Mechanical arm for training device and training device

Abstract

The utility model provides a mechanical arm for a training device and the training device. The mechanical arm comprises a first motor and a second motor, the first motor drives a first transmission wheel to rotate, and the second motor drives a second transmission wheel to rotate; the first transmission wheel drives the first shaft to rotate, the second transmission wheel drives the second shaft to rotate, and the second shaft is sleeved outside the first shaft; the second shaft is provided with an opening, the first force arm is connected with the first shaft through the opening, the second shaft is connected with the first connecting mechanism, and the first connecting mechanism is connected with the second force arm. The first force arm is connected with the first connecting arm, the second force arm is connected with the first connecting arm, and the first connecting arm is further connected with a handle. A torque sensor is arranged on the handle and is electrically connected with the controller; and the controller is electrically connected with the first motor and the second motor. When a user needs to adjust any angle and direction during use, the first force arm and the second force arm can be driven to move, so that the torque can be accurately detected.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a mechanical arm for a training device and a training device. Background Art

[0002] In the interaction between people and the environment, we usually use the visual-motor coordination system, which receives environmental signals through the eyes, processes them through the brain, and then issues movement commands to make people move. For example, when a driver is driving a vehicle on the road, if the driver's eyes receive a red signal from the traffic light when passing through an intersection, the driver will brake at this time. However, some patients have physical malfunctions due to injuries, and the malfunctions are not synchronized to the visual-motor coordination system, causing a mismatch between the perception and the movement state, and issuing inaccurate movement commands. Therefore, it is necessary to adjust the patient's visual-motor coordination system through training so that correct movement commands can be issued.

[0003] An existing interactive robot includes a base, a screen, an upper arm, a lower arm, a handle, a first drive assembly, a second drive assembly, a force sensor and a control system; the screen is arranged on the base, one end of the upper arm is rotatably connected to the base, the other end of the upper arm is rotatably connected to one end of the lower arm, the handle is connected to the other end of the lower arm, the force sensor is arranged at the connection between the lower arm and the handle, the first drive assembly is used to drive the upper arm to rotate relative to the screen, the second drive assembly is used to drive the lower arm to rotate relative to the upper arm, and the control system is used to control the display of a user graphical interface on the screen, and the user graphical interface is associated with the position of the handle. However, the lower arm and the upper arm of the robot are in a series structure. When the user uses the interactive robot, when adjusting, the lower arm is first pushed, and then the upper arm is pushed. With the lower arm and the upper arm as the center of the circle and the lower arm as the radius, when moving along the circumferential direction of the lower arm, the upper arm does not move, and its adjustment is relatively difficult, so that the robot misjudges when detecting the visual motion coordination of the user. Summary of the invention

[0004] A first object of the present invention is to provide a flexible adjustable robot arm for a training device.

[0005] A second object of the present invention is to provide a training device using the above-mentioned mechanical arm for training devices.

[0006] In order to achieve the above-mentioned first purpose, the present invention provides a mechanical arm for a training device, characterized in that it includes: a first motor and a second motor, the first motor drives the first transmission wheel to rotate, and the second motor drives the second transmission wheel to rotate; the first transmission wheel drives the first shaft to rotate, and the second transmission wheel drives the second shaft to rotate, and the second shaft is sleeved outside the first shaft; the second shaft is provided with an opening, the first force arm is connected to the first shaft through the opening, the second shaft is connected to the first connecting mechanism, and the first connecting mechanism is connected to the second force arm; the first force arm is connected to the first connecting arm, the second force arm is connected to the first connecting arm, and the first connecting arm is also connected to a handle; a torque sensor is provided on the handle, and the torque sensor is electrically connected to the controller; the controller is electrically connected to the first motor, and the controller is electrically connected to the second motor.

[0007] It can be seen from the above scheme that the first force arm and the second force arm are connected to the first connecting arm. When the user needs to adjust any angle and direction during use, the first force arm and the second force arm can be driven to move, so that the torque can be accurately detected. The first force arm is connected to the first motor, and the second force arm is connected to the second motor. The movement of the first force arm is controlled by the first motor, and the movement of the second force arm is controlled by the second motor. The movement of the first connecting arm is controlled by the two motors at the same time, so that the force applied to the handle is the sum of the power of the two motors, and the range of force that can be applied to the handle is larger.

[0008] In a further solution, the second shaft is provided with a first through hole penetrating the upper and lower surfaces, and the first shaft passes through the first through hole; an opening is provided on the upper part of the second shaft, annular protrusions are provided at both ends of the opening, and the first connecting mechanism is connected to the annular protrusions.

[0009] It can be seen that the first shaft passes through the first through hole, and the first force arm is connected to the first shaft through the opening, that is, when the first shaft drives the first force arm to rotate, it does not drive the second shaft to move.

[0010] In a further solution, the first transmission wheel is connected to the second connecting mechanism, and the second connecting mechanism is connected to the first shaft.

[0011] It can be seen that the second connection mechanism is a tension sleeve, and the tension sleeve is used to achieve a keyless connection between the first transmission wheel and the first shaft.

[0012] In a further solution, the second transmission wheel is connected to the third connecting mechanism, and the third connecting mechanism is connected to the second shaft.

[0013] It can be seen that the third connection mechanism is a tension sleeve, and the tension sleeve is used to achieve a keyless connection between the second transmission wheel and the second shaft.

[0014] In a further solution, the first force arm is connected to the first end of the first connecting arm, the second force arm is connected to the middle part of the first connecting arm, and the second end of the first connecting arm is connected to the handle.

[0015] It can be seen that when the first connecting arm rotates, the first force arm and the second force arm will be driven to move simultaneously, making the torque detection more accurate.

[0016] In order to achieve the second purpose mentioned above, the training device provided by the present invention includes a workbench, a first display screen and a support plate, the display screen is arranged on the upper surface of the workbench, and the support plate is arranged below the first display screen; it also includes the above-mentioned mechanical arm for the training device, and the mechanical arm is arranged between the first display screen and the support plate.

[0017] It can be seen from the above solution that by setting the mechanical arm between the first display screen and the support plate, the user's sight is not blocked by the mechanical arm when tracking the movement of the screen target.

[0018] In a further solution, a light shielding canopy is provided above the first display screen.

[0019] It can be seen that the sunshade can be used to block external interference light and shadow, making it easier for users to concentrate.

[0020] In a further solution, a support mechanism is provided below the support plate, the support mechanism includes a support column, the support column is connected to the base plate, the base plate is connected to the moving wheel, a connecting plate is connected to the workbench, the connecting plate is connected to the base plate; the support column is connected to the support plate.

[0021] It can be seen that the workbench can be moved by the moving wheels, which is convenient for users to use.

[0022] In a further solution, a second display screen is provided above the workbench.

[0023] It can be seen that the second display screen makes it easier for the supervisor to monitor the user's data. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of an embodiment of the training device of the utility model.

[0025] Figure 2 It is a structural diagram of an embodiment of a mechanical arm used for a training device of the utility model.

[0026] Figure 3 It is a cross-sectional view of an embodiment of a mechanical arm of the utility model for a training device.

[0027] Figure 4 yes Figure 3 A magnified view of point A.

[0028] Figure 5 It is a structural diagram of the second axis of the mechanical arm embodiment of the utility model for the training device.

[0029] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0030] Training device embodiment:

[0031] See also Figure 1 The training device of this embodiment includes a workbench 5, a first display screen 52, a support plate 53, a mechanical arm 1, and a light shielding shed 51. The first display screen 52 is arranged on the upper surface of the workbench, the support plate 53 is arranged below the first display screen 52, the mechanical arm 1 is arranged between the first display screen 52 and the support plate 53, and the light shielding shed 51 is arranged above the first display screen 52. The mechanical arm 1 is a mechanical arm in the mechanical arm embodiment of the training device. By setting the mechanical arm 1 between the first display screen 52 and the support plate 53, the user's line of sight is not blocked by the mechanical arm 1 when tracking the target displayed on the first display screen 52. The first display screen 52 can be set as a transparent display screen, which is convenient for the user to observe the position of the handle corresponding to the first display screen 52.

[0032] A support mechanism is provided below the support plate 53, and the support mechanism includes a support column 531, the support column 531 is connected to the bottom plate 532, the bottom plate 532 is connected to the moving wheel 533, and a connecting plate 534 is connected to the workbench 5, the connecting plate 534 is connected to the bottom plate 532, and the support column 531 is connected to the support plate 53. The moving wheel 533 can drive the workbench 5 to move, which is convenient for users to use. A second display screen 54 is also provided above the workbench 5, which is convenient for supervisors to monitor the user's data.

[0033] Embodiment of a robotic arm for training device:

[0034] See also Figure 2 and Figure 3 The robot arm 1 of this embodiment includes a first motor 11, a second motor 21, a first transmission wheel 13, and a second transmission wheel 23. The first motor 11 is connected to the first transmission wheel 13, and the first motor 11 drives the first transmission wheel 13 to rotate. The second motor 21 is connected to the second transmission wheel 23, and the second motor 21 drives the second transmission wheel 23 to rotate. The first transmission wheel 13 is connected to the first shaft 41, and the first transmission wheel 13 drives the first shaft 41 to rotate. The second transmission wheel 23 is connected to the second shaft 42, and the second transmission wheel 23 drives the second shaft 42 to rotate. The second shaft 42 is sleeved outside the first shaft 41. Further, the first motor 11 drives the first transmission wheel 13 to rotate through the first transmission belt 12, and the second motor 21 drives the second transmission wheel 23 to rotate through the second transmission belt 22.

[0035] The controller (not shown) is electrically connected to the first motor 11 , and the controller is electrically connected to the second motor 21 . The controller can control the operation of the first motor 11 and the second motor 21 .

[0036] See also Figure 2 , Figure 3 and Figure 5 , the second shaft is provided with an opening 422, the first force arm 31 is connected to the first shaft 41 through the opening 422, the second shaft 42 is connected to the first connecting mechanism 322, and the first connecting mechanism 322 is connected to the second force arm 321. The first force arm 31 is connected to the first connecting arm 33, the second force arm 321 is connected to the first connecting arm 33, and the first connecting arm 33 is also connected to the handle 34; the handle 34 is provided with a torque sensor (not shown in the figure), and the torque sensor is electrically connected to the controller (not shown in the figure). Further, the first force arm 31 is connected to the first end of the first connecting arm 33, the second force arm 321 is connected to the middle of the first connecting arm 33, and the second end of the first connecting arm 33 is connected to the handle 34.

[0037] See also Figure 5 The second shaft 42 has an opening 422 at its upper portion, an annular protrusion 423 at both ends of the opening 422, and the first connecting mechanism 322 is connected to the annular protrusion 423. The second shaft has a first through hole 421 penetrating the upper and lower surfaces, and the first shaft 41 passes through the first through hole 421.

[0038] See also Figure 4 The first transmission wheel 13 is connected to the second connection mechanism 232, and the second connection mechanism 232 is connected to the first shaft 41. The second transmission wheel 23 is connected to the third connection mechanism 231, and the third connection mechanism 231 is connected to the second shaft 42. The first transmission wheel 13 can drive the first shaft 31 to rotate, and the second transmission wheel 23 can drive the second shaft 42 to rotate. When the first shaft 31 rotates, the first force arm 31 is driven to rotate; when the second shaft 42 rotates, the second force arm 321 is driven to rotate. The movement direction of the handle on the first connection arm 33 and the magnitude of the applied force are controlled by the movement of the first force arm 31 and the second force arm 321.

[0039] The first force arm 31 and the second force arm 321 are connected to the first connecting arm 322. When the user needs to adjust any angle and direction during use, the first force arm 31 and the second force arm 321 can be driven to move, so that the force can be accurately detected. The first force arm 31 is connected to the first motor 11, and the second force arm 321 is connected to the second motor 21. The movement of the first force arm 31 is controlled by the first motor 11, and the movement of the second force arm 321 is controlled by the second motor 21. The movement of the first connecting arm 33 is controlled by the two motors at the same time, so that the force applied to the handle is the sum of the power of the two motors, and the range of force that can be applied to the handle is larger.

[0040] In the training device embodiment, the training device is provided with an intelligent terminal (not shown in the figure). Specifically, the intelligent terminal can be a computer. The intelligent terminal is electrically connected to the controller, and the intelligent terminal is connected to the first display bottle 52 and the second display screen 54. The intelligent terminal is provided with an application module. The user can complete the visual task presented on the first display screen by holding the robotic arm and moving, thereby measuring the user's cognitive ability.

[0041] For example, memory enhancement training: a target may be presented on the first display screen 52, and the user may push the handle 34 to the corresponding position of the first display screen in sequence to measure the user's memory ability.

[0042] Attention enhancement training: A target is presented on the first display screen 52, and the user can push the handle to a mirror image position opposite to the target position to measure the user's attention inhibition ability.

[0043] Speed ​​perception enhancement training: A moving target is presented on the first display screen 52, and the user pushes the handle 34 to track the moving target. The controller can measure the user's speed perception ability through a torque sensor.

[0044] Anti-interference ability enhancement training: The first display screen 52 can present moving targets and interference objects. The user needs to avoid interference objects when tracking the moving target, and the user's anti-interference ability is measured.

[0045] Cognitive enhancement training: The controller controls the first motor 11 and the second motor 21 to apply assistance or resistance, thereby promoting the recovery of the patient's motor ability. Among them, cognitive enhancement training includes object weight assessment and cognitive enhancement training. The first display screen 52 can present objects related to daily life. The user pushes the handle to simulate pushing the object presented on the first display screen 52. According to the impulse theorem m*v=F*t, the user's strength is evaluated. The torque sensor can receive the speed v, force F and time t pushed by the user, and calculate the weight m of the object recognized by the user. If the calculated mass m of the object is greater than the weight of the object presented on the first display screen 52, the assistance is increased by the first motor 11, so that the user reduces the thrust, and the calculated mass m of the object gradually approaches the weight of the object presented on the first display screen 52 through training. If the calculated mass m of the object is less than the weight of the object presented on the first display screen 52, the resistance is increased by the first motor 11, so that the user increases the thrust, and the calculated mass m of the object gradually approaches the weight of the object presented on the first display screen 52 through training.

[0046] The cognitive enhancement training also includes movement accuracy assessment and enhancement training. The first display screen 52 can present a movement target. The user pushes the handle 34 to track the target, and the user's movement accuracy is assessed based on the similarity between the handle movement trajectory and the target movement trajectory. During the training, the controller controls the first motor 11 and the second motor 21 to apply assistance or resistance to help the user improve movement accuracy.

[0047] The above are only preferred embodiments of the present invention, but the design concept of the present invention is not limited thereto. Without departing from the concept of the present invention, more other equivalent embodiments may be included. It is possible for those skilled in the art to make various obvious changes, readjustments and substitutions without departing from the protection scope of the present invention.

Claims

1. A mechanical arm for a training device, characterized in that: include: A first motor and a second motor, wherein the first motor drives the first transmission wheel to rotate, and the second motor drives the second transmission wheel to rotate; The first transmission wheel drives the first shaft to rotate, the second transmission wheel drives the second shaft to rotate, and the second shaft sleeve is arranged outside the first shaft; The second shaft is provided with an opening, the first force arm is connected to the first shaft through the opening, the second shaft is connected to the first connecting mechanism, and the first connecting mechanism is connected to the second force arm; The first force arm is connected to the first connecting arm, the second force arm is connected to the first connecting arm, and the first connecting arm is also connected to a handle; A torque sensor is provided on the handle, and the torque sensor is electrically connected to the controller; The controller is electrically connected to the first motor, and the controller is electrically connected to the second motor.

2. The mechanical arm for a training device according to claim 1, characterized in that: The second shaft is provided with a first through hole penetrating through the upper and lower surfaces, and the first shaft passes through the first through hole; The opening is disposed at the upper portion of the second shaft, annular protrusions are disposed at both ends of the opening, and the first connecting mechanism is connected to the annular protrusions.

3. The mechanical arm for a training device according to claim 1 or 2, characterized in that: The first transmission wheel is connected to a second connecting mechanism, and the second connecting mechanism is connected to the first shaft.

4. The mechanical arm for a training device according to claim 1 or 2, characterized in that: The second transmission wheel is connected to a third connecting mechanism, and the third connecting mechanism is connected to the second shaft.

5. The mechanical arm for a training device according to claim 4, characterized in that: The first force arm is connected to the first end of the first connecting arm, the second force arm is connected to the middle part of the first connecting arm, and the second end of the first connecting arm is connected to a handle.

6. A training device, comprising a workbench, a first display screen and a support plate, wherein the display screen is arranged on the upper surface of the workbench, and the support plate is arranged below the first display screen; It is characterized in that It also includes a mechanical arm for a training device according to any one of claims 1 to 5, wherein the mechanical arm is arranged between the first display screen and the support plate.

7. The training device according to claim 6, characterized in that: A shading canopy is also arranged above the first display screen.

8. The training device according to claim 7, characterized in that: A support mechanism is provided below the support plate, the support mechanism comprises a support column, the support column is connected to the bottom plate, the bottom plate is connected to the moving wheel, a connecting plate is connected to the workbench, and the connecting plate is connected to the bottom plate; The support column is connected to the support plate.

9. The training device according to claim 8, characterized in that: A second display screen is also arranged above the workbench.

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