Upper limb rehabilitation table and self-adaptive belt pre-tightening force adjusting method

Abstract

The invention relates to the technical field of rehabilitation equipment, in particular to an upper limb rehabilitation table, a self-adaptive belt pre-tightening force adjusting method and a table top. A first sliding groove formed in the Y-axis direction is formed in the surface of the table top, and a Y-axis driving component and a Y-axis shielding belt structure are arranged below the table top; the Y-axis shielding belt structure is located on the inner side of the first sliding groove and used for blocking a path from the outer side of the first sliding groove to the inner side of the first sliding groove. In the application, a driving structure for completing X-axis and Y-axis movement is designed to be arranged in parallel with a shielding belt structure, and the arrangement mode offsets the newly added shielding belt structure, so that a space is provided for longitudinal installation of a high-precision multi-dimensional force sensor, and the overall height of the X-axis sliding table is prevented from being increased; the newly-added X-axis shielding belt structure is connected with the hand support supporting structure and the handle, the width of the sliding groove can be reduced, meanwhile, the exposed sliding groove is shielded through the shielding belt structure, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and particularly to an upper limb rehabilitation table and an adaptive belt pre-tightening force adjustment method. Background Art

[0002] In recent years, with the development of medicine, the mortality rate of stroke patients has decreased significantly, and most stroke patients will have motor dysfunction. 55%-75% of stroke patients will continuously have functional disorders in the upper limbs and hands, resulting in a decline in the quality of life. At present, traditional rehabilitation training is mainly carried out by therapists. With the gradual application of upper limb rehabilitation tables in clinical rehabilitation, this equipment mainly helps patients perform compound movements on the shoulder joints. When necessary, it will also perform some resistance training like a rehabilitation therapist to encourage users to use the maximum muscle mass, thereby improving the user's strength, speed, and accuracy, and thus reshaping the upper limb function.

[0003] The upper limb rehabilitation table usually includes multiple training modes, such as a cooperative mode or an active mode. Cooperative mode: The auxiliary force is adjusted in real time according to the patient's muscle strength. If the patient can actively complete the movement, the assistance is reduced, and vice versa, the assistance is increased. Active mode: The patient independently controls the upper limb movement, and the device detects the movement intention through a sensor and provides feedback.

[0004] It should be understood that in the above-mentioned multiple modes, force feedback is involved, and the feedback of the user's grip strength is obtained by a sensor at the lower end of the grip bar. Among them, the higher the precision of the sensor, the larger its size, but a high-precision sensor will cause an increase in the height of the device above the tabletop, that is, an increase in the height difference between the user's elbow and wrist, which is not conducive to the user's rehabilitation use. Summary of the Invention

[0005] In view of the technical problems existing in the upper limb rehabilitation table in the prior art, the first aspect of the present invention provides an upper limb rehabilitation table, including:

[0006] A tabletop, on the surface of which there is a first chute arranged along the Y-axis direction. Below the tabletop, there is a Y-axis driving component and a Y-axis shielding belt structure. The Y-axis shielding belt structure is inside the first chute and is used to block the path from the outside of the first chute to the inside of the first chute;

[0007] An X-axis slide table, connected to the Y-axis driving component and the Y-axis shielding belt structure, and can be driven by the Y-axis driving component to move along the Y-axis direction. On the surface of the X-axis slide table, there is a second chute arranged along the X-axis direction. Inside the X-axis slide table, there is an X-axis driving component and an X-axis shielding belt structure. The X-axis shielding belt structure is inside the second chute and is used to block the path from the outside of the second chute to the inside of the second chute;

[0008] Handrest structure, the handrest structure includes a handrest slide, a handrest support structure and a handle. The handrest slide is connected to the X-axis drive component and the X-axis shielding belt structure, and can be driven by the X-axis drive component to move along the X-axis direction. A multi-dimensional force sensor for monitoring the force state of the handle is connected below the handle;

[0009] Both the Y-axis shielding belt structure and the X-axis shielding belt structure are provided with a pre-tightening force monitoring device and a pre-tightening force adjusting device;

[0010] A controller, electrically connected to the Y-axis drive component, the X-axis drive component, the multi-dimensional force sensor, the pre-tightening force monitoring device and the pre-tightening force adjusting device;

[0011] Among them, the controller is set to control the tension state of the Y-axis shielding belt structure and the X-axis shielding belt structure and the drive state of the Y-axis drive component and the X-axis drive component according to the feedback of the multi-dimensional force sensor and the pre-tightening force monitoring device, so that the force on the handle is maintained within a preset range.

[0012] Preferably, a support plate is provided on one side of the handrest slide. The supporting surface of the support plate is located on one side of the handrest slide and is lower than the upper end surface of the handrest slide. A cushion block is provided on the surface of the supporting surface. The handrest support structure and the handle are both connected to the upper end of the cushion block and are above the second chute. The X-axis shielding belt structure is connected to the support plate, and a space for accommodating the multi-dimensional force sensor is formed inside the cushion block.

[0013] Preferably, the X-axis drive component includes an X-axis drive structure, a cage and a drive belt. The cage is connected to the Y-axis drive component. The drive belt is sleeved on the track surface of the cage. The X-axis drive structure is used to drive the drive belt to slide on the track surface of the cage. The handrest slide is connected to the drive belt, and the handrest slide can move along the length direction of the cage.

[0014] Preferably, the X-axis shielding belt structure includes an X-axis shielding belt support frame, a roller and an X-axis shielding belt body. The shielding belt support frame is connected to one side of the cage. A plurality of rollers are connected to the shielding belt support frame. The shielding belt body is wound around the surfaces of the plurality of rollers, and both free ends of the shielding belt body are connected to the cushion block through a first connecting buckle.

[0015] Preferably, the pre-tightening force monitoring device includes a first pre-tightening force monitoring wheel set. The pre-tightening force adjusting device includes a first telescopic motor and a first pressure roller. The first telescopic motor is used to drive the first pressure roller to move in a direction perpendicular to the X-axis shielding belt body, so that the pre-tightening force of the X-axis shielding belt body changes. The X-axis shielding belt body bypasses the first pre-tightening force monitoring wheel set, and the first pre-tightening force monitoring wheel set monitors the pre-tightening force of the X-axis shielding belt body.

[0016] Preferably, the driving belt and the X-axis shielding belt body are located in different vertical planes.

[0017] Preferably, the Y-axis driving component includes a Y-axis slide table that moves along the Y-axis. The Y-axis shielding belt structure includes a Y-axis shielding belt body. A connecting structure extending out of the first chute is provided at the upper end of the slide table. The Y-axis shielding belt body is connected to the connecting structure, and the slide table drives the connecting structure and the Y-axis shielding belt structure to move along the length direction of the first chute inside the first chute.

[0018] Preferably, the Y-axis driving component further includes a Y-axis driving member and a Y-axis driving belt. The Y-axis driving member is used to drive the Y-axis driving belt to slide on the Y-axis track. The Y-axis slide table is connected to the Y-axis driving belt and is driven by the Y-axis driving belt to slide on the Y-axis track.

[0019] Preferably, the pre-tightening force monitoring device includes a second pre-tightening force monitoring wheel set. The pre-tightening force adjusting device includes a second telescopic motor and a second pressing roller. The second telescopic motor is used to drive the second pressing roller to move in a direction perpendicular to the Y-axis shielding belt body, so that the pre-tightening force of the Y-axis shielding belt body changes. The Y-axis shielding belt body bypasses the second pre-tightening force monitoring wheel set, and the second pre-tightening force monitoring wheel set monitors the pre-tightening force of the Y-axis shielding belt body.

[0020] A technical solution is proposed in the second aspect of the present invention. The adaptive belt pre-tightening force adjustment method for the above-mentioned upper limb rehabilitation table includes the following steps:

[0021] Step a, shielding belt pre-tightening step:

[0022] Step a1, monitor whether the pre-tightening forces of the Y-axis shielding belt structure and the X-axis shielding belt structure are within the first pre-tightening force range through the pre-tightening force monitoring device;

[0023] Step a2, adjust the pre-tightening forces of the Y-axis shielding belt structure or the X-axis shielding belt structure through the pre-tightening force adjusting device, so that the pre-tightening forces of the Y-axis shielding belt structure and the X-axis shielding belt structure are maintained within the first pre-tightening force range;

[0024] Step b, shielding belt pre-tightening force adaptive adjustment step:

[0025] Step b1, monitor the pressure received by the handle through the multi-dimensional force sensor;

[0026] Step b2, judge whether the pressure received by the handle is within the first pressure range;

[0027] Step b3: If the pressure on the handle is within the first pressure range, there is no need to adjust the pre-tightening force of the Y-axis shielding belt structure and the X-axis shielding belt structure; if the pressure on the handle is greater than the first pressure range and higher than the maximum pressure threshold, adjust the pre-tightening force of the Y-axis shielding belt structure and the X-axis shielding belt structure to the maximum value; if the pressure on the handle is greater than the first pressure range and less than the maximum pressure threshold, control the pre-tightening force of the Y-axis shielding belt structure and the X-axis shielding belt structure to decrease until the pressure on the handle is maintained within the first pressure range; if the pressure on the handle is less than the first pressure range, control the pre-tightening force of the Y-axis shielding belt structure and the X-axis shielding belt structure to increase until the pressure on the handle is maintained within the first pressure range.

[0028] Preferably, the first pre-tightening force range is 3 - 5 N, the first pressure range is 10 - 15 N, and the maximum pressure threshold is 20 N.

[0029] Compared with the prior art, the advantages of the present invention are as follows:

[0030] In this application, the drive structures for the X-axis and Y-axis movements are designed with a layout where the drive structure and the shielding belt structure are arranged side by side. This arrangement provides space for the longitudinal installation of a high-precision multi-dimensional force sensor by offsetting the newly added shielding belt structure, avoiding an increase in the overall height of the X-axis slide; connecting the newly added X-axis shielding belt structure to the handrest support structure and the handle can reduce the width of the chute, and at the same time, the exposed chute is shielded by the shielding belt structure to increase safety; the newly designed shielding belt structure can provide a damping force for the movement of the handle, which is beneficial to keeping the force application state of the user holding the handle within an ideal range and improving the rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in each figure may be represented by the same reference numeral. For clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of examples and with reference to the drawings, where:

[0032] Figure 1 is a schematic structural diagram of the upper limb rehabilitation table shown in the present invention;

[0033] Figure 2 is a schematic diagram of the desktop and the X-axis slide removed from the upper limb rehabilitation table shown in the present invention;

[0034] Figure 3 is a schematic structural diagram of the X-axis drive component and the X-axis shielding belt structure shown in the present invention;

[0035] Figure 4It is a schematic structural diagram of the pre-tightening force monitoring device and the pre-tightening force adjusting device in the X-axis shielding belt structure shown in the present invention;

[0036] Figure 5 It is a schematic structural diagram of the Y-axis driving component and the Y-axis shielding belt structure shown in the present invention;

[0037] Figure 6 It is a schematic structural diagram of the pre-tightening force monitoring device and the pre-tightening force adjusting device in the Y-axis shielding belt structure shown in the present invention;

[0038] Figure 7 It is a schematic diagram of the adaptive pre-tightening force adjustment principle of the shielding belt in the upper limb rehabilitation table shown in the present invention. Detailed implementation manners

[0039] To better understand the technical content of the present invention, specific embodiments are given below in conjunction with the accompanying drawings for illustration.

[0040]

Upper limb rehabilitation table

[0041] Combined with Figure 1 and Figure 2 As shown, a first aspect of the present invention provides an upper limb rehabilitation table, including a tabletop 100, an X-axis slide 200, and a hand support structure 300. It should be understood that the hand support structure 300 can be held by the user and support the forearm. The user can actively drive the hand support structure 300 to move in any direction on the plane to complete rehabilitation training actions, or passively be driven by the hand support structure 300 to complete predetermined actions.

[0042] It can be seen that a first chute 101 is provided on the surface of the tabletop 100 along the Y-axis direction, and a second chute 201 is provided on the surface of the X-axis slide 200 along the X-axis direction.

[0043] Below the tabletop 100, a Y-axis driving component 110 and a Y-axis shielding belt structure 120 are provided. The Y-axis shielding belt structure 120 is located inside the first chute 101 and is used to block the path from the outside of the first chute 101 to the inside of the first chute 101.

[0044] In this way, when the X-axis slide 200 moves along the Y-axis direction, or when the hand support structure 300 moves along the X-axis direction on the X-axis slide 200, other items on the surface of the tabletop 100 will not fall into the first chute 101 or the second chute 201, which is beneficial to protecting the safety of the user, especially preventing the safety hazards caused by the user's fingers or clothing being caught in the first chute 101 or the second chute 201.

[0045] Combined with Figure 2As shown, the X-axis slide table 200 is connected to the Y-axis drive component 110 and the Y-axis shielding belt structure 120, and can be driven by the Y-axis drive component 110 to move in the Y-axis direction. A second chute 201 is provided on the surface of the X-axis slide table 200 along the X-axis direction.

[0046] Among them, the Y-axis drive component 110 is an active drive structure, and the Y-axis shielding belt structure 120 is a driven structure. The Y-axis drive component 110 can drive the Y-axis shielding belt structure 120 to move in the Y-axis direction.

[0047] In order to reduce the stacking height of the Y-axis drive component 110 and the X-axis slide table 200 in the vertical direction, the Y-axis drive component 110 and the Y-axis shielding belt structure 120 are arranged left and right. The Y-axis shielding belt structure 120 is on one side of the Y-axis drive component 110 in the left-right direction, and the height of the drive structure below the tabletop 100 can be reduced as a whole.

[0048] Combined with Figure 2 As shown, an X-axis drive component 210 and an X-axis shielding belt structure 220 are provided inside the X-axis slide table 200. The X-axis shielding belt structure 220 is located inside the second chute 201 and is used to block the path from the outside of the second chute 201 to the inside of the second chute 201.

[0049] Among them, the X-axis drive component 210 is an active drive structure, and the X-axis shielding belt structure 220 is a driven structure. The X-axis drive component 210 can drive the X-axis shielding belt structure 220 to move in the X-axis direction.

[0050] Combined with Figure 3 As shown, the handrest structure 300 includes a handrest slide table 310, a handrest support structure 320, and a handle 330. The handrest slide table 310 is connected to the X-axis drive component 210 and the X-axis shielding belt structure 220, and can be driven by the X-axis drive component 210 to move in the X-axis direction. A multi-dimensional force sensor 331 for monitoring the force state of the handle 330 is connected below the handle 330.

[0051] In this way, after the user holds the handle 330, when the user moves in any direction, the handle 330 is subjected to a certain force. Since the structure of the glove slide table 310 is connected to the X-axis shielding belt structure 220 and the X-axis drive component 210, and is also subjected to the damping effect of the Y-axis shielding belt structure 120 and the Y-axis drive component 110, the damping forces provided by the X-axis shielding belt structure 220, the X-axis drive component 210, the Y-axis shielding belt structure 120, and the Y-axis drive component 110 can control the magnitude of the force on the handle 330. In order to maintain a good rehabilitation training effect, it is hoped that the user can drive the handle 330 to move with a relatively stable force application state. Therefore, in this process, it is necessary to adjust the damping forces provided by the X-axis shielding belt structure 220 and the X-axis drive component 210 to maintain the stability of the user's force application.

[0052] Furthermore, both the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 are provided with a pre-tightening force monitoring device and a pre-tightening force adjusting device, and the controller is electrically connected to the Y-axis driving component 110, the X-axis driving component 210, the multi-dimensional force sensor 331, the pre-tightening force monitoring device, and the pre-tightening force adjusting device.

[0053] Among them, the controller is configured to control the tension state of the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 and the driving state of the Y-axis driving component 110 and the X-axis driving component 210 according to the feedback of the multi-dimensional force sensor 331 and the pre-tightening force monitoring device, so that the force on the handle 330 is maintained within a preset range.

[0054] In an optional embodiment, when the force applied by the user to drive the handle 330 during the completion of a predetermined action is too small, and the multi-dimensional force sensor 331 monitors that the pressure applied by the user is less than the preset range, the pre-tightening force of the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 is increased through the pre-tightening force adjusting device, so that the damping force of the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 increases, and the user must apply a greater force to complete the predetermined rehabilitation action.

[0055] Optionally, when the force applied by the user to drive the handle 330 during the completion of a predetermined action is slightly too large, and the multi-dimensional force sensor 331 detects that the pressure applied by the user is greater than the preset range, the pre-tightening force of the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 is reduced through the pre-tightening force adjusting device, so that the damping force of the Y-axis occlusion belt structure 120 and the X-axis occlusion belt structure 220 decreases, and the user can complete the predetermined rehabilitation action with less effort.

[0056] Furthermore, when the user drives the handle 330 to complete a predetermined action, if the patient suddenly has a spasm and applies a greater force, it is very likely that the motor speed in the driving device will be abnormal. Therefore, the damping force of the occlusion belt is increased to decelerate and at the same time the braking device of the motor is used for braking, and finally the machine stops, thereby protecting the motor and the user.

[0057] As described above, during the rehabilitation training process, the user can adjust the pre-tightening force of the occlusion belt so that the pressure on the handle 330 is always maintained within a suitable range, which is beneficial for the user to maintain the correct force application state and improve the rehabilitation training efficiency.

[0058] It should be understood that the above process of adaptive adjustment of the pre-tightening force of the occlusion belt not only depends on the monitoring of the pre-tightening force of the occlusion belt, but also the monitoring of the pre-tightening force of the handle is equally important, and this requires relying on the high-precision multi-dimensional force sensor 331.

[0059] To reduce the installation height of the handle 330, in a preferred embodiment, in combination with Figure 3As shown, a support plate 312 is provided on one side of the handrest slide 310. The supporting surface of the support plate 312 is located on one side of the handrest slide 310 and is lower than the upper end surface of the handrest slide 310.

[0060] Among them, the drive belt 216 and the X-axis shielding belt body 223 are located in different vertical planes. Since both the handrest slide 310 and the support plate 312 can move in the X-axis direction, therefore, the handrest slide 310 and the support plate 312 are arranged front and back in the Y-axis direction. By arranging the support plate 312 below one side of the handrest slide 310, the installation height of the handrest support structure 320 and the handle 330 can be reduced.

[0061] Specifically, a cushion block 311 is provided on the surface of the supporting surface. Both the handrest support structure 320 and the handle 330 are connected to the upper end of the cushion block 311 and are located above the second chute 201. The X-axis shielding belt structure 220 is connected to the support plate 312. A space for accommodating the multi-dimensional force sensor 331 is formed inside the cushion block 311.

[0062] In this way, in order for the X-axis slide 200 to maintain a smaller size in the Z-axis direction, its overall size increases in the length in the Y-axis direction. By offsetting the multi-dimensional force sensor 331 to one side of the handrest slide 310, and at the same time setting two parallel driving and driven structures, namely the X-axis driving component 210 and the X-axis shielding belt structure 220, not only can a lower height be maintained, but also it is beneficial to narrow the gap of the second chute 201. The second chute 201 can also be covered by the X-axis shielding belt structure 220. In addition, an additional controllable damping force can be provided by the X-axis shielding belt structure 220.

[0063] Therefore, through the combined structure of the X-axis driving component 210 and the X-axis shielding belt structure 220, at least three purposes are achieved. First, by offsetting the X-axis shielding belt structure 220, a space for longitudinally installing the high-precision multi-dimensional force sensor 331 is provided, avoiding an increase in the overall height of the X-axis slide 200. Second, by offsetting the X-axis shielding belt structure 220 and connecting the X-axis shielding belt structure 220 to the handrest support structure 320 and the handle 330, the second chute 201 is offset. It is not directly above the handrest slide 310 but is located on one side. Therefore, the width design and position design of the second chute 201 have nothing to do with the handrest slide 310 and are only related to the support plate 312. The exposed second chute 201 can be shielded by the X-axis shielding belt structure 220, increasing safety. Third, the newly designed X-axis shielding belt structure 220 can provide a damping force for the movement of the handle 330, which is beneficial to keeping the force application state of the user holding the handle 330 within an ideal range and improving the rehabilitation training effect.

[0064] Combined Figure 3 and Figure 4As shown, the X-axis drive component 210 includes an X-axis drive structure, a cage 213, and a drive belt 216. The cage 213 is connected to the Y-axis drive component 110. The drive belt 216 is sleeved on the track surface of the cage 213. The X-axis drive structure is used to drive the drive belt 216 to slide on the track surface of the cage 213. The handrest slide 310 is connected to the drive belt 216, and the handrest slide 310 can move along the length direction of the cage 213.

[0065] Among them, the X-axis drive structure includes a motor 211, a reduction gearbox 212, a synchronous pulley 214, and a synchronous belt 215. The cage 213 includes pulleys on both sides, a frame for fixing the pulley position, and a track for supporting the handrest slide 310. The power transmission path is motor 211 - reduction gearbox 212 - synchronous pulley 214 - synchronous belt 215 - pulley - drive belt 216.

[0066] In this way, the handrest slide 310 is fixed to the drive belt 216. When the drive belt 216 slides along the X-axis, the handrest slide 310 also slides on the surface of the track.

[0067] Furthermore, the X-axis shielding belt structure 220 includes an X-axis shielding belt support frame 221, a roller 222, and an X-axis shielding belt body 223. The shielding belt support frame 221 is connected to one side of the cage 213. A plurality of rollers 222 are connected to the shielding belt support frame 221. The shielding belt body 223 is wound around the surfaces of the plurality of rollers 222, and both free ends of the shielding belt body 223 are connected to the cushion block 311 through a first connection buckle 224.

[0068] In this way, the X-axis shielding belt support frame 221 can adjust its maximum height as needed to meet the installation requirements of the multi-dimensional force sensor 331. If the height dimension of the multi-dimensional force sensor 331 is larger, the height of the X-axis shielding belt support frame 221 is increased accordingly, so that its upper limit height is not higher than the upper surface of the drive belt 216.

[0069] Furthermore, in an alternative embodiment, the pre-tightening force monitoring device includes a first pre-tightening force monitoring wheel set 226, and the pre-tightening force adjusting device includes a first telescopic motor 227 and a first pressing roller 228.

[0070] Among them, the first telescopic motor 227 is used to drive the first pressing roller 228 to move in a direction perpendicular to the X-axis shielding belt body 223, so that the pre-tightening force of the X-axis shielding belt body 223 changes. The X-axis shielding belt body 223 bypasses the first pre-tightening force monitoring wheel set 226, and the first pre-tightening force monitoring wheel set 226 monitors the pre-tightening force of the X-axis shielding belt body 223.

[0071] Combined with Figure 5As shown, the Y-axis driving component 110 includes a Y-axis slide 113 that moves along the Y-axis, and the Y-axis shielding belt structure 120 includes a Y-axis shielding belt body 121.

[0072] Among them, a connecting structure 114 extending out of the first chute 101 is provided at the upper end of the Y-axis slide 113. The Y-axis shielding belt body 121 is connected to the connecting structure 114, and the Y-axis slide 113 drives the connecting structure 114 and the Y-axis shielding belt structure 120 to move along the length direction of the first chute 101 inside the first chute 101.

[0073] In this way, this structural design can reduce the designed width of the first chute 101, enabling the Y-axis shielding belt structure 120 to cover the first chute 101.

[0074] Furthermore, the Y-axis driving component 110 further includes a Y-axis driving component 111 and a Y-axis driving belt 112. The Y-axis driving component 111 is used to drive the Y-axis driving belt 112 to slide on the Y-axis track. The Y-axis slide 113 is connected to the Y-axis driving belt 112 and is driven by the Y-axis driving belt 112 to slide on the Y-axis track.

[0075] Among them, the structural configuration of the Y-axis driving component 111 is the same as that of the X-axis driving structure, both including a motor, a reduction gearbox, a synchronous pulley, and a synchronous belt. The cage includes belt pulleys on both sides, a frame for fixing the position of the belt pulley, and a track for supporting the Y-axis slide 113. The power transmission path is motor - reduction gearbox - synchronous pulley - synchronous belt - belt pulley - driving belt.

[0076] Combined Figure 6 As shown, the pre-tightening force monitoring device includes a second pre-tightening force monitoring wheel set 123, and the pre-tightening force adjusting device includes a second telescopic motor and a second pressure roller 124.

[0077] Among them, the second telescopic motor is used to drive the second pressure roller 124 to move in a direction perpendicular to the Y-axis shielding belt body 121, causing the pre-tightening force of the Y-axis shielding belt body 121 to change. The Y-axis shielding belt body 121 bypasses the second pre-tightening force monitoring wheel set 123, and the second pre-tightening force monitoring wheel set 123 monitors the pre-tightening force of the Y-axis shielding belt body 121.

[0078]

Adaptive Belt Pre-tightening Force Adjusting Method for Upper Limb Rehabilitation Table

[0079] A technical solution is proposed in the second aspect of the present invention. The above-mentioned adaptive belt pre-tightening force adjusting method for the upper limb rehabilitation table includes the following steps:

[0080] Step a, shielding belt pre-tightening step:

[0081] Step a1: Monitor whether the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are within the first pre-tightening force range through a pre-tightening force monitoring device;

[0082] Step a2: Adjust the pre-tightening forces of the Y-axis shielding belt structure 120 or the X-axis shielding belt structure 220 through a pre-tightening force adjustment device so that the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are maintained within the first pre-tightening force range;

[0083] Step b: Adaptive adjustment step of the shielding belt pre-tightening force:

[0084] Step b1: Monitor the pressure received by the handle 330 through the multi-dimensional force sensor 331;

[0085] Step b2: Determine whether the pressure received by the handle 330 is within the first pressure range;

[0086] Step b3: If the pressure received by the handle 330 is within the first pressure range, there is no need to adjust the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220; if the pressure received by the handle 330 is greater than the first pressure range and higher than the highest pressure threshold, adjust the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 to the minimum or maximum value; if the pressure received by the handle 330 is greater than the first pressure range and less than the highest pressure threshold, control the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 to decrease until the pressure received by the handle 330 is maintained within the first pressure range; if the pressure received by the handle 330 is less than the first pressure range, control the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 to increase until the pressure received by the handle 330 is maintained within the first pressure range.

[0087] In a preferred embodiment, the first pre-tightening force range is 3 - 5 N, the first pressure range is 10 - 15 N, and the highest pressure threshold is 20 N.

[0088] Combined with Figure 7As shown, in a specific embodiment, the system connects to the power supply for self-check, initializes the hardware, and loads the program settings. It further detects whether there is an alarm from the peripheral devices. If there is an alarm, the process ends and the cause of the alarm is checked. If there is no alarm, a pre-tightening force is set for the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220, and the pre-tightening force of the shielding belt is controlled to be between 3 N and 5 N. After entering the pre-tightening force setting program, the pre-tightening force of the pre-tightening force belt is monitored by the pre-tightening force monitoring device. If it is less than 3 N, the pre-tightening force is increased; if it is greater than 5 N, the pre-tightening force is decreased, so that the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are between 3 N and 5 N. When the pre-tightening force of the shielding belt is set, the rehabilitation training process can be carried out. During the training process, spasm detection is performed. If the force applied by the user to the handle 330 is greater than 20 N, it is determined that the user's muscles are abnormal. The speed is reduced by increasing the damping force of the shielding belt and the braking device of the motor is used for braking at the same time, and finally the machine stops, thus protecting the motor and the user. After stopping, the pre-tightening force of the shielding belt is adjusted to between 0.5 N and 2 N to keep the shielding belt in a low stress state and protect the health of the shielding belt. If the force applied by the user to the handle 330 is between 10 N and 15 N, the rehabilitation training of the predetermined action is carried out normally. During the rehabilitation training process, if the force applied by the user when driving the handle 330 to complete the predetermined action is too small (for example, less than 10 N), the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are increased through the pre-tightening force adjustment device, so that the damping forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are increased, and the user must apply a greater force to complete the predetermined rehabilitation action. When the force applied by the user when driving the handle 330 to complete the predetermined action is slightly larger, for example, between 15 N and 20 N, the pre-tightening forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are reduced through the pre-tightening force adjustment device, so that the damping forces of the Y-axis shielding belt structure 120 and the X-axis shielding belt structure 220 are reduced, and the user can complete the predetermined rehabilitation action in a state of exerting less force.

[0089] As described above, during the rehabilitation training process, the user can adjust the pre-tightening force of the shielding belt so that the pressure of the user on the handle 330 is always maintained within a suitable range, which is beneficial for the user to maintain the correct force exertion state and improve the rehabilitation training efficiency.

[0090] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to that defined by the claims.

Claims

1. An upper limb rehabilitation table, characterized in that: include: A desktop (100), wherein a first slide groove (101) arranged along the Y-axis direction is provided on the surface of the desktop (100), a Y-axis driving component (110) and a Y-axis shielding belt structure (120) are provided below the desktop (100), and the Y-axis shielding belt structure (120) is located on the inner side of the first slide groove (101) and is used to block the path from the outer side of the first slide groove (101) to the inner side of the first slide groove (101); An X-axis slide (200) is connected to the Y-axis driving component (110) and the Y-axis shielding belt structure (120), and can be driven by the Y-axis driving component (110) to move along the Y-axis direction; a second slide groove (201) arranged along the X-axis direction is provided on the surface of the X-axis slide (200); an X-axis driving component (210) and an X-axis shielding belt structure (220) are provided inside the X-axis slide (200); the X-axis shielding belt structure (220) is located inside the second slide groove (201), and is used to block a path from the outside of the second slide groove (201) to the inside of the second slide groove (201); A hand support structure (300), the hand support structure (300) comprising a hand support slide (310), a hand support support structure (320) and a handle (330), the hand support slide (310) being connected to the X-axis driving component (210) and the X-axis shielding belt structure (220), and being driven by the X-axis driving component (210) to move along the X-axis direction, and a multi-dimensional force sensor (331) for monitoring the force state of the handle (330) being connected below the handle (330); The Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) are both provided with a preload monitoring device and a preload adjusting device; A controller electrically connected to the Y-axis driving component (110), the X-axis driving component (210), the multi-dimensional force sensor (331), the preload monitoring device, and the preload adjusting device; The controller is configured to control the tensioning state of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) and the driving state of the Y-axis driving component (110) and the X-axis driving component (210) based on feedback from the multi-dimensional force sensor (331) and the preload monitoring device, so that the force applied to the handle (330) is maintained within a preset range.

2. The upper limb rehabilitation table according to claim 1, characterized in that: A support plate (312) is provided on one side of the hand-support slide (310), and a supporting surface of the support plate (312) is located on one side of the hand-support slide (310) and is lower than the upper end surface of the hand-support slide (310). A pad (311) is provided on the surface of the supporting surface. The hand-support support structure (320) and the handle (330) are both connected to the upper end of the pad (311) and are located above the second slide groove (201). The X-axis shielding belt structure (220) is connected to the support plate (312), and a space for accommodating a multi-dimensional force sensor (331) is formed on the inner side of the pad (311).

3. The upper limb rehabilitation table according to claim 2, characterized in that: The X-axis driving component (210) comprises an X-axis driving structure, a retaining frame (213) and a driving belt (216); the retaining frame (213) is connected to the Y-axis driving component (110); the driving belt (216) is sleeved on the track surface of the retaining frame (213); the X-axis driving structure is used to drive the driving belt (216) to slide on the track surface of the retaining frame (213); the hand-supporting slide (310) is connected to the driving belt (216), and the hand-supporting slide (310) can move along the length direction of the retaining frame (213).

4. The upper limb rehabilitation table according to claim 3, characterized in that: The X-axis shielding belt structure (220) comprises an X-axis shielding belt support frame (221), a roller (222) and an X-axis shielding belt body (223); the shielding belt support frame (221) is connected to one side of the retaining frame (213); a plurality of rollers (222) are connected to the shielding belt support frame (221); the shielding belt body (223) is wound around the surfaces of the plurality of rollers (222); and both free ends of the shielding belt body (223) are connected to the cushion block (311) via a first connecting buckle (224).

5. The upper limb rehabilitation table according to claim 4, characterized in that: The preload monitoring device comprises a first preload monitoring wheel group (226), and the preload adjusting device comprises a first telescopic motor (227) and a first pressure roller (228), wherein the first telescopic motor (227) is used to drive the first pressure roller (228) to move in a direction perpendicular to the X-axis shielding belt body (223), so that the preload of the X-axis shielding belt body (223) changes, and the X-axis shielding belt body (223) bypasses the first preload monitoring wheel group (226), and the preload of the X-axis shielding belt body (223) is monitored by the first preload monitoring wheel group (226).

6. The upper limb rehabilitation table according to claim 4 or 5, characterized in that: The driving belt (216) and the X-axis shielding belt body (223) are located in different vertical planes.

7. The upper limb rehabilitation table according to claim 1, characterized in that: The Y-axis driving component (110) comprises a Y-axis slide (113) that moves along the Y-axis, and the Y-axis shielding belt structure (120) comprises a Y-axis shielding belt body (121). The upper end of the slide (113) is provided with a connecting structure (114) that extends out of the first slide groove (101), and the Y-axis shielding belt body (121) is connected to the connecting structure (114), and the slide (113) drives the connecting structure (114) and the Y-axis shielding belt structure (120) to move inside the first slide groove (101) along the length direction of the first slide groove (101).

8. The upper limb rehabilitation table according to claim 7, characterized in that: The Y-axis driving component (110) further comprises a Y-axis driving component (111) and a Y-axis driving belt (112), wherein the Y-axis driving component (111) is used to drive the Y-axis driving belt (112) to slide on the Y-axis track, and the Y-axis slide (113) is connected to the Y-axis driving belt (112) and is driven by the Y-axis driving belt (112) to slide on the Y-axis track.

9. The upper limb rehabilitation table according to claim 7, characterized in that: The preload monitoring device comprises a second preload monitoring wheel set (123), and the preload adjusting device comprises a second telescopic motor and a second pressure roller (124), wherein the second telescopic motor is used to drive the second pressure roller (124) to move in a direction perpendicular to the Y-axis shielding belt body (121), so that the preload of the Y-axis shielding belt body (121) changes, and the Y-axis shielding belt body (121) bypasses the second preload monitoring wheel set (123), and the second preload monitoring wheel set (123) monitors the preload of the Y-axis shielding belt body (121).

10. The method for adjusting the adaptive belt preload of an upper limb rehabilitation table according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step a: Pre-tightening of the shielding belt: Step a1, monitoring, by a preload monitoring device, whether the preload of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) is within a first preload range; Step a2, adjusting the preload force of the Y-axis shielding belt structure (120) or the X-axis shielding belt structure (220) by means of a preload force adjustment device, so that the preload force of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) is maintained within a first preload force range; Step b: Adaptive adjustment of the pre-tightening force of the shielding belt: Step b1, monitoring the pressure exerted on the handle (330) by means of a multi-dimensional force sensor (331); Step b2, determining whether the pressure applied to the handle (330) is within a first pressure range; Step b3: If the pressure applied to the handle (330) is within the first pressure range, there is no need to adjust the preload force of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220); if the pressure applied to the handle (330) is greater than the first pressure range and higher than the maximum pressure threshold, adjust the preload force of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) to a maximum value; if the pressure applied to the handle (330) is greater than the first pressure range and less than the maximum pressure threshold, control the preload force of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) to decrease until the pressure applied to the handle (330) is maintained within the first pressure range; if the pressure applied to the handle (330) is less than the first pressure range, control the preload force of the Y-axis shielding belt structure (120) and the X-axis shielding belt structure (220) to increase until the pressure applied to the handle (330) is maintained within the first pressure range.

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