Rehabilitation robot and control method

Abstract

The present invention relates to the technical field of rehabilitation instruments, and more specifically, it relates to a rehabilitation robot and a control method. The structure includes a bracket, a connecting arm and a mechanical arm connected in sequence. The mechanical arm includes an elbow joint, a forearm joint and an arm support plate connected in sequence. The elbow joint and the forearm joint are rotatably connected. The forearm joint 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 is provided with a counterweight block that moves back and forth and a driving component that controls the movement of the counterweight block. 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. 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. The present invention can enable the rehabilitation training of the same patient in the active mode to have a step-by-step process, and can match the corresponding resistance for the rehabilitation training of different patients in the active mode.

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 with limb movements, providing rehabilitation therapy and nursing care. They are a combination of industrial and medical robots. The research and application of rehabilitation robots span multiple fields, including 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 the muscles of the healthy hand, 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 injured upper limb: active movement, passive movement, passive "mirror" movement, and active assistance.

[0004] When patients with upper limb elbow joint injuries use the rehabilitation robot in the above-mentioned prior art to perform rehabilitation in the active movement mode, the resistance mainly comes from the asynchronous motor between the forearm segment and the elbow joint. However, this 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 match the corresponding resistance of the rehabilitation training of different patients in the active mode, 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 and the forearm joint are rotatably connected, the forearm joint is provided with a detection component, the detection component is used to detect the thickness of the patient's forearm, the bottom of the arm support plate is provided with a counterweight block that moves back and forth and a driving component that controls the movement of the counterweight block, 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, 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 is 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 port, and the capsule adjusts the first medium inside it through the first material port; the pressure sensor is fixedly provided 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, 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 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 support plate, 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 provided in the pipeline, and the pump body adjusts the amount of the medium in the capsule and the cylinder body.

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

[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 plate, and the slide rail is arranged along the length direction of the arm support plate. A slide groove is provided 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 places his arm into the robotic arm, with the patient's elbow joint located at the elbow joint of the robotic arm, and the forearm 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 bladder body until the value sensed by the pressure sensor reaches the pressure threshold, causing the pump body to stop;

[0020] S3: The patient performs hand-raising rehabilitation exercises 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 required to swing the forearm segment, thus allowing the same patient to have a gradual process of rehabilitation training in the active mode;

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

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

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

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

[0028] Explanation of the accompanying drawings: 1. Bracket; 2. Connecting arm; 3. Robotic arm; 31. Elbow joint; 32. Forearm joint; 321. Straight rod; 322. U-shaped rod; 33. Arm support plate; 331. Handle; 4. Counterweight; 5. Bag body; 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 described with reference to the accompanying drawings and examples.

[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 robotic arm 3 connected in sequence. The multi-degree-of-freedom connection relationship between the bracket 1, the connecting arm 2 and the robotic arm 3 is an existing technology, 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 connected in sequence. The toggle joint 31 and the forearm joint 32 are rotationally connected. 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 patient's forearm swing in passive mode, and is also used to provide a constant swing resistance for the patient's forearm in 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 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 rehabilitation progresses, the atrophied muscles in the patient's forearm will gradually recover, causing the forearm to gradually become thicker. At this time, the robotic arm 3 will increase the effort required to swing the forearm segment 32, thereby allowing the same patient to have a gradual and orderly process of rehabilitation training in the active mode. 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 segment 32. In summary, the rehabilitation robot of the present invention can allow the same patient to have a gradual and orderly process of rehabilitation training in the active mode, and can match the corresponding resistance for rehabilitation training in the active mode for different patients.

[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, U-shaped and elastic. The capsule 5 is provided with a first material port 51. The capsule 5 adjusts the first medium inside it 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 provided on the inner side of the U-shaped rod 322. The pressure sensor is fixedly mounted 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 feedback from the capsule 5. The pressure sensor is set with a pressure threshold. When the pressure sensor detects that the pressure value has reached 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 providing 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 robotic arm 3, the thickness of the patient's forearm can also be judged by the amount of the first medium inside the capsule 5, achieving the desired detection effect.

[0035] Reference Figures 1 to 3 The drive 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 it 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 lifting 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 lifting the counterweight 4. In this process, the telescopic action of the telescopic rod 61 is adjusted according to the detection results of the forearm section 32 detection component to provide different forces for lifting 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. The first medium and the second medium are similar media. 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. When the amount of gas in the capsule 5 decreases, the amount of gas in the cylinder 6 increases. This allows the counterweight 4 to be closer to the inner end of the arm support 33 when the patient's arm is thicker, so as to shorten the effect of the lever arm for lifting the counterweight 4, making it more laborious to lift. When the patient's arm is thinner, the counterweight 4 is closer to the outer end of the arm support 33 to extend the effect of the lever arm for lifting the counterweight 4, making it more laborious to lift. Since the amount of gas in the capsule 5 and the amount of gas in the cylinder 6 increase and decrease with each other during 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 provided along the length direction of the arm support plate 33. A slide groove is provided on the top of the counterweight block 4, and the counterweight block 4 is slidably connected to the slide rail 8 through the slide groove on its top, thereby realizing a 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 on 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 the 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 includes the following steps:

[0041] S1: The patient places his / her arm in the robotic arm 3, with the patient's elbow joint located at the elbow joint 31 of the robotic arm 3, the patient's forearm located on the forearm joint 32 of the robotic arm 3 and the arm support plate 33, and the patient's palm grips the handle 331 of the arm support plate 33;

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

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

[0044] S4: After the rehabilitation training is completed, the patient presses the button again to activate the pump 7, which pumps the gas in the bladder 5 back into the cylinder 6 to release the patient's arm. The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of this application. Therefore, any equivalent changes made based on the structure, shape, and principle of this application shall be covered by the scope of protection 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) connected in sequence, wherein the mechanical arm (3) comprises a toggle (31), a forearm section (32) and an arm support plate (33) 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, and the bottom of the arm support plate (33) is provided with a counterweight (4) that moves forward and backward and a driving component that controls the movement of the counterweight (4), 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); The 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), and 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, 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 the capsule (5) through the first material port (51); the pressure sensor is fixedly arranged on the inner side of the U-shaped rod (322), and 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), 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; The driving assembly comprises a cylinder (6) and a telescopic rod (61); the cylinder (6) is closer to the outer end of the arm support plate (33) relative to 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 through the second material port (62); 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 (7) is provided in the pipeline. The pump (7) adjusts the amount of the medium in the capsule (5) and the cylinder (6).

2. A rehabilitation robot according to claim 1, characterized in that: The first medium and the second medium are both gases.

3. The rehabilitation robot according to claim 1, characterized in that: The first medium and the second medium are both liquid.

4. The rehabilitation robot according to claim 1, 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) for signal connection.

5. The rehabilitation robot according to claim 1, 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 its top.

6. 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.

7. A control method for a rehabilitation robot according to claim 1, 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 at the forearm joint (32) of the robotic arm (3) and the arm support plate (33); S2: the pump body (7) pumps the medium in 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 performs hand-raising rehabilitation exercises 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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