Rehabilitation robot and control method

Abstract

The invention relates to the technical field of rehabilitation instruments, in particular to a rehabilitation robot and a control method.The rehabilitation robot structurally comprises a support, a connecting arm and a mechanical arm which are connected in sequence, the mechanical arm comprises a toggle joint, a front arm joint and an arm supporting plate which are connected in sequence, the toggle joint is rotationally connected with the front arm joint, and the front arm joint is provided with a detection assembly; the detection assembly is used for detecting the sturdy degree of the front arm of the patient, a balancing weight moving front and back and a driving assembly controlling the balancing weight to move are arranged at the bottom of the arm supporting plate, and when the detection assembly detects that the arm of the patient is thick, the driving assembly controls the balancing weight to move towards the inner end of the arm supporting plate; when the detection assembly detects that the arm of the patient is thin, the driving assembly controls the balancing weight to move towards the outer end of the arm supporting plate, the same patient can have a progressive process in rehabilitation training in the active mode, and the rehabilitation training of different patients in the active mode can be matched with corresponding resistance.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation instruments, and in particular to a rehabilitation robot and a control method thereof. Background Art

[0002] Rehabilitation robots are medical robots that assist the human body in completing limb movements and realizing rehabilitation treatment and nursing functions. They are a combination of industrial robots and medical robots. The research and application of rehabilitation robots involve multiple fields such as rehabilitation medicine, biomechanics, mechanics, electronics, materials science, computer science, and robotics, and have become a research hotspot in the international robotics field.

[0003] For example, a Chinese patent with patent publication number CN111166617B discloses an upper limb movement rehabilitation system, which includes a rehabilitation robot for assisting upper limb movement, a data acquisition unit for collecting electrical signals of healthy hand muscles, and a data processing unit. The rehabilitation robot has a multi-degree-of-freedom robotic arm, which can be used to perform four rehabilitation mode trainings on the damaged upper limb, namely active movement, passive movement, passive "mirror" movement, and active assistance.

[0004] When patients with injured upper limb elbow joints use the rehabilitation robot in the above-mentioned prior art to perform rehabilitation in active movement mode, the resistance mainly comes from the asynchronous motor between the forearm joint and the elbow joint. However, the resistance remains unchanged, which makes it difficult for the same patient to have a gradual process in the rehabilitation training in the active mode, and makes it impossible to match the corresponding resistance in the rehabilitation training in the active mode for different patients. Summary of the invention

[0005] In order to make the rehabilitation training of the same patient in the active mode have a gradual process, and to make the rehabilitation training of different patients in the active mode match the corresponding resistance, the present application provides a rehabilitation robot and a control method.

[0006] In a first aspect, the present invention provides a rehabilitation robot, which adopts the following technical solution:

[0007] A rehabilitation robot comprises a bracket, a connecting arm and a mechanical arm connected in sequence, the mechanical arm comprises a toggle joint, a forearm joint and an arm support plate connected in sequence, the toggle joint is rotatably connected to the forearm joint, the forearm joint is provided with a detection component, the detection component is used to detect the thickness of a patient's forearm, a counterweight block moving back and forth and a driving component controlling the movement of the counterweight block are provided at the bottom of the arm support plate, when the detection component detects that the patient's arm is thicker, the driving component controls the counterweight block to move toward the inner end of the arm support plate, and when the detection component detects that the patient's arm is thinner, the driving component controls the counterweight block to move toward the outer end of the arm support plate.

[0008] Preferably, the forearm section includes two straight rods and a U-shaped rod, the two straight rods are parallel to each other, one end of the two straight rods are rotatably connected to the elbow joint, and the other end is fixedly connected to the open end of the U-shaped rod, and the forearm section is fixedly connected to the arm support plate through the U-shaped rod; the detection component includes a capsule and a pressure sensor, the capsule is hollow inside, the capsule is U-shaped and elastic, the capsule is provided with a first material inlet, and the capsule adjusts the first medium inside it through the first material inlet; the pressure sensor is fixedly arranged on the inner side of the U-shaped rod, the pressure sensor is located between the capsule and the inner side of the U-shaped rod, the pressure sensor is used to detect the pressure feedback from the capsule, the pressure sensor is set with a pressure threshold, and when the pressure sensor detects that the pressure value reaches the pressure threshold, the capsule is controlled to stop feeding.

[0009] Preferably, the driving assembly includes a cylinder body and a telescopic rod, the cylinder body is closer to the outer end of the arm tray relative to the counterweight block, the telescopic rod is telescopically arranged at the inner end of the cylinder body along the length direction of the arm tray, the other end of the telescopic rod is connected to the counterweight block, and the cylinder body is provided with a second material port, and the cylinder body adjusts the second medium inside it through the second material port.

[0010] Preferably, a pipeline is connected between the first material port of the capsule and the second material port of the cylinder, and a pump body is arranged in the pipeline, and the pump body adjusts the amount of the medium in the capsule and the cylinder.

[0011] Preferably, the first medium and the second medium are both gas.

[0012] Preferably, the first medium and the second medium are both liquid.

[0013] Preferably, a handle is provided at the outer end of the arm support plate, a button is provided at the top of the handle, and the button is connected to the pump body signal.

[0014] Preferably, a slide rail is provided at the bottom of the arm support, and the slide rail is arranged along the length direction of the arm support. A slide groove is opened at the top of the counterweight block, and the counterweight block is slidably connected to the slide rail through the slide groove at its top.

[0015] Preferably, movable wheels are provided at four corners of the bottom of the bracket.

[0016] In a second aspect, the present invention provides a control method for a rehabilitation robot, which adopts the following technical solution:

[0017] A control method for a rehabilitation robot comprises the following steps:

[0018] S1: The patient puts his arm into the robotic arm, the patient's elbow joint is located at the elbow joint of the robotic arm, and the forearm is located at the forearm joint of the robotic arm and the arm support plate;

[0019] S2: the pump body pumps the medium of the cylinder body into the capsule body until the value sensed by the pressure sensor reaches the pressure threshold, so that the pump body stops;

[0020] S3: The patient performed hand-raising rehabilitation training to exercise the damaged elbow joint;

[0021] S4: After the rehabilitation training is completed, the pump body pumps the medium in the sac body back into the cylinder body to loosen the patient's arm.

[0022] The beneficial effects of the present invention are:

[0023] 1. For the same patient, as rehabilitation progresses, the atrophied muscles in the patient's forearm will gradually recover, making the forearm gradually thicker. At this time, the robotic arm will increase the effort of swinging the forearm joint, so that the rehabilitation training of the same patient in the active mode will have a gradual process;

[0024] 2. For different patients, the detection component detects the thickness of the patient's forearm, so that different lifting forces can be adapted to different patients when lifting the forearm joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the structure of the rehabilitation robot in an embodiment of the present application;

[0026] Figure 2 is a schematic structural diagram of a robotic arm from a first perspective in an embodiment of the present application;

[0027] Figure 3 It is a structural schematic diagram of the second perspective of the robotic arm in an embodiment of the present application.

[0028] Explanation of the reference numerals in the accompanying drawings: 1. bracket; 2. connecting arm; 3. mechanical arm; 31. elbow joint; 32. forearm joint; 321. straight rod; 322. U-shaped rod; 33. arm support plate; 331. handle; 4. counterweight; 5. capsule; 51. first material port; 6. cylinder body; 61. telescopic rod; 62. second material port; 7. pump body; 8. slide rail; 9. moving wheel. DETAILED DESCRIPTION

[0029] The following will be combined Figure 1-Figure 3 The present invention is further illustrated by the following embodiments.

[0030] This embodiment discloses a rehabilitation robot.

[0031] Reference Figures 1 to 3The rehabilitation robot includes a bracket 1, a connecting arm 2 and a mechanical arm 3 connected in sequence. The multi-degree-of-freedom connection relationship among the bracket 1, the connecting arm 2 and the mechanical arm 3 is a prior art, so it will not be described in detail.

[0032] Reference Figures 1 to 3 The robotic arm 3 includes a toggle joint 31, a forearm joint 32 and an arm support plate 33 which are connected in sequence. The toggle joint 31 is rotationally connected to the forearm joint 32. An asynchronous motor is provided at the rotational connection between the toggle joint 31 and the forearm joint 32. The asynchronous motor is used to control the swing of the patient's forearm in a passive mode and to provide a constant swing resistance for the patient's forearm in an active mode. The forearm joint 32 and the arm support plate 33 are fixedly connected in a straight line direction.

[0033] Reference Figures 1 to 3 The forearm section 32 is provided with a detection component, which is used to detect the thickness of the patient's forearm. The bottom of the arm support plate 33 is provided with a counterweight block 4 that can move forward and backward along the length direction of the arm and a driving component that controls the movement of the counterweight block 4. When the detection component detects that the patient's arm is thicker, the driving component controls the counterweight block 4 to move toward the inner end of the arm support plate 33, shortening the force arm for lifting the counterweight block 4, making it more laborious when swinging the forearm section 32. When the detection component detects that the patient's arm is thinner, the driving component controls the counterweight block 4 to move toward the outer end of the arm support plate 33, extending the force arm for lifting the counterweight block 4, making it more labor-saving when swinging the forearm. The advantage of the above arrangement is that when the active mode of the rehabilitation robot of the present invention is used to rehabilitate an injured elbow joint, on the one hand, for the same patient, as the rehabilitation progresses, the atrophied muscles of the patient's forearm will gradually recover, making the forearm gradually thicker. At this time, the mechanical arm 3 will increase the effort of swinging the forearm section 32, so that the rehabilitation training of the same patient in the active mode has a gradual process; on the other hand, for different patients, by detecting the thickness of the patient's forearm through the detection component, different lifting forces can be adapted for different patients when lifting the forearm section 32. In summary, the rehabilitation robot of the present invention can make the rehabilitation training of the same patient in the active mode have a gradual process, and can match the corresponding resistance for the rehabilitation training of different patients in the active mode.

[0034] Reference Figures 1 to 3The forearm section 32 includes two straight rods 321 and a U-shaped rod 322. The two straight rods 321 are parallel to each other. One end of the two straight rods 321 is rotatably connected to the elbow section 31, and the other end is fixedly connected to the open end of the U-shaped rod 322. The forearm section 32 is fixedly connected to the arm support plate 33 through the U-shaped rod 322. The detection component includes a capsule 5 and a pressure sensor. The capsule 5 is hollow inside. The capsule 5 is U-shaped and elastic. The capsule 5 is provided with a first material port 51. The capsule 5 adjusts the first medium inside the capsule 5 through the first material port 51. When the first medium inside the capsule 5 increases, the volume of the capsule 5 will increase. When the first medium inside the capsule 5 decreases, the volume of the capsule 5 will decrease. The capsule 5 is fixedly arranged on the inner side of the U-shaped rod 322. The pressure sensor is fixedly arranged on the inner side of the U-shaped rod 322. The pressure sensor is located between the capsule 5 and the inner side of the U-shaped rod 322. The pressure sensor is used to detect the pressure fed back by the capsule 5. The pressure sensor is set with a pressure threshold. When the pressure sensor detects that the pressure value reaches the pressure threshold, the capsule 5 is controlled to stop feeding. At this time, the thicker the patient's forearm, the faster the pressure sensor reaches the pressure threshold, and the less the amount of the first medium inside the capsule 5. The thinner the patient's forearm, the slower the pressure sensor reaches the pressure threshold, and the more the amount of the first medium inside the capsule 5. Therefore, by setting the capsule 5 and the pressure sensor, in addition to using the capsule 5 to squeeze the patient's forearm, thereby improving the patient's stability when using the mechanical arm 3, the thickness of the patient's forearm can also be judged by the amount of the first medium inside the capsule 5, thereby achieving the expected detection effect.

[0035] Reference Figures 1 to 3 The driving assembly includes a cylinder 6 and a telescopic rod 61. The cylinder 6 is closer to the outer end of the arm tray than the counterweight 4. The telescopic rod 61 is telescopically arranged at the inner end of the cylinder 6 along the length direction of the arm support plate 33. The other end of the telescopic rod 61 is connected to the counterweight 4. The cylinder 6 is provided with a second material port 62. The cylinder 6 adjusts the second medium inside the cylinder 6 through the second material port 62. When the second medium inside the cylinder 6 increases, the telescopic rod 61 extends and controls the counterweight 4 to move toward the inner end of the arm support plate 33, shortening the force arm of the forearm section 32 to lift the counterweight 4. When the second medium inside the cylinder 6 decreases, the telescopic rod 61 contracts and controls the counterweight 4 to move toward the outer end of the arm support plate 33, extending the force of the forearm section 32 to lift the counterweight 4. In this process, the telescopic action of the telescopic rod 61 is adjusted according to the detection result of the forearm section 32 detection component, so as to provide different forces to lift the forearm section 32 according to the thickness of the patient's forearm.

[0036] Reference Figures 1 to 3In order to improve the response speed between the detection component and the driving component of the counterweight 4, the present invention further makes the following improvements. A pipeline (not shown in the figure) is connected between the first material port 51 of the capsule 5 and the second material port 62 of the cylinder 6, and the first medium and the second medium are the same medium. In this embodiment, the first medium and the second medium are both gas. A pump body 7 is provided in the pipeline, and the pump body 7 adjusts the amount of gas in the capsule 5 and the cylinder 6, that is, when the amount of gas in the capsule 5 increases, the amount of gas in the cylinder 6 decreases, and when the amount of gas in the capsule 5 decreases, the amount of gas in the cylinder 6 increases, so that when the patient's arm is thicker, the counterweight 4 is closer to the inner end of the arm support plate 33 to shorten the effect of the force arm of lifting the counterweight 4, and it is more laborious to lift it, and when the patient's arm is thinner, the counterweight 4 is closer to the outer end of the arm support plate 33 to extend the effect of the force arm of lifting the counterweight 4, and it is more laborious to lift it. Since the amount of gas in the capsule 5 and the amount of gas in the cylinder 6 increase and decrease in this process, the response speed between the detection component and the driving component of the counterweight 4 can be effectively improved. In other embodiments, the first medium and the second medium can also be liquids, which can be selected according to actual conditions.

[0037] Reference Figures 1 to 3 A slide rail 8 is provided at the bottom of the arm support plate 33, and the slide rail 8 is arranged along the length direction of the arm support plate 33. A slide groove is provided at the top of the counterweight block 4, and the counterweight block 4 is slidably connected to the slide rail 8 through the slide groove at the top thereof, thereby realizing the sliding setting at the bottom of the arm support plate 33. In this embodiment, the slide rail 8 is an I-shaped slide rail 8 to achieve a better guiding effect. Furthermore, a handle 331 is provided at the outer end of the arm support plate 33 for the patient to hold when using the mechanical arm 3 of the rehabilitation robot. A button is provided at the top of the handle 331, and the button is connected to the pump body 7 signal, so that the patient can control the pump body 7 to work by operating the button when holding the handle 331, thereby quickly adjusting the amount of gas between the capsule 5 and the cylinder 6.

[0038] Reference Figures 1 to 3 The bottom of the bracket 1 is also provided with moving wheels 9 at four corners to improve the mobility of the rehabilitation robot.

[0039] This embodiment also discloses a control method for a rehabilitation robot.

[0040] Reference Figures 1 to 3 , the control method of the rehabilitation robot comprises the following steps:

[0041] S1: The patient puts his arm into the robot arm 3, the patient's elbow joint is located at the elbow joint 31 of the robot arm 3, the forearm is located on the forearm joint 32 of the robot arm 3 and the arm support plate 33, and the palm of the patient holds the grip 331 of the arm support plate 33;

[0042] S2: The patient presses a button to start the pump 7, and the pump 7 pumps the gas in the cylinder 6 into the capsule 5 until the value sensed by the pressure sensor reaches the pressure threshold, causing the pump 7 to stop;

[0043] S3: The patient performed hand-raising rehabilitation training to exercise the damaged elbow joint;

[0044] S4: After the rehabilitation training is finished, the patient presses the button again to start the pump body 7, and the pump body 7 pumps the gas in the capsule 5 back into the cylinder 6 to loosen the patient's arm. The above are all preferred embodiments of the present invention, and the protection scope of this application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A rehabilitation robot, characterized in that: The invention comprises a bracket (1), a connecting arm (2) and a mechanical arm (3) which are connected in sequence, wherein the mechanical arm (3) comprises a toggle (31), a forearm section (32) and an arm support plate (33) which are connected in sequence, wherein the toggle (31) is rotatably connected to the forearm section (32), the forearm section (32) is provided with a detection component, and the detection component is used to detect the thickness of the patient's forearm. A counterweight (4) which moves forward and backward and a driving component which controls the movement of the counterweight (4) are provided at the bottom of the arm support plate (33); when the detection component detects that the patient's arm is thick, the driving component controls the counterweight (4) to move toward the inner end of the arm support plate (33); and when the detection component detects that the patient's arm is thin, the driving component controls the counterweight (4) to move toward the outer end of the arm support plate (33).

2. A rehabilitation robot according to claim 1, characterized in that: The forearm section (32) comprises two straight rods (321) and a U-shaped rod (322), the two straight rods (321) are parallel to each other, one end of the two straight rods (321) is rotatably connected to the elbow section (31), and the other end is fixedly connected to the open end of the U-shaped rod (322), and the forearm section (32) is fixedly connected to the arm support plate (33) through the U-shaped rod (322); the detection component comprises a capsule (5) and a pressure sensor, the capsule (5) is hollow inside, and the capsule (5) is U-shaped and elastic. The capsule (5) is provided with a first material port (51), and the capsule (5) adjusts the first medium inside it through the first material port (51); the pressure sensor is fixedly arranged on the inner side surface of the U-shaped rod (322), and the pressure sensor is located between the capsule (5) and the inner side surface of the U-shaped rod (322). The pressure sensor is used to detect the pressure fed back by the capsule (5), and the pressure sensor is set with a pressure threshold. When the pressure sensor detects that the pressure value reaches the pressure threshold, the capsule (5) is controlled to stop feeding.

3. A rehabilitation robot according to claim 2, characterized in that: The driving assembly comprises a cylinder body (6) and a telescopic rod (61); the cylinder body (6) is closer to the outer end of the arm tray than the counterweight (4); the telescopic rod (61) is telescopically arranged at the inner end of the cylinder body (6) along the length direction of the arm support plate (33); the other end of the telescopic rod (61) is connected to the counterweight (4); the cylinder body (6) is provided with a second material port (62); and the cylinder body (6) adjusts the second medium inside the cylinder body through the second material port (62).

4. A rehabilitation robot according to claim 3, characterized in that: A pipeline is connected between the first material port (51) of the capsule (5) and the second material port (62) of the cylinder (6), and a pump body (7) is arranged in the pipeline. The pump body (7) adjusts the amount of the medium in the capsule (5) and the cylinder (6).

5. A rehabilitation robot according to claim 4, characterized in that: The first medium and the second medium are both gases.

6. A rehabilitation robot according to claim 4, characterized in that: The first medium and the second medium are both liquid.

7. A rehabilitation robot according to claim 4, characterized in that: The outer end of the arm support plate (33) is provided with a handle (331), and the top of the handle (331) is provided with a button, and the button is connected to the pump body (7) by signal.

8. A rehabilitation robot according to claim 4, characterized in that: A slide rail (8) is provided at the bottom of the arm support plate (33), and the slide rail (8) is arranged along the length direction of the arm support plate (33). A slide groove is provided at the top of the counterweight block (4), and the counterweight block (4) is slidably connected to the slide rail (8) through the slide groove at the top thereof.

9. The rehabilitation robot according to claim 1, characterized in that: The bottom of the bracket (1) is provided with moving wheels (9) at four corners.

10. A control method for a rehabilitation robot as claimed in claim 4, characterized in that: The following steps are involved: S1: The patient places his arm into the robotic arm (3), the patient's elbow joint is located at the elbow joint (31) of the robotic arm (3), and the forearm is located on the forearm joint (32) of the robotic arm (3) and the arm support plate (33); S2: the pump body (7) pumps the medium of the cylinder body (6) into the capsule (5) until the value sensed by the pressure sensor reaches a pressure threshold, causing the pump body (7) to stop; S3: The patient performed hand-raising rehabilitation training to exercise the damaged elbow joint; S4: After the rehabilitation training is completed, the pump body (7) pumps the medium in the capsule (5) back into the cylinder body (6) to loosen the patient's arm.

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