Positioning device, processing method and rehabilitation robot system

Abstract

The invention provides a positioning device, a processing method and a rehabilitation robot system.The positioning device applied to the rehabilitation robot system comprises the steps that a protection plate, a base plate and a positioning plate are obtained through processing; horizontally placing the substrate; flatly laying the first film layer on the top end surface of the substrate; placing a positioning plate at a specified position on the first film layer; a second film layer is flatly laid on the top end face of the positioning plate; the protection plate is placed at a designated position on the second film layer, and the protection plate, the second film layer, the positioning plate, the first film layer and the substrate which are sequentially stacked from top to bottom form a plate set to be bonded; the to-be-bonded plate group is heated to a specified temperature, so that the first film layer is bonded with the substrate and the positioning plate in a hot melting manner, and the second film layer is bonded with the protection plate and the positioning plate in a hot melting manner; and cooling or photo-curing the hot-pressed positioning device to cure the first film layer and the second film layer to obtain the positioning device. The positioning device is used for preventing the positioning pattern from being abraded and ensuring the positioning precision of the positioning device.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation medical equipment, and in particular to a positioning device, a processing method and a rehabilitation robot system. Background Art

[0002] With the continuous advancement of robotics technology, end-traction rehabilitation robots are widely used in patients' rehabilitation training. The robots are used to simulate the rehabilitation therapist leading the patient's end limbs to move. Compared with traditional one-on-one treatment by a rehabilitation therapist, rehabilitation robots have lower treatment costs and higher treatment efficiency.

[0003] At present, most traditional wheeled upper limb rehabilitation equipment needs to move on a flat motion plane. Due to the influence of the positioning scheme and the structural form of the motion device, a separate positioning device and positioning point code are required. The positioning point code adopts a printing process, so the point code is mostly set on the positioning plate in the form of a positioning pattern. If the motion device moves directly on the positioning plate, the positioning pattern printed on the surface of the positioning plate will cause wear and tear, affecting the reading. After the positioning pattern is worn, the positioning plate needs to be replaced in time, which is not conducive to cost saving. When the positioning pattern is read incorrectly, it is easy to cause the motion device to drive the upper limb to perform incorrect upper limb movements, which is easy to cause strain and is not conducive to patient safety. Therefore, there is an urgent need for a new positioning device, processing method and rehabilitation robot system to improve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a positioning device, a processing method and a rehabilitation robot system, wherein the positioning device is used to avoid wear of the positioning pattern and ensure the positioning accuracy of the positioning device.

[0005] In a first aspect, the present invention provides a processing method for a positioning device, which is applied to the positioning device of a rehabilitation robot system, comprising: S1, processing to obtain a protective plate, a substrate and a positioning plate; placing the substrate horizontally; S2, laying a first film layer flat on the top surface of the substrate; S3, placing the positioning plate at a specified position on the first film layer, wherein the positioning plate is provided with positioning information and one side of the positioning plate provided with a positioning pattern faces away from the substrate; S4, laying a second film layer flat on the top surface of the positioning plate; S5, placing the protective plate at a specified position on the second film layer, and the protective plate, the second film layer, the positioning plate, the first film layer and the substrate stacked in sequence from top to bottom form a plate group to be bonded; S6, heating the plate group to be bonded to a specified temperature so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protective plate and the positioning plate; S7, cooling or photocuring the hot-pressed positioning device so that the first film layer and the second film layer are cured to obtain the positioning device.

[0006] The method of the present invention has the following beneficial effects: the processing method of the positioning device of the present invention sets the positioning plate between the protective plate and the substrate, avoids the wear of the positioning pattern on the surface of the positioning plate, and does not need to replace the positioning plate, which is conducive to cost saving. The present invention uses the first film layer to bond and fix the protective plate to the positioning plate, and the second film layer to bond and fix the substrate to the positioning plate, which will not affect the reading of the positioning pattern, and at the same time avoids the positioning pattern reading error causing the exercise device to drive the upper limb to perform the wrong upper limb movement, prevents the patient from being strained, and is conducive to improving the safety of rehabilitation training.

[0007] The positioning plate is placed at a designated position on the first film layer, and the protective plate is placed at a designated position on the second film layer, so that the positioning information on the positioning plate is fixed with the relative positions of the substrate and the protective plate, respectively. That is, the above processing method is used to batch produce a number of positioning devices, and in the plurality of positioning devices, the positioning information on the positioning plate is consistent with the relative positions of the substrate and the protective plate, respectively. The motion device of the rehabilitation robot system moves on the positioning device, and confirms its own coordinates on the positioning device by reading the positioning information on the positioning device, so that the robot can accurately move to the expected position each time it moves on the positioning device.

[0008] Optionally, the plate group to be bonded is heated to a specified temperature so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protection plate and the positioning plate, and further includes: when heating the plate group to be bonded, simultaneously applying pressure toward the positioning plate to the protection plate and the substrate to increase the bonding force of the first film layer and the second film layer so that the protection plate, the positioning plate and the substrate are relatively fixed. The beneficial effect is that by applying pressure toward the positioning plate, the bonding force of the first film layer and the second film layer is increased, and relative movement of the bonding protection plate, the positioning plate and the substrate is avoided, which is conducive to improving the positioning accuracy of the positioning device.

[0009] Optionally, the plate group to be bonded is heated to a specified temperature so that the first film layer hot melt bonds the substrate and the positioning plate, and the second film layer hot melt bonds the protective plate and the positioning plate, and also includes: setting the specified temperature so that the specified temperature is lower than the melting temperature of the positioning plate to prevent the positioning pattern on the surface of the positioning plate from melting and deforming along with the positioning plate when the plate group to be bonded is heated.

[0010] Optionally, the processing to obtain the protection plate, the substrate and the positioning plate further includes: setting the thickness of the protection plate so that the transmittance of the protection plate to infrared rays is greater than or equal to 90%, so that the positioning accuracy of the positioning device meets a preset value. The beneficial effect is that by improving the transmittance of the protection plate to infrared rays, the infrared imaging of the positioning information can be made clearer, which is conducive to improving the positioning accuracy of the positioning device.

[0011] Optionally, the processing to obtain the protection plate, the substrate and the positioning plate also includes: forming the positioning pattern on the surface of the positioning plate, the positioning pattern is used to provide the positioning information, the positioning pattern is made of a carbon-containing pigment, or the positioning pattern is formed by carbonizing the positioning plate under the action of a laser.

[0012] Optionally, the processing to obtain a protective plate, a substrate and a positioning plate also includes: forming a non-positioning pattern on the surface of the positioning plate, the non-positioning pattern being made of a carbon-free pigment, or the non-positioning pattern being made by hollowing out the positioning plate; the non-positioning pattern is used to determine the placement direction and position of the positioning plate during the installation of the positioning plate.

[0013] Optionally, the processing to obtain the protection plate, the base plate and the positioning plate further includes: polishing the top surface of the protection plate so that the friction coefficient of the top surface of the protection plate is greater than a set threshold.

[0014] In the second aspect, the present invention provides a positioning device, which is applied to a rehabilitation robot system, comprising a substrate, a first film layer, a positioning plate, a second film layer and a protective plate stacked in sequence; at least one end face of the positioning plate is provided with a positioning pattern for providing positioning information; the first film layer is arranged between the substrate and the positioning plate, and is used for bonding and fixing between the substrate and the positioning plate; the second film layer is arranged between the protective plate and the positioning plate, and is used for bonding and fixing between the protective plate and the positioning plate.

[0015] Optionally, the same end surface of the first film layer is connected to at least two protective plates; the same end surface of the second film layer is connected to at least two substrates; when the top end surface of the positioning plate is unfolded in a planar shape, the top end surfaces of two adjacent protective plates are coplanar; when the top end surface of the positioning plate is bent, the bottom end surfaces of two adjacent substrates are close to each other.

[0016] Optionally, the two adjacent protective plates are respectively connected to different magnets; when the different magnets are attracted and contacted, the top surfaces of the two adjacent protective plates are coplanar; or, the two adjacent substrates are commonly connected to the same elastic member; when the elastic member is stretched, the top surfaces of the two adjacent protective plates are coplanar.

[0017] In the third aspect, the present invention provides a rehabilitation robot system, comprising a motion device, a control module and a positioning device described in any one of the first aspects; the motion device is arranged on the top side of the positioning device, for carrying and driving the upper limbs to move on the surface of the positioning device; the motion device includes a positioning reading component, the positioning reading component faces the positioning device, and is used to read the positioning pattern to obtain the positioning information; the control module is used to control the working state of the motion device according to the positioning information and preset path information. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a method for processing a positioning device provided by the present invention;

[0019] Figure 2 A schematic structural diagram of a positioning device provided by the present invention;

[0020] Figure 3 A schematic top view of a positioning device provided with a carbon-containing pigment and a carbon-free pigment provided by the present invention;

[0021] Figure 4 A schematic structural diagram of a positioning device provided with an elastic member provided by the present invention;

[0022] Figure 5 A schematic structural diagram of a positioning device provided with a magnet provided by the present invention;

[0023] Figure 6 This is a schematic structural diagram of a rehabilitation robot system provided by the present invention.

[0024] Numbers in the figure:

[0025] 100, positioning plate; 210, protection plate; 220, substrate; 310, first film layer; 320, second film layer; 401, first folding portion; 402, second folding portion; 500, elastic member; 601, first magnet; 602, second magnet; 701, positioning pattern; 702, non-positioning pattern; 703, substrate mark; 810, moving device; 811, positioning reading component; 820, control module. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0027] In view of the problems existing in the existing technology, such as Figure 1 As shown, the present invention provides a processing method for a positioning device, which is applied to the positioning device of a rehabilitation robot system, and is characterized in that it includes: S1, processing to obtain a protection plate, a substrate and a positioning plate; placing the substrate horizontally; S2, laying the first film layer flat on the top surface of the substrate; S3, placing the positioning plate at a specified position on the first film layer, wherein the positioning plate is provided with positioning information and one side of the positioning plate provided with a positioning pattern faces away from the substrate; S4, laying the second film layer flat on the top surface of the positioning plate; S5, placing the protective plate at a specified position on the second film layer, and the protective plate, the second film layer, the positioning plate, the first film layer and the substrate stacked in sequence from top to bottom form a plate group to be bonded; S6, heating the plate group to be bonded to a specified temperature so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protective plate and the positioning plate; S7, cooling or photocuring the hot-pressed positioning device so that the first film layer and the second film layer are cured to obtain the positioning device.

[0028] like Figure 2 As shown, in some other embodiments, the processing to obtain the protection plate 210, the substrate 220 and the positioning plate 100 also includes: setting the thickness of the protection plate 210 so that the transmittance of the protection plate 210 to infrared rays is greater than or equal to 90%, so that the positioning accuracy of the positioning device meets the preset value.

[0029] Specifically, the light transmittance is 0.9; in some specific embodiments, the light transmittance is 0.95. It is worth noting that the thickness of the protection plate 210 is inversely proportional to the light transmittance. When the thickness of the protection plate 210 is increased, the light transmittance decreases, and when the thickness of the protection plate 210 is reduced, the light transmittance increases.

[0030] In other embodiments, the processing to obtain the protection plate 210, the substrate 220 and the positioning plate 100 further includes: polishing the top surface of the protection plate 210 so that the friction coefficient of the top surface of the protection plate 210 is greater than a set threshold.

[0031] Specifically, the threshold value is set to 0.9; in some specific embodiments, the threshold value is set to 0.7; in other specific embodiments, the threshold value is set to 0.5. It is worth noting that the material of the protection plate 210 is frosted glass or acrylic (poly methylmethacrylate, PMMA).

[0032] In some further embodiments, the processing to obtain the protection plate 210, the substrate 220 and the positioning plate 100 also includes: forming the positioning pattern 701 on the surface of the positioning plate 100, the positioning pattern 701 is used to provide the positioning information, the positioning pattern 701 is made of a carbon-containing pigment, or the positioning pattern 701 is formed by carbonizing the positioning plate 100 under the action of a laser.

[0033] In some other embodiments, the processing to obtain the protection plate 210, the substrate 220 and the positioning plate 100 also includes: forming a non-positioning pattern 702 on the surface of the positioning plate 100, the non-positioning pattern 702 is made of a carbon-free pigment, or the non-positioning pattern 702 is made by hollowing out the positioning plate 100; the non-positioning pattern 702 is used to determine the placement direction and position of the positioning plate 100 during the installation of the positioning plate 100.

[0034] In some embodiments, the positioning plate 100 is made of offset printing paper, coated paper, aluminum alloy or polyvinyl chloride (PVC). The carbon-containing pigment is carbon-containing ink, carbon ink or carbon pen. It is worth noting that the carbon-containing pigment can be any paint or dye containing carbon powder. The carbon-free pigment is carbon-free ink, carbon-free ink or carbon-free pen. It is worth noting that the carbon-free pigment can be any paint or dye not containing carbon powder.

[0035] Specifically, taking the case where both the positioning pattern 701 and the non-positioning pattern 702 are printed with ink as an example, the steps of processing the positioning plate include: S201, determining whether to use a four-color printing process or a five-color printing process; S202, printing the non-positioning pattern 702 on the positioning plate; S203, printing the positioning pattern 701 on the positioning plate; S204, drying the positioning pattern 701 and the non-positioning pattern 702.

[0036] It is worth noting that the positioning pattern 701 and the non-positioning pattern 702 can be overlapped. In some other specific embodiments, the positioning pattern 701 is first printed on the positioning plate, and then the non-positioning pattern 702 is printed on the positioning plate.

[0037] When four-plate printing is adopted in S201, S202 can adopt the following steps to print the non-positioning pattern 702 on the positioning plate: S301, CMY layering of the non-positioning pattern 702; S302, printing C layer ink; S303, printing M layer ink; S304, printing Y layer ink.

[0038] When five-plate printing is adopted in S201, S202 can adopt the following steps to print the non-positioning pattern 702 on the positioning plate: S401, CMYK layering of non-positioning information; S402, printing C layer ink; S403, printing M layer ink; S404, printing Y layer ink; S405, mixing CMY to form K layer for printing.

[0039] In some embodiments, the non-positioning pattern 702 is used to determine the placement direction and position of the positioning plate 100 during the installation process of the positioning plate 100. Figure 3 , the positioning pattern 701 for providing positioning information is distributed in a 5×5 array on the top surface of the positioning plate 100; the non-positioning pattern 702 for providing identification information is arranged at the edge of the top surface of the positioning plate 100, the size of the substrate 220 is larger than the size of the positioning plate 100, and the top surface of the substrate 220 is provided with a substrate mark 703 corresponding to the non-positioning pattern 702; when the non-positioning pattern 702 is aligned with the substrate mark 703, it is confirmed that the installation position of the positioning plate 100 is accurate;

[0040] It is worth noting that the positioning pattern 701 can be distributed in any form on the positioning plate 100. The non-positioning pattern 702 and the substrate mark 703 can be set to multiple. When different non-positioning patterns 702 and substrate marks 703 are aligned one by one, it is confirmed that the installation angle of the positioning plate 100 is accurate. The non-positioning pattern 702 can also be used to display the brand logo or the model of the positioning plate.

[0041] In some embodiments, the plate group to be bonded is heated to a specified temperature so that the first film layer 310 is hot-melt bonded to the substrate 220 and the positioning plate 100, and the second film layer 320 is hot-melt bonded to the protection plate 210 and the positioning plate 100, and also includes: when heating the plate group to be bonded, pressure is simultaneously applied to the protection plate 210 and the substrate 220 toward the positioning plate 100 to increase the bonding force between the first film layer 310 and the second film layer 320, so that the protection plate 210, the positioning plate 100 and the substrate 220 are relatively fixed.

[0042] In some other embodiments, the plate group to be bonded is heated to a specified temperature so that the first film layer 310 is hot-melt bonded to the substrate 220 and the positioning plate 100, and the second film layer 320 is hot-melt bonded to the protection plate 210 and the positioning plate 100, and further includes: setting the specified temperature so that the specified temperature is lower than the melting temperature of the positioning plate 100, so as to prevent the positioning pattern 701 on the surface of the positioning plate 100 from melting and deforming along with the positioning plate 100 when the plate group to be bonded is heated. This is beneficial to maintaining the accuracy of the positioning information provided by the positioning plate 100.

[0043] Specifically, the melting temperature of the first film layer 310 and the second film layer 320 is 80 degrees Celsius; in some other specific embodiments, the melting temperature of the first film layer 310 and the second film layer 320 is 120 degrees Celsius; in some other specific embodiments, the melting temperature of the first film layer 310 and the second film layer 320 is 150 degrees Celsius. It is worth noting that the melting temperature of the positioning plate 100 can be any temperature as long as it is higher than the melting temperature of the first film layer 310 and the second film layer 320.

[0044] like Figure 4 As shown, this embodiment provides a foldable positioning device. When the device is bent, the positioning plate 100, the first film layer 310 and the second film layer 320 are all bent in a U shape. The end surface of the first film layer 310 away from the positioning plate 100 is connected to two protective plates 210; the end surface of the second film layer 320 away from the positioning plate 100 is connected to two substrates 220, and the two substrates 220 are close to each other; the plane where the center of the positioning plate 100 is located is the symmetry plane, and the symmetry plane divides the device into a first folding part 401 and a second folding part 402. When the device is unfolded, the first folding part 401 rotates 180 degrees relative to the second folding part 402, the top end surfaces of the two protective plates 210 are coplanar, and the bottom end surfaces of the two substrates 220 are coplanar.

[0045] It is worth noting that the number of folding portions can also be any integer greater than 2. The positioning plate 100, the first film layer 310 and the second film layer 320 can be bent in a V-shape, an S-shape or a Z-shape. The outer edges of the substrate 220, the protection plate 210 and the positioning plate 100 are aligned.

[0046] Please refer to Figure 4 In some embodiments, two adjacent substrates 220 are connected to the same elastic member 500. When the elastic member 500 is stretched, the device is unfolded and the top surfaces of the two protection plates 210 are coplanar. When the elastic member 500 is compressed, the device is folded. Specifically, the elastic member 500 can be a spring or a spring sheet.

[0047] like Figure 5 As shown, in some other embodiments, two adjacent protection plates 210 are respectively connected with a first magnet 601 and a second magnet 602; when the first magnet 601 and the second magnet 602 attract and contact each other, the device unfolds, and the top surfaces of the two adjacent protection plates 210 are coplanar. When the first magnet 601 and the second magnet 602 are separated, the device folds; specifically, the first magnet 601 and the second magnet 602 can be set to iron, nickel, cobalt metal and alloys thereof.

[0048] In some other specific embodiments, the first magnet 601 and the second magnet 602 are respectively embedded in two different adjacent protection plates 210. In some other specific embodiments, the first magnet 601 and the second magnet 602 are both disposed on the outer end surfaces of the two protection plates 210.

[0049] In some other embodiments, the elastic member 500, the first magnet 601 and the second magnet 602 in the above embodiments are provided at the same time. It is worth noting that the elastic member 500 is used to provide a force when the device is unfolded, or the elastic member 500 is used to provide a force when the device is folded.

[0050] like Figure 6 As shown, this embodiment also provides a rehabilitation robot system, including a motion device 810, a control module 820 and a positioning device described in any of the above embodiments; the motion device 810 is arranged on the top side of the positioning device, and is used to carry and drive the upper limbs to move on the surface of the positioning device; the motion device 810 includes a positioning reading component 811, and the positioning reading component 811 faces the positioning device, and is used to read the positioning pattern 701 to obtain the positioning information; the control module 820 is used to control the working state of the motion device 810 according to the positioning information and preset path information.

[0051] Specifically, the motion device 810 includes a flatbed vehicle, the bottom end of the wheels of the flatbed vehicle contacts the top end surface of the protection plate 210; the control module 820 is configured as a processor, and the positioning reading component 811 includes an infrared light source and a camera. Figure 3 , the infrared light source is used to project infrared light to the positioning plate 100, the carbon-containing positioning pattern 701 reflects the infrared light to the camera, and the carbon-free non-positioning pattern 702 transmits or refracts the infrared light. The image acquired by the camera is N positioning patterns 701, where N is an arbitrary positive integer. It is worth noting that in some other embodiments, the positioning reading component 811 is a positioning pen.

[0052] 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 method for processing a positioning device, applied to a positioning device of a rehabilitation robot system, characterized in that: include: S1, processing to obtain a protection plate, a base plate and a positioning plate; placing the base plate horizontally; S2, laying the first film layer flat on the top surface of the substrate; S3, placing a positioning plate at a designated position on the first film layer, wherein positioning information is provided on the positioning plate and a side of the positioning plate provided with the positioning pattern faces away from the substrate; S4, laying the second film layer flat on the top surface of the positioning plate; S5, placing the protection plate at a designated position on the second film layer, and the protection plate, the second film layer, the positioning plate, the first film layer and the substrate stacked in sequence from top to bottom form a plate group to be bonded; S6, heating the plate group to be bonded to a specified temperature, so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protection plate and the positioning plate; S7, cooling or photocuring the hot-pressed positioning device to solidify the first film layer and the second film layer to obtain the positioning device.

2. The method according to claim 1, characterized in that The plate group to be bonded is heated to a specified temperature so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protection plate and the positioning plate, and further comprising: When the plate group to be bonded is heated, pressure toward the positioning plate is applied to the protection plate and the substrate simultaneously to increase the bonding force between the first film layer and the second film layer so as to relatively fix the protection plate, the positioning plate and the substrate.

3. The method according to claim 1, characterized in that The plate group to be bonded is heated to a specified temperature so that the first film layer is hot-melt bonded to the substrate and the positioning plate, and the second film layer is hot-melt bonded to the protection plate and the positioning plate, and further comprising: The designated temperature is set so that the designated temperature is lower than the melting temperature of the positioning plate, so as to prevent the positioning pattern on the surface of the positioning plate from melting and deforming along with the positioning plate when the plate group to be bonded is heated.

4. The method according to claim 1, characterized in that: The processing to obtain the protection plate, the substrate and the positioning plate also includes: The thickness of the protection plate is set so that the transmittance of the protection plate to infrared rays is greater than or equal to 90%, so that the positioning accuracy of the positioning device meets a preset value.

5. The method according to claim 1, characterized in that The processing to obtain the protection plate, the substrate and the positioning plate also includes: The positioning pattern is formed on the surface of the positioning plate, and the positioning pattern is used to provide the positioning information. The positioning pattern is made of carbon-containing pigment, or the positioning pattern is formed by carbonizing the positioning plate under the action of laser.

6. The method according to claim 1, characterized in that The processing to obtain the protection plate, the substrate and the positioning plate also includes: A non-positioning pattern is formed on the surface of the positioning plate, and the non-positioning pattern is made of carbon-free pigment, or the non-positioning pattern is made by hollowing out the positioning plate; the non-positioning pattern is used to determine the placement direction and position of the positioning plate during the installation of the positioning plate.

7. The method according to claim 1, characterized in that The processing to obtain the protection plate, the base plate and the positioning plate also includes: grinding the top surface of the protection plate so that the friction coefficient of the top surface of the protection plate is greater than a set threshold.

8. A positioning device, applied to a rehabilitation robot system, characterized in that: It includes a substrate, a first film layer, a positioning plate, a second film layer and a protective plate which are stacked in sequence; At least one end surface of the positioning plate is provided with a positioning pattern for providing positioning information; The first film layer is disposed between the substrate and the positioning plate, and is used for bonding and fixing the substrate and the positioning plate; The second film layer is arranged between the protection plate and the positioning plate, and is used for bonding and fixing the protection plate and the positioning plate.

9. The positioning device according to claim 8, characterized in that: The same end surface of the first film layer is connected to at least two protective plates; the same end surface of the second film layer is connected to at least two substrates; When the top end surface of the positioning plate is unfolded in a plane, the top end surfaces of two adjacent protection plates are coplanar; When the top end surface of the positioning plate is bent, the bottom end surfaces of two adjacent substrates are close to each other.

10. A rehabilitation robot system, characterized in that: It comprises a motion device and a positioning device as described in any one of claims 8 to 10; the motion device is arranged on the top side of the positioning device, and is used to carry and drive the upper limb to move on the surface of the positioning device; the motion device comprises a positioning reading component, and the positioning reading component faces the positioning device, and is used to read the positioning pattern to obtain the positioning information.

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