Rehabilitation training robot and training method

Abstract

The invention discloses a rehabilitation training robot and a training method. The rehabilitation training robot comprises a supporting body which is movably arranged in the vertical direction; the bearing piece is arranged on the supporting main body; the sensor assembly comprises a middle sensor, an edge sensor and an inclination sensor which are used for detecting pressure, and a detection sensor used for detecting myoelectricity values of swallowing muscles; one end of the mechanical arm is arranged on the supporting main body, and the other end is rotatably provided with a wheel disc; the rehabilitation assembly is detachably arranged on the wheel disc; the training method comprises the following steps: preparing the required rehabilitation assembly to be connected with the wheel disc; the lower jaw is placed on the bearing piece, so that the detection sensor is in contact with the swallowing muscle of the user; the wheel disc is driven to rotate and switched to the required rehabilitation assembly; and swallowing function rehabilitation training is executed. According to the rehabilitation training robot, a personalized training scheme can be provided, meanwhile, combined use of multiple therapies can be achieved, the multiple therapies can be conducted at the same time, and full-automatic intelligent training of the rehabilitation training robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of dysphagia training equipment, and in particular to a rehabilitation training robot and a training method. Background Art

[0002] Dysphagia is a clinical symptom caused by various reasons that food cannot pass smoothly from the mouth to the stomach. Dysphagia can not only affect the patient's normal food intake and cause systemic malnutrition, but also cause choking and aspiration, leading to accidents such as lung infection, and even threatening the patient's life safety.

[0003] In the prior art, dysphagia is treated with a single therapy, which is not effective in treating dysphagia. In addition, most of the current therapies require manual operation, cannot achieve fully automatic intelligent training, and have no real-time biofeedback, making it difficult to ensure the consistency and effectiveness of the treatment, and difficult to provide personalized treatment for patients.

[0004] Therefore, it is necessary to provide a new rehabilitation training robot and training method to solve the above problems existing in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a rehabilitation training robot and a training method for users' swallowing disorder training, which can provide personalized training plans and realize the combined use of multiple therapies and the simultaneous implementation of multiple therapies, so that the rehabilitation training robot can achieve fully automatic intelligent training.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A rehabilitation training robot comprises: a supporting body movably arranged in a vertical direction; A supporting member, provided on the supporting body, for supporting the mandible; A sensor assembly is arranged on the supporting member, and the sensor assembly includes a middle sensor, an edge sensor and a tilt sensor for detecting pressure, and a detection sensor for detecting the myoelectric value of the swallowing muscle; A mechanical arm, one end of which is arranged on the supporting body, and the other end of which is rotatably provided with a wheel disc, and the mechanical arm is used to drive the wheel disc to move; A rehabilitation component can be detachably mounted on the wheel, and the rehabilitation component includes a tongue suction module, a tongue pressure resistance module, or an air pulse module; when the wheel rotates, the tongue suction module, the tongue pressure resistance module, or the air pulse module can be switched to cooperate with the supporting member to complete rehabilitation training.

[0007] A training method for a rehabilitation training robot, applied to the rehabilitation training robot, comprises the following steps: Prepare the required rehabilitation components, and connect one or more of the tongue suction module, the tongue pressure resistance module and the air pulse module to the wheel; Placing the lower jaw on the supporting member so that the detection sensor contacts the swallowing muscles of the user; Controlling the support body and the supporting member to move to a specified height; Guiding the user to relax until the electromyographic value detected by the detection sensor is stable; Controlling the rotation of the wheel to switch to the required rehabilitation component; The robotic arm is controlled to drive the tongue suction module, the tongue pressure resistance module or the air pulse module to move to a target position, and cooperates with other training to perform a variety of swallowing function rehabilitation training at the same time.

[0008] By adopting the above technical solution, before training, first select the corresponding rehabilitation components and the wheel disc for installation, and adjust the position of the supporting body to adapt to different user environments. The sensor component can detect the myoelectric value of the swallowing muscle while detecting the force of the supporting part, and can complete the Shaker training method or the mandibular retraction resistance training. At the same time, due to the provision of multiple rehabilitation components, different rehabilitation components are selected to cooperate with the supporting part and the sensor component, and multiple trainings can be carried out at the same time. For example, while carrying out the Shaker training method or the mandibular retraction resistance training, the tongue muscle active and passive rehabilitation training, the tongue pressure resistance feedback training or the air pulse sensory stimulation training can also be carried out to realize multiple rehabilitation trainings at the same time. Since the wheel disc is provided, the wheel disc can be rotatably provided at the active end. During the training process, a personalized training plan can be customized according to the actual situation, and different rehabilitation components can be switched in turn for training, which improves the convenience of rehabilitation training. At the same time, the participation of a rehabilitation therapist is not required in this process, and home rehabilitation training can be realized, which effectively improves the enthusiasm of users to participate in training. In addition, due to the provision of the sensor component, the user can receive real-time biofeedback during the training process to ensure the consistency and effectiveness of the treatment.

[0009] Optionally, a positioning member is rotatably provided on the supporting member, a driving member is provided on the supporting member to drive the positioning member to rotate so as to adjust the angle between the positioning members, and a transmitter is provided on the positioning member to emit light to assist training.

[0010] Optionally, a display screen is provided on the supporting body, and the display screen is electrically connected to the sensor component and the rehabilitation component to display data.

[0011] Optionally, controlling the support body and the supporting member to move to a specified height includes: Set the baseline pressure value; Controlling the supporting body and the supporting member to rise; The middle sensor, the edge sensor and the tilt sensor detect the mandibular vertical pressure, lateral deflection force and tilt angle in real time; When the pressure distribution of the middle sensor, the edge sensor and the tilt sensor reaches the set reference pressure value, the support body and the supporting member are controlled to stop moving.

[0012] Optionally, when the wheel rotates and switches to the tongue suction module; controlling the mechanical arm to drive the tongue suction module to move to a target position, performing swallowing function rehabilitation training includes: Control the mechanical arm to drive the tongue suction module to a specified position; The tongue suction module starts to suck the user's tongue; Controlling the mechanical arm to move along a preset trajectory so that the tongue suction module pulls the tongue to perform multi-directional stretching movement; The traction speed and strength are dynamically adjusted according to the changes in the electromyographic value fed back by the detection sensor.

[0013] Optionally, when the wheel rotates and switches to the tongue pressure resistance module, controlling the mechanical arm to drive the tongue pressure resistance module to move to a target position, and performing swallowing function rehabilitation training includes: Controlling the mechanical arm to drive the tongue pressure resistance module into the user's oral cavity so that one end of the tongue pressure resistance module contacts the upper wall of the user's oral cavity; The user's tongue contacts the other end of the tongue pressure resistance module and continuously applies pressure; The pressure applied by the user is detected in real time, and the position of the tongue pressure resistance module is adjusted to adjust the pressure.

[0014] Optionally, when the wheel rotates and switches to the air pulse module, controlling the mechanical arm to drive the air pulse module to move to a target position, and performing swallowing function rehabilitation training includes: Controlling the mechanical arm to drive the air pulse module into the user's mouth; The air pulse module provides a pulse airflow so that the pulse airflow is sprayed toward a preset area in the user's oral cavity; The detection sensor detects the myoelectric value of the user's swallowing muscles in real time, and adjusts the frequency and intensity of the pulse airflow according to the myoelectric value.

[0015] Optionally, a positioning member is rotatably provided on the supporting member, and a transmitter is provided on the positioning member; after placing the mandible on the supporting member so that the detection sensor contacts the swallowing muscles of the user, the method further includes: Start the driving member and adjust the angle of the positioning member so that the positioning member fits the contour of the user's face; The angle of the transmitter is adjusted so that the transmitter is aimed at the user's neck or facial nerve target, and emits red light or near-infrared light for stimulation to assist in training.

[0016] Optionally, a display screen is provided on the support body; after controlling the mechanical arm to drive the rehabilitation component to move to a target position and performing swallowing function rehabilitation training, the method further includes: The display screen feeds back data from the middle sensor, the edge sensor, the tilt sensor and the detection sensor; The data value fed back by the display screen is compared with the preset standard data value. When the two are different, the display screen prompts the user to adjust the posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the main structure of a rehabilitation training robot according to an embodiment of the present invention; Figure 2 A schematic diagram of a training method for a rehabilitation training robot according to an embodiment of the present invention Figure 3 An exploded view of the connection method between the supporting member and the supporting pad according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of one of the rehabilitation components of the rehabilitation training robot according to an embodiment of the present invention; Figure 5 It is a structural schematic diagram of another rehabilitation component of the rehabilitation training robot according to an embodiment of the present invention; Figure 6 It is a structural schematic diagram of another rehabilitation component of the rehabilitation training robot according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the internal structure of the support body of the rehabilitation training robot according to an embodiment of the present invention.

[0018] Reference numerals: 100, support body; 110, support member; 120, support pad; 130, connecting plate; 140, positioning member; 150, transmitter; 200, sensor assembly; 210, middle sensor; 220, edge sensor; 230, detection sensor; 240, tilt sensor; 300, mechanical arm; 310, fixed end; 320, driving arm; 330, movable end; 340, wheel; 400, rehabilitation assembly; 410, tongue suction module; 411, accommodating chamber; 4 12. Vacuum assembly; 413. Solenoid valve; 414. Vacuum pump; 415. First support part; 420. Tongue pressure resistance module; 421. Detection piece; 422. First sensor; 423. Second sensor; 424. Second support part; 430. Air pulse module; 431. Air supply device; 432. Nozzle; 433. Third support part; 500. Display screen; 610. Main control board; 620. Power supply; 630. Switch; 640. Emergency stop button; 700. Lifting platform. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the present invention belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0020] The following is combined with Figure 1-7 , the specific implementation modes of the present invention are further described in detail.

[0021] An embodiment of the present invention provides a rehabilitation training robot, comprising: a supporting body 100 movably arranged along a vertical direction; The supporting member 110 is provided on the supporting body 100 and is used to support the mandible; The sensor assembly 200 is disposed on the supporting member 110, and the sensor assembly 200 includes a middle sensor 210, an edge sensor 220 and a tilt sensor 240 for detecting pressure, and a detection sensor 230 for detecting the myoelectric value of the swallowing muscle; A mechanical arm 300, one end of which is disposed on the supporting body 100, and the other end of which is rotatably provided with a wheel disc 340, and the mechanical arm 300 is used to drive the wheel disc 340 to move; The rehabilitation component 400 can be detachably mounted on the wheel 340, and includes a tongue suction module 410, a tongue pressure resistance module 420, or an air pulse module 430. When the wheel 340 rotates, the tongue suction module 410, the tongue pressure resistance module 420, or the air pulse module 430 can be switched to cooperate with the supporting member 110 to complete the rehabilitation training.

[0022] In some embodiments, the support body 100 mainly plays a supporting role, and it can be cylindrical or prismatic, which is not limited here, and the support body 100 is mainly capable of supporting. In some specific embodiments, a lifting platform 700 is provided on the support body 100, and a motor capable of driving the lifting platform 700 to rise or fall is installed on the lifting platform 700. The motor starts to drive the lifting platform 700 to rise or fall, so that the support body 100 rises or falls, so as to drive the device on the support body 100 to move. In some specific embodiments, the device that drives the support body 100 to rise and fall can also be selected as an electric cylinder or a pneumatic cylinder. When an electric cylinder or a pneumatic cylinder is selected, the piston rod of the electric cylinder or the pneumatic cylinder is fixedly arranged on the support body 100, and the other end is arranged on a horizontal plane to drive the support body 100 to rise or fall.

[0023] In some embodiments, the supporting member 110 is rod-shaped, and one end of the supporting member 110 is arranged at the top of the supporting body 100, and the other end is arranged in an arc shape. The supporting member 110 is used to support the lower jaw. During the use of the rehabilitation training robot, the lower jaw is placed on one end of the supporting member 110 with an arc shape, so as to stabilize the lower jaw.

[0024] In some embodiments, a sensor assembly 200 is further provided on the support member 110, and the sensor assembly 200 includes multiple sensors with different functions. Some of the sensors are used to detect the force applied to the support member 110, and can cooperate with the support member 110 to detect the pressure value when the mandible is pressed down; another part of the sensors is used to contact the swallowing muscles to detect the myoelectric values ​​of the swallowing muscles; the specific sensor setting method in the sensor assembly 200 is introduced later.

[0025] In some embodiments, a mechanical arm 300 is further provided on the support body 100, wherein the mechanical arm 300 has a fixed end 310, a driving arm 320 and a movable end 330, wherein one end of the driving arm 320 is connected to the fixed end 310, and the other end is connected to the movable end 330. Specifically, one end of the driving arm 320 may be the fixed end 310, and the other end may be the movable end 330; or one end of the driving arm 320 may be connected to the fixed end 310, and the other end may be connected to the movable end 330; in this embodiment, the fixed end 310 is selected as a fixing seat, and is provided on the support body 100 by bolt fixing or clamping, and one end of the driving arm 320 is connected thereto, so that the driving arm 320 is fixedly provided on the support body 100; the movable end 330 is a mounting member, and the mounting member is fixedly connected to the other end of the driving arm 320, so that the movement of the driving arm 320 can drive the mounting member to move, so as to move relative to the support body 100. More specifically, there are multiple driving arms 320, which are connected to each other. Two adjacent driving arms 320 can rotate relative to each other. One of the two driving arms 320 at the outermost edges is connected to the fixed end 310, and the other is connected to the movable end 330, so that the movable end 330 can be driven to move when the driving arm 320 moves; wherein, the angle change between two adjacent driving arms 320 can be driven by a motor or by an electric cylinder, and the operation mode between the driving arms 320 is the existing technology and will not be elaborated here.

[0026] In some embodiments, the movable end 330 is provided with a wheel disc 340, and the wheel disc 340 can rotate at the movable end 330. Specifically, the movable end 330 is fixed with a motor, and the rotating shaft of the motor is key-connected with the wheel disc 340. At the same time, the motor can be fixed to the movable end 330 by bonding, clamping or bolting, etc., which is not limited here, and is mainly capable of driving the wheel disc 340 to rotate at the movable end 330. In some more specific embodiments, the motor is a servo motor, which can accurately control the rotation angle of the wheel disc 340.

[0027] In some embodiments, the wheel 340 is provided with a plurality of adapters, which are used to connect the rehabilitation component 400. In some specific embodiments, the adapter is a groove, and a device for clamping is provided in the groove to connect with the rehabilitation component 400. In some specific embodiments, the adapter is a protrusion, and a device for clamping is provided on the protrusion to connect with the rehabilitation component 400. The device for clamping is a prior art and will not be described in detail here.

[0028] In some embodiments, the rehabilitation component 400 is detachably arranged on the adapter part. During actual use, one rehabilitation component 400 or multiple rehabilitation components 400 can be installed according to actual conditions. When multiple rehabilitation components 400 are installed, different rehabilitation components 400 can be switched when the wheel 340 rotates, so that different rehabilitation components 400 can be coordinated with the supporting member 110 and the sensor component 200, so that a variety of therapies can be coordinated with the training process.

[0029] In some embodiments, the rehabilitation component 400 may be a tongue suction module 410 or a tongue pressure resistance module 420 or an air pulse module 430 .

[0030] In some embodiments, the tongue suction module 410 includes a first support portion 415 and a receiving chamber 411. In order to fix the tongue in the receiving chamber 411, a vacuum assembly 412 is further provided on the support body 100. Specifically, the vacuum assembly 412 includes a solenoid valve 413 and a vacuum pump 414. The solenoid valve 413 and the vacuum pump 414 are both fixed to the support body 100. The fixing method is not limited here, and the positions of the solenoid valve 413 and the vacuum pump 414 on the support body 100 are mainly based on the fact that the positions will not be offset. Among them, the vacuum pump 414 is connected to the receiving chamber 411 through a pipeline, so that the vacuum pump 414 can evacuate the receiving chamber 411 when working, thereby fixing the tongue in the receiving chamber 411 by vacuum adsorption. Furthermore, the vacuum pump 414 may be directly connected to the accommodating chamber 411 through a pipe, or the accommodating chamber 411 may be connected to the first support portion 415, and the vacuum pump 414 may be connected to the first support portion 415 through a pipe and thus connected to the accommodating chamber 411, so that the vacuum pump 414 can evacuate the accommodating chamber 411 to fix the user's tongue.

[0031] In some embodiments, the control robot arm 300 drives the tongue pressure resistance module 420 into the user's mouth so that one end of the tongue pressure resistance module 420 contacts the upper wall of the user's mouth; the user's tongue contacts the other end of the tongue pressure resistance module 420 and continuously applies pressure; the pressure applied by the user is detected in real time, and the position of the tongue pressure resistance module 420 is adjusted to adjust the pressure of the detection piece 421.

[0032] In some embodiments, the tongue pressure resistance module 420 includes a second support portion 424 and a detection member 421, and the adapter portion is disposed on the end surface or side wall of the wheel 340, so that one end of the second support portion 424 is fixedly disposed on the end surface or side wall of the wheel 340, and there is a gap between the first support portion 415, so that when the wheel 340 rotates to the tongue pressure resistance module 420 and the supporting member 110, the tongue suction module 410 will not interfere with the tongue pressure resistance module 420. The detection member 421 and the second support portion 424 are fixed to each other, and a first sensor 422 is disposed at one end of the detection member 421, and a second sensor 423 is disposed at the other end. Specifically, when the wheel 340 rotates, the tongue pressure resistance module 420 cooperates with the supporting member 110, and a first sensor 422 is arranged at the top of the sensor, wherein at least one first sensor 422 is arranged. In the present embodiment, one first sensor 422 is arranged as an example; when the detection member 421 is inserted into the oral cavity, the detection member 421 moves upward, so that the first sensor 422 contacts the upper jaw of the oral cavity, until the detection member 421 is close to the upper jaw of the oral cavity. A plurality of second sensors 423 are arranged at the bottom end of the detection member 421, and the plurality of second sensors 423 are evenly distributed at the bottom end of the detection member 421. In the present embodiment, four second sensors 423 are arranged as an example. Specifically, when the position of the detection member 421 is fixed, the user's tongue presses against the second sensors 423 at different positions, and the second sensors 423 will display the pressure applied by the user and the duration in real time for detection. More specifically, in order to improve the user's comfort, the first sensor 422 and the second sensor 423 are both flexible pressure sensors.

[0033] In some embodiments, the gas pulse module 430 includes a third support portion 433 and a nozzle 432. The adapter portion is disposed on the end surface or side wall of the wheel disc 340, so that one end of the third support portion 433 is fixedly disposed on the wheel disc 340 and can rotate synchronously with the wheel disc 340 to drive the gas pulse module 430 to rotate. The nozzle 432 is disposed at the other end of the third support portion 433. In some specific embodiments, the third support portion 433, the second support portion 424 and the first support portion 415 are evenly distributed on the wheel disc 340, so that when the wheel disc 340 rotates to any rehabilitation component 400 to cooperate with the supporting member 110, the other rehabilitation components 400 will not interfere with it. In some specific embodiments, the support body 100 is provided with a gas supply device 431, and the fixing method thereof is not limited here, and the position of the gas supply device 431 on the support body 100 will not be offset. The gas supply device 431 can provide gas to the nozzle 432, so that the gas flows through the gas pulse module 430 and sprays to a predetermined position to form stimulation. In some more specific embodiments, the air supply device 431 is selected to be an air pump and is connected to the nozzle 432 through a pipeline.

[0034] In some embodiments, a support pad 120 is provided on the support member 110, and the support pad 120 is provided at the top of the support member 110 to support the mandible so that there is no relative displacement between the support member 110 and the mandible. More specifically, the middle sensor 210 is fixedly provided at the middle of the bottom of the support pad 120, and one end of the middle sensor 210 contacts the support pad 120, and the other end contacts the top of the support member 110; two edge sensors 220 are provided, which are respectively provided at both ends of the support pad 120, and one end of the edge sensor 220 contacts the support pad 120, and the other end contacts the top of the support member 110; two tilt sensors 240 are provided, which are respectively provided at both ends of the edge sensor 220 close to the user, and one end of the tilt sensor 240 contacts the support pad 120, and the other end contacts the top of the support member 110; the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to support the support member 110 and can feedback pressure.

[0035] In some embodiments, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to detect whether the height of the support 110 is adjusted in place before training and whether the user's head is fixed and stable; the middle sensor 210 and the tilt sensor 240 cooperate to assist in rehabilitation training.

[0036] Specifically, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 cooperate to detect whether the height of the support member 110 is adjusted in place before training; it can also detect whether the user's head is fixed and stable during training. When the user's head is not fixed and stable, that is, the head can move forward and backward, the values ​​of the middle sensor 210, the edge sensor 220 and the tilt sensor 240 will change irregularly, and the user's head should be re-fixed at this time; the middle sensor 210 and the tilt sensor 240 cooperate to assist in rehabilitation training, that is, Shaker training can be performed. In the Shaker training method (tremor training method) or mandibular retraction resistance training, when the user's mandible is placed on the support member 110, the user presses down vertically through the support member 110. At this time, the middle sensor 210 can display the pressure value in real time to see whether the force of the downward pressure reaches the set value, and whether the duration of the downward pressure reaches the set value. The user can also press down diagonally to the lower left or lower right, that is, the user can press down diagonally, and use the two tilt sensors 240 as real-time biofeedback to guide the training.

[0037] In some embodiments, the detection sensor 230 is movably disposed on the support member 110. When the lower jaw contacts the support member 110, the detection sensor 230 contacts the swallowing muscles, and is mainly used to detect the myoelectric value of the swallowing muscles.

[0038] The supporting member 110 is provided with a connecting plate 130, and the supporting member 110 passes through the middle of the connecting plate 130. The supporting member 110 and the connecting plate 130 are fixedly connected so that there is no relative displacement between the two. The two ends of the connecting plate 130 are rotatably connected with positioning members 140. Specifically, the positioning member 140 is rotatably arranged at the end of the connecting plate 130 through a rotating shaft, and the transmitter 150 is arranged on the positioning member 140. When the mandible is placed on the supporting member 110, the positioning member 140 can be controlled to rotate so that the transmitter 150 is aimed at the designated position to emit light for nerve stimulation.

[0039] More specifically, the emitter 150 is selected as an LED module, and a combination of red light and near infrared light LEDs are used.

[0040] In some embodiments, referring to the figures, the interior of the supporting member 110 is hollow, one end of the positioning member 140 extends into the interior of the supporting member 110, and the driving member is also disposed inside the supporting member 110, driving the corresponding positioning member 140 to rotate inside the supporting member 110. In order not to interfere with the rotation process of the positioning member 140, a vertically arranged groove is opened on the side wall of the supporting member 110. After the positioning member 140 passes through the groove, it is rotated and disposed inside the supporting member 110, thereby facilitating the rotation of the positioning member 140 inside the supporting member 110.

[0041] In some embodiments, there is a gap between the display screen 500 and the support member 110, and the screen of the display screen 500 is opposite to the support member 110, so that the user can intuitively observe the display screen 500 when placing the lower jaw on the support member 110, so as to observe data or assist the user to relax.

[0042] In order to facilitate the overall control of the rehabilitation training robot, a main control board 610 is also provided in the support body 100, a power supply 620 is provided in the support body 100, and a switch 630 is provided on the side arm of the support body 100 close to the supporting member 110. The main control board 610, the power supply 620 and the switch 630 are electrically connected through lines, wherein the power supply 620 is used to supply power to the main control board 610, and the opening is used to close or open the circuit to control whether the power supply 620 supplies power to the main control board 610; in addition, the main control board 610 is also electrically connected to the solenoid valve 413, the vacuum pump 414, the air pump, the force feedback sensor 350, the sensor assembly 200 and the display screen 500, etc., so as to facilitate the same control of them. In addition, an emergency stop button 640 is also provided on the support body 100. The emergency stop button 640 is arranged on the line between the main control board 610, the power supply 620 and the switch 630. The specific position is not limited here, so that the user can touch it in time. When the user presses the emergency stop button 640, the line between the main control board 610, the power supply 620 and the switch 630 is disconnected to ensure safety.

[0043] In some embodiments, different treatment modules can be added to the end effector of the robotic arm 300, that is, the active end 330, that is, the rehabilitation component 400 can also include an electronic lollipop, an oral improvement massage stick, and a respiratory muscle exerciser, etc. During actual use, they can be installed according to different usage scenarios; among them, the structures of the electronic lollipop, the oral improvement massage stick, and the respiratory muscle exerciser are all existing technologies and will not be elaborated here.

[0044] In some embodiments, a head-mounted photobiomodulation module adapted to the rehabilitation training robot is added, which is worn on the user's head during training to stimulate more acupuncture points and nerves on the user's head for assistance. In some specific embodiments, the head-mounted photobiomodulation module has multiple emitters to stimulate designated acupuncture points.

[0045] In some embodiments, an intermittent high and low oxygen therapy module is added, and the user breathes high and low oxygen at the same time when doing exercise or skill training to increase the plasticity of the nerves. In some embodiments, the high and low oxygen therapy module is provided on the support body 100, and is used to provide oxygen to the user, wherein the high and low oxygen therapy module has a valve, which can control the oxygen ratio according to a preset program (such as an intermittent low oxygen training protocol), and is connected to a breathing mask or a nasal cannula at its own outlet for the user to use.

[0046] In some embodiments, a moving device, such as rollers or tracks, can also be provided at the bottom of the supporting body 100 to create a mobile or humanoid robot to provide companionship for the elderly.

[0047] In some embodiments, more visual sensors are added to the robotic arm 300 to monitor the position and dynamics of the robotic arm 300 in real time and provide feedback to further improve safety.

[0048] In some embodiments, an artificial intelligence chip and a microphone are added to the main control board 610 to implement the end-side LLM large language model to meet the needs of using voice AI to guide users in voice training and increase interactivity.

[0049] In some embodiments, the rehabilitation training robot can be used for postoperative rehabilitation or swallowing dysfunction training or daily cognitive function training, such as Alzheimer's disease rehabilitation training, or for other tongue-based rehabilitation training processes.

[0050] The embodiment of the present application further discloses a training method for a rehabilitation training robot, which is applicable to the above-mentioned rehabilitation training robot. Specifically, the training method comprises the following steps: Prepare the required rehabilitation components 400 and connect one or more of the tongue suction module 410, the tongue pressure resistance module 420 and the air pulse module 430 to the wheel 340; Place the lower jaw on the support 110 so that the detection sensor 230 contacts the swallowing muscles of the user; Control the support body 100 and the supporting member 110 to move to a specified height; Instruct the user to relax until the electromyographic value detected by the detection sensor 230 is stable; The control wheel 340 rotates to switch to the required rehabilitation component 400; The control robot arm 300 drives the tongue suction module 410 or the tongue pressure resistance module 420 or the air pulse module 430 to move to the target position, and cooperates with other training to perform multiple swallowing function rehabilitation training at the same time.

[0051] In some embodiments, sensor assembly 200 may be subjected to Shaker training.

[0052] In some embodiments, the tongue suction module 410 cooperates with the sensor assembly 200 to simultaneously perform swallowing function rehabilitation training.

[0053] In some embodiments, the tongue pressure resistance module 420 cooperates with the sensor assembly 200 to simultaneously perform swallowing function rehabilitation training.

[0054] In some embodiments, the air pulse module 430 cooperates with the sensor assembly 200 to simultaneously perform swallowing function rehabilitation training.

[0055] In some embodiments, the tongue suction module 410 and the photobiomodulation module perform rehabilitation training simultaneously, or the tongue pressure resistance module 420 and the photobiomodulation module perform rehabilitation training simultaneously, or the sensor assembly 200 and the photobiomodulation module perform rehabilitation training simultaneously, or one of the tongue suction module 410 and the tongue pressure resistance module 420 cooperates with the sensor assembly 200 and the photobiomodulation module to perform rehabilitation training simultaneously.

[0056] In some embodiments, the process of connecting the tongue sucker module 410 and the wheel 340 is to connect the tongue sucker module 410 and the adapter on the wheel 340 so that when the wheel 340 rotates, it can drive the tongue sucker module 410 to rotate, and when the robot arm 300 moves, it can drive the tongue sucker module 410 to move.

[0057] In some embodiments, the process of connecting the tongue pressure resistance module 420 and the wheel 340 is to connect the tongue pressure resistance module 420 and the adapter on the wheel 340 so that when the wheel 340 rotates, it can drive the tongue pressure resistance module 420 to rotate, and when the robotic arm 300 moves, it can drive the tongue pressure resistance module 420 to move.

[0058] In some embodiments, the process of connecting the gas pulse module 430 and the wheel 340 is to connect the gas pulse module 430 and the adapter on the wheel 340 so that when the wheel 340 rotates, it can drive the gas pulse module 430 to rotate, and when the robot arm 300 moves, it can drive the gas pulse module 430 to move.

[0059] In some embodiments, different rehabilitation components 400 are selected for installation according to the user's training needs. One of the tongue suction module 410, tongue pressure resistance module 420 and air pulse module 430 can be installed for separate rehabilitation training, or multiple tongue suction modules 410, tongue pressure resistance modules 420 and air pulse modules 430 can be installed, and the switching time of the roulette wheel 340 can be set to perform different rehabilitation training in turn.

[0060] In some embodiments, when placing the lower jaw on the support 110 so that the detection sensor 230 contacts the user's swallowing muscles, first ensure that there is an appropriate distance between the user and the support body 100. The user places the lower jaw on the arc-shaped part at the top of the support 110 and relies on the arc-shaped part at the top of the support 110 for support. At the same time, after placing the lower jaw on the support 110, the user adjusts its own position so that the detection sensor 230 contacts the swallowing muscles.

[0061] In some embodiments, after the user places the mandible on the support 110, the detection sensor 230 is attached to the front of the neck (submental area) to detect the electrical signals of the swallowing muscle group; at the same time, the swallowing signal waveform is displayed in real time on the display screen 500, and the user performs the swallowing action and fine-tunes the position of the detection sensor 230 according to the swallowing signal waveform to align the detection sensor 230 with the swallowing muscle. When the detection sensor 230 is aligned with the swallowing muscle, an alignment signal may be displayed on the screen or other indication signals may be issued to indicate that the detection sensor 230 has been aligned. In this process, each sensor in the sensor assembly 200 records the pressure of the user's mandible in real time. When the swallowing signal waveform does not match the standard waveform, the display screen 500 will prompt the user to adjust the direction of the mandible according to the pressure values ​​of different sensors, such as offset adjustment to the left or right.

[0062] In some embodiments, after the mandible is placed on the support member 110, the support body 100 and the support member 110 are controlled to move to a specified height, specifically including: Set the baseline pressure value; Control the support body 100 and the supporting member 110 to rise; The middle sensor 210, the edge sensor 220 and the tilt sensor 240 detect the mandibular vertical pressure, lateral deflection force and tilt angle in real time; When the pressure distribution of the middle sensor 210, the edge sensor 220 and the tilt sensor 240 reaches the set reference pressure value, the support body 100 and the supporting member 110 are controlled to stop moving.

[0063] In some embodiments, the reference pressure value is the pressure exerted from the jaw detected by the sensor assembly 200 on the support member 110 when the user's back stops maintaining a comfortable state.

[0064] In some embodiments, during the process of controlling the support body 100 and the supporting member 110 to rise, since the user's back is not straight, the pressure detected by the sensor assembly 200 is always greater than the reference pressure value. When the support body 100 and the supporting member 110 rise, the pressure detected by the sensor assembly 200 is the same as the reference pressure value, or is within a certain error range with the reference pressure value, it is considered that the user's back is straight at this time.

[0065] In some embodiments, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 detect the vertical pressure of the mandible, the lateral deflection force and the tilt angle in real time; at the same time, the middle sensor 210, the edge sensor 220 and the tilt sensor 240 all have corresponding reference pressure values, and the reference pressure values ​​corresponding to the three can be the same or different, so as to mainly satisfy the user's back straightening, and the reference pressure value is set according to the body shape of different users.

[0066] In some embodiments, the lifting and lowering of the support body 100 and the supporting member 110 are driven by the lifting platform 700. The movement of the support body 100 and the supporting member 110 is very heavy. By controlling the rotation of the motor and the speed of the motor output shaft, the lifting or lowering of the lifting platform 700 is controlled, and the lifting and lowering rate of the lifting platform 700 is also controlled.

[0067] In some embodiments, guiding the user to relax until the electromyographic value detected by the detection sensor 230 is stable includes: playing a comfortable video or audio on the display screen 500, and during the playing process, the detection sensor 230 detects the state of the electromyographic value in real time.

[0068] Among them, the EMG signal in the relaxed state needs to be judged based on the amplitude stability, frequency distribution characteristics and signal variability. The amplitude stability reflects the overall intensity change of muscle activity; the frequency distribution characteristics characterize the energy distribution pattern of muscle contraction; and the signal variability measures the complexity of signal fluctuations. The specific amplitude stability judgment process is as follows: First, perform a resting baseline calculation, record the user's electromyographic signal in a resting state (no swallowing or talking) for 30 seconds, and calculate the average root mean square value (RMS) (e.g., 80 μV); then set the baseline threshold range, where the upper threshold = baseline average × 1.1 (e.g., 88 μV); the lower threshold = baseline average × 0.9 (e.g., 72 μV).

[0069] Secondly, dynamic stability verification is performed to detect the user's current RMS value in real time. If the fluctuation range for 10 consecutive seconds is within the baseline threshold (such as 75-85μV), the standard deviation (SD) is calculated at the same time, which must meet SD ≤ 15% of the baseline mean (such as 80μV × 15% = 12μV, actual SD ≤ 12μV).

[0070] In terms of frequency distribution characteristics, the energy proportion of the low frequency band (0-50Hz) is ≥85%; the median frequency (MDF) is ≤30Hz. In terms of signal variability, the approximate entropy (ApEn) is ≤0.3, indicating that the signal complexity is low and tends to be stable.

[0071] In the judgment process, the amplitude stability is judged first, the frequency distribution is judged second, and the signal variability is judged last. When making specific judgments, the amplitude stability is judged first so that a quick screening can be performed, and then the frequency and complexity characteristics are combined to avoid misjudgment. For example, if the user's RMS value is stable within the threshold for 10 consecutive seconds (the amplitude meets the standard), but the low-frequency energy accounts for only 70% (the frequency does not meet the standard), it is judged as "not completely relaxed". At this time, the display screen 500 continues to play the video or audio to prompt the user to continue to adjust the posture or breathing to relax.

[0072] In some embodiments, in order to accurately detect the electromyographic value, a signal amplifier is also provided to amplify the signal for recording.

[0073] In some embodiments, the control wheel 340 rotates to switch to the required rehabilitation component 400; the control robot arm 300 drives the tongue suction module 410 or the tongue pressure resistance module 420 or the air pulse module 430 to move to the target position to perform swallowing function rehabilitation training.

[0074] In some embodiments, when the wheel 340 rotates and switches to the tongue suction module 410, active and passive rehabilitation training of the tongue muscles can be performed; specifically, the mechanical arm 300 is controlled to drive the tongue suction module 410 to a specified position; The tongue suction module 410 starts to suck the user's tongue; Control the robot arm 300 to move along a preset trajectory, so that the tongue suction module 410 pulls the tongue to perform multi-directional stretching movement; The traction speed and strength are dynamically adjusted according to the changes in the electromyographic value fed back by the detection sensor 230.

[0075] In some embodiments, after the user's tongue is fixed to the tongue suction module 410, the robot arm 300 is controlled to move so that the robot arm 300 drives the tongue suction module 410 to move, thereby pulling the user's tongue to perform rehabilitation exercises.

[0076] More specifically, during the training process, the wheel 340 rotates to the tongue suction module 410, and then drives the mechanical arm 300 to move slowly and steadily to the specified position. At the specified position, the user slightly extends his tongue and enters the tongue suction device. At this time, the solenoid valve 413 and the vacuum pump 414 are started, so that vacuum suction is generated in the accommodating chamber 411, sucking the user's tongue, and then the mechanical arm 300 pulls the user's tongue in all directions according to the set movement. During this process, the sensor assembly 200 will detect and visualize the entire training process in real time. After the training is completed according to the program setting, the vacuum pump 414 and the solenoid valve 413 will be closed, the suction disappears, and the mechanical arm 300 will return to the initial position.

[0077] During the active and passive rehabilitation training of the tongue muscles, the tongue suction device will suck the user's tongue, and then the system will prompt the user to swallow, and the sensor component 200 will measure and record the electromyographic values ​​generated by the swallowing muscles.

[0078] In some embodiments, after the user's tongue is vacuum-absorbed, the force sensor is used to detect the symmetrical tension difference on the tongue. If the tension difference between the left and right sides is greater than 15%, the system automatically fine-tunes the horizontal position of the tongue sucker, for example, by controlling and adjusting with a stepper motor to stabilize the tension on the left and right sides.

[0079] In some embodiments, the robot arm 300 moves along a preset trajectory, and its specific movement trajectory can be adjusted according to different situations of the user, such as forward traction, traction along the long axis of the tongue, moving a distance of 10-20 mm, mainly used for genioglossus stretching; lateral traction: traction with an offset of 8-15 mm to the left / right, mainly used for styloglossus and hyoglossus activation; vertical traction: traction with an upward pull of 5-10 mm, mainly used for palatoglossus and vertical tongue muscle training. Different traction methods can be set to meet different situations of different users.

[0080] In some embodiments, the dynamic adjustment of the traction speed and strength can be achieved by installing a six-dimensional force sensor at the end of the robot arm 300, with a sensing accuracy of ±0.1N, which is used to detect the reaction force of the tongue in real time; when the reaction force exceeds the set threshold, the traction distance is proportionally reduced. Or a miniature endoscope is set at the end of the robot arm 300 to monitor the shape of the tongue. If the curling or deviation of the tongue edge exceeds the set tolerance, the trajectory is triggered to retract and reposition. The method of dynamic adjustment is not limited here. In actual use, it is mainly based on adapting to different users.

[0081] In some embodiments, when the wheel 340 rotates and switches to the tongue pressure resistance module 420, tongue pressure resistance feedback training can be performed; specifically, the mechanical arm 300 is controlled to drive the tongue pressure resistance module 420 to a specified position; Control the mechanical arm 300 to drive the tongue pressure resistance module 420 into the user's oral cavity, so that the first sensor 422 contacts the upper wall of the user's oral cavity; The user's tongue contacts the second sensor 423 and continuously applies pressure to the second sensor 423; The pressure of the second sensor 423 is detected in real time, and the position of the tongue pressure resistance module 420 is adjusted to adjust the pressure of the detection member 421 .

[0082] During the tongue pressure resistance feedback training process, the wheel 340 rotates to the tongue pressure resistance module 420, and then drives the robotic arm 300 to move slowly and steadily to a specified position in the user's mouth, that is, the user's mouth.

[0083] After reaching the user's oral position, the robot arm 300 will drive the detection member 421 to move vertically upwards, and stop immediately when the first detection value is reached. At this time, the detection member 421 of the tongue pressure resistance module 420 is just close to the upper palate of the mouth, and the system begins to guide the user to perform isometric exercise training of the tongue muscles. The user presses the tongue against the second sensor 423 at different positions. The sensor will display the pressure applied by the user and the duration in real time. At the same time, the sensor component 200 also measures the myoelectric value of the swallowing muscle in real time to determine the condition of the muscle. After the training is completed according to the program settings, the robot arm 300 will return to the initial position.

[0084] More specifically, the robot arm 300 starts from the module switching position of the wheel 340 and enters the oral cavity along a preset safe path. The movement speed is set to 2-5mm / s to ensure stability, and the safe path is mainly to avoid teeth and lips. At the same time, the contact force of the tongue pressure resistance module 420 is limited to 0.5-1.0N to avoid hard collisions and injuries to the user. During the vertical movement of the first sensor 422, the first sensor 422 can be selected as a micro-thin film pressure sensor with a range of 0-10N and an accuracy of ±0.1N. During the movement, when the pressure ≥0.3N is detected, it indicates contact with the hard palate, and the robot arm 300 immediately stops vertical movement; if the pressure continues to rise after contact, such as when the user swallows and causes displacement, the robot arm 300 will slightly retreat 0.5mm to maintain a constant contact force, so that the contact force remains in the range of 0.3±0.05N.

[0085] During the training process, the user presses the tip of the tongue against the second sensor 423, continuously applies pressure to the target value, and maintains it for 5-10 seconds for static training; or the robotic arm 300 slowly moves backward along a preset trajectory, maintaining a speed of 1mm / s, and the user needs to maintain pressure to form dynamic impedance for dynamic training. During the training process, the second sensor 423 can also be adjusted dynamically, for example, the initial pressure target is set to 50% of the user's maximum tongue pressure; if the real-time pressure exceeds 120% of the target value for 3 seconds, the robotic arm 300 automatically increases the backward resistance for adjustment. In addition, the second sensor 423 is divided into three areas: front, middle, and back, corresponding to the tip of the tongue, the body of the tongue, and the root of the tongue, respectively. The user presses each area in turn, and the system records the peak pressure and duration of each area for more comprehensive training.

[0086] In some embodiments, the user's tongue position is adjusted according to changes in the electromyographic value detected by the detection sensor 230 to adjust the appropriate tongue position.

[0087] In some embodiments, when the wheel 340 rotates and switches to the air pulse module 430, air pulse sensory stimulation training can be performed; specifically, the mechanical arm 300 is controlled to drive the air pulse module 430 to a specified position; During the air pulse sensory stimulation training, the wheel 340 rotates to the air pulse module 430, and then drives the mechanical arm 300 to move slowly and steadily to the specified position in the user's mouth. After reaching the user's oral position, the air pump turns on and starts to inject air into the mouth to stimulate the tonsil area. When the stimulation time set by the program is up, the mechanical arm 300 will return to the initial position, and then the system will prompt the user to swallow, and the sensor assembly 200 will measure and record the electromyographic value generated by the swallowing muscles.

[0088] During the stimulation process, the pulse pressure was maintained at 50-150Pa and the pulse frequency was maintained at 1-5Hz to simulate the rhythmicity of natural swallowing. The duration of a single stimulation was 3-8 seconds to avoid mucosal adaptation. At the same time, the temperature of the airflow was controlled at 36-37℃ to prevent cold stimulation from triggering laryngeal spasm.

[0089] At the same time, during the stimulation, the user starts to swallow, so that the RMS value of the geniohyoid muscle sEMG is ≥200μV; at the same time, the cricopharyngeal muscle EMG amplitude is ≥150μV to form a pharyngeal reflex. If the first stimulation does not trigger swallowing, that is, EMG <200μV, the system automatically increases the air pressure by 10%; after three consecutive successful swallowings, the air pressure is reduced by 5% to train sensitivity. It is worth noting that the maximum air pressure here is 150Pa.

[0090] After placing the mandible on the support 110 so that the detection sensor 230 contacts the swallowing muscles of the user, the method further includes: The driving member is started to adjust the angle of the positioning member 140 so that the positioning member 140 fits the contour of the user's face; The angle of the transmitter 150 is adjusted so that the transmitter 150 is aimed at the user's neck or facial nerve target, and emits red light or near-infrared light for stimulation to assist in training.

[0091] In some embodiments, the positioning member 140 has multiple rotation axes, that is, the positioning member 140 adopts a 3RPS parallel mechanism, that is, the positioning member 140 has 3 rotation pairs and 3 translation pairs, so that the positioning member 140 can support adjustment at different angles to fit different facial curvatures; at the same time, the positioning member 140 is integrated with a flexible piezoresistive array sensor to monitor the contact pressure distribution in real time to prevent the positioning member 140 from clamping the user's face. Furthermore, during the positioning process of the transmitter 150, a cervical / facial nerve probability map can be established based on the MRI data set. For example, the zygomatic branch of the facial nerve is located 20-30mm in front of the tragus and 5-8mm deep; on this basis, the user can perform personalized calibration, or post reflective marking points in a specified range, and use the optical tracking system for real-time positioning. After positioning is completed, red light or near-infrared light is emitted for stimulation to assist in training.

[0092] The display screen 500 feeds back the data of the middle sensor 210 , the edge sensor 220 , the tilt sensor 240 , and the detection sensor 230 ; The data value fed back by the display screen 500 is compared with the preset standard data value. When the two are different, the display screen 500 prompts the user to adjust the posture.

[0093] In some embodiments, the standard data value is the data value of the middle sensor 210, the edge sensor 220, the tilt sensor 240 and the detection sensor 230 during the training process, and the reference pressure value is the data value during the user's mandibular adjustment process. The two may be the same or different. During the actual training process, the standard data value is adjusted according to the training intensity required by the user. In addition, the display screen 500 may also display the standard data values ​​of the sensors in different rehabilitation components 400 to assist in training.

[0094] In some embodiments, the middle sensor 210 is disposed at the bottom center of the support pad 120 to detect vertical downward pressure; the edge sensors 220 are disposed at both ends of the support pad 120 to detect lateral pressure; and the tilt sensor 240 is disposed on both sides of the line connecting the middle sensor 210 and the edge sensor 220 to further detect lateral pressure. In the training process, the force ratio between each sensor can be set to perform different training modes. For example, when the weight of the detection value of the middle sensor 210 is set to 80%, the weight of the detection value of the edge sensor 220 is set to 10%, and the weight of the detection value of the tilt sensor 240 is set to 10%, vertical training can be performed; when the weight of the detection value of the edge sensor 220 is set to 60%, the weight of the detection value of the opposite edge sensor 220 is set to 20%, and the weight of the detection value of the tilt sensor 240 is set to 20%, diagonal tilt training can be performed. Or the sensor assembly 200 may be linked with other training methods, for example, with tongue pressure resistance. When the edge sensor 220 detects that the lateral pressure is greater than 10N, the tongue pressure resistance module 420 is linked to increase the resistance; or it may be linked with air pulse stimulation: when the pressure of the middle sensor 210 reaches a preset value, the air pulse module 430 is triggered to perform rhythmic stimulation on the pharynx.

[0095] The implementation principle of a rehabilitation training robot and a training method in an embodiment of the present application is that before training, a personalized training plan can be set according to needs, the rehabilitation component 400 can be installed, and a single training method or the order of training multiple rehabilitation components 400 at a time can be set. During training, the user places the lower jaw on the support 110. At this time, the detection sensor 230 contacts the user's swallowing muscles and detects the myoelectric values ​​generated by the user's swallowing in real time. At the same time, the user applies pressure to the support 110, and the middle sensor 210 and the edge sensor 220 can detect the size and duration of the pressure applied by the user in real time. During this process, the wheel 340 can be controlled to switch different rehabilitation components 400 to cooperate with the support 110 to perform rehabilitation training.

[0096] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. A rehabilitation training robot, characterized in that: include: A supporting body (100) movably arranged in a vertical direction; A supporting member (110), provided on the supporting body (100), for supporting the mandible; A sensor assembly (200) is arranged on the supporting member (110), the sensor assembly (200) comprising a middle sensor (210), an edge sensor (220) and a tilt sensor (240) for detecting pressure, and a detection sensor (230) for detecting myoelectric values ​​of swallowing muscles; A mechanical arm (300), one end of which is disposed on the supporting body (100), and the other end of which is rotatably provided with a wheel disc (340), wherein the mechanical arm (300) is used to drive the wheel disc (340) to move; A rehabilitation component (400) is detachably mounted on the wheel (340), and includes a tongue suction module (410), a tongue pressure resistance module (420), or an air pulse module (430); when the wheel (340) rotates, the tongue suction module (410), the tongue pressure resistance module (420), or the air pulse module (430) can be switched to cooperate with the support member (110) to complete rehabilitation training.

2. The rehabilitation training robot according to claim 1, characterized in that: The supporting member (110) is rotatably provided with a positioning member (140), the supporting member (110) is provided with a driving member for driving the positioning member (140) to rotate so as to adjust the angle between the positioning members (140), and the positioning member (140) is provided with a transmitter (150) for emitting light to assist training.

3. The rehabilitation training robot according to claim 2, characterized in that: The supporting body (100) is provided with a display screen (500), and the display screen (500) is electrically connected to the sensor component (200) and the rehabilitation component (400) to display data.

4. A training method for a rehabilitation training robot, characterized in that: The rehabilitation training robot applied to any one of claims 1 to 3 comprises the following steps: Prepare the required rehabilitation components (400), and connect one or more of the tongue suction module (410), the tongue pressure resistance module (420), and the air pulse module (430) to the wheel (340); Placing the lower jaw on the support member (110) so that the detection sensor (230) contacts the swallowing muscles of the user; Controlling the support body (100) and the supporting member (110) to move to a specified height; guiding the user to relax until the myoelectric value detected by the detection sensor (230) is stable; Controlling the rotation of the wheel (340) to switch to the required rehabilitation component (400); The mechanical arm (300) is controlled to drive the tongue suction module (410) or the tongue pressure resistance module (420) or the air pulse module (430) to move to a target position, and cooperate with other training to simultaneously perform a variety of swallowing function rehabilitation training.

5. The training method according to claim 4, characterized in that: The controlling the support body (100) and the supporting member (110) to move to a specified height comprises: Set the baseline pressure value; Controlling the support body (100) and the supporting member (110) to rise; The middle sensor (210), the edge sensor (220) and the tilt sensor (240) detect the mandibular vertical pressure, lateral deflection force and tilt angle in real time; When the pressure distribution of the middle sensor (210), the edge sensor (220) and the tilt sensor (240) reaches the set reference pressure value, the support body (100) and the supporting member (110) are controlled to stop moving.

6. The training method according to claim 4, characterized in that: When the wheel (340) rotates and switches to the tongue suction module (410); the controlling the mechanical arm (300) drives the tongue suction module (410) to move to the target position, and performing swallowing function rehabilitation training includes: Controlling the mechanical arm (300) to drive the tongue suction module (410) to a designated position; The tongue suction module (410) starts to suck the user's tongue; Controlling the mechanical arm (300) to move along a preset trajectory, so that the tongue suction module (410) pulls the tongue to perform multi-directional stretching movement; The traction speed and strength are dynamically adjusted according to the changes in the electromyographic value fed back by the detection sensor (230).

7. The training method according to claim 4, characterized in that: When the wheel (340) rotates and switches to the tongue pressure resistance module (420), the control of the mechanical arm (300) drives the tongue pressure resistance module (420) to move to a target position, and the swallowing function rehabilitation training is performed, including: Controlling the mechanical arm (300) to drive the tongue pressure resistance module (420) into the user's oral cavity, so that one end of the tongue pressure resistance module (420) contacts the upper wall of the user's oral cavity; The user's tongue contacts the other end of the tongue pressure resistance module (420) and continuously applies pressure; The pressure applied by the user is detected in real time, and the position of the tongue pressure resistance module (420) is adjusted to adjust the pressure.

8. The training method according to claim 4, characterized in that: When the wheel (340) rotates and switches to the air pulse module (430), the control of the mechanical arm (300) drives the air pulse module (430) to move to the target position, and the swallowing function rehabilitation training is performed, including: Controlling the mechanical arm (300) to drive the air pulse module (430) into the user's oral cavity; The air pulse module (430) provides a pulsed airflow, so that the pulsed airflow is sprayed toward a preset area in the user's oral cavity; The detection sensor (230) detects the myoelectric value of the user's swallowing muscles in real time, and adjusts the frequency and intensity of the pulse airflow according to the myoelectric value.

9. The training method according to claim 4, characterized in that: The support member (110) is rotatably provided with a positioning member (140), and the positioning member (140) is provided with a transmitter (150); after the lower jaw is placed on the support member (110) so that the detection sensor (230) contacts the swallowing muscles of the user, the method further comprises: Starting the driving member and adjusting the angle of the positioning member (140) so that the positioning member (140) fits the contour of the user's face; The angle of the transmitter (150) is adjusted so that the transmitter (150) is aimed at the user's neck or facial nerve target, and emits red light or near-infrared light for stimulation to assist in training.

10. The training method according to claim 4, characterized in that: The support body (100) is provided with a display screen (500); the control of the mechanical arm (300) drives the rehabilitation component (400) to move to a target position, and after performing swallowing function rehabilitation training, the method further comprises: The display screen (500) feeds back data from the middle sensor (210), the edge sensor (220), the tilt sensor (240) and the detection sensor (230); The data value fed back by the display screen (500) is compared with a preset standard data value, and when the two are different, the display screen (500) prompts the user to adjust the posture.

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