Upper limb rehabilitation training robot and training system

Abstract

The invention relates to the technical field of rehabilitation training equipment, and particularly discloses an upper limb rehabilitation training robot and training system. The robot comprises a clamp, a frame plate, a conveying belt and a driving module. The clamp can be connected to a sickbed; the frame plate can rotate in the vertical direction relative to the clamp, one end of the frame plate is rotationally connected with the clamp, the other end of the frame plate is provided with a bent part, the bent part is formed by hinging a plurality of chains end to end, and the chains can rotate in the first direction. A handle is arranged on the outer surface of the conveying belt, the conveying belt is arranged on all the chains in a sleeving mode in the second direction, the conveying belt can drive the handle to move, and any two of the first direction, the second direction and the vertical direction are perpendicular to each other; the driving module can drive all the chains to be close to the frame plate from the upper portion and reset. The robot realizes multi-degree-of-freedom movement through optimal design of a specific structure, and provides multi-dimensional rehabilitation training for a patient.

Description

Technical Field

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

[0002] Stroke is a cerebrovascular disease with high morbidity and disability, and has become a major challenge in the field of global public health. At present, there are a large number of stroke patients, and the typical sequelae is hemiplegia, which seriously affects the daily living level (DAL) of patients, and the need for rehabilitation is extremely urgent.

[0003] The theory of neuroplasticity suggests that high-intensity, task-oriented training within three months of onset can maximize the effect of functional remodeling. However, traditional manual rehabilitation therapy has many drawbacks. On the one hand, the shortage of therapists has caused 42% of patients to miss the optimal intervention window; on the other hand, manual training is not standardized enough, the therapists have a heavy physical load and low repetition accuracy, which not only increases the burden of family care, but also causes more than 100 billion yuan in social and economic losses each year.

[0004] Existing rehabilitation technologies mainly include manual assisted training, rigid exoskeleton robots and functional electrical stimulation (FES) devices. Although manual training can achieve personalized treatment, it has obvious defects; rigid exoskeleton robots improve movement coordination through multi-joint linkage training, but their rigid structure leads to poor wearability, and most of them are designed for sitting / standing patients, which cannot meet the training needs of acute bedridden patients. In recent years, studies have found that interventional rehabilitation in the early bedridden stage can effectively activate neural plasticity and reduce the risk of muscle atrophy. However, existing rehabilitation equipment is difficult to deploy in bedside scenarios due to its large size and poor body position adaptability.

[0005] In summary, there is an urgent need in clinical practice for a horizontal, detachable rehabilitation training robot that can quickly adapt to the bed environment to meet the rehabilitation needs of bedridden patients with acute stroke. Summary of the invention

[0006] The purpose of the present invention is to provide an upper limb rehabilitation training robot and a training system to achieve multi-degree-of-freedom movement and provide multi-dimensional rehabilitation training for patients.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] The upper limb rehabilitation training robot is provided at the edge of the hospital bed. The upper limb rehabilitation training robot includes a clamp, a frame plate, a conveyor belt, and a driving module. The clamp can be connected to the hospital bed. The frame plate can rotate relative to the clamp around the vertical direction. One end of the frame plate is rotatably connected to the clamp, and the other end is provided with a bending part, which is formed by several chains hinged end to end. The chains can rotate around the first direction. A handle is provided on the outer surface of the conveyor belt. The conveyor belt is sleeved on all the chains along the second direction, and the conveyor belt can drive the handle to move. Any two of the first direction, the second direction, and the vertical direction are perpendicular to each other. The driving module can drive all the chains to move closer to the frame plate from above and reset.

[0009] As an alternative technical solution of the upper limb rehabilitation training robot, a chain rotating shaft is provided between every two of the chains. Adjacent chains are rotatably connected through the chain rotating shaft. The chain rotating shaft extends along the first direction. The chain includes a chain body extending along the second direction. The chain rotating shaft is hinged to the end of the chain body. The inner surface of the conveyor belt is attached to the top surface and the bottom surface of the chain body.

[0010] As an alternative technical solution of the upper limb rehabilitation training robot, a limiting baffle is connected to the chain. The limiting baffle is provided above the chain body, so that the part of the conveyor belt located above the bending part is limited between the limiting baffle and the chain body.

[0011] As an alternative technical solution of the upper limb rehabilitation training robot, a conveyor driving unit is further provided on the upper limb rehabilitation training robot. The conveyor driving unit is used to drive the conveyor belt to move.

[0012] As an alternative technical solution of the upper limb rehabilitation training robot, the driving module includes an upper driving component and a lower driving component. The upper driving component includes an upper traction rope and an upper winding shaft. The upper traction rope passes through the tops of all the chains along the second direction. One end of the upper traction rope is wound around the upper winding shaft, and the other end is fixedly connected to the top of the chain farthest from the frame plate. The upper winding shaft is used to wind and unwind the upper traction rope. The lower driving component includes a lower traction rope and a lower winding shaft. The lower traction rope passes through the bottoms of all the chains along the second direction. One end of the lower traction rope is wound around the lower winding shaft, and the other end is fixedly connected to the bottom of the chain farthest from the frame plate. The lower winding shaft is used to wind and unwind the lower traction rope.

[0013] As an alternative technical solution of the upper limb rehabilitation training robot, the upper driving assembly further includes an upper pulling driving unit, and the output end of the upper pulling driving unit is connected to the upper rope winding shaft for driving the upper rope winding shaft to rotate around the axis of the upper rope winding shaft; and / or, the lower driving assembly further includes a lower pulling driving unit, and the output end of the lower pulling driving unit is connected to the lower rope winding shaft for driving the lower rope winding shaft to rotate around the axis of the lower rope winding shaft.

[0014] As an alternative technical solution of the upper limb rehabilitation training robot, the upper limb rehabilitation training robot further includes a swinging driving unit, the swinging driving unit is arranged on the fixture, and the output end of the swinging driving unit is fixedly connected to the frame plate for driving the frame plate to rotate around the vertical direction.

[0015] As an alternative technical solution of the upper limb rehabilitation training robot, a flexible film sensor is arranged on the outer surface of the handle, and the flexible film sensor is used for monitoring the hand-held grip force.

[0016] An upper limb rehabilitation training system includes a hospital bed and the above-mentioned upper limb rehabilitation training robot, and the upper limb rehabilitation training robot is detachably connected to at least one side of the hospital bed.

[0017] As an alternative technical solution of the upper limb rehabilitation training system, the fixture is provided with a clamping groove, the hospital bed can partially extend into the clamping groove, and a locking pin is screwed on the fixture, and the locking pin can extend into the clamping groove and press against the hospital bed.

[0018] The beneficial effects of the present invention:

[0019] The upper limb rehabilitation training robot can be connected to the bed through a clamp, and the upper limb rehabilitation training robot can be quickly disassembled and assembled on the edge of the bed, which is convenient for acute stroke patients to conduct rehabilitation training at the bedside, without complicated installation process, saving installation time. Through the modular design of the upper limb rehabilitation training robot, the patient's shoulder and elbow joints can be trained independently or in combination, providing a specific solution for the acute lying stroke rehabilitation path. The upper limb rehabilitation training robot can be quickly fixed on the side of the acute bedridden patient directly through the clamp and has three degrees of freedom. The patient's hand can be held on the handle (through a strap or elastic band) and move with the handle. The frame plate can rotate relative to the clamp around the vertical direction Z, so that the rotational movement at the clamp provides a degree of freedom to complete the abduction and adduction of the upper limb; the chain can rotate around the first direction X, so that the bending movement of the bending part provides a degree of freedom to complete the lifting movement of the upper limb; the conveyor belt can drive the handle to move along the second direction Y, and provide a degree of freedom for the handle to move with the conveyor belt to complete the extension and retraction of the wrist. The above improvements enable the upper limb rehabilitation training robot to perform multi-degree-of-freedom movements in three mutually perpendicular directions, and can simulate a variety of upper limb rehabilitation movements to assist patients in completing a variety of upper limb rehabilitation movements, such as different movements of the shoulder joint and elbow joint. The above improvements increase the range of motion and flexibility of the upper limb rehabilitation training robot, which can adapt to the rehabilitation needs of different patients and provide patients with multi-dimensional rehabilitation training possibilities. Among them, the bending part adopts a chain-type continuous structure to realize the upper limb lifting movement, and the chain-type continuum structure adopts a rope-pulling method to realize the adjustment of the arc bending angle of the continuum structure. The drive module can drive the chain to move toward the frame plate from the top and reset it, which can simulate the bending and extension movements of the human upper limbs, realize the control of the chain bending posture, and complete the bending and straightening movements of the chain, providing more training movements and richer rehabilitation training methods for patients' upper limb rehabilitation, which is helpful for patients to carry out relevant rehabilitation training.

[0020] The upper limb rehabilitation training system combines a hospital bed and an upper limb rehabilitation training robot. The side of the hospital bed can be detachably connected to the upper limb rehabilitation training robot, so that the rehabilitation training equipment and the hospital bed form a whole, which is convenient for installation and disassembly according to the patient's needs, providing a complete rehabilitation training environment for the patient and improving the convenience and comfort of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of an upper limb rehabilitation training robot when the bending part is horizontal provided by an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of an upper limb rehabilitation training robot in a first viewing angle when a bending portion is bent provided by an embodiment of the present invention;

[0023] Figure 3It is a schematic structural diagram of an upper limb rehabilitation training robot when the bending part is bent from a second perspective provided by an embodiment of the present invention;

[0024] Figure 4 It is a schematic structural diagram of an upper limb rehabilitation training system with two upper limb rehabilitation training robots provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic structural diagram of an upper limb rehabilitation training system with one upper limb rehabilitation training robot provided by an embodiment of the present invention.

[0026] In the figure:

[0027] X, the first direction; Y, the second direction; Z, the vertical direction;

[0028] 100, upper limb rehabilitation training robot; 110, fixture; 111, clamping groove; 112, locking pin; 113, swing driving unit; 120, frame plate; 130, upper driving assembly; 131, upper pulling driving unit; 132, upper traction rope; 133, upper rope winding shaft; 140, lower driving assembly; 141, lower pulling driving unit; 142, lower traction rope; 143, lower rope winding shaft; 150, chain; 151, limit baffle; 161, conveying driving unit; 162, conveyor belt; 170, handle;

[0029] 900, hospital bed. Detailed implementation manners

[0030] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0032] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0034] Such as Figures 1 to 5As shown in the figure, this embodiment provides an upper limb rehabilitation training robot 100, which is arranged at the edge of a hospital bed 900. The upper limb rehabilitation training robot 100 includes a fixture 110, a frame plate 120, a conveyor belt 162, and a driving module; the fixture 110 can be connected to the hospital bed 900; the frame plate 120 can rotate relative to the fixture 110 around the vertical direction Z. One end of the frame plate 120 is rotatably connected to the fixture 110, and the other end is provided with a bending part, which is formed by several chains 150 hinged end to end. The chains 150 can rotate around the first direction X; a handle 170 is provided on the outer surface of the conveyor belt 162. The conveyor belt 162 is sleeved on all the chains 150 along the second direction Y. The conveyor belt 162 can drive the handle 170 to move. Any two of the first direction X, the second direction Y, and the vertical direction Z are perpendicular to each other; the driving module can drive all the chains 150 to move closer to the frame plate 120 from above and reset.

[0035] The upper limb rehabilitation training robot 100 can be connected to the hospital bed 900 through the clamp 110, and the upper limb rehabilitation training robot 100 can be quickly disassembled and assembled on the edge of the hospital bed 900, which is convenient for acute stroke patients to perform rehabilitation training at the bedside, without the need for a complicated installation process, saving installation time. Through the modular design of the upper limb rehabilitation training robot 100, independent or combined training of the patient's shoulder and elbow joints can be achieved, providing a specific solution for the acute recumbent stroke rehabilitation path. The upper limb rehabilitation training robot 100 can be quickly fixed to the side of the acute bedridden patient directly through the clamp 110, and has three degrees of freedom. The patient's hand can be held on the handle 170 (through a strap or elastic band) and move with the handle 170. The frame plate 120 can rotate relative to the clamp 110 around the vertical direction Z, so that the rotational movement at the clamp 110 provides one degree of freedom to complete the abduction and adduction of the upper limbs; the chain 150 can rotate around the first direction X, so that the bending movement of the bending part provides one degree of freedom to complete the lifting movement of the upper limbs; the conveyor belt 162 can drive the handle 170 to move along the second direction Y, and provide one degree of freedom for the handle 170 to move with the conveyor belt 162 to complete the extension and retraction of the wrist. The above improvements enable the upper limb rehabilitation training robot 100 to perform multi-degree-of-freedom movements in three mutually perpendicular directions, and can simulate a variety of upper limb rehabilitation movements to assist patients in completing a variety of upper limb rehabilitation movements, such as different movements of the shoulder joint and the elbow joint. The above improvements increase the range of motion and flexibility of the upper limb rehabilitation training robot 100, which can adapt to the rehabilitation needs of different patients and provide patients with multi-dimensional rehabilitation training possibilities. Among them, the bending part adopts a chain-type continuous structure to realize the lifting movement of the upper limbs, and the chain-type continuous structure adopts a rope-pulling method to adjust the arc bending angle of the continuous structure. The driving module can drive the chain 150 to move toward the frame plate 120 from above and reset, which can simulate the bending and extension movements of the human upper limbs and realize the control of the bending posture of the chain 150 to complete the bending and straightening movements of the chain 150, providing more training movements and richer rehabilitation training methods for the patient's upper limb rehabilitation, which is helpful for patients to carry out relevant rehabilitation training.

[0036] According to the training concept of the upper limb rehabilitation training robot 100, it can be subsequently applied to upper limb rehabilitation training and lower limb rehabilitation training of side-lying or sitting patients, etc., providing a new training concept and implementation method for machine-assisted rehabilitation training.

[0037] In this embodiment, a six-dimensional force sensor is installed at the connection between the handle 170 and the conveyor belt 162, which can sense the movements of the patient's hand lifting and lowering, as well as the forces acting in the abduction and adduction directions of the upper limbs.

[0038] In this embodiment, a chain rotating shaft is provided between every two chains 150. The adjacent two chains 150 are rotationally connected through the chain rotating shaft, and the chain rotating shaft extends along the first direction X. The chain 150 includes a chain body extending along the second direction Y. The chain rotating shaft is hinged to the end of the chain body, and the inner surface of the conveyor belt 162 is attached to the top and bottom surfaces of the chain body.

[0039] Every two chains 150 are rotationally connected through the chain rotating shaft, and the chain rotating shaft extends along the first direction X, enabling the chains 150 to flexibly rotate around the first direction X, ensuring the stable connection and flexible rotation between the chains 150, enhancing the flexibility and smoothness of the bending of the bending part, thus better realizing the bending and stretching actions, and contributing to the realization of more precise rehabilitation training actions. The inner surface of the conveyor belt 162 is attached to the top and bottom surfaces of the chain body, enabling the conveyor belt 162 to better cooperate closely with the chains 150, ensuring that the conveyor belt 162 can effectively drive the handle 170, enabling the handle 170 to move stably relative to the bending part, reducing the sliding and errors during the transmission process, and improving the transmission efficiency and the stability of the rehabilitation training.

[0040] Furthermore, a limit baffle 151 is connected to the chain 150. The limit baffle 151 is arranged above the chain body, limiting the part of the conveyor belt 162 located above the bending part between the limit baffle 151 and the chain body.

[0041] The limit baffle 151 on the chain 150 limits the part of the conveyor belt 162 located above the bending part between the limit baffle 151 and the chain body, preventing the conveyor belt 162 from shifting or falling off during movement, avoiding the situation where the conveyor belt 162 detaches from the chain 150, and ensuring the stability and reliability of the movement of the conveyor belt 162 and the handle 170.

[0042] In this embodiment, a conveyor driving unit 161 is further provided on the upper limb rehabilitation training robot 100. The conveyor driving unit 161 is used to drive the conveyor belt 162 to move. Specifically, the conveyor driving unit 161 is a motor.

[0043] The conveyor driving unit 161 is used to drive the conveyor belt 162 to move, thereby driving the handle 170 to move. The patient holds the handle 170 with the palm of the hand, and the movement of the handle 170 drives the flexion and extension of the elbow joint of the patient's upper limb, providing power for the linear motion rehabilitation training of the patient's upper limb, enabling precise control of the position and movement speed of the handle 170, and realizing rehabilitation training actions such as elbow flexion and elbow extension of the patient's elbow joint to meet the requirements for adjusting the position of the patient's upper limb in different rehabilitation training scenarios.

[0044] Exemplarily, the driving module includes an upper driving component 130 and a lower driving component 140. The upper driving component 130 includes an upper towing rope 132 and an upper rope winding shaft 133. The upper towing rope 132 passes through the top ends of all the chains 150 along the second direction Y. One end of the upper towing rope 132 is wound around the upper rope winding shaft 133, and the other end is fixedly connected to the top end of the chain 150 farthest from the frame plate 120. The upper rope winding shaft 133 is used for taking in and paying out the upper towing rope 132. The lower driving component 140 includes a lower towing rope 142 and a lower rope winding shaft 143. The lower towing rope 142 passes through the bottom ends of all the chains 150 along the second direction Y. One end of the lower towing rope 142 is wound around the lower rope winding shaft 143, and the other end is fixedly connected to the bottom end of the chain 150 farthest from the frame plate 120. The lower rope winding shaft 143 is used for taking in and paying out the lower towing rope 142.

[0045] The upper driving component 130 and the lower driving component 140 pass through the top and bottom ends of the chain 150 respectively through the upper towing rope 132 and the lower towing rope 142, and take in and pay out the towing ropes through the upper rope winding shaft 133 and the lower rope winding shaft 143. The bending direction, bending degree and bending speed of the chain 150 can be controlled by using the tensile force difference between the upper towing rope 132 and the lower towing rope 142 and the flexible characteristics of the bending part, so as to complete the control of the bending posture of the chain 150, realize the action of the chain 150 approaching and resetting towards the frame plate 120 from above, and further realize the flexible bending and resetting of the chain 150, simulate the bending and stretching of the upper limb of the human body, assist the patient to complete rehabilitation training actions such as the elevation and lowering, internal rotation and external rotation of the shoulder joint, and provide targeted rehabilitation training for the patient.

[0046] In an implementation manner of this embodiment, the upper driving component 130 further includes an upper pulling driving unit 131. The output end of the upper pulling driving unit 131 is connected to the upper rope winding shaft 133 for driving the upper rope winding shaft 133 to rotate around the axis of the upper rope winding shaft 133. And the lower driving component 140 further includes a lower pulling driving unit 141. The output end of the lower pulling driving unit 141 is connected to the lower rope winding shaft 143 for driving the lower rope winding shaft 143 to rotate around the axis of the lower rope winding shaft 143. Specifically, the upper pulling driving unit 131 is a motor, and the lower pulling driving unit 141 is a motor.

[0047] The upper pulling driving unit 131 drives the upper rope winding shaft 133 to rotate around the axis, and the lower pulling driving unit 141 drives the lower rope winding shaft 143 to rotate around the axis, providing power for taking in and paying out the upper towing rope 132 and the lower towing rope 142, and can accurately control the taking-in and paying-out lengths of the upper towing rope 132 and the lower towing rope 142, so as to control the bending posture of the chain 150 more flexibly and accurately, make the bending and resetting actions of the chain 150 more precise and controllable, and improve the effect of rehabilitation training.

[0048] In another implementation manner of this embodiment, it is only limited that the upper driving assembly 130 further includes an upper pulling driving unit 131. The output end of the upper pulling driving unit 131 is connected to the upper winding shaft 133 to drive the upper winding shaft 133 to rotate around the axis of the upper winding shaft 133. In still another implementation manner of this embodiment, it is only limited that the lower driving assembly 140 further includes a lower pulling driving unit 141. The output end of the lower pulling driving unit 141 is connected to the lower winding shaft 143 to drive the lower winding shaft 143 to rotate around the axis of the lower winding shaft 143.

[0049] In this embodiment, there are two upper winding shafts 133, which are respectively located on both sides of the conveyor belt 162. The upper winding shafts 133 extend along the first direction X, and the two upper pulling ropes 132 are respectively wound around the two ends of the upper winding shafts 133.

[0050] Exemplarily, there are two lower winding shafts 143, which are respectively located on both sides of the conveyor belt 162. The lower winding shafts 143 extend along the first direction X, and the two lower pulling ropes 142 are respectively wound around the two ends of the lower winding shafts 143.

[0051] There are two upper winding shafts 133, which are respectively located on both sides of the conveyor belt 162. The two upper pulling ropes 132 are respectively wound around the two ends of the upper winding shafts 133, so that the force on the chain 150 is more uniform during the bending process, ensuring the stability and symmetry of the bending posture of the chain 150, avoiding skewing or twisting, ensuring the stability and accuracy of the bending action of the chain 150, and improving the effect of rehabilitation training. There are two lower winding shafts 143, which are respectively located on both sides of the conveyor belt 162. The two lower pulling ropes 142 are respectively wound around the two ends of the lower winding shafts 143. In cooperation with the settings of the upper winding shafts 133 and the upper pulling ropes 132, the settings of the upper winding shafts 133 and the lower winding shafts 143 can be coordinately controlled, further ensuring the uniform force on the chain 150 during the bending and resetting processes, making the bending posture of the chain 150 more stable and symmetrical, improving the stability and reliability of the movement of the upper limb rehabilitation training robot 100, ensuring the quality of rehabilitation training, and providing a more reliable guarantee for upper limb rehabilitation training.

[0052] Exemplarily, the upper limb rehabilitation training robot 100 further includes a swinging driving unit 113. The swinging driving unit 113 is arranged on the fixture 110, and the output end of the swinging driving unit 113 is fixedly connected to the frame plate 120 to drive the frame plate 120 to rotate around the vertical direction Z. Specifically, the swinging driving unit 113 is a motor, a cylinder or other rotary power unit.

[0053] The swing drive unit 113 is disposed on the fixture 110, and its output end is fixedly connected to the frame plate 120, which can drive the frame plate 120 to rotate around the vertical direction Z, realize the overall horizontal rotation of the chain 150 and the handle 170, and drive the upper limbs of bedridden stroke patients to abduct and adduct, and assist the patients to complete the abduction, adduction and rotation of the shoulder joint and other rehabilitation training movements. The swing drive unit 113 can control the position and speed of rotation.

[0054] By setting the swing drive unit 113, the transmission drive unit 161, the upper traction drive unit 131 and the lower traction drive unit 141, the position, posture and movement mode of the upper limb rehabilitation training robot 100 in three degrees of freedom can be flexibly controlled to realize the abduction and retraction movements of the shoulder joint, the lifting and backward swinging movements of the shoulder joint, the rotation movement of the shoulder joint and the flexion and extension movement of the elbow joint.

[0055] In this embodiment, a flexible film sensor is provided on the outer surface of the handle 170 , and the flexible film sensor is used to monitor the hand grip force.

[0056] The flexible film sensor on the outer surface of the handle 170 can monitor the patient's handgrip strength, which is convenient for grip training. Doctors or rehabilitation therapists can understand the patient's grip strength based on the monitoring data, adjust the training plan, and develop a personalized grip training plan for the patient, thereby improving the targeted nature of rehabilitation training and enhancing the patient's hand muscle strength.

[0057] This embodiment presets the following usage scenarios of the upper limb rehabilitation training robot 100, which are used for shoulder joint rehabilitation training of recumbent stroke patients, including abduction and adduction movements, lifting and lowering movements, and internal rotation and external rotation movements.

[0058] When performing abduction and adduction training of the shoulder joint, the upper traction drive unit 131 and the lower traction drive unit 141 are controlled to keep the curved portion of the upper limb rehabilitation training robot 100 horizontal, the transmission drive unit 161 keeps the position of the handle 170 on the chain 150 unchanged, and the swing drive unit 113 makes the chain 150 and the handle 170 perform horizontal rotation as a whole. Through the combined control of the above drive units, the patient's arm can be straightened and the shoulder joint can be abducted and adducted, and the degree, speed and training duration of the shoulder joint abduction and adduction movement can be controlled.

[0059] When performing the lifting and lowering training of the shoulder joint, the bending movement of the bending part of the upper limb rehabilitation training robot 100 is controlled by the upper traction drive unit 131 and the lower traction drive unit 141, the transmission drive unit 161 controls the handle 170 to keep the patient's arm straight, and the swing drive unit 113 controls the patient's arm to always move in the vertical direction Z. The lifting and lowering movement of the shoulder joint is achieved through the combined control of the above drive units.

[0060] When performing shoulder joint rotation training, the bending movement of the bending part is controlled by the upper pulling drive unit 131 and the lower pulling drive unit 141. The transmission drive unit 161 controls the handle 170 to keep the patient's arm in a straight state, and the swing drive unit 113 controls the patient's arm to rotate in the horizontal direction. By combining the bending movement and the horizontal rotation movement of the upper limb rehabilitation training robot 100, the external rotation and internal rotation rehabilitation training of the patient's arm around the shoulder joint can be realized, and the process of the upper limb rehabilitation training robot 100 controlling the internal rotation movement of the shoulder joint.

[0061] When performing elbow joint rotation training, there are elbow flexion and elbow extension movements for the patient's elbow joint rehabilitation training. The upper pulling drive unit 131 and the lower pulling drive unit 141 are controlled to keep the bending part horizontal, and the swing drive unit 113 keeps the chain 150 always parallel to the patient. The transmission drive unit 161 controls the handle 170 to make a linear reciprocating movement on the chain 150, thereby driving the patient's arm to straighten or bend, so as to realize the elbow flexion and elbow extension movements of the patient's elbow joint.

[0062] This embodiment also provides an upper limb rehabilitation training system, which includes a hospital bed 900 and the above-mentioned upper limb rehabilitation training robot 100. At least one side of the hospital bed 900 is detachably connected with the upper limb rehabilitation training robot 100.

[0063] This upper limb rehabilitation training system combines the hospital bed 900 and the upper limb rehabilitation training robot 100. The upper limb rehabilitation training robot 100 is detachably connected to the side of the hospital bed 900, so that the rehabilitation training equipment and the hospital bed 900 form an integral whole, which is convenient for installation and disassembly according to the patient's needs, provides a complete rehabilitation training environment for the patient, and improves the convenience and comfort of rehabilitation training.

[0064] In this embodiment, the fixture 110 is provided with a clamping groove 111. The hospital bed 900 can partially extend into the clamping groove 111. A locking pin 112 is screwed on the fixture 110, and the locking pin 112 can extend into the clamping groove 111 and press against the hospital bed 900.

[0065] The fixture 110 is provided with a clamping groove 111. The hospital bed 900 partially extends into the clamping groove 111. By the screwed locking pin 112 pressing against the hospital bed 900, the upper limb rehabilitation training robot 100 can be firmly fixed on the hospital bed 900, preventing the upper limb rehabilitation training robot 100 from shaking or shifting during the training process, and ensuring the safety and stability of the rehabilitation training.

[0066] In this embodiment, the upper limb rehabilitation training robot 100 has two deployment modes: deployment at the edge of the sheet and deployment on both sides of the bed. When the affected upper limb of a bedridden patient is in a flaccid state, the deployment mode on both sides of the bed is adopted, and training is set for both the healthy side and the affected side at the same time. The patient holds the handle 170 with the healthy side, and drives the handle 170 to move on the continuum structure through the movement of the upper limb on the healthy side, as well as adjusts the bending angle of the continuum.

[0067] After the affected upper limb of the bedridden patient already has a certain motor ability, the deployment mode at the edge of the sheet can be adopted, and the muscle strength of the affected limb can be exercised through the impedance training mode.

[0068] Exemplarily, the upper limb rehabilitation training system further includes a control module, which can obtain the position and posture of the upper limb rehabilitation training robot 100 on the healthy side, and drive the upper limb rehabilitation training robot 100 on the affected side to reach the same position and posture as the healthy side, so as to drive the upper limb on the affected side to perform motion training.

[0069] In this embodiment, the upper limb rehabilitation training robot 100 has multiple rehabilitation training modes: combined training of the healthy and affected sides, impedance training, and passive training. In passive training, after the patient holds the handle 170 with the hand, the upper limb rehabilitation training robot 100 adjusts the bending angle of the continuum mechanism and the position of the handle 170 on the continuum mechanism through the drive unit, so as to realize the abduction and adduction, lifting and lowering, and forward and backward retraction movements of the upper limb.

[0070] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made on the basis of the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An upper limb rehabilitation training robot is provided at the edge of a hospital bed (900), characterized in that, The upper limb rehabilitation training robot comprises: A clamp (110) capable of being connected to the hospital bed (900); A frame plate (120) capable of rotating relative to the clamp (110) about a vertical direction (Z); one end of the frame plate (120) is rotatably connected to the clamp (110); the other end is provided with a bent portion, the bent portion being formed by hingedly connecting a plurality of chains (150) end to end; and the chain (150) is capable of rotating about a first direction (X); A conveyor belt (162) having a handle (170) on its outer surface, the conveyor belt (162) being sleeved on all the chains (150) along a second direction (Y), the conveyor belt (162) being capable of driving the handle (170) to move, and any two of the first direction (X), the second direction (Y) and the vertical direction (Z) being perpendicular to each other; The driving module can drive all the chains (150) to move toward the frame plate (120) from above and reset.

2. The upper limb rehabilitation training robot according to claim 1, characterized in that, A chain shaft is provided between every two of the chains (150), and the two adjacent chains (150) are rotatably connected via the chain shaft, and the chain shaft extends along the first direction (X); the chain (150) comprises a chain body extending along the second direction (Y), the chain shaft is hinged to the end of the chain body, and the inner surface of the conveyor belt (162) is attached to the top and bottom surfaces of the chain body.

3. The upper limb rehabilitation training robot according to claim 2, characterized in that The chain (150) is connected to a limit baffle (151), and the limit baffle (151) is arranged above the chain body so that the portion of the conveyor belt (162) located above the curved portion is limited between the limit baffle (151) and the chain body.

4. The upper limb rehabilitation training robot according to claim 2, wherein, The upper limb rehabilitation training robot is also provided with a transmission drive unit (161), and the transmission drive unit (161) is used to drive the conveyor belt (162) to move.

5. The upper limb rehabilitation training robot according to claim 1, characterized in that, The driving module comprises an upper driving component (130) and a lower driving component (140), wherein the upper driving component (130) comprises an upper traction rope (132) and an upper rope winding shaft (133), wherein the upper traction rope (132) passes through the top ends of all the chains (150) along the second direction (Y), wherein one end of the upper traction rope (132) is wound around the upper rope winding shaft (133), and the other end is fixedly connected to the top end of the chain (150) farthest from the frame plate (120), and the upper rope winding shaft (133) is used to rotate the upper traction rope (132) and the lower traction rope (132) is used to rotate the upper traction rope (132) and the upper rope winding shaft (13 ... In order to retract and release the upper traction rope (132), the lower driving assembly (140) comprises a lower traction rope (142) and a lower rope winding shaft (143); the lower traction rope (142) passes through the bottom ends of all the chains (150) along the second direction (Y); one end of the lower traction rope (142) is wound around the lower rope winding shaft (143), and the other end is fixed to the bottom end of the chain (150) farthest from the frame plate (120); the lower rope winding shaft (143) is used to retract and release the lower traction rope (142).

6. The upper limb rehabilitation training robot according to claim 5, characterized in that, The upper driving assembly (130) further includes an upper pulling driving unit (131), the output end of the upper pulling driving unit (131) is connected to the upper rope winding shaft (133), and is used for driving the upper rope winding shaft (133) to rotate around the axis of the upper rope winding shaft (133); and / or, The lower driving assembly (140) further includes a lower pulling driving unit (141), the output end of the lower pulling driving unit (141) is connected to the lower rope winding shaft (143), and is used for driving the lower rope winding shaft (143) to rotate around the axis of the lower rope winding shaft (143).

7. The upper limb rehabilitation training robot according to claim 1, wherein The upper limb rehabilitation training robot further includes a swinging driving unit (113), the swinging driving unit (113) is arranged on the fixture (110), and the output end of the swinging driving unit (113) is fixedly connected to the frame plate (120) for driving the frame plate (120) to rotate around the vertical direction (Z).

8. The upper limb rehabilitation training robot according to any one of claims 1-7, characterized in that, The outer surface of the handle (170) is provided with a flexible film sensor, and the flexible film sensor is used for monitoring the hand-held grip force.

9. An upper limb rehabilitation training system, characterized in that, Comprising a hospital bed (900) and the upper limb rehabilitation training robot according to any one of claims 1-8, at least one side of the hospital bed (900) is detachably connected with the upper limb rehabilitation training robot.

10. The upper limb rehabilitation training system according to claim 9, characterized in that, The fixture (110) is provided with a clamping groove (111), the hospital bed (900) can partially extend into the clamping groove (111), a locking pin (112) is screwed on the fixture (110), and the locking pin (112) can extend into the clamping groove (111) and press against the hospital bed (900).

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