Intelligent upper limb rehabilitation training device

Abstract

An intelligent upper limb rehabilitation training device comprises a base, a control box and a mechanical arm, the control box and the mechanical arm are arranged on the base, and the mechanical arm is provided with a strain sensor used for detecting the stress state of the mechanical arm and an A / D collecting plate close to the strain sensor and independent of the outer side of the control box; the mechanical arm comprises a shoulder joint, a big arm, an elbow joint and a small arm which are connected in sequence, a holding rod is fixed to the small arm, and a driving motor assembly is arranged on the mechanical arm; the driving motor assembly comprises a shoulder joint driving motor assembly arranged on the shoulder joint and used for controlling the large arm to rotate and an elbow joint driving motor assembly arranged on the elbow joint and used for controlling the small arm to rotate. The intelligent upper limb rehabilitation training device feeds back the state of the mechanical arm through a plurality of sensors on the basis of multiple joints, so that the training effect is improved; interference on the sensors in the using process is reduced by optimizing the arrangement of the sensors, and the data acquisition precision of the sensors can be guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of rehabilitation auxiliary equipment, concretely to an upper limb intelligent rehabilitation training device. BACKGROUND

[0002] With the aggravation of population aging in China and the gradually increasing incidence of nervous system such as cardiovascular and cerebrovascular diseases, the number of patients with physical disabilities in China is showing a trend of rapid growth year by year. According to the Lancet, the number of patients in need of rehabilitation in China has reached 460 million. Although the demand for rehabilitation market is increasing year by year, there is still a big gap between rehabilitation talents and rehabilitation institutions in China, which is difficult to fill in the short term, so the limb rehabilitation auxiliary device has become the research and development hotspot in the current rehabilitation field. By 2023, the market size of rehabilitation auxiliary device has reached 2.04 billion, and many limb rehabilitation auxiliary devices developed by well-known enterprises at home and abroad have been put into market application.

[0003] The upper limb intelligent rehabilitation training device mainly includes a strain acquisition module, a control module and a motion module. The strain acquisition module includes a strain sensor responsible for collecting interaction force data. The control module includes a human-computer interface software located on an upper computer and a controller located on a lower computer. The lower computer mainly includes a core control unit, an AD sampling unit, a Bluetooth communication unit, a power processing unit, etc., and is responsible for executing the instructions sent by the upper computer. The upper computer, i.e. the human-computer interface software, is responsible for sending instructions to the lower computer. The upper computer and the lower computer together constitute the active control system of the product. The motion module includes a mechanical arm that drives human motion. When the system performs active motion, the patient applies a certain force to the mechanical arm. The strain sensor transmits the collected data to the controller through the bus. The controller identifies the direction and size of the force through an algorithm, and then judges the patient's motion intention. The motion instruction is issued by the operating system and transmitted to the controller through the serial port. The controller calculates and controls the joint motor to move according to the received upper computer instruction. Since the data entering the controller must be digital signals, and the signals collected by the strain sensor are analog signals, the sensor signal must be A / D converted before entering the controller.

[0004] The existing active control system collects the force through the sensor installed on the mechanical arm and in contact with the human body, and then transmits it to the controller. The controller is located inside the control box, far from the sensor, and the strain analog signal collected during transmission is easily disturbed by other signals. At the same time, the existing strain sensor and the mainboard power share an A / D acquisition board, which not only is easily disturbed by the signals of other components, but also affects the data processing speed of the acquisition board. The two factors together result in low accuracy of the data collected by the strain sensor, which reduces the accuracy of the active control of the upper limb intelligent rehabilitation device. SUMMARY

[0005] The upper limb intelligent rehabilitation training device has the advantages that the state of the mechanical arm is fed back through multiple sensors on the basis of multiple joints, so that the training effect is improved; and the interference on the sensors in the use process is reduced by optimizing the arrangement of the sensors, so that the accuracy of the sensor data acquisition is ensured.

[0006] The technical scheme of the utility model adopts: a kind of upper limb intelligent rehabilitation training device, including pedestal and control box and mechanical arm being set on pedestal, strain sensor for detecting the stress state of mechanical arm is equipped on mechanical arm and A / D acquisition board is close to the strain sensor and independent of the outside of the control box;

[0007] Mechanical arm includes shoulder joint, big arm, elbow joint and small arm connected in sequence, small arm is fixed with grip lever, driving motor assembly is equipped on mechanical arm, driving motor assembly includes shoulder joint driving motor assembly for controlling the rotation of big arm being set on shoulder joint and elbow joint driving motor assembly for controlling the rotation of small arm being set on elbow joint;

[0008] Strain sensor includes big arm three-dimensional force sensor being set on big arm, small arm three-dimensional force sensor being set on small arm and grip force sensor being set on grip lever, big arm three-dimensional force sensor, small arm three-dimensional force sensor and grip force sensor are electrically connected with A / D acquisition board respectively;

[0009] A / D acquisition board and driving motor assembly are electrically connected by same CAN bus and are arranged in the controller in control box.

[0010] As preferred scheme, the A / D acquisition board includes a first A / D acquisition board disposed on the big arm and a second A / D acquisition board disposed on the small arm, the output end of the big arm three-dimensional force sensor is electrically connected to the input end of the first A / D acquisition board, and the output ends of the small arm three-dimensional force sensor and the grip force sensor are respectively electrically connected to the input ends of the second A / D acquisition board.

[0011] As preferred scheme, the cables of the small arm three-dimensional force sensor and the grip force sensor are arranged on the small arm, and the second A / D acquisition board is located on the minimum connection path of the small arm three-dimensional force sensor and the grip force sensor.

[0012] As preferred scheme, the mechanical arm is provided with a shielding groove for mounting the A / D acquisition board, and the shielding groove and the strain sensor are respectively located on two opposite sides of the mechanical arm.

[0013] As preferred scheme, the shielding groove is provided with a collection card outlet hole penetrating to the opposite side.

[0014] As preferred scheme, the driving motor assembly is a brake servo motor.

[0015] As a preferred solution, the shoulder joint comprises a pedestal, a first driving rod and a second driving rod connected in sequence, the fixed end of the pedestal is fixedly connected with the base, and the movable end of the second driving rod is connected with one end of the big arm.

[0016] The shoulder joint driving motor assembly comprises a first driving motor fixed on the pedestal and a second driving motor fixed on the first driving rod, the rotation axes of the first driving motor and the second driving motor are perpendicular to each other, the output end of the first driving motor is fixedly connected with the first driving rod, and the output end of the second driving motor is fixedly connected with the second driving rod.

[0017] As a preferred solution, the big arm comprises a big arm connecting plate, the big arm connecting plate is fixedly connected with the sliding block, the sliding block is provided with an arc-shaped sliding rail in sliding cooperation with the sliding block, and the arc-shaped sliding rail is fixed with a sliding rail fixed seat.

[0018] As a preferred solution, the elbow joint comprises an elbow joint motor mounting plate, one side of the elbow joint motor mounting plate is fixedly connected with the sliding rail fixed seat, the other side of the elbow joint motor mounting plate is provided with a rotatable arc-shaped fixed block, the elbow joint driving motor assembly is a third driving motor, the third driving motor is mounted on the elbow joint motor mounting plate, the output end of the third driving motor is fixedly connected with a driving wheel arranged on the elbow joint motor mounting plate, a driven wheel is fixed on the arc-shaped fixed block, the driving wheel is connected with the driven wheel through a belt, and the arc-shaped fixed block is fixedly connected with the small arm.

[0019] As a preferred solution, the big arm and the small arm are provided with binding structures, and the big arm three-dimensional force sensor and the small arm three-dimensional force sensor are arranged on the corresponding binding structures, respectively.

[0020] Compared with the prior art, the utility model has the advantages of:

[0021] 1、The utility model discloses a plurality of strain sensors are arranged on the multi -joint mechanical arm, can feedback the stress state of human big arm and small arm, be favorable to improving training effect.

[0022] 2、A / D collection board separates from control box, and is located in the vicinity of strain sensor in advance, converts the analog quantity of strain sensor collection as digital quantity as soon as possible, has shortened the delivery path of analog quantity, makes analog quantity not easy to be interfered with other signals, can improve the accuracy of sensor strain signal collection.

[0023] 3、A / D collection board and strain sensor are divided and placed on the two sides of mechanical arm, shielded groove is set up for A / D collection board, can avoid the signal interference of multiple strain sensors in the process of analog-digital conversion.

[0024] 4. The grip sensor and the small arm three-dimensional force sensor are close to each other, and the two can share an A / D acquisition board, and the structure reduces the cost and optimizes the cable layout. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Figure 1 It is a schematic diagram of the overall shaft of the present application.

[0027] Figure 2 It is a schematic diagram of the shoulder joint of the present application.

[0028] Figure 3 It is a schematic diagram of the connection of the large arm, elbow joint and small arm of the present application.

[0029] Figure 4 It is a schematic diagram of the large arm shielding groove of the present application.

[0030] Figure 5 It is a schematic diagram of the small arm shielding groove of the present application.

[0031] Figure 6 It is a schematic diagram of the control principle of the present application.

[0032] Figure 7 It is a communication topology diagram of the present application.

[0033] Reference signs:

[0034] 1. Base;

[0035] 2. Control box, 201, controller;

[0036] 3. Shoulder joint, 301, stand, 302, first driving rod, 303, second driving rod;

[0037] 4. Large arm, 401, large arm three-dimensional force sensor, 402, large arm connecting plate, 403, sliding block, 404, arc-shaped sliding rail, 405, sliding rail fixing seat;

[0038] 5. Elbow joint, 501, elbow joint motor mounting plate, 502, arc-shaped fixing block, 503, driving wheel, 504, driven wheel;

[0039] 6. Small arm, 601, small arm three-dimensional force sensor;

[0040] 7, handle, 701, force sensor;

[0041] 8, large arm binding structure;

[0042] 9, small arm binding structure;

[0043] 10, shielding groove, 1001, large arm shielding groove, 1002, small arm shielding groove;

[0044] 11, acquisition card outlet hole;

[0045] 12, first drive motor;

[0046] 13, second drive motor;

[0047] 14, third drive motor. DETAILED DESCRIPTION

[0048] Below, the utility model is described in detail through exemplary embodiments. However, it should be understood that the elements, structures and features in one embodiment can also be beneficially combined into other embodiments without further description.

[0049] It should be noted that: unless otherwise defined, the technical terms or scientific terms used in this article should be understood as the usual meaning of the person skilled in the art to which the utility model belongs. The "one", "a" or "the" and similar words used in the utility model patent application description and claims do not express quantity limitation, but indicate that there is at least one; The "first", "second" and "third" used in this article should not be regarded as the limitation of the order of parts, but only to distinguish different parts; "Include" or "contain" and similar words indicate that the elements or objects appearing before "include" or "contain" cover the elements or objects listed after "include" or "contain" and their equivalents, but do not exclude other elements or objects with the same function.

[0050] In order to more clearly describe the specific structure of the upper limb intelligent rehabilitation training device, combined with the attached Figures 1-7 This embodiment is described:

[0051] As Figure 1 , Figure 2 and Figure 3As shown, an upper limb intelligent rehabilitation training device includes a base 1, a control box 2 and a mechanical arm arranged on the base 1, a strain sensor for detecting the stress state of the mechanical arm and an A / D acquisition board close to the strain sensor and independent of the outside of the control box 2 are arranged on the mechanical arm; the mechanical arm includes a shoulder joint 3, an upper arm 4, an elbow joint 5 and a lower arm 6 connected in sequence, a handle 7 is fixed on the lower arm 6, a driving motor assembly is arranged on the mechanical arm, the driving motor assembly includes a shoulder joint driving motor assembly arranged on the shoulder joint 3 for controlling the rotation (adduction and abduction, flexion and extension) of the upper arm 4 and an elbow joint driving motor assembly arranged on the elbow joint 5 for controlling the rotation (flexion and extension) of the lower arm 6; the strain sensor includes an upper arm three-dimensional force sensor 401 arranged on the upper arm 4, a lower arm three-dimensional force sensor 601 arranged on the lower arm 6 and a grip force sensor 701 arranged on the handle 7, the upper arm three-dimensional force sensor 401, the lower arm three-dimensional force sensor 601 and the grip force sensor 701 are electrically connected with the A / D acquisition board; the A / D acquisition board and the driving motor assembly are electrically connected with a same CAN bus and arranged in a controller 201 in the control box 2.

[0052] When in use, a patient holds the handle 7, the upper arm 4 is driven by the shoulder joint 3 to complete the adduction / abduction movement and the flexion / extension movement, the lower arm 6 is driven by the elbow joint 5 to complete the flexion / extension movement, the upper arm three-dimensional force sensor 401, the lower arm three-dimensional force sensor 601 and the grip force sensor 701 detect the three-dimensional stress of the upper arm and the lower arm and the grip force of the hand respectively; the device has multiple stress sensors, in a conventional arrangement mode, the transmission path of the analog signal is long and is easily interfered by other sensors and signals, therefore, the A / D acquisition board of the original control box is separated out and is arranged close to the strain sensor, the analog quantity collected by the strain sensor is converted into digital quantity as soon as possible, the transmission path of the analog quantity is shortened, the analog quantity is not easily interfered by other signals, and the accuracy of the strain signal collection of the sensor can be improved.

[0053] The mechanical arm of the scheme has three stress sensors, the grip force sensor 701 and the lower arm three-dimensional force sensor 601 are close to each other and can share an A / D acquisition board, the structure reduces the cost and optimizes the cable layout; specifically, the A / D acquisition board is configured as a first A / D acquisition board arranged on the upper arm 4 and a second A / D acquisition board arranged on the lower arm 6, the output end of the upper arm three-dimensional force sensor 401 is electrically connected with the input end of the first A / D acquisition board, the output ends of the lower arm three-dimensional force sensor 601 and the grip force sensor 701 are electrically connected with the input ends of the second A / D acquisition board respectively.

[0054] In the above embodiment, since the forearm three-dimensional force sensor 601 and grip force sensor 701 share a second A / D acquisition board, and the cables of the forearm three-dimensional force sensor 601 and grip force sensor 701 are laid on the forearm 6, when setting the cables, the second A / D acquisition board is set on the minimum connection path of the forearm three-dimensional force sensor 601 and grip force sensor 701. This can make the total length of the cables connecting the forearm three-dimensional force sensor 601 and grip force sensor 701 to the second A / D acquisition board as short as possible, shortening the transmission path of analog signals.

[0055] See Figure 4 and Figure 5 The robotic arm is equipped with a shielding groove 10 for mounting an A / D acquisition board. The shielding groove 10 and the strain sensor are located on two opposite sides of the robotic arm. This arrangement avoids signal interference from multiple strain sensors during analog-to-digital conversion, improving the accuracy of data acquisition. The shielding groove 10 is a recess for adapting the acquisition board. Shielding material can be coated on the inner wall of the groove. Specifically, it includes a large arm shielding groove 1001 on the large arm 4 for mounting the first A / D acquisition board, and a small arm shielding groove 1002 on the small arm 6 for mounting the second A / D acquisition board. A data acquisition card exit hole 11 is provided in the shielding groove 10, extending to the opposite side. The cables of the strain sensor and the A / D acquisition board pass through the data acquisition card exit hole 11.

[0056] To optimize the structural layout and wiring of the robotic arm, the drive motor assembly adopts a brake servo motor, which integrates the motor, reducer, driver, brake and dual encoder, reducing the number of cables in the joints and improving stability and reliability.

[0057] The robotic arm can be designed in the following ways:

[0058] The shoulder joint 3 includes a stand 301, a first drive rod 302, and a second drive rod 303 that are rotatably connected in sequence. The fixed end of the stand 301 is fixedly connected to the base 1, and the movable end of the second drive rod 303 is connected to one end of the upper arm 4. The shoulder joint drive motor assembly includes a first drive motor 12 fixed on the stand 301 and a second drive motor 13 fixed on the first drive rod 302. The rotation axes of the first drive motor 12 and the second drive motor 13 are perpendicular to each other. The output end of the first drive motor 12 is fixedly connected to the rotation center of the first drive rod 302, and the output end of the second drive motor 13 is fixedly connected to the rotation center of the second drive rod 303. The first drive motor 12 drives the first drive rod 302 to rotate, and the second drive motor 13 drives the second drive rod 303 to rotate.

[0059] The boom 4 includes a boom connecting plate 402, which is fixedly connected to a slider 403. The slider 403 is provided with an arc-shaped slide rail 404 that slides with it, and a slide rail fixing seat 405 is fixed on the arc-shaped slide rail 404.

[0060] The elbow joint 5 includes an elbow joint motor mounting plate 501. One side of the elbow joint motor mounting plate 501 is fixedly connected to the slide rail fixing seat 405, and the other side of the elbow joint motor mounting plate 501 is equipped with a rotatable arc-shaped fixing block 502. The elbow joint drive motor assembly is a third drive motor 14, which is mounted on the elbow joint motor mounting plate 501. The output end of the third drive motor 14 is fixedly connected to the drive wheel 503 set on the elbow joint motor mounting plate 501. A driven wheel 504 is fixed on the arc-shaped fixing block 502. The drive wheel 503 is connected to the driven wheel 504 through a belt. The arc-shaped fixing block 502 is fixedly connected to the forearm 6. The third drive motor 14 on the elbow joint is externally mounted through a belt drive structure (drive wheel 503, driven wheel 504 and belt) to avoid interference with the patient's elbow.

[0061] The upper arm 4 and the forearm 6 can be designed as a telescopic structure with adjustable capabilities to accommodate different patients. Specifically, the upper arm 4 and the forearm 6 can be disconnected from the middle, and a cylinder, linear motor or other length adjustment mechanism can be installed at the disconnection point.

[0062] Binding structures are provided on both the upper arm 4 and the forearm 6, including an upper arm binding structure 8 and a forearm binding structure 9. A three-dimensional force sensor 401 for the upper arm is set on the upper arm binding structure 8, and a three-dimensional force sensor 601 for the forearm is set on the forearm binding structure 9.

[0063] See Figure 6 The control box 2 contains a mainboard power supply that powers the controller 201 and a Bluetooth module for connecting to an external control system; see below. Figure 7 To optimize the layout and reduce the number of cables, the communication between the joints and strain sensors adopts a tree topology and is connected to the controller through the same CAN bus.

[0064] The parts not described in detail in the above embodiments are existing technologies.

[0065] It should be noted that although the present invention has been described through the above embodiments, there may be other various embodiments of the present invention. Without departing from the spirit and scope of the present invention, those skilled in the art can obviously make various corresponding changes and modifications to the present invention, but all such changes and modifications should fall within the scope of protection of the appended claims and their equivalents.

Claims

1. An intelligent rehabilitation training device for the upper limbs, characterized in that: It includes a base (1), a control box (2) and a robotic arm set on the base (1). The robotic arm is equipped with a strain sensor for detecting the force state of the robotic arm and an A / D acquisition board located near the strain sensor and independent of the control box (2). The robotic arm includes a shoulder joint (3), an upper arm (4), an elbow joint (5), and a forearm (6) connected in sequence. A grip bar (7) is fixed on the forearm (6). The robotic arm is provided with a drive motor assembly, which includes a shoulder joint drive motor assembly set on the shoulder joint (3) for controlling the rotation of the upper arm (4) and an elbow joint drive motor assembly set on the elbow joint (5) for controlling the rotation of the forearm (6). The strain sensor includes a three-dimensional force sensor (401) on the upper arm (4), a three-dimensional force sensor (601) on the forearm (6), and a grip force sensor (701) on the grip bar (7). The three-dimensional force sensor (401), the three-dimensional force sensor (601), and the grip force sensor (701) are electrically connected to the A / D acquisition board, respectively. The A / D acquisition board and the drive motor assembly are electrically connected to the controller (201) located in the control box (2) via the same CAN bus.

2. The intelligent rehabilitation training device for the upper limb according to claim 1, characterized in that: The A / D acquisition board includes a first A / D acquisition board disposed on the upper arm (4) and a second A / D acquisition board disposed on the forearm (6). The output end of the upper arm three-dimensional force sensor (401) is electrically connected to the input end of the first A / D acquisition board, and the output ends of the forearm three-dimensional force sensor (601) and grip force sensor (701) are electrically connected to the input end of the second A / D acquisition board, respectively.

3. The intelligent rehabilitation training device for the upper limb according to claim 2, characterized in that: The cables of the forearm three-dimensional force sensor (601) and grip force sensor (701) are laid on the forearm (6), and the second A / D acquisition board is located on the minimum connection path of the forearm three-dimensional force sensor (601) and grip force sensor (701).

4. The intelligent rehabilitation training device for the upper limb according to claim 1, characterized in that: The robotic arm is provided with a shielding slot (10) for mounting the A / D acquisition board. The shielding slot (10) and the strain sensor are located on two opposite sides of the robotic arm.

5. The intelligent rehabilitation training device for the upper limb according to claim 4, characterized in that: The shielding groove (10) is provided with a data acquisition card outlet hole (11) that extends to the opposite side.

6. The intelligent rehabilitation training device for the upper limb according to claim 1, characterized in that: The drive motor assembly is a brake servo motor.

7. The intelligent rehabilitation training device for the upper limb according to claim 1, characterized in that: The shoulder joint (3) includes a stand (301), a first drive rod (302) and a second drive rod (303) that are rotatably connected in sequence. The fixed end of the stand (301) is fixedly connected to the base (1), and the movable end of the second drive rod (303) is connected to one end of the upper arm (4). The shoulder joint drive motor assembly includes a first drive motor (12) fixed on a stand (301) and a second drive motor (13) fixed on a first drive rod (302). The rotation axes of the first drive motor (12) and the second drive motor (13) are perpendicular to each other. The output end of the first drive motor (12) is fixedly connected to the first drive rod (302), and the output end of the second drive motor (13) is fixedly connected to the second drive rod (303).

8. The intelligent rehabilitation training device for the upper limb according to claim 7, characterized in that: The boom (4) includes a boom connecting plate (402), which is fixedly connected to a slider (403). The slider (403) is provided with an arc-shaped slide rail (404) that slides with it, and a slide rail fixing seat (405) is fixed on the arc-shaped slide rail (404).

9. The intelligent rehabilitation training device for the upper limb according to claim 8, characterized in that: The elbow joint (5) includes an elbow joint motor mounting plate (501). One side of the elbow joint motor mounting plate (501) is fixedly connected to the slide rail fixing seat (405). The other side of the elbow joint motor mounting plate (501) is equipped with a rotatable arc-shaped fixing block (502). The elbow joint drive motor assembly is a third drive motor (14). The third drive motor (14) is mounted on the elbow joint motor mounting plate (501). The output end of the third drive motor (14) is fixedly connected to the drive wheel (503) set on the elbow joint motor mounting plate (501). A passive wheel (504) is fixed on the arc-shaped fixing block (502). The drive wheel (503) is connected to the passive wheel (504) through a belt. The arc-shaped fixing block (502) is fixedly connected to the forearm (6).

10. The intelligent rehabilitation training device for the upper limb according to claim 1, characterized in that: Both the upper arm (4) and the lower arm (6) are equipped with binding structures, and the upper arm three-dimensional force sensor (401) and the lower arm three-dimensional force sensor (601) are respectively set on the corresponding binding structures.

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