CN210472554U

CN210472554U - Single-joint rehabilitation robot

Info

Publication number: CN210472554U
Application number: CN201920230318.7U
Authority: CN
Inventors: 石颖慧; 胡贤; 徐海东; 袁金妹; 顾捷
Original assignee: Shanghai Fourier Intelligent Technology Co ltd
Current assignee: Shanghai Fourier Intelligent Technology Co ltd
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2020-05-08
Anticipated expiration: 2029-02-22

Abstract

The utility model discloses a single joint rehabilitation robot, include: a torque detection part for detecting a torque applied to the moving part by a user; the motion control unit is connected with the torque detection part and used for determining the output torque of the motor according to the acquired torque detected by the torque detection part and sending the output torque to the motor driver; the motor driver is connected with the motion control unit and the motor and is used for controlling the output torque of the motor to accord with the output torque determined by the motion control unit; a motor; and the transmission part is connected with the motor and the motion accessory and is used for amplifying the output torque of the motor by a preset multiple and applying the amplified output torque to the motion accessory so that the torque applied to the motion accessory by the transmission part is superposed with the torque applied to the motion accessory by a user and then the motion accessory moves according to a planned motion track. By applying the scheme of the application, the rehabilitation training device can effectively help patients with single-joint dysfunction to perform rehabilitation training.

Description

Single-joint rehabilitation robot

Technical Field

The utility model relates to a recovered technical field of joint especially relates to a single joint rehabilitation robot.

Background

Injuries to the nervous system as well as injuries to the skeletal muscular system can lead to joint dysfunction in humans, affecting their functional abilities and quality of daily life. Statistically, 30% of athletic injuries occur in the ankle, and more than 200 million patients with ankle fractures occur each year in China alone, and 85 million patients with ankle sprain see a doctor every day in the United states. Distal radius fractures are common orthopedic injuries that account for 10% -25% of all fractures, and occur readily in people of all ages. In addition, more than 1200 million stroke patients are accompanied by different degrees of single joint motor dysfunction, high morbidity, high mortality and high disability rate in stroke all over the country, which causes economic burden to China.

For the patients with single joint dysfunction caused by the damage of the nervous system and the damage of the skeletal muscle, the professional rehabilitation training is provided for the patients by the rehabilitation therapist in the prior art, and the process is very labor-consuming. There are 5 therapists in 10 thousands of people in the united states, and only 0.4 therapists in 10 thousands of people in china, and the rehabilitation therapist is resource-poor.

In conclusion, how to effectively help a patient with single joint dysfunction to perform rehabilitation training and reduce labor cost is a technical problem which needs to be solved urgently by those skilled in the art at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a single joint rehabilitation robot to help single joint dysfunction's patient to carry out the rehabilitation training effectively.

In order to solve the technical problem, the utility model provides a following technical scheme:

a single joint rehabilitation robot comprising:

a torque detection part for detecting a torque applied to the moving part by a user;

the motion control unit is connected with the torque detection part and used for determining the output torque of the motor according to the acquired torque detected by the torque detection part and sending the output torque to the motor driver;

the motor driver is connected with the motion control unit and the motor and is used for controlling the output torque of the motor to accord with the output torque determined by the motion control unit;

the motor;

the transmission component is connected with the motor and the motion accessory and is used for amplifying the output torque of the motor by preset times and applying the amplified output torque to the motion accessory so that the torque applied to the motion accessory by the transmission component is superposed with the torque applied to the motion accessory by a user and then the motion accessory moves according to a planned motion track;

the motion accessory is used for being matched with the joint of the user to enable the joint to complete rehabilitation motion.

Preferably, the method further comprises the following steps:

and the scram control switch is used for enabling the motor to suspend the output of the torque when triggered by a user.

Preferably, the method further comprises the following steps:

the air switch is arranged on a power supply line of the single-joint rehabilitation robot.

Preferably, the method further comprises the following steps:

and the display device is connected with the motion control unit and used for acquiring the output torque of the motor through the motion control unit and displaying the output torque in real time.

Preferably, the method further comprises the following steps:

and the recording device is connected with the motion control unit and is used for acquiring and recording the output torque of the motor through the motion control unit.

Preferably, the method further comprises the following steps:

and the communication device is connected with the recording device and is used for transmitting the data in the recording device to a remote server.

Preferably, the transmission member includes:

the input end of the speed reducer is connected with the output end of the motor and is used for amplifying the output torque of the motor by a preset multiple;

the synchronous wheel device comprises a driving wheel and a driven wheel meshed with the driving wheel, the driving wheel is coaxially connected with the output end of the speed reducer, and the driven wheel is coaxially connected with the first transmission coupler;

the first drive coupling;

a second drive coupling connected to the first drive coupling through the torque sensing member;

and a third transmission coupling connected with the second transmission coupling and the motion fitting to transmit the output torque of the motor to the motion fitting so as to enable the motion fitting to rotate in a single degree of freedom.

Preferably, the method further comprises the following steps:

the first base is used for placing the second base and the third base;

the second base is fixed on the first base and provided with two through holes, and the first through hole of the second base is coaxial with the speed reducer and is connected with the speed reducer; the second through hole of the second base is coaxial with the first transmission coupler and is connected with the first transmission coupler through a first bearing;

and the third base is fixed on the first base and provided with a through hole, and the through hole of the third base is coaxial with the second transmission coupler and is connected with the second transmission coupler through a second bearing on the through hole.

Preferably, the method further comprises the following steps:

and the angle limiting device is fixed on the third base and used for limiting the rotation angle of the motion accessory within a preset range.

Preferably, the method further comprises the following steps:

the first base is fixed on the top surface of the cuboid bracket.

Preferably, the motion accessory is detachably connected to the transmission member.

Preferably, the motion accessory is a wrist motion accessory for cooperating with a wrist of the user or an ankle motion accessory for cooperating with an ankle of the user.

Preferably, the wrist joint movement accessory is: a first wrist joint movement accessory for engaging a wrist joint of a user to cause the wrist joint to perform flexion and extension movements; or the following steps: a second wrist joint movement accessory for engaging a wrist joint of a user to cause the wrist joint to perform ulnar deviation and radial deviation movements; or the following steps: a third wrist motion accessory for engaging a wrist of a user to effectuate rotational movement of a forearm and the wrist of the user.

Preferably, the first wrist motion accessory comprises:

the first disc is coaxially connected with the transmission part, and the connecting rod is fixed at a preset position on the periphery of the first disc and is perpendicular to the first disc;

the second wrist motion accessory comprising:

a second disc coaxially connected with the transmission member;

the first end of the C-shaped connecting rod is connected with the first end of the second disc, the second end of the C-shaped connecting rod is connected with the second end of the second disc, and the C-shaped connecting rod is perpendicular to the second disc;

the third wrist motion accessory comprising:

and the third disc is coaxially connected with the transmission component, and the periphery of the third disc is provided with a preset number of open holes.

Preferably, the ankle joint movement accessory includes:

a base plate for receiving a user's foot;

the connecting rod is arranged on the side surface of the bottom plate and is vertical to the bottom surface, the first end of the connecting rod is fixedly connected with the bottom plate, and the second end of the connecting rod is connected with the transmission part;

the foot strap is detachably connected with the bottom plate and used for fixing the foot of the user so as to enable the foot of the user to be attached to the bottom plate.

Use the embodiment of the utility model provides a technical scheme, include: a torque detection part for detecting a torque applied to the moving part by a user; the motion control unit is connected with the torque detection part and used for determining the output torque of the motor according to the acquired torque detected by the torque detection part and sending the output torque to the motor driver; the motor driver is connected with the motion control unit and the motor and is used for controlling the output torque of the motor to accord with the output torque determined by the motion control unit; a motor; and the transmission part is connected with the motor and the motion accessory and is used for amplifying the output torque of the motor by a preset multiple and applying the amplified output torque to the motion accessory so that the torque applied to the motion accessory by the transmission part is superposed with the torque applied to the motion accessory by a user and then the motion accessory moves according to a planned motion track.

In the scheme of this application, adopt single joint rehabilitation robot to provide rehabilitation training for the user automatically. Specifically, the torque detection component can detect the torque applied to the motion accessory by the user and send the torque to the motion control unit, after the motion control unit receives the torque, the output torque of the motor can be determined, and then the motor driver can control the output torque of the motor to be in accordance with the output torque determined by the motion control unit; the transmission component can amplify the output torque of the motor by a preset multiple and apply the amplified output torque to the motion accessory. That is, after the torque detection component detects the torque applied to the motion accessory by the user, the transmission component provides an appropriate torque to the motion accessory, so that the torque applied to the motion accessory by the transmission component is superposed with the torque applied to the motion accessory by the user, and the motion accessory can move according to the planned motion track. The motion accessory is matched with the joint of the user, so that the joint of the user can complete rehabilitation motion. Therefore, the scheme of the application enables the joints of the user to complete rehabilitation movement through the single-joint rehabilitation robot, and reduces the labor cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a single-joint rehabilitation robot of the present invention;

fig. 2 is another schematic structural diagram of the single-joint rehabilitation robot of the present invention;

FIG. 3 is a schematic structural diagram of a transmission component according to an embodiment of the present invention;

FIG. 4a is a schematic view of a first wrist motion accessory according to an embodiment of the present invention;

FIG. 4b is a schematic structural view of a second wrist motion accessory in accordance with an embodiment of the present invention;

FIG. 4c is a schematic view of a third wrist motion accessory in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural diagram of the single-joint rehabilitation robot housing device of the present invention;

fig. 6 is a schematic view of an internal structure of a single-joint rehabilitation robot with a bracket according to an embodiment of the present invention;

fig. 7 is another schematic structural diagram of the single-joint rehabilitation robot housing device of the present invention.

Detailed Description

The core of the utility model is to provide a single joint rehabilitation robot, which can effectively help the patients with single joint dysfunction to carry out rehabilitation training.

In order to make the technical field better understand the solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and the detailed description. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a single joint rehabilitation robot of the present invention, including:

a torque detection part 10 for detecting a torque applied to the moving part 60 by a user.

In general, the detection of the torque applied by the user to the moving part 60 can be performed on the basis of the torque sensor 11, for example, the torque sensor 11 is used in the embodiment of fig. 2. In fig. 2, the torque detection unit 10 is composed of a torque sensor 11 and an analog sensor unit 12 connected to the torque sensor 11, the torque sensor 11 converts a read mechanical signal into an analog electrical signal, and after the analog electrical signal is transmitted to the analog sensor unit 12 through a signal line, the analog sensor unit 12 converts the analog electrical signal into a digital electrical signal, and after the digital electrical signal is received by the motion control unit 20, the motion control unit 20 can acquire the torque applied to the motion accessory 60 by the user. It should be noted that the transmission member 50 and the motion fitting 60 are not shown in fig. 2.

The specific installation positions of the torque sensor 11 and the analog sensor unit 12 can be set and adjusted according to actual needs, and usually, the torque sensor 11 is matched with the transmission component 50, for example, in the embodiment of fig. 3, the torque sensor 11 is arranged between two transmission couplings. Of course, in other embodiments, other forms of the torque detection part 10 may be adopted as long as the torque applied to the motion accessory 60 by the user can be obtained, and the implementation of the present invention is not affected.

Since the torque applied to the moving part 60 by the user is constantly changing, the torque detecting unit 10 usually detects the torque in real time or in a short detection period.

And the motion control unit 20 is connected with the torque detection part 10 and used for determining the output torque of the motor 40 according to the acquired torque detected by the torque detection part 10 and sending the output torque to the motor driver 30.

The motion control unit 20 is connected to the torque detection unit 10 through a signal line, and a specific communication protocol may be set and adjusted as needed, for example, through a CAN (Controller Area Network) bus.

After the motion control unit 20 acquires the torque detected by the torque detection part 10, the output torque of the motor 40 can be determined. The specific calculation mode can be set according to actual needs, that is, a simpler calculation mode can be selected, and a complex calculation mode can also be selected. For example, after the torque detected by the torque detecting part 10 is obtained, the magnitude of the output torque corresponding to the motor 40 can be determined according to a preset comparison table, and the direction of the output torque of the motor 40, that is, the forward and reverse rotation of the motor 40 can be determined according to the current position of the moving part 60. Typically, the direction of rotation of the motor 40 is changed upon detecting that the position of the motion subassembly 60 reaches a predetermined commutation point.

For another example, in an embodiment, in order to make the motion trajectory of the motion fitting 60 more ideal, the output torque of the motor 40 may be determined according to the torque detected by the torque detecting unit 10, and by combining parameters such as mode selection. For example, when the torque detected by the torque detecting part 10 is in a preset range, the output torque of the motor 40 may be controlled to be 0, and when the torque detected by the torque detecting part 10 is lower than the lower limit of the preset range, the motor 40 may be controlled to output the torque, and the magnitude of the torque applied to the moving part 60 by the transmission part 50, which is superimposed on the torque vector applied to the moving part 60 by the user, may be made to conform to the preset range.

Since different users have different recovery conditions, the solution of the present application, when implemented, generally determines the output torque of the motor 40 according to the parameters of the preset mode selection, the preset target torque, the current position of the motion accessory 60, and the like, and sends the determined output torque to the motor driver 30. That is, the output torque of the motor 40 determined by the motion control unit 20 is changed by the torque applied by the user, the mode selection, the preset target torque, and the like, and the motion accessory 60 can be moved according to the planned motion trajectory by the determined output torque of the motor 40.

For ease of understanding, a specific embodiment is described in which a passive mode, a boost mode, an active mode, and an anti-drag mode are provided.

When it is determined that the mode is selected as the passive mode, the calculated first torque is used as the output torque of the motor 40; when the output torque of the motor 40 is a first torque, the torque applied by the transmission member 50 on the moving part 60 is a first target torque, the direction of rotation of the first target torque is the same as the direction of rotation of the moving part 60, and the magnitude of the first target torque is equal to the magnitude of the preset target torque.

The passive mode is particularly useful for users with muscle weakness who are completely paralyzed, and the user typically does not apply force to the motion accessory 60, or applies force particularly little. When it is determined that the mode is selected as the passive mode, the motion control unit 20 uses the calculated first torque as the output torque of the motor 40, and the transmission member 50 amplifies the output torque of the motor 40 by a preset factor and applies the amplified output torque to the motion part 60, and the torque applied to the motion part 60 by the transmission member 50 is the first target torque, that is, the first target torque is amplified by the preset factor and applied to the motion part 60.

The first target torque is turned in the same direction as the moving part 60, and the magnitude of the first target torque is equal to the magnitude of the preset target torque, that is, the first target torque provides an assisting force for the moving part 60 to rotate. The direction of the first target torque determines the rotation direction of the motion fitting 60, and the rotation direction of the motion fitting 60 needs to conform to a planned motion trajectory, which is a single-degree-of-freedom reciprocating motion of the motion fitting 60 within a preset angle range. The rotation angle of the motion part 60 can be detected in real time and transmitted to the motion control unit 20, and when the rotation angle reaches a preset reversing point, the motion control unit 20 changes the rotation direction of the motor 40, so that the direction of the output torque of the motor 40 is changed, and further, the direction of the first target torque is changed, and thus, the rotation direction of the motion part 60 is changed.

It should also be noted that, in this embodiment, the preset target torque is a predetermined constant value, and in other embodiments, the current position of the motion accessory 60 is different, and the target torque with different sizes may be corresponded, without affecting the implementation of the present invention. In such an embodiment, using a fixed value as the target torque may facilitate calculation of the output torque of the motor 40. Of course, the fixed value can be set and adjusted according to actual needs, for example, a target torque value meeting requirements can be set according to different joint rehabilitation conditions of users.

The preset mode selection and the preset target torque can be generally set for the user by a doctor and can be adjusted according to the change of the user. In specific implementation, the communication interface connection between the upper computer and the motion control unit 20 may be used to input relevant parameters such as mode selection into the motion control unit 20.

When the mode is determined to be selected as the assist mode, the calculated second torque is used as the output torque of the motor 40; when the output torque of the motor 40 is the second torque, the torque applied by the transmission member 50 to the moving part 60 is the second target torque, the direction of rotation of the second target torque is the same as the rotating direction of the moving part 60, and the magnitude of the second target torque, which is superimposed on the torque vector applied by the user to the moving part 60, is equal to the magnitude of the target torque.

The assistive mode is generally applicable to users with partially restored joints, who may apply a certain force to the motion assembly 60, but not enough force to move the motion assembly 60 according to the planned motion trajectory. After the motion control unit 20 acquires the torque applied by the user, the calculated second torque is used as the output torque of the motor 40. When the output torque of the motor 40 is the second torque, the torque applied by the transmission member 50 to the moving part 60 is the second target torque, and the second target torque is steered in the same direction as the rotating direction of the moving part 60, i.e. the second target torque also provides an assisting force for the rotation of the moving part 60. The magnitude of the second target torque superimposed with the torque vector applied by the user on the moving part 60 is equal to the magnitude of the target torque. Similar to the first target torque, the magnitude and direction of the second target torque are adaptively changed according to the position of the motion fitting 60 and the torque applied by the user, so that the motion fitting 60 moves according to the planned motion trajectory.

When the mode selection is determined to be the active mode, judging whether the torque applied to the motion accessory 60 by the user is in accordance with a preset range, if so, determining that the output torque of the motor 40 is 0, and if not, taking the calculated third torque as the output torque of the motor 40; when the output torque of the motor 40 is a third torque, the torque applied by the transmission member 50 to the moving part 60 is a third target torque, the turning direction of the third target torque is the same as the rotating direction of the moving part 60, and the magnitude of the third target torque, which is superimposed on the torque vector applied by the user to the moving part 60, is equal to the magnitude of the target torque.

In the active mode, the torque applied to the motion accessory 60 by the user is generally capable of rotating the motion accessory 60 according to a preset track, that is, the torque applied to the motion accessory 60 by the user is generally within a preset range, and the output torque of the motor 40 is 0 at this time, that is, the single joint rehabilitation robot of the present application does not provide the power for rotating the motion accessory 60. When the user is not enough strength due to fatigue, the motion control unit 20 controls the output torque of the motor 40 to be a third torque, and the torque applied by the transmission member 50 on the motion fitting 60 is a third target torque, which is equal to the preset target torque after being superimposed with the torque vector applied by the user.

And when the determined mode is selected to be the anti-drag mode, taking the calculated fourth torque as the output torque of the motor 40, wherein when the output torque of the motor 40 is the fourth torque, the torque exerted on the moving fitting 60 by the transmission part 50 is a fourth target torque, the turning direction of the fourth target torque is opposite to the rotating direction of the moving fitting 60, and the magnitude of the fourth target torque after being superposed with the torque vector exerted on the moving fitting 60 by the user is equal to the magnitude of the target torque.

The resistive mode is suitable for users with a high degree of joint recovery, in which the fourth target torque is turned in the opposite direction to the rotational direction of the motion fitting 60, i.e., unlike the first three motion modes, in which the fourth target torque provides resistance to the rotation of the motion fitting 60 to counter the torque applied by the user. That is, the torque applied by the user to the motion part 60 overcomes the fourth target torque, so that the superimposed magnitude of the torque vectors is equal to the magnitude of the target torque, and the motion part 60 rotates according to the planned motion trajectory.

And a motor driver 30 connected to both the motion control unit 20 and the motor 40 for controlling the output torque of the motor 40 to conform to the output torque determined by the motion control unit 20.

A motor 40.

The motor driver 30 may also be connected to the motion control unit 20 through a CAN bus, and convert the related command information sent by the motion control unit 20 into the control parameters of the motor 40, so as to control the rotation of the motor 40.

And the transmission part 50 is connected with the motor 40 and the motion fitting 60 and is used for amplifying the output torque of the motor 40 by a preset multiple and applying the amplified output torque to the motion fitting 60, so that the torque applied to the motion fitting 60 by the transmission part 50 is superposed with the torque applied to the motion fitting 60 by a user, and then the motion fitting 60 moves according to a planned motion track.

The specific components and specific connection structure included in the transmission member 50 can be set and adjusted as needed, for example, the transmission member 50 in a C-shape shown in fig. 3 is composed of a speed reducer 51, a synchronizing wheel device 52, a first transmission coupling 53, a second transmission coupling 54, and a third transmission coupling 55.

Specifically, the transmission member 50 includes:

a speed reducer 51, the input end of which is connected with the output end of the motor 40, and which is used for amplifying the output torque of the motor 40 by a preset multiple;

a synchronizing wheel device 52 comprising a driving wheel and a driven wheel engaged with the driving wheel, wherein the driving wheel is coaxially connected with the output end of the speed reducer 51, and the driven wheel is coaxially connected with the first transmission coupler 53;

a first transmission coupling 53;

a second transmission coupling 54 connected to the first transmission coupling 53 through the torque detection part 10;

and a third transmission coupling 55 connected to the second transmission coupling 54 and the motion fitting 60 so that the output torque of the motor 40 is transmitted to the motion fitting 60 to rotate the motion fitting 60 with a single degree of freedom.

In this embodiment, the motor 40 is coaxial with the reduction gear 51 and the driving gear of the synchronizing wheel device 52, and the driven gear of the synchronizing wheel device 52 is coaxial with the first transmission coupling 53, the second transmission coupling 54, and the third transmission coupling 55. The output torque of the motor 40 is amplified by a predetermined factor and applied to the moving part 60 through the transmission member 50. Of course, in other embodiments, the transmission component 50 may have other structures, for example, it may be in a straight line, that is, the synchronous wheel device 52 is not provided, but the speed reducer 51 is directly connected to the first transmission coupler 53, and for example, it may be in an L shape, and the like, which may be set and selected according to actual situations. Further, the specific device configuration of the transmission member 50 may be adjusted, and for example, the speed reducer 51 in the above-described specific embodiment may be replaced by a combination of a plurality of synchronizing wheels, a plurality of gears, and the like, and may be configured to achieve transmission speed reduction and obtain a required torque and rotation speed.

A motion accessory 60 for cooperating with a joint of a user to cause the joint to perform a rehabilitation motion.

The configuration of the motion accessory 60 depends on the position of the joint to be rehabilitated and the manner of motion that the joint needs to be rehabilitated. Of course, the motion accessory 60 may have various forms for the same motion mode of the same joint, and it is sufficient that the motion accessory can perform the rehabilitation motion of the joint in cooperation with the joint of the user. For example, in the embodiment of fig. 3, an ankle motion accessory 60 for mating with an ankle of a user is shown.

In one embodiment of the present invention, the motion accessory 60 is removably connected to the transmission member 50.

Considering that part of users have a plurality of joints to be recovered or one joint needs to be recovered by adopting a plurality of motion modes, the motion accessory 60 and the transmission part 50 are detachably connected in the embodiment, so that the users can switch the recovered joints or the motion modes of the joints only by replacing the motion accessory 60, the use experience of the users is improved, and the excessive cost caused by purchasing a plurality of single-joint recovery robots by the users is avoided.

Considering that the ankle joint as well as the wrist joint are common motion-impaired joints, the motion accessory 60 of the present application may be a wrist motion accessory 60 for cooperating with the wrist joint of a user, or an ankle motion accessory 60 for cooperating with the ankle joint of a user.

Of course, in other embodiments, can set up the motion accessory 60 to other joints according to user's needs, as long as this motion accessory 60 rotates the back through the output torque of transmission part 50, can cooperate with user's joint, and it can to assist user's joint rehabilitation, does not influence the utility model discloses an implement.

In this embodiment, considering that flexion and extension movements, ulnar/radial deviation movements and rotation movements are the three basic movement modes of the wrist joint, the wrist joint movement accessory 60 may be: a first wrist joint movement fitting for engaging a wrist joint of a user to allow the wrist joint to perform flexion and extension movements; or the following steps: a second wrist joint movement accessory for engaging a wrist joint of a user to enable the wrist joint to perform ulnar deviation and radial deviation movements; or the following steps: a third wrist motion accessory for engaging the wrist of the user to effectuate rotational movement of the forearm and wrist of the user.

Further, the first wrist motion accessory may comprise:

a first disk 61 coaxially connected with the transmission member, a connection rod 62 fixed at a predetermined position of the outer periphery of the first disk 61 and perpendicular to the first disk 61;

the second wrist motion accessory comprises:

a second disc 63 coaxially connected to the transmission member;

a C-shaped connecting rod 64 with a first end connected with the first end of the second disc 63 and a second end connected with the second end of the second disc 63 and perpendicular to the second disc 63;

the third wrist motion accessory comprises:

and a third disk 65 coaxially connected with the transmission member, and a predetermined number of openings are provided along the outer circumference of the third disk 65.

The specific connection mode of the first disc 61 and the transmission member 50 can be set according to actual requirements, and generally, the first disc 61 can be connected with the transmission member 50 through a rotating shaft, as well as the second disc 63 and the third disc 65. Fig. 4a is a schematic structural diagram of the first wrist motion accessory according to an embodiment, in which, in use, a user places a palm of the hand on the connecting rod 62 of the first wrist motion accessory or places the back of the hand under the connecting rod 62, and the flexion and extension movements of the wrist are completed along with the reciprocating movement of the first wrist motion accessory.

Both the first end of the second disc 63 and the second end of the second disc 63 may be a predetermined position on the second disc 63. In this embodiment, after the C-shaped connecting rod 64 is connected to the second disc 63, a through hole is formed between the two, and the user can put his hand into the through hole to complete the ulnar deviation and radial deviation movements of the wrist joint along with the reciprocating movement of the second wrist joint movement accessory. Of course, in practice, the C-shaped connecting rod 64 and the second disc 63 may be designed as one piece.

And it should be noted that the C-shaped connecting rod 64 in this embodiment is perpendicular to the second disc 63, in other embodiments, the plane of the C-shaped connecting rod 64 may have other angles with the plane of the second disc 63, i.e. a through opening is created to allow the user to insert his hand to complete the ulnar deviation and radial deviation movements of the wrist joint, for example, in the embodiment of fig. 4b, the C-shaped connecting rod 64 connected to the second disc 63 has a certain curvature. And the second disc 63 need not be a regular full circle, e.g. the second disc 63 in fig. 4b is not a full circle but a half-moon.

A predetermined number of openings are provided along the periphery of the third disc 65 and a user may insert a finger into each opening to complete the rotational movement of the forearm and wrist joint with the reciprocating movement of the third wrist joint movement fitting.

When the motion accessory 60 is the ankle joint motion accessory 60, the specific structure thereof can be set and adjusted according to actual conditions, and the motion accessory can be matched with the ankle joint of a user to enable the ankle joint to complete rehabilitation motion. For example, in the embodiment of fig. 3, the ankle-motion accessory 60 comprises: a base plate 66 for receiving a user's foot; a connecting rod 67 disposed at a side of the base plate 66 and perpendicular to the base plate 66, having a first end fixedly connected to the base plate 66 and a second end connected to the transmission member 50; a foot strap 68 removably attached to the base plate 66 for securing the user's foot to conform the user's foot to the base plate 66.

Use the embodiment of the utility model provides a recovered robot of single joint, include: a torque detection part for detecting a torque applied to the moving part by a user; the motion control unit is connected with the torque detection part and used for determining the output torque of the motor according to the acquired torque detected by the torque detection part and sending the output torque to the motor driver; the motor driver is connected with the motion control unit and the motor and is used for controlling the output torque of the motor to accord with the output torque determined by the motion control unit; a motor; and the transmission part is connected with the motor and the motion accessory and is used for amplifying the output torque of the motor by a preset multiple and applying the amplified output torque to the motion accessory so that the torque applied to the motion accessory by the transmission part is superposed with the torque applied to the motion accessory by a user and then the motion accessory moves according to a planned motion track.

In a specific embodiment of the present invention, the present invention further comprises:

and an emergency stop control switch for causing the motor 40 to suspend the output of the torque when triggered by a user.

Considering that the user may have pain, palpitation and other emergencies during the rehabilitation process using the rehabilitation robot, or the user may want to have a rest, the rehabilitation robot needs to stop working temporarily. Thus, an emergency stop control switch is provided in this embodiment. The emergency stop control switch may be generally disposed at a position easily triggered by a user, for example, in fig. 5, the emergency stop control switch 501 may be disposed at the top of a housing of the rehabilitation robot, so that the user can conveniently use the emergency stop control switch. The scram control switch 501 may be connected to the motion control unit 20, and when triggered by a user, may input a scram signal to the motion control unit 20 to cause the motor 40 to suspend the output of torque. The scram control switch 501 may also be connected to or directly part of the mains power supply system, when triggered by a user, to cause the motor 40 to suspend torque output by cutting off the ac or dc input to the mains power supply system.

When the scram control switch 501 is triggered by a user, a scram signal is input to the motion control unit 20, and the motion control unit 20 controls the motor 40 through the motor driver 30, so that the motor 40 suspends the output of the torque. Of course, the user may end the activation of the emergency stop control switch 501, for example, the emergency stop control switch 501 may be a push button switch, may be in a non-activated state as a default state, may be kept in an activated state after being pressed, may be sprung up after being pressed again, and may be restored to the non-activated state. When the sudden stop control switch 501 is no longer in the activated state, the rehabilitation robot can continue to operate, i.e., the motion kit 60 continues to rotate from the position where it was stopped.

One power supply system of the rehabilitation robot of the present application is shown in fig. 2. In this embodiment, the single joint rehabilitation robot supplies power through a 220V ac power supply, and then rectifies and transforms the ac power supply to obtain a 48V dc power supply. The 48V dc power supply can supply power to the motion control unit 20, the analog sensor unit 12 in the torque detection part 10, the motor driver 30, and the like. Of course, in other embodiments, there may be other forms of power supply, such as 110V ac power and 36V or 24V dc power. If, for another example, directly adopt the battery to supply power to rehabilitation robot, all do not all influence the utility model discloses an implement.

In the embodiment of fig. 2, the air switch is arranged on the power supply line of the alternating current power supply, and when the current in the circuit is too large or short circuit occurs, the air switch automatically cuts off the circuit to protect the equipment, and meanwhile, the risk to users can be reduced. Of course, a power switch is usually provided, and the user can actively control the single-joint rehabilitation robot to be turned on and off through the power switch. In addition, a working state indicator lamp can be further arranged to visually show the power supply state of the single-joint rehabilitation robot, namely when the power switch is turned off, the working state indicator lamp is turned on to show that the power supply of the single-joint rehabilitation robot is successful.

In a specific embodiment of the present invention, referring to fig. 6, further comprising:

a first base 71 for placing a second base 72 and a third base 73;

a second base 72 fixed to the first base 71 and having two through holes, the first through hole of the second base 72 being coaxial with the speed reducer 51 and connected to the speed reducer 51; the second through hole of the second base 72 is coaxial with the first transmission coupling 53 and is connected with the first transmission coupling 53 through a first bearing;

and a third base 73 fixed to the first base 71 and having a through hole, the through hole of the third base 73 being coaxial with the second transmission coupling 54 and connected to the second transmission coupling 54 through a second bearing on the through hole.

The first base 71 may be a generally flat plate for placing the second base 72 and the third base 73. The second base 72 and the third base 73 have the function of space positioning, namely the coaxiality of related devices is ensured, and the precision of motion transmission of the rehabilitation robot is improved.

Further, considering that the motion part 60 requires a certain space when rotating, in an embodiment of the present invention, the motion part further includes a rectangular bracket 601 formed by twelve sectional materials, and the first base 71 is fixed on the top surface of the rectangular bracket 601. Specifically, twelve section bars can be formed through the perpendicular concatenation of section bar angle joint spare, certainly, can replace the section bar with other materials, and section bar angle joint spare also can adopt the welding, and mode such as sticky replaces, and the concatenation mode also can be other modes outside the perpendicular concatenation, all does not influence the utility model discloses an implement. Of course, in other embodiments, other tray configurations are possible. In fig. 6, the air switch 602 and the dc switching power supply 603 are both located in the rectangular parallelepiped bracket 601.

In a specific embodiment of the present invention, referring to fig. 3, the method may further include:

and an angle limiting means 80 fixed to the third base 73 for limiting a rotation angle of the motion part 60 within a preset range.

When the transmission part 50 is normally operated, the transmission part 50 and the motion fitting 60 rotate within a certain angle range because the motion control unit 20 controls the motion fitting 60 to move according to the planned trajectory. However, in the extreme case of a failure or the like, when the rotation angle of the motion part 60 is too large, the joint of the user may be damaged, and therefore, in this embodiment, the angle stopper 80 fixed to the third base 73 is provided as a second layer of protection. The predetermined range defined by the angle limiting device 80 is usually slightly larger than the angular range of the motion trajectory planned by the motion control unit 20.

In a specific embodiment of the utility model, still include:

a housing means for performing device protection, a torque detecting part 10, a motion control unit 20; the motor 40 and the transmission member 50 are disposed inside the housing means.

Fig. 7 shows a schematic structural diagram of a housing device in an embodiment, wherein the housing device is composed of an upper shell 701 made of an insulating material, a bottom shell 702, an air switch door 703 and a baffle 704 with graduation lines. The upper shell 701 and the bottom shell 702 are detachably connected, so that internal devices and the external environment are isolated, and key components are protected. An air switch door 703 is installed at a side of the upper case 701, and a user can freely open and close the door by hand to restart or turn off the air switch. A graduated stop 704 is mounted on the front face of the upper housing 701 and a pointer 705 is correspondingly provided on the motion assembly 60 to cooperate with the graduated stop 704 to indicate the current angle of rotation of the motion assembly 60. In addition, an ankle movement balance assistant 706 is also shown in fig. 7, and when the movement accessory 60 is the ankle movement accessory 60, the rehabilitation robot can be more stable by adopting the design of the ankle movement balance assistant 706.

and the display device is connected with the motion control unit 20 and is used for acquiring the output torque of the motor 40 through the motion control unit 20 and displaying the output torque in real time.

The display device can be a display screen arranged on the single-joint rehabilitation robot, and the functions of the display device can be realized by an external upper computer, such as a user computer, so that the cost is reduced. The display device is communicatively connected to the motion control unit 20, and may be wired or wireless. The display device may acquire the output torque of the motor 40 through the motion control unit 20 and display it in real time, and of course, may display the torque applied to the motion kit 60 by the user so that the user may visually recognize the degree of recovery of his own joint. In addition, the display device may also display other information, such as user information, the time of the rehabilitation training, mode selection, target torque, movement trajectory of the movement accessory 60, and the like.

When the display device has an input device, for example, an upper computer is used as the display device, or the display device is externally connected to the input device, the display device may be used to communicate with the motion control unit 20, so as to modify parameters such as the target torque. Furthermore, in consideration of convenience of user operation, a hand controller can be configured for the user, the hand controller is in communication connection with the motion control unit 20, parameters such as target torque of the single-joint rehabilitation robot can be modified through the hand controller, and operations such as triggering of the emergency stop control switch 501 can be performed through the hand controller.

and a recording device connected with the motion control unit 20 for acquiring and recording the output torque of the motor 40 through the motion control unit 20.

Considering that the rehabilitation of the joint of the user is a long-term process and the degree of rehabilitation of the joint is constantly changed, the output torque of the motor 40 is recorded by the excitation device in this embodiment, so that the user or the doctor can refer to the history to facilitate the rehabilitation process of the patient. Of course, the recording device may record user information, the time of the rehabilitation training, the mode selection, the target torque, the movement track of the movement member 60, and the like, in addition to the output torque of the motor 40.

Further, the method can also comprise the following steps: and the communication device is connected with the recording device and is used for transmitting the data in the recording device to a remote server. In the embodiment, the data in the recording device is sent to the remote server through the communication device, so that a doctor does not need to see a user, the relevant data of the user when the user uses the rehabilitation robot can be directly and conveniently acquired through the server, the joint rehabilitation condition of the user can be further known, and the rehabilitation process of the user is facilitated. For example, a doctor can draw up a new rehabilitation plan according to the data in the recording device, and adjust the rehabilitation scheme of the user to adapt to the actual situation of the user.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The principle and the implementation of the present invention are explained herein by applying specific examples, and the above descriptions of the embodiments are only used to help understand the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A single-joint rehabilitation robot, comprising:

the motor;

2. The single-joint rehabilitation robot of claim 1, further comprising:

3. The single-joint rehabilitation robot of claim 2, further comprising:

4. The single-joint rehabilitation robot of claim 1, further comprising:

5. The single-joint rehabilitation robot of claim 4, further comprising:

6. The single-joint rehabilitation robot of claim 5, further comprising:

7. The single-joint rehabilitation robot of claim 1, wherein the transmission member comprises:

the first drive coupling;

8. The single-joint rehabilitation robot of claim 7, further comprising:

the first base is used for placing the second base and the third base;

9. The single-joint rehabilitation robot of claim 8, further comprising:

10. The single-joint rehabilitation robot of claim 9, further comprising:

the first base is fixed on the top surface of the cuboid bracket.

11. The single-joint rehabilitation robot according to any of claims 1-10, wherein the motion accessory is removably connected to the transmission member.

12. The single joint rehabilitation robot of claim 11, wherein the motion accessory is a wrist motion accessory for mating with a wrist of a user or an ankle motion accessory for mating with an ankle of a user.

13. The single-joint rehabilitation robot of claim 12, wherein the wrist-joint movement accessory is: a first wrist joint movement accessory for engaging a wrist joint of a user to cause the wrist joint to perform flexion and extension movements; or the following steps: a second wrist joint movement accessory for engaging a wrist joint of a user to cause the wrist joint to perform ulnar deviation and radial deviation movements; or the following steps: a third wrist motion accessory for engaging a wrist of a user to effectuate rotational movement of a forearm and the wrist of the user.

14. The single joint rehabilitation robot of claim 13, wherein the first wrist motion accessory comprises:

the second wrist motion accessory comprising:

a second disc coaxially connected with the transmission member;

the third wrist motion accessory comprising:

15. The single-joint rehabilitation robot of claim 12, wherein the ankle-motion accessory comprises:

a base plate for receiving a user's foot;

the connecting rod is arranged on the side surface of the bottom plate and is vertical to the bottom plate, the first end of the connecting rod is fixedly connected with the bottom plate, and the second end of the connecting rod is connected with the transmission part;