the action plate is fixedly connected to the rack; the first return spring and the second return spring are also sleeved on the rack as in this embodiment, and the first return spring acts on one end of the action plate and the first push plate 31, and the two ends of the second return spring act on the other end of the action plate and the second push plate 32. At the same time, the scriber is fixedly arranged on the action plate and corresponds to the position sensor 6. Such a design can also realize the flexible drive of this embodiment.

[0029] It also includes a position adjustment component 11; the position adjustment component 11 includes a fixed base 111, a first connecting rod 112 and a second connecting rod 113 for fixing on an object (a table in this embodiment); two ends of the fixed base 111 are rotatably connected to one end of the first connecting rod 112 and one end of the second connecting rod 113 respectively; the other end of the first connecting rod 112 and the other end of the second connecting rod 113 are rotatably connected to two ends of the casing 1 respectively; the first connecting rod 112 and the second connecting rod 113 are arranged in an upper and lower cross arrangement, and in this embodiment, the second connecting rod 113 is located above the first connecting rod 112.

[0030] Specifically, the two ends of the bottom of the housing 1 are respectively fixed with a lower housing shaft 1-4; the two ends of the fixed base 111 are respectively fixed with a base shaft 111-1; one end of the first connecting rod 112 is provided with a through first tube 112-1 that can be sleeved on the base shaft 111-1 and can form a rotational fit; the other end of the first connecting rod 112 is provided with a first sleeve 112-2 that can be sleeved on the lower housing shaft 1-4 and can form a rotational fit; the bottom of the first sleeve 112-2 is sealed, and the corresponding lower housing shaft 1-4 is inserted from the upper end of the first sleeve 112-2; One end of the second connecting rod 113 is provided with a through second tube 113-1 which can be mounted on the base rotating shaft 111-1 and can form a rotational fit; the other end of the second connecting rod 113 is provided with a second sleeve 113-2 which can be mounted on the lower shell rotating shaft 1-4 and can form a rotational fit; the bottom of the second sleeve 113-2 is sealed, and the corresponding lower shell rotating shaft 1-4 is inserted from the upper end of the second sleeve 113-2; The two base rotating shafts 111-1 extend from the upper ends of the corresponding first tube body 112-1 and the second tube body 113-1, respectively, and the extending ends are provided with locking threads; the extending ends are provided with locking nuts 114; the locking nuts 114 are used to lock the rotation angles of the first tube body 112-1 and the second tube body 113-1 by cooperating with the locking threads. That is, the first tube body 112-1 and the second tube body 113-1 are pressed by the locking nuts 114, so that the first tube body 112-1 and the second tube body 113-1 cannot rotate relative to the base rotating shaft 111-1.

[0031] The force control method of the present invention using the upper limb flexible force control rehabilitation robot comprises the following steps: S1. Prepare the upper limb flexible force-controlled rehabilitation robot mentioned above; S2, selecting the training mode through the input unit 9, and the display screen displays the corresponding interactive information; the interactive information is an interactive game performed through mobile control; S3, according to the selected training mode, the control unit 8 controls the stepper motor to operate, the stepper motor drives the screw rod 24 to rotate, and drives the entire connecting member 3 to move; S4, the rehabilitation trainee holds the handle 7 and controls the handle 7 to move back and forth according to the interactive game on the display screen; S5. The control unit 8 calculates the traction force given to the hand of the rehabilitation person by the auxiliary exercise device 2. The specific calculation process is as follows: When there is a phase difference between the handle 7 and the lead screw nut driven by the stepper motor, one of the first return spring and the second return spring is released and the other is compressed; at this time, the relative displacement value of the scribe is sensed by the position sensor 6, and the relative displacement value is the compression amount of the compressed first return spring or the second return spring. The spring force F is calculated by the compression amount, and the spring force F is the traction force given to the hand of the rehabilitator; spring force F=2*K*X (N); K is the stiffness of the first return spring and the second return spring, in N / mm; X is the relative displacement value of the scribe sensed by the position sensor 6, in mm; S6. Based on the calculated traction force, the control unit 8 automatically adjusts the output force of the auxiliary motion device 2 according to the training mode.

[0032] The output force of the stepping motor of the auxiliary motion device 2 can be used as a booster or as a booster. After being added to the training mode, the types of training modes can be greatly increased. When different training modes are selected, the control unit 8 can adaptively adjust the output force of the auxiliary motion device 2 according to the training mode and the actually calculated traction force.

[0033] Specifically, if a certain resistance is required in the selected training mode, the control unit 8 will determine whether the force applied by the patient to the handle 7 is greater than the assisting force of the auxiliary exercise device (determined according to the displacement direction of the slice) based on the position sensor 6, and can calculate the traction force actually applied by the patient. Based on this, the control unit 8 controls the output force of the auxiliary exercise device 2 to achieve the resistance set for the training. Through adaptive adjustment, the resistance can be controlled within a reasonable range.

[0034] If a certain amount of assistance is required in the selected training mode, the control unit 8 will calculate the traction force actually applied by the patient to the handle 7 according to the position sensor 6. If the actual traction force is less than the standard value set in the training mode, the control unit 8 will increase the output force of the auxiliary exercise device 2 appropriately to achieve the assistance set in the training. Through adaptive adjustment, the assistance can be adjusted in real time and controlled within a reasonable range.

[0035] The method monitors the traction force in real time through the position sensor 6, so that the output force can be automatically adjusted according to different training modes to achieve better rehabilitation effects.

[0036] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An upper limb flexible force-controlled rehabilitation robot, characterized in that: It has a casing, an auxiliary motion device, a connecting piece, a first elastic component, a second elastic component, a position sensor and a handle; the casing is provided with an auxiliary motion device; the auxiliary motion device includes a moving component that can move under the drive of a driving device; the connecting piece is slidably arranged on the casing; the connecting piece is fixedly provided with a first push plate and a second push plate; the handle and the position sensor are both fixedly arranged on the connecting piece; the moving component is fixedly provided with a sensed component for cooperating with the position sensor to sense the position change of the moving component; the first elastic component is arranged between one side of the moving component and the first push plate, and changes elastically with the position change between the moving component and the first push plate; the second elastic component is arranged between the other end of the moving component and the second push plate, and changes elastically with the position change between the moving component and the second push plate; the connecting piece moves with the movement of the moving component under the action of the first elastic component and the second elastic component.

2. The upper limb flexible force-controlled rehabilitation robot according to claim 1, characterized in that: It also includes a control unit, an input unit and an interactive output unit; the input unit is used to select a training mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive device and the position sensor are both electrically connected to the control unit.

3. The upper limb flexible force-controlled rehabilitation robot according to claim 1 or 2, characterized in that: The auxiliary motion device comprises a stepper motor, a lead screw, a lead screw nut and a scribing blade; the stepper motor is a driving device; the lead screw nut is a moving component; the sensed component is a scribing blade; the lead screw is rotatably arranged in a housing; the output end of the stepper motor is transmission-connected to one end of the lead screw through a coupling; the lead screw nut is sleeved on the lead screw and is slidably arranged in the housing along the extension direction of the lead screw; the lead screw nut is matched with the lead screw thread; the lead screw nut is fixed with a scribing blade through a fixing frame; the position sensor is a linear position sensor; the scribing blade is matched with the position sensor; The first elastic component and the second elastic component are respectively the first return spring and the second return spring; the first return spring and the second return spring are both mounted on the screw rod; the first push plate and the second push plate are straddled on the screw rod; the two ends of the first return spring act on one end of the screw rod nut and the first push plate respectively; the two ends of the second return spring act on the other end of the screw rod nut and the second push plate respectively.

4. The upper limb flexible force-controlled rehabilitation robot according to claim 3, characterized in that: The connecting piece comprises a main body; a fork arm is provided at the upper end of the main body, a first installation cavity is formed between the fork arms, and a second installation cavity is provided at the lower end of the main body; The housing comprises a bottom housing and a top housing; A slider is fixedly provided on the connecting member in the first installation cavity; a slide groove through which the fork arm can pass is provided on the top shell; a slide rail is fixedly provided on the top shell and located in the casing; the extension direction of the slide groove and the extension direction of the slide rail are both consistent with the extension direction of the screw rod; the slider is slidably provided on the slide rail; the fork arm is slidably provided in the slide groove, and a cover is fixedly provided on the part of the fork arm passing through the slide groove; the two sides of the cover are fixedly connected to the two arm posts of the fork arm; the cover is located outside the casing; a handle is fixedly provided on the cover; The screw nut, the first return spring and the second return spring are all arranged in the second installation cavity; the second installation cavity is arranged on the screw; the cavity walls at both ends of the second installation cavity arranged on the screw are respectively the first push plate and the second push plate; The lead screw and the stepping motor are both arranged on the bottom shell.

5. The upper limb flexible force-controlled rehabilitation robot according to claim 1 or 2, characterized in that: It also includes a position adjustment component; the position adjustment component includes a fixed base, a first connecting rod and a second connecting rod for fixing on an object; the two ends of the fixed base are rotatably connected to one end of the first connecting rod and one end of the second connecting rod respectively; the other end of the first connecting rod and the other end of the second connecting rod are rotatably connected to the two ends of the casing respectively; the first connecting rod and the second connecting rod are arranged crosswise up and down.

6. The upper limb flexible force-controlled rehabilitation robot according to claim 5, characterized in that: The two ends of the bottom of the housing are respectively fixed with a lower housing shaft; the two ends of the fixed base are respectively fixed with a base shaft; one end of the first connecting rod is provided with a through first tube body which can be sleeved on the base shaft and can form a rotational fit; the other end of the first connecting rod is provided with a first sleeve which can be sleeved on the lower housing shaft and can form a rotational fit; the bottom of the first sleeve is sealed, and the corresponding lower housing shaft is inserted from the upper end of the first sleeve; One end of the second connecting rod is provided with a through second tube body which can be mounted on the base rotating shaft and can form a rotational fit; the other end of the second connecting rod is provided with a second sleeve which can be mounted on the lower shell rotating shaft and can form a rotational fit; the bottom of the second sleeve is sealed, and the corresponding lower shell rotating shaft is inserted from the upper end of the second sleeve; The two base rotating shafts extend from the upper ends of the corresponding first tube body and the second tube body respectively, and the extended ends are provided with locking threads; the extended ends are equipped with locking nuts; the locking nuts are used to lock the rotation angles of the first tube body and the second tube body by cooperating with the locking threads.

7. The upper limb flexible force-controlled rehabilitation robot according to claim 2, characterized in that: The interactive output unit is a display screen, and the display screen is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

8. The upper limb flexible force-controlled rehabilitation robot according to claim 3, characterized in that: It also includes a position adjustment component; the position adjustment component includes a fixed base, a first connecting rod and a second connecting rod for fixing on an object; the two ends of the fixed base are rotatably connected to one end of the first connecting rod and one end of the second connecting rod respectively; the other end of the first connecting rod and the other end of the second connecting rod are rotatably connected to the two ends of the casing respectively; the first connecting rod and the second connecting rod are arranged crosswise up and down.

9. The upper limb flexible force-controlled rehabilitation robot according to claim 8, characterized in that: The two ends of the bottom of the housing are respectively fixed with a lower housing shaft; the two ends of the fixed base are respectively fixed with a base shaft; one end of the first connecting rod is provided with a through first tube body which can be sleeved on the base shaft and can form a rotational fit; the other end of the first connecting rod is provided with a first sleeve which can be sleeved on the lower housing shaft and can form a rotational fit; the bottom of the first sleeve is sealed, and the corresponding lower housing shaft is inserted from the upper end of the first sleeve; One end of the second connecting rod is provided with a through second tube body which can be mounted on the base rotating shaft and can form a rotational fit; the other end of the second connecting rod is provided with a second sleeve which can be mounted on the lower shell rotating shaft and can form a rotational fit; the bottom of the second sleeve is sealed, and the corresponding lower shell rotating shaft is inserted from the upper end of the second sleeve; The two base rotating shafts extend from the upper ends of the corresponding first tube body and the second tube body respectively, and the extended ends are provided with locking threads; the extended ends are equipped with locking nuts; the locking nuts are used to lock the rotation angles of the first tube body and the second tube body by cooperating with the locking threads.

10. A force control method using the upper limb flexible force control rehabilitation robot according to claim 3, characterized in that The following steps are involved: S1. Prepare the upper limb flexible force-controlled rehabilitation robot according to claim 3, wherein the upper limb flexible force-controlled rehabilitation robot further comprises a control unit, an input unit and an interactive output unit; the input unit is used to select a rehabilitation mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive device and the position sensor are both electrically connected to the control unit; S2. The training mode is selected through the input unit, and the interactive output unit displays corresponding interactive information; the interactive output unit is a display screen; the interactive information is an interactive game or interactive instruction performed through mobile control; S3. According to the selected training mode, the control unit controls the stepper motor to operate, and the stepper motor drives the lead screw to rotate and drives the entire connecting piece to move; S4, the rehabilitation trainee holds the handle and controls the handle to move back and forth according to the interactive information on the display screen; S5. The control unit calculates the traction force given to the hand of the rehabilitator by the auxiliary exercise device. The specific calculation process is as follows: When there is a phase difference between the handle and the screw nut driven by the stepper motor, one of the first return spring and the second return spring is released and the other is compressed; at this time, the relative displacement value of the scribe is sensed by the position sensor, and the relative displacement value is the compression amount of the compressed first return spring or the second return spring. The spring force F is calculated by the compression amount, and the spring force F is the traction force given to the hand of the rehabilitator; spring force F=2*K*X (N); K is the stiffness of the first return spring and the second return spring, in N / mm; X is the relative displacement value of the scribe sensed by the position sensor, in mm; S6. Based on the calculated traction force, the control unit automatically adjusts the output force of the auxiliary motion device according to the training mode.

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