CN109091348A - Upper limb rehabilitation robot and its system - Google Patents
Upper limb rehabilitation robot and its system Download PDFInfo
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- CN109091348A CN109091348A CN201710476098.1A CN201710476098A CN109091348A CN 109091348 A CN109091348 A CN 109091348A CN 201710476098 A CN201710476098 A CN 201710476098A CN 109091348 A CN109091348 A CN 109091348A
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- 238000005516 engineering process Methods 0.000 abstract description 12
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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Abstract
The present invention provides a kind of upper limb rehabilitation robot and its systems, are related to the field of medical instrument technology.A kind of upper limb rehabilitation robot, including pedestal, support rod and upper limb training assembly；The lower end of the support rod is fixedly installed on the pedestal, and the upper end of support rod is flexibly connected with the upper limb training assembly；The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement, and shoulder elbow joint is enabled to carry out compound motion and disengaging movement training in spatial dimension；In the 7 degree of freedom, four are motor-driven rotary freedom, it is set as shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, other three are unpowered freedom degree, are set as height and adjust joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint.Healing robot of the invention has the characteristics that portable, intelligent, inexpensive and applicable family uses.
Description
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of upper limb rehabilitation robot and its systems.
Background technique
Traditional Chinese medical science supports field and is broadly divided into rehabilitation and providing for the aged and nursing at present.It is more and more with the aggravation of social senilization
Old man cause upper extremity palsy due to apoplexy etc., bring very big inconvenience to daily life.Paralysed patient can pass through
A large amount of rehabilitation training excites brain plasticity, restores certain locomitivity, realization is taken care of oneself, and is improved the quality of living, most
The recurrence society of big degree.Equipment in present rehabilitation department is broadly divided into simple and mechanical drawing, mid-low frequency electro-pulse therapeutic equipment
Deng the rehabilitation equipment of middle and high end is relatively rare.Rehabilitation is mainly by people, but qualified rehabilitation physical therapy teacher quantity is seriously not
Foot, so if the rehabilitation gimmick that can reappear Physical Therapist out with robot will be the technology for extremely having business potential.Machine
People's auxiliary rehabilitation exercise can save a large amount of manpower and material resources, and the assessment of real-time quantization can be carried out to Rehabilitation level,
It is trained according to the rehabilitation situation of patient is incremental.
Although majority is all simply that robot is stiff currently, there is some companies to be proposed healing robot product
Be added on rehabilitation.Their equipment is difficult the demand of approach clinic.For example Chinese patent CN2014208378875 is provided
A kind of right-hand man's dual-purpose type upper limb rehabilitation robot, provides the left and right side structure adjustable upper limb rehabilitation robot, wherein top is horizontal
For beam using screw rod rotation adjustment position, adjustment mode is inconvenient, and intelligence degree is inadequate, is not suitable for family's use, it is difficult to full
Sufficient patient demand.
Summary of the invention
It is an object of the invention to: overcome the deficiencies of the prior art and provide a kind of upper limb rehabilitation robot and its system.
Healing robot of the invention has the characteristics that portable, intelligent, inexpensive and applicable family uses, can in hospital
Rehabilitation appliances formed high level matches with low level, perfect rehabilitation training is provided for patient；Further, healing robot and background server
System is constituted with database association, hospital can control long-range healing robot by background server and provide individual character to patient
The rehabilitation training of change can also effectively be mentioned by the rehabilitation process of database purchase patient so that rehabilitation training has mark that can follow
Rehabilitation training effect is risen.
The following are the specific technical solutions of the present invention:
A kind of upper limb rehabilitation robot, including pedestal, support rod and upper limb training assembly；The lower end of the support rod is fixed
It is installed on the pedestal, the upper end of support rod is flexibly connected with the upper limb training assembly；
The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement, enables shoulder elbow joint in sky
Between compound motion and disengaging movement training are carried out in range；In the 7 degree of freedom, four free for motor-driven rotation
Degree, is set as shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, and other three are unpowered freedom degree,
It is set as height and adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint.
Further, the 7 degree of freedom is free including the first rotary freedom, the second rotary freedom, third rotation
Degree, the 4th rotary freedom and the first unpowered freedom degree, the second unpowered freedom degree, third is unpowered freedom degree；From pedestal
Start, freedom degree that third is unpowered, the first rotary freedom, the first unpowered freedom degree, the second rotary freedom, second are without dynamic
Power freedom degree, third rotary freedom, the 4th rotary freedom are sequentially connected in series connection, and the joint motions being corresponding in turn to are that height rises
Falling tone section, shoulder joint first to rotation, shoulder rotation is adjusted, shoulder joint second is to rotation, ancon telescopic adjustment, shoulder joint third
Rotation is bent and stretched to rotation and elbow joint.
Further, the height adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint and is respectively provided with
There is locking structure, the locking structure can lock after each adjusting joint is adjusted.The height is adjusted it is contemplated that using
Electric pushrod.
Further, four motor-driven rotary joints are respectively provided with mechanical hard position limiting structure, and the mechanical hard limit includes
The mechanical collision block and impact switch that both forward and reverse directions are respectively provided with；It is mechanical after rotary joint reaches the limit of position under runaway condition
Collision block generates collision, makes it that can not continue to rotate motor-locking, while the impact switch being depressed, cuts off the power.
It further, further include soft position limiting structure, the soft position limiting structure includes control software systems and the angle of communication connection
Sensor is spent, angular transducer is installed on the control that control software systems are received on each rotary joint, by controlling software systems
Sports limiting is carried out within the scope of the limitation of each extreme sport.
Further, aluminium alloy and ABS that the upper limb training assembly selects quality relatively light, arm contained structure are in U
Word channel-shaped, arm are fixed after being put into arm contained structure by bandage.
Further, it is provided with handover operation structure on the upper limb rehabilitation robot, by the handover operation structure, fastly
The carry out tiled configuration switching of speed, to support the left upper extremity or right upper extremity rehabilitation demands of user.
Further, it is provided with power supply structure on upper limb rehabilitation robot, to electricity consumption power elements；And the pedestal
On be provided with displacement structure, to the entire upper limb rehabilitation robot of movement.
The present invention also provides using aforementioned healing robot a kind of upper limb rehabilitation robot system, the system comprises
The system server of communication connection, at least one computer and at least one aforementioned healing robot；
The system server controls each healing robot to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training is provided, and passes through the rehabilitation process of database purchase patient；
Computer records training information to the rehabilitation parameter of capture setting, sends control to the healing robot and refers to
It enables；And output virtual training environment, rehabilitation training visual feedback, and display control interface and rehabilitation training information are provided；
The healing robot, as the executing agency of rehabilitation training, to receive the control instruction of the computer simultaneously
Corresponding motion control is executed, while sending sensing data to aforementioned computer；
Further, the virtual training environment of the computer output is the training environment with augmented reality effect.
The present invention compared with the existing technology, has the advantages that.
1) healing robot of the invention contains 7 degree of freedom, wherein four are motor-driven rotary freedom,
It is set as realizing that rotation is bent and stretched in the rotation of shoulder joint three degree of freedom and elbow joint；Other three are unpowered freedom degree, are set as
Height is adjusted, shoulder rotation is adjusted and ancon telescopic adjustment.It is real in spatial dimension that robot can complete shoulder elbow joint
Existing compound motion and disengaging movement training.
2) recovery robot system of the invention include the system server for being in communication with each other connection, at least one computer and
At least one healing robot.The healing robot can be set to community doctor according to the demand of patients ' recovery training position
The places such as institute, family care place or community rehabilitation center, healing robot are carried out remote by communication network and system server
Cheng Tongxin, hospital's (such as front three convalescent home or rehabilitation department) can control community doctor by system server (background server)
The healing robot of institute provides personalized rehabilitation training to patient, and by the rehabilitation of server database storage patient into
Journey, such rehabilitation, which reforms into one, the governed process of mark.
Healing robot and recovery robot system of the invention has portable, intelligent, inexpensive and applicable family
The characteristics of use, can form high level matches with low level with the rehabilitation appliances in hospital, perfect rehabilitation training is provided for patient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of upper limb rehabilitation robot provided in an embodiment of the present invention.
Fig. 2 is the arrangement schematic diagram of angular transducer in upper limb rehabilitation robot provided in an embodiment of the present invention.
Fig. 3 is each section design length schematic diagram in upper limb rehabilitation robot provided in an embodiment of the present invention.
Fig. 4 is the block schematic illustration of upper limb rehabilitation robot system provided in an embodiment of the present invention.
Fig. 5 is the virtual training Sample Scenario figure provided in an embodiment of the present invention with augmented reality effect.
Fig. 6 is the structural block diagram of the control system of control motor coordination operation provided in an embodiment of the present invention.
Specific embodiment
Upper limb rehabilitation robot provided by the invention and its system are made below in conjunction with the drawings and specific embodiments further
It is described in detail.It should be noted that the combination of technical characteristic described in following embodiments or technical characteristic should not be recognized
For be it is isolated, they can be combined with each other to reaching superior technique effect.
It should be noted that structure, ratio, size etc. depicted in this specification institute attached drawing, only to cooperate explanation
The revealed content of book is not limited to invent enforceable restriction item so that those skilled in the art understands and reads
Part, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the effect of invention can be generated and institute's energy
Under the purpose reached, it should all fall in the range of the revealed technology contents of invention can cover.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.Institute that is shown here and discussing
Have in example, any occurrence should be construed as merely illustratively, not as limitation.Therefore, exemplary embodiment
Other examples can have different values.
Embodiment
It is shown in Figure 1, a kind of upper limb rehabilitation robot, including pedestal, support rod and upper limb training assembly.
The lower end of the support rod is fixedly installed on the pedestal, and the upper end of support rod and the upper limb training assembly are living
Dynamic connection.In the present embodiment, the support rod uses hollow stem, and one end of the upper limb training assembly is installed on the hollow stem
It is interior, so that entire upper limb training assembly can be with respect to support rod elevating movement.
The mechanical system of the upper limb training assembly is divided into 7 freedom degrees, is indicated respectively with M1-M4 and P1-P3, wherein
Four are motor-driven rotary freedom, are set as realizing that rotation is bent and stretched in the rotation of shoulder joint three degree of freedom and elbow joint；Its
It three be unpowered freedom degree, be set as height adjust, shoulder rotation adjust and ancon telescopic adjustment.With continued reference to figure
Shown in 1, the 7 degree of freedom includes the first rotary freedom M1, the second rotary freedom M2, third rotary freedom M3, the
Four rotary freedom M4 and first are unpowered freedom degree P1, the second unpowered freedom degree P2, third is unpowered freedom degree P3；The bottom of from
Seat starts, third is unpowered freedom degree P3, the first rotary freedom M1, the first unpowered freedom degree P1, the second rotary freedom
M2, the second unpowered freedom degree P2, third rotary freedom M3, the 4th rotary freedom M4 are sequentially connected in series connection.The third
Unpowered freedom degree P3, the first rotary freedom M1, the first unpowered freedom degree P1, the second rotary freedom M2, second are without dynamic
The joint motions that power freedom degree P2, third rotary freedom M3, the 4th rotary freedom M4 are corresponding in turn to be height adjust,
Shoulder joint first is to rotation, shoulder rotation are adjusted, shoulder joint second is to rotation, ancon telescopic adjustment, shoulder joint third to rotation
Rotation is bent and stretched with elbow joint.
The height adjusts joint, shoulder rotation adjusting joint and ancon telescopic adjustment joint and is provided with locking knot
Structure, the locking structure can lock after each adjusting joint is adjusted.The height is adjusted it is contemplated that using electric pushrod.
The aluminium alloy 6061 and ABS that structural part material selects quality relatively light, arm contained structure are in U-shaped groove shape,
Arm is fixed after being put into arm contained structure by bandage.
Consider that safety and control require, four motor-driven rotary joints are respectively provided with mechanical hard limit.Mechanical hard limit
Position is made of two parts, as the mechanical collision block and impact switch that are respectively provided with of both forward and reverse directions.It is rotated under runaway condition up to pole
Collision is generated after extreme position, and motor-locking is blocked, makes motor that can not continue to rotate, while impact switch being depressed, cutting electricity
Source.This duplicate protection can ensure that the safety of human arm.
In addition to hard limit, healing robot further includes soft position limiting structure, and the soft position limiting structure includes the control of communication connection
Software systems processed and angular transducer, angular transducer are mounted on the control for receiving control software systems on each rotary joint, lead to
It crosses control software systems and carries out sports limiting within the scope of the limitation of each extreme sport, secure context can have triple protection.
The setting position of each angular transducer is shown in Figure 2, corresponds to shoulder joint three degree of freedom rotary joint, elbow closes
Section bends and stretches rotary joint, shoulder rotation adjusts joint and is respectively provided with an angular transducer.Corresponding to shoulder joint first to rotation
Turn, shoulder rotation is adjusted, shoulder joint second is bent and stretched rotation to rotation, elbow joint and set gradually respectively to rotation, shoulder joint third
Angular transducer S1, S5, S2, S3, S4.
Preferably, soft limit is arranged in 90% range of each extreme sport in the control software systems.The fortune in each joint
Dynamic parameter value ginseng is shown in Table 1.
Table 1
The length parameter of each section of upper limb training assembly is shown in Figure 3, for the first rotation for being sequentially connected in series connection
Freedom degree M1, the first unpowered freedom degree P1, the second rotary freedom M2, the second unpowered freedom degree P2, third rotation are freely
M3, the 4th rotary freedom M4 are spent, the length parameter of each component successively indicates that wherein q4 represents ancon telescopic adjustment with q1-q9
The corresponding length of bar.In the present embodiment, q1 design length is preferably 5-7cm；Q2 design length is preferably 22-25cm；Q3 design
Length is preferably 20-24cm；Q4 design length is preferably 38-44cm；Q5 design length is preferably 14-18cm；Q6 design length
Preferably 8-12cm；Q7 design length is preferably 8-12cm；Q8 design length is preferably 6-7cm；Q9 design length is preferably
32cm。
In the present embodiment, it is provided with handover operation structure on the upper limb rehabilitation robot, passes through the handover operation knot
Structure is rapidly performed by tiled configuration switching, supports the left upper extremity or right upper extremity rehabilitation demands of user.For example switch to left structure
When, it is suitable for user and carries out upper left limbs rehabilitation training, when switching to right structure, is suitable for user and carries out upper right limbs rehabilitation training,
The switching time can complete in 5 minutes.
It is also provided with power supply structure on the upper limb rehabilitation robot, to electricity consumption power elements.Preferably, it adopts
With battery power supply mode, battery placed cavity and battery fixing structure are provided on healing robot.
It is additionally provided with motor interface on the upper limb rehabilitation robot, motor-drive circuit can be assembled, and is provided each
A motor control interface between software and hardware；Sensor output interface is also set up simultaneously.
For the movement convenient for entire upper limb rehabilitation robot, it is also provided with displacement structure on the pedestal, to move
Move entire upper limb rehabilitation robot.It is corresponding, locking structure is set on displacement structure, in the case where shifting completion, is passed through
The locking structure locks displacement structure, prevents upper limb rehabilitation robot shift position.
It is shown in Figure 4, for the present invention also provides a kind of upper limb rehabilitation robot systems using aforementioned healing robot
System.
The system comprises the system server of communication connection, at least one computer and at least one aforementioned rehabilitation machine
People.
The system server controls each healing robot to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training is provided, and passes through the rehabilitation process of database purchase patient.The computer, to capture setting
Rehabilitation parameter, record training information, to the healing robot send control instruction；And output virtual training environment, it mentions
For rehabilitation training visual feedback, and display control interface and rehabilitation training information.The healing robot, as rehabilitation training
Executing agency is sent out to receive the control instruction of the computer and execute corresponding motion control, while to aforementioned computer
Send sensing data.
Exemplary system includes to be separately positioned on community hospital A, community hospital B, community hospital C, community hospital in Fig. 4
Multiple healing robots in D and two family care place.
Entire upper limb rehabilitation robot system is divided into three parts:
Healing robot, including mechanical structure and its motor driven.Robot contains 7 degree of freedom, wherein four are
Motor-driven rotary freedom is set as realizing that rotation is bent and stretched in the rotation of shoulder joint three degree of freedom and elbow joint；Other three
For unpowered freedom degree, it is set as height adjusting, shoulder rotation adjusting and ancon telescopic adjustment.Robot can complete shoulder
Elbow joint realizes compound motion and disengaging movement training in spatial dimension.
The end GUI and PC control software has can be set in computer thereon, and wherein GUI mainly includes rehabilitation parameter setting
Function and augmented reality system.In the design of GUI and the control software at the end PC, the rehabilitation maneuver of virtual reality can be realized.It is empty
Quasi- reality technology provides repetition practice, achievement feedback and the technological means for maintaining three key elements of motivation for rehabilitation training.
Repeat be one new motor skill of patient's acquistion necessary factor, but be only that repeat be inadequate, Huan Zheben
The rehabilitation enthusiasm of body and to rehabilitation result it is correct cognition it is also most important.It can be to connect that virtual reality, which is used for rehabilitation training,
The Real-time Feedback of each practice result is provided by the patient of rehabilitation training, patient is improved and result is known to feel.Virtual environment may be used also
To increase the interest of task, in the form of various feedback excite and maintain patient repeat practice motivation, and obtain it is pleasant at
Function emotional experience increases the confidence for returning normal life.The experimental results show that patient can learn movement in virtual environment
Technical ability, and can be by the transfer in sports skill of acquistion into true environment.
System server may include background server and database, hospital's (such as front three convalescent home or rehabilitation department)
The healing robot that community hospital can be controlled by background server provides personalized rehabilitation training to patient, and passes through
The rehabilitation process of database purchase patient, such rehabilitation, which reforms into one, the governed process of mark.In the present embodiment, the system
After server preferably by the way of the processing of cloud (Cloud Server), for example the cloud platform of existing Ali's cloud and Tencent is rented,
Cost can be saved in this way.
In the present embodiment, it is preferred that the virtual training environment of the computer output is the instruction with augmented reality effect
Practice environment.It is shown in Figure 5, it is designed by gui software, the game of a Cyber Sphere is devised for upper limb healing machinery arm,
Patient's actual motion of the 7 degree of freedom of mechanical arm in rehabilitation training is reflected in the upper extremity exercise of people in virtual scene
In.When some joint that robot drives patient to drive rotates a certain angle, then the upper limb of visual human also rotates accordingly.
Specific application method are as follows: patient wears upper limb rehabilitation robot, is indicated according to the movement of arm virtual in GUI
(bead can be picked up when moving to left above basket in Fig. 5 for a virtual manpower, then moves on to the basket top on the right
Shi little Qiu is put into basket), the rehabilitation exercise of mobile bead is carried out under the auxiliary of robot.Some this scenes can be according to
Rehabilitation demands are designed.The technology and platform of realization can be realized using OpenGL and windows development platform with C# language.
Software is controlled for the end PC, relevant control instruction can be inputted.It is set up by way of CAN bus and is with PC machine
The small distributed control system of core controls the coordinated operation of four motors, the totality of the small distributed control system
Structural block diagram is shown in Figure 6.The small distributed control system includes industrial personal computer, and industrial personal computer passes through I2C bus connection three
A three-axis gyroscope is connected to four control circuits by CAN bus, for controlling the coordinated operation of four motors.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this public affairs
Open in content as the term of " comprising ", " including " and " having " should default it is being interpreted as including property or open, and
It is not exclusive or closure, unless it is explicitly defined as opposite meaning.All technologies, science and technology or otherwise art
Language all meets meaning understood by one of ordinary skill in the art, unless it is defined as opposite meaning.The public affairs found in dictionary
Term should not be idealized very much under the background of the relevant technologies document or impractically be explained very much altogether, unless present disclosure is bright
It is really defined as like that.Any change, the modification that the those of ordinary skill in field of the present invention does according to the disclosure above content,
Belong to the protection scope of claims.
Claims (10)
1. a kind of upper limb rehabilitation robot, including pedestal, support rod and upper limb training assembly, it is characterised in that:
The lower end of the support rod is fixedly installed on the pedestal, and the upper end of support rod and the upper limb training assembly activity connect
It connects；
The upper limb training assembly supports human upper limb to carry out 7 degree of freedom movement, enables shoulder elbow joint in space model
Enclose interior progress compound motion and disengaging movement training；In the 7 degree of freedom, four are motor-driven rotary freedom, if
It is set to shoulder joint three degree of freedom rotary joint and elbow joint bends and stretches rotary joint, other three are unpowered freedom degree, setting
Joint is adjusted for height, shoulder rotation adjusts joint and ancon telescopic adjustment joint.
2. upper limb rehabilitation robot according to claim 1, it is characterised in that: the 7 degree of freedom includes the first rotation
Freedom degree, the second rotary freedom, third rotary freedom, the 4th rotary freedom and the first unpowered freedom degree, the second nothing
Freedom degree that dynamic freedom degrees, third are unpowered；Since pedestal, freedom degree that third is unpowered, the first rotary freedom, the first nothing
Dynamic freedom degrees, the second rotary freedom, the second unpowered freedom degree, third rotary freedom, the 4th rotary freedom are successively
Coupled in series, the joint motions being corresponding in turn to are that height is adjusted, shoulder joint first is adjusted to rotation, shoulder rotation, shoulder joint
Section second bends and stretches rotation to rotation, ancon telescopic adjustment, shoulder joint third to rotation and elbow joint.
3. upper limb rehabilitation robot according to claim 1, it is characterised in that: the height adjusts joint, shoulder
Rotation adjusts joint and ancon telescopic adjustment joint is provided with locking structure, and the locking structure can be in each adjusting joint tune
It is locked after section.
4. upper limb rehabilitation robot according to claim 1, it is characterised in that: four motor-driven rotary joints are all provided with
Mechanical hard position limiting structure is set, the mechanical hard limit includes the mechanical collision block and impact switch that both forward and reverse directions are respectively provided with；Out of control
Under state, mechanical collision block generates collision after rotary joint reaches the limit of position, makes it that can not continue to rotate motor-locking, together
When the impact switch is depressed, cut off the power.
5. upper limb rehabilitation robot according to claim 1 or 4, it is characterised in that: it further include soft position limiting structure, it is described soft
Position limiting structure includes that the control software systems of communication connection and angular transducer, angular transducer are mounted on each rotary joint and connect
The control for receiving control software systems carries out sports limiting by controlling software systems within the scope of the limitation of each extreme sport.
6. upper limb rehabilitation robot according to claim 1, it is characterised in that: the upper limb training assembly selects quality phase
To lighter aluminium alloy and ABS, arm contained structure is in U-shaped groove shape, and arm is fixed after being put into arm contained structure by bandage.
7. upper limb rehabilitation robot according to claim 1, it is characterised in that: be provided on the upper limb rehabilitation robot
Handover operation structure is rapidly performed by tiled configuration switching by the handover operation structure, with support user left upper extremity or
Right upper extremity rehabilitation demands.
8. upper limb rehabilitation robot according to claim 1, it is characterised in that: be provided with power supply on upper limb rehabilitation robot
Structure, to electricity consumption power elements；And it is provided with displacement structure on the pedestal, to the entire upper limb healing machine of movement
People.
9. a kind of upper limb rehabilitation robot system, it is characterised in that: the system comprises the system servers of communication connection, at least
One computer and at least one healing robot；
The system server controls each healing robot and provides to patient to store and process the rehabilitation information of patient
Personalized rehabilitation training, and pass through the rehabilitation process of database purchase patient；
The computer records training information to the rehabilitation parameter of capture setting, sends control to the healing robot and refers to
It enables；And output virtual training environment, rehabilitation training visual feedback, and display control interface and rehabilitation training information are provided；
The healing robot, as the executing agency of rehabilitation training, to receive control instruction and the execution of the computer
Corresponding motion control, while sensing data is sent to aforementioned computer；
The healing robot is upper limb rehabilitation robot of any of claims 1-8.
10. upper limb rehabilitation robot system according to claim 9, it is characterised in that: the computer exports virtual
Training environment is the virtual training scene with augmented reality effect.
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| CN201710476098.1A CN109091348A (en) | 2017-06-21 | 2017-06-21 | Upper limb rehabilitation robot and its system |
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