CN104970944A - Upper limb rehabilitation robot position movement realizing method - Google Patents
Upper limb rehabilitation robot position movement realizing method Download PDFInfo
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- CN104970944A CN104970944A CN201410131340.8A CN201410131340A CN104970944A CN 104970944 A CN104970944 A CN 104970944A CN 201410131340 A CN201410131340 A CN 201410131340A CN 104970944 A CN104970944 A CN 104970944A
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- upper limb
- limb rehabilitation
- rehabilitation robot
- lifting spindle
- telescopic arm
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Abstract
The present invention provides an upper limb rehabilitation robot position movement realizing method. The method comprises step A in which an elevating principal shaft (24) is made to move vertically to drive a hand rest apparatus (25) to do so accordingly. In step B of the method, the elevating principal shaft (24) rotates around its shaft center to make the hand rest apparatus (25) move in circle on a horizontal plane with the elevating principal shaft (24) being the circle point and the telescopic arm (23) the radius. In step C of the method, the telescopic arm (23) telescopes in the horizontal direction to make the hand rest apparatus (25) move in radius direction with the elevating principal shaft (24) being the circle point and in the telescoping direction of the telescopic arm (23). The position of an upper limb rehabilitation robot can be flexibly changed.
Description
Technical field
The present invention relates to a kind of position motion implementation method of upper limb rehabilitation robot.
Background technology
The damage caused by apoplexy, head injury or operation on spinal cord often causes the impaired of patient's multiple muscle group motor function.The capable theory of nerve remodeling has proved that repeating motion and rehabilitation training can make patient's recovered part or most of motor function again.Repetitive training is very uninteresting, and be labour intensive and inefficient work for therapist, for therapist, repeat to carry out training to patient be very uninteresting, high strength and poor efficiency, because therapist only treats patient, patient is assisted to carry out omnibearing rehabilitation training.
In sum, there is following problem in prior art: upper limb rehabilitation robot can not be made to carry out the movement of multiple degree of freedom.
Summary of the invention
The invention provides a kind of position motion implementation method of upper limb rehabilitation robot, upper limb rehabilitation robot can not be made to carry out the problem of the movement of multiple degree of freedom to solve prior art.
For this reason, the present invention proposes a kind of position motion implementation method of upper limb rehabilitation robot, and upper limb rehabilitation robot comprises:
The lifting spindle 24 of vertical setting;
Telescopic arm 23, connects described lifting spindle 24;
Hand holder apparatus 25, is connected on described telescopic arm 23;
The position motion implementation method of described upper limb rehabilitation robot comprises:
Steps A: make described lifting spindle 24 vertical motion, thus drive hand holder apparatus 25 vertical motion;
Step B: described lifting spindle 24 is rotated around self shaft centre line, thus drive hand holder apparatus 25 with described lifting spindle 24 for round dot, move in a circle in horizontal plane for radius with described telescopic arm 23;
Step C: described telescopic arm 23 is stretched in the horizontal direction, thus drive hand holder apparatus 25 with described lifting spindle 24 for round dot, the telescopic direction along described telescopic arm 23 does radial motion.
Further, described hand holder apparatus 25 is hinged on the end of described telescopic arm 23, and the position motion implementation method of described upper limb rehabilitation robot also comprises: step D: make the relatively described telescopic arm of described hand holder apparatus 25 at horizontal rotation in surface.
Further, described upper limb rehabilitation robot also comprises: support and be connected the base 55 of described lifting spindle 24 and to be enclosed in described base 55 outer and connect the shell 20 of described base 55, the bottom of described base 55 is provided with castor 21, the position motion implementation method of described upper limb rehabilitation robot also comprises: step e: by the movement of described castor 21, drives hand holder apparatus 25 to move.
Further, first step e is carried out;
After the castor of described upper limb rehabilitation robot arrives first object position, carry out steps A or step B;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step B;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step C;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step D.
Further, described upper limb rehabilitation robot also comprises: connect described lifting spindle 24 and drive the lifting motor 59 of the vertical movement of described lifting spindle about 24.
Further, described upper limb rehabilitation robot also comprises: connect described lifting spindle 24 and drive the electric rotating machine 57 that described lifting spindle 24 rotates.
Further, described upper limb rehabilitation robot also comprises: connect described telescopic arm 23 and the telescope motor 56 driving described telescopic arm 23 flexible.
Further, described lifting spindle 24 is leading screw, and described upper limb rehabilitation robot also comprises: the elevating screw guide rail 58 be connected with described lifting spindle 24.
Further, described telescope motor 56 drives described telescopic arm 23 by lead screw transmission.
Further, described steps A, step B and step C synchronously carry out, or described steps A, step B, step C and step D synchronously carry out.
The present invention can be driven hand holder apparatus 25 vertical motion respectively by lifting spindle 24 and telescopic arm 23, moved in a circle and do radial motion in horizontal plane, the position achieving hand holder apparatus 25 at least 3 degree of freedom is moved, hands is placed on hand holder apparatus 25 by experience personnel or user (being such as the personnel of rehabilitation training or teacher or student), just can realize flexible and changeable rehabilitation training or teaching, training.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the upper limb rehabilitation robot of the embodiment of the present invention;
Fig. 2 is the internal structure of the upper limb rehabilitation robot of the embodiment of the present invention.
Drawing reference numeral illustrates:
16 telescopic arm support 17 first display 19 second display 20 shell 21 castor 23 telescopic arm 24 lifting spindle 25 hand holder apparatus 55 base 56 telescope motor 57 electric rotating machine 58 lead screw guide rails 59 lifting motor 53 force transducer 60 linear slide block 63 hand rest pedestals
Detailed description of the invention
In order to there be understanding clearly to technical characteristic of the present invention, object and effect, now contrast accompanying drawing and the present invention is described.
The present invention proposes a kind of position motion implementation method of upper limb rehabilitation robot, to realize the motion that hand holder apparatus 25 can have multiple degree of freedom, reaches flexible and changeable movement effects, and as shown in Figure 2, the upper limb rehabilitation robot that the present invention uses comprises:
The lifting spindle 24 of vertical setting; Lifting spindle vertical level;
Telescopic arm 23, is vertically connected on the top of described lifting spindle 24;
Hand holder apparatus 25, is connected on described telescopic arm 23; Hand holder apparatus 25 is such as circular arc or annular, for being held by staff.
The position motion implementation method of described upper limb rehabilitation robot comprises:
Steps A: make described lifting spindle 24 vertical motion, thus drive hand holder apparatus 25 vertical motion;
Step B: described lifting spindle 24 is rotated around self shaft centre line, thus drive hand holder apparatus 25 with described lifting spindle 24 for round dot, move in a circle in horizontal plane for radius with described telescopic arm 23;
Step C: described telescopic arm 23 is stretched in the horizontal direction, thus drive hand holder apparatus 25 with described lifting spindle 24 for round dot, the telescopic direction along described telescopic arm 23 does radial motion.
When rehabilitation training or teaching, training, staff is placed on hand holder apparatus 25, vertically mobile and can moving horizontally at horizontal rotation in surface and telescopic arm 23 by lifting spindle about 24, the motion of the above-mentioned three degree of freedom of hand holder apparatus 25 can be realized, above-mentioned three degree of freedom is respectively vertical motion, circular motion and radial motion, this three degree of freedom has stronger specific aim, is very applicable to upper limb healing, can realizes flexible and changeable rehabilitation training or teaching, training.
Further, described hand holder apparatus 25 is hinged on the end of described telescopic arm 23, hand holder apparatus 25 can at horizontal rotation in surface, the position motion implementation method of described upper limb rehabilitation robot also comprises: step D: make the relatively described telescopic arm of described hand holder apparatus 25 at horizontal rotation in surface, i.e. the rotation of hand holder apparatus 25 in horizontal plane (hand holder apparatus 25 with described telescopic arm 23 be radius move in a circle in horizontal plane can regard the revolution of hand holder apparatus 25 as).Like this, hand holder apparatus 25 turn increases one degree of freedom, reaches four degree of freedom, and motion is more flexible, and the selection of position is more.
Further, as Fig. 1, described upper limb rehabilitation robot also comprises: support the base 55 of described lifting spindle 24 and to be enclosed in described base 55 outer and connect the shell 20 of described base 55, and the bottom of described base is provided with castor 21, facilitates moving integrally of upper limb rehabilitation robot.The position motion implementation method of described upper limb rehabilitation robot also comprises: step e: by the movement of described castor 21, drives hand holder apparatus 25 to move.The integral position that castor 21 is suitable for upper limb rehabilitation robot moves, or is suitable for remote mobile upper limb rehabilitation robot or hand holder apparatus 25.Like this, hand holder apparatus 25 turn increases one degree of freedom, reaches five degree of freedom, and motion is more flexible, and the selection of position is more.
Further, the position motion implementation method of upper limb rehabilitation robot first carries out step e, is moved at a distance by upper limb rehabilitation robot by castor, such as, move to another room from a room, or move from different floor gaps;
After the castor of described upper limb rehabilitation robot arrives first object position (such as reaching the room of specifying, the working region of specifying), carry out steps A, hand holder apparatus 25 vertical motion or in the vertical direction are moved back and forth, realizes making the hands in the vertical direction of experience personnel or user (being such as rehabilitation training or teacher or student) to move or move back and forth; Or, after the castor of described upper limb rehabilitation robot arrives first object position, carry out step B; Make hand holder apparatus 25 with described lifting spindle 24 for round dot, move in a circle in horizontal plane or circular motion or back and forth circular motion or circular motion for radius with described telescopic arm 23, realize making the hands of experience personnel (being such as rehabilitation training or teacher or student) in the motion of horizontal plane inner periphery or circular motion or back and forth circular motion or circular motion;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, hand holder apparatus 25 vertical motion or in the vertical direction are moved back and forth, arrive behind the second target location (height namely set) until lifting spindle, carry out step B again, make hand holder apparatus 25 in the motion of horizontal plane inner periphery or circular motion or back and forth circular motion or circular motion, make the ability of the horizontal circumference movement of experience personnel exercise on proper height or demonstrate, making the turning power of experience personnel exercise or whole arm of demonstrating;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, carry out step C again, hand holder apparatus 25 is made to do radial motion or reciprocal radial motion along the telescopic direction of described telescopic arm 23, this radial motion is rectilinear movement, thus makes experience personnel on proper height, practise the ability of horizontal linear movement or demonstrate;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, hand holder apparatus 25 vertical motion or in the vertical direction are moved back and forth, arrive behind the second target location until lifting spindle, carry out step D again, make the relatively described telescopic arm of described hand holder apparatus 25 at horizontal rotation in surface, make experience personnel practise the rehabilitation course of wrist or demonstration wrist.
The priority of above-mentioned steps and combination, experience personnel can be made flexibly fully to practise or various position of demonstrating, various action, closely actual rehabilitation training, is conducive to rehabilitation or teaching.The present invention is not limited to putting in order of above-mentioned steps and combines, and can also have more permutation and combination, such as, and can Moving caster, while carry out lifting spindle 24 vertical motion; Or Moving caster, carries out lifting spindle 24 and rotates around self shaft centre line on one side; Or Moving caster, stretches in the horizontal direction while carry out telescopic arm 23; Or Moving caster, carries out the rotation of hand holder apparatus 25 on one side.Like this, can be implemented in moving, carry out the effect of rehabilitation or teaching.Have again, described steps A, step B and step C can synchronously carry out, or described steps A, step B, step C and step D can synchronously carry out, or, two steps or three steps are had synchronously to carry out in steps A, step B, step C and step D, like this, the motility of rehabilitation or teaching is added.
In addition, above-mentioned 5 steps can carry out various arrangement combination, and each step can be selected repeatedly, and owing to there being 5 degree of freedom, this parameter representated by 5 degree of freedom can realize numerous permutation and combination, can realize rehabilitation or the teaching task of various complexity.
Further, as shown in Figure 2, described upper limb rehabilitation robot also comprises: connect described lifting spindle 24 and drive the lifting motor 59 of the vertical movement of described lifting spindle about 24.By the driving of lifting motor 59, lifting spindle about 24 vertically movement can be realized easily and fast.
Further, described upper limb rehabilitation robot also comprises: connect described lifting spindle 24 and drive the electric rotating machine 57 that described lifting spindle 24 rotates, electric rotating machine 57 is arranged on the lower end of lifting spindle 24, to realize the quick rotation of lifting spindle 24 easily and fast.
Further, described upper limb rehabilitation robot also comprises: connect described telescopic arm 23 and the telescope motor 56 driving described telescopic arm 23 flexible, telescope motor 56 is positioned at telescopic arm 23 one end away from hand holder apparatus 25, stretching with fast driving telescopic arm 23 horizontal direction.
Further, described lifting spindle 24 is leading screw, described upper limb rehabilitation robot also comprises: the elevating screw guide rail 58 be connected with described lifting spindle 24, lifting spindle 24 is fixed on the linear slide block 60 pieces with slide, slide along elevating screw guide rail 58, define lifting spindle about 24 vertically movement.
Further, described telescope motor 56 drives screw turns by level synchronization V belt translation, is fixed on the telescopic arm 23 on linear slide block described in lead screw transmission drives, and guarantees that the movement of telescopic arm 23 is stable, accurate.
Further, described upper limb rehabilitation robot also comprises: position sensor, and position sensor is connected on hand holder apparatus 25, with the position of Real-time Feedback hand holder apparatus 25.
Further, described upper limb rehabilitation robot also comprises: the force transducer 53 of multidimensional, connects described telescopic arm.The bottom of hand holder apparatus 25 has hand rest pedestal 63, hand rest pedestal 63 is connected to the end of telescopic arm 23, force transducer 53 is positioned at the bottom of hand rest pedestal 63, force transducer 53 detects three linear strength and three turning moments at hand holder apparatus 25 place, no matter how telescopic arm 25 moves in the horizontal direction, and the power of vertical direction is always consistent with the motion in vertical direction.No matter how telescopic arm 25 rotates, and the power that horizontal direction detects is always from the power in telescopic arm in horizontal direction 25 correct direction.
As Fig. 1; base 55 supporting elevation main shaft 24; the drive disk assemblies such as lifting motor 59, electric rotating machine 57, lead screw guide rails 58 and linear slide block 60 wrap up by shell 20, protect these drive disk assemblies, too increase the safety of upper limb rehabilitation robot, mobility and motility.
Further, described upper limb rehabilitation robot also comprises: the second display 19 being arranged on user oriented first display 17 on described shell 20 and/or user dorsad.Position sensor and force transducer 53 feed back position and the stressing conditions of hand holder apparatus 25 respectively, described upper limb rehabilitation robot also comprises: the controller (not shown) being positioned at shell 20, controller link position sensor and force transducer 53, process position sensor and force transducer 53 feedack, controller also connects the second display 19 of the first display 17 and/or user dorsad, by the second display 19 of the position display of the hand holder apparatus 25 of position sensor feedback the first display 17 and/or user dorsad, user oneself can be made can to see position or the training effect of hand holder apparatus 25, therapist can also be made to see position or the training effect of hand holder apparatus 25 easily.Second display 19 can also be touch screen, to give an order to controller, enter the operating instructions.
The present invention feeds back position and the stressing conditions of hand holder apparatus 25 respectively by position sensor and force transducer 53, thus can grasp the situation of rehabilitation training in time, make corresponding adjustment.By the second display 19 of the first display 17 and/or user dorsad, user oneself can be made can to see position or the training effect of hand holder apparatus 25, therapist can also be made to see position or the training effect of hand holder apparatus 25 easily, execution and the supervision of order are provided to therapist or teacher.
The foregoing is only the schematic detailed description of the invention of the present invention, and be not used to limit scope of the present invention.For each ingredient of the present invention can mutually combine under the condition of not conflicting, any those skilled in the art, equivalent variations done under the prerequisite not departing from design of the present invention and principle and amendment, all should belong to the scope of protection of the invention.
Claims (10)
1. a position motion implementation method for upper limb rehabilitation robot, it is characterized in that, upper limb rehabilitation robot comprises:
The lifting spindle (24) of vertical setting;
Telescopic arm (23), connects described lifting spindle (24);
Hand holder apparatus (25), is connected on described telescopic arm (23);
The position motion implementation method of described upper limb rehabilitation robot comprises:
Steps A: make described lifting spindle (24) vertical motion, thus drive hand holder apparatus (25) vertical motion;
Step B: described lifting spindle (24) is rotated around self shaft centre line, thus drive hand holder apparatus (25) with described lifting spindle (24) for round dot, with described telescopic arm (23) for radius moves in a circle in horizontal plane;
Step C: described telescopic arm (23) is stretched in the horizontal direction, thus drive hand holder apparatus (25) with described lifting spindle (24) for round dot, the telescopic direction along described telescopic arm (23) does radial motion.
2. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 1, it is characterized in that, described hand holder apparatus (25) is hinged on the end of described telescopic arm (23), and the position motion implementation method of described upper limb rehabilitation robot also comprises: step D: make the relatively described telescopic arm of described hand holder apparatus (25) at horizontal rotation in surface.
3. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 2, it is characterized in that, described upper limb rehabilitation robot also comprises: support with the base being connected described lifting spindle (24) (55) and be enclosed in described base (55) and connect the shell (20) of described base (55) outward, the bottom of described base (55) is provided with castor (21), the position motion implementation method of described upper limb rehabilitation robot also comprises: step e: by the movement of described castor (21), drives hand holder apparatus (25) mobile.
4. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 3, is characterized in that,
First carry out step e;
After the castor of described upper limb rehabilitation robot arrives first object position, carry out steps A or step B;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step B;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step C;
Or after the castor of described upper limb rehabilitation robot arrives first object position, first carry out steps A, arrive behind the second target location until lifting spindle, then carry out step D.
5. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 1, it is characterized in that, described upper limb rehabilitation robot also comprises: connect described lifting spindle (24) and drive the lifting motor (59) of described lifting spindle (24) vertical movement up and down.
6. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 1, it is characterized in that, described upper limb rehabilitation robot also comprises: connect described lifting spindle (24) and the electric rotating machine (57) driving described lifting spindle (24) to rotate.
7. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 1, it is characterized in that, described upper limb rehabilitation robot also comprises: connect described telescopic arm (23) and the telescope motor (56) driving described telescopic arm (23) flexible.
8. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 1, it is characterized in that, described lifting spindle (24) is leading screw, and described upper limb rehabilitation robot also comprises: the elevating screw guide rail (58) be connected with described lifting spindle (24).
9. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 7, it is characterized in that, described telescope motor (56) drives described telescopic arm (23) by lead screw transmission.
10. the position motion implementation method of upper limb rehabilitation robot as claimed in claim 2, it is characterized in that, described steps A, step B and step C synchronously carry out, or described steps A, step B, step C and step D synchronously carry out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410131340.8A CN104970944A (en) | 2014-04-02 | 2014-04-02 | Upper limb rehabilitation robot position movement realizing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410131340.8A CN104970944A (en) | 2014-04-02 | 2014-04-02 | Upper limb rehabilitation robot position movement realizing method |
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| CN104970944A true CN104970944A (en) | 2015-10-14 |
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| CN201410131340.8A Pending CN104970944A (en) | 2014-04-02 | 2014-04-02 | Upper limb rehabilitation robot position movement realizing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108095977A (en) * | 2018-02-06 | 2018-06-01 | 同济大学浙江学院 | A kind of polar coordinate system disc type upper limb healing equipment |
| CN109846552A (en) * | 2019-02-28 | 2019-06-07 | 南京天奥医疗仪器制造有限公司 | Endoscopic surgery robot system |
| CN110314064A (en) * | 2018-03-28 | 2019-10-11 | 北京蝶禾谊安信息技术有限公司 | Upper limb healing equipment |
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| CN203400300U (en) * | 2013-08-16 | 2014-01-22 | 北京蝶禾谊安信息技术有限公司 | Hand holding device of upper limb rehabilitation robot |
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| CN108095977A (en) * | 2018-02-06 | 2018-06-01 | 同济大学浙江学院 | A kind of polar coordinate system disc type upper limb healing equipment |
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Application publication date: 20151014 |