CN109259979A - The interchangeable upper limb rehabilitation robot of right-hand man and its control method - Google Patents
The interchangeable upper limb rehabilitation robot of right-hand man and its control method Download PDFInfo
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- CN109259979A CN109259979A CN201810962467.2A CN201810962467A CN109259979A CN 109259979 A CN109259979 A CN 109259979A CN 201810962467 A CN201810962467 A CN 201810962467A CN 109259979 A CN109259979 A CN 109259979A
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- hand man
- spinner handle
- shoulder top
- limb rehabilitation
- upper limb
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Abstract
It includes electric box, great cantilever, angle inductor, shoulder top spinner handle and mechanical arm that the present invention, which provides a kind of interchangeable upper limb rehabilitation robot of right-hand man,；Wherein, great cantilever and shoulder top spinner handle are rotatablely connected；Mechanical arm is connect with shoulder top spinner handle；Angle inductor is used to detect the relative position of shoulder top spinner handle and great cantilever.The present invention also provides a kind of control methods of the interchangeable upper limb rehabilitation robot of right-hand man, it include: to be determined whether to convert right-hand man's state by original state, electric box manipulates the rotation of shoulder top spinner handle, shoulder top spinner handle drives mechanical arm rotation, angle between angle inductor real-time detection shoulder top spinner handle and great cantilever simultaneously makes robot complete the conversion of right-hand man's state.The present invention is exchanged by right-hand man's state that simple and convenient step completes upper limb rehabilitation robot, it saves using the time, and exempts from structure disassembly in entire interchange process, reduce the loss to equipment, improve service life, additionally it is possible to reduce the training cost of user of service.
Description
Technical field
The present invention relates to medical instruments field, in particular to the interchangeable upper limb rehabilitation robot of a kind of right-hand man and its control
Method processed.
Background technique
China is there are about patients with cerebral apoplexy 10,300,000 at present, annual neopathy 2,000,000, and patients with cerebral apoplexy often can after disease hair
There is dyskinesia, sensory disturbance, disfluency, cognitive disorder etc., it is the most multiple with dyskinesia in these sequelae.Phase
The upper extremity palsy symptom studies have shown that about 85% or so patients with cerebral apoplexy various degrees is closed, and in Post stroke
In rehabilitation course, there is the case where obvious lag compared with other positions in the functional rehabilitation of upper limb.According to ASSOCIATE STATISTICS as a result, in soldier
Middle disease hair still has the hemiplegic patient by upper function of 30%-60% to be unable to get recovery after 6 months, and still has after stroke 5 years
The patient of serious upper extremity palsy reaches 25%, this makes the recovery period of patient become extremely very long.Traditional treatment mode uses
The mode of the unarmed traction massage of physiatrician carries out rehabilitation to patient, and this treatment method is time-consuming and laborious, not can guarantee and controls
The homogeneity of therapeutic effect, and China rehabilitation therapist resource wretched insufficiency, are much unable to satisfy the demand of huge patient numbers.
Exoskeleton rehabilitation image training robot is a kind of by sensing, control, information processing, medical science of recovery therapy, biomethanics, machinery
The novel robot technology that the subjects such as engineering science are fused together, this technology is in rehabilitation medical field using in recent years
A hot spot direction for becoming various countries' research can be such that patient assists without medical staff's whole process using exoskeleton rehabilitation robot
Active/passive rehabilitation training is carried out according to hemiplegia situation difference in the case where helping, this efficient therapeutic modality can make patient faster
Get well, and can make up to a certain degree China physiatrician personnel shortage, rehabilitation unstable quality, level course
Secondary uneven, rehabilitation medical inadequate resource status.
Since the generation of upper limb hemiplegia has uncertainty, the left side of patient, right side limbs may all occur to be partial to, consider
The case where rehabilitation section, convalescent home to current China generally face lack of space, limited fund, can not be in rehabilitation department
The case where excessive rehabilitation equipment, is put in place, in order to enhance the practicality and the scope of application, the mechanical arm of upper limb rehabilitation robot
There should be left hand and right hand modes swap.
Patent document CN104473751B discloses a kind of right-hand man's dual-purpose type upper limb rehabilitation robot, including is turned up vertical
Column, shoulder adjustment mechanism, shoulder joint kinesitherapy unit, large arm tune length measuring mechanism, elbow joint motion unit, forearm tune length measuring mechanism, wrist close
Moving cell is saved, shoulder joint kinesitherapy unit is mainly made of shoulder turning motor, L-type retarder, L-type revolution shoulder etc..It does not work
When, upper limb rehabilitation robot naturally droops, and perpendicular to the ground is in 0 degree, L-type revolution shoulder turn to waist mounting rack in the following, and with
Waist mounting rack is in 0 degree of alignment；When using left hand rehabilitation modality, L-type turns round shoulder up time under the driving of shoulder turning motor
Needle rotates 90 degree, and vertical with shoulder mounting rack side plane, while motor driven large arm tune length measuring mechanism and forearm tune length measuring mechanism etc.
Device for healing and training is rotated by 90 ° counterclockwise, thus switches to left hand rehabilitation modality；When using right hand rehabilitation modality, L-type is returned
Turn shoulder and rotate counterclockwise 90 degree under the driving of shoulder turning motor, and is vertical with the side plane of shoulder mounting rack, while large arm
Oscillating motor is rotated by 90 ° counterclockwise, thus switches to right hand rehabilitation modality.But its rotation that can not accurately control training device
Angle has no corresponding safety measure when if occurring when in use with the big angle rotary that rehabilitation training is not inconsistent, easily makes patient two
Secondary to receive injury, there are improved spaces.
Summary of the invention
A kind of interchangeable upper limb rehabilitation robot of right-hand man provided by the invention, it can be ensured that the safety that patient uses
Property.
The interchangeable upper limb rehabilitation robot of right-hand man provided by the invention include electric box, great cantilever, angle inductor,
Shoulder top spinner handle and mechanical arm；Electric box provides power for upper limb rehabilitation robot, and controls the movement of each component, and great cantilever is sling
Mechanical arm is whole, and shoulder top spinner handle can be rotated relative to great cantilever, while drive mechanical arm to realize the mirror of mechanical arm right-hand man
Image rotation turns, and angle inductor can detecte the relative positional relationship of great cantilever Yu shoulder top spinner handle.Great cantilever and shoulder top spinner handle rotate
Connection is rotatablely connected by angle inductor and shoulder top spinner handle, shoulder top spinner handle can be made to rotate relative to great cantilever, same to opportunity
Tool arm is connected with shoulder top spinner handle, drives mechanical arm rotation relative to the rotation of great cantilever by shoulder top spinner handle.The present invention passes through shoulder
The designed in mirror image of mechanical arm is realized in the mirror image rotation for pushing up spinner handle, while meeting the training demand of right-hand man, easy to operate to save
Upper limb rehabilitation robot uses the time, improves service efficiency, and avoid loss of the disassembly to equipment of structure, improves
Service life.
Angle inductor is fixedly connected with great cantilever, is rotatablely connected with shoulder top spinner handle, can accurately be measured shoulder top spinner handle
The rotation angle of angle and shoulder top spinner handle relative to great cantilever between great cantilever.Likewise, angle inductor and great cantilever turn
Dynamic connection, is fixedly connected, angle inductor is rotated with the rotation of shoulder top spinner handle, also can accurately measure shoulder with shoulder top spinner handle
Push up rotation angle of the angle and shoulder top spinner handle between spinner handle and great cantilever relative to great cantilever.
Further, have the invention also includes upper computer software system and according to the angular range that angle inductor senses
There are left-handed mode and right-handed mode.The real-time angular that angle inductor will test is sent to upper computer software system, host computer
Thus software systems can judge its locating mode, and the difference campaign of mechanical arm under different mode is realized by electrical control.It is logical
The exchange that the operation of upper computer software system can be realized upper limb rehabilitation robot both of which is crossed, it is easy to operate to be easy
Hand has practical application value.
Further, mechanical arm includes upper armed lever, preceding armed lever and mechanical arm driving motor, upper armed lever and preceding armed lever band respectively
Dynamic upper limb upper arm and forearm movement, mechanical arm driving motor then can provide power for it.Specifically, mechanical arm driving motor packet
Upper arm motor cabinet and forearm motor cabinet are included, controls the movement of upper armed lever and preceding armed lever respectively, it can be for needed for upper arm and forearm
Rehabilitation movement difference and drive its movement respectively, enhance training effect.
Preferably, upper arm motor cabinet and upper armed lever junction are equipped with upper arm position-limit mechanism, and the upper arm position-limit mechanism includes
Upper arm limiting slot and spacer pin.Forearm motor cabinet and preceding armed lever junction are equipped with forearm position-limit mechanism, the forearm position-limit mechanism
Including forearm limiting slot and spacer pin.By the different spacing places of spacer pin insertion limiting slot under different mode, pass through mechanical position limitation
The motion range of armed lever and preceding armed lever, prevents electrical control from damaging when breaking down to user in restriction, further increases
Strong safety.
Preferably, the present invention is additionally provided with the slide assemblies for being connected to great cantilever, and slide assemblies include slide unit, sliding rail and slide unit
Great cantilever is fixed on slide unit by positioning knob, upper limb rehabilitation robot can be kept left in conversion along sliding rail displacement
The movement of equipment entirety is reduced when right hand state and adjustment position, and only needs sliding slide unit so as to adjust the position of mechanical arm.If
It is capable of fixing the position of slide unit on the slide rail in the slide unit positioning knob on slide unit, prevents it mobile and right in mechanical arm effect
User brings unnecessary harm.
Preferably, mechanical arm tail end is equipped with wrist mobile phone structure comprising lever grab patient can with hand in use
Firmly lever, the relatively fixed position of wrist and hand, use is more comfortable, while can enhance certain rehabilitation efficacy.
The present invention also provides a kind of control methods of the interchangeable upper limb rehabilitation robot of right-hand man, can be realized right-hand man
Exchange function, comprising:
Step S1: determined whether to convert right-hand man's state by original state；
Step S2: if so, electric box manipulation shoulder top spinner handle rotation, shoulder top spinner handle drive mechanical arm rotation, while angle
Angle between shoulder top spinner handle and great cantilever described in inductor real-time detection makes shoulder top spinner handle and mechanical arm complete right-hand man's state
Conversion；
If it is not, then keeping original state.
Further, step S2 includes:
Step S21: the angle described in angle inductor real-time detection between shoulder top spinner handle and great cantilever, when the angle is more than
When setting value, shoulder top spinner handle stops rotating；
Step S22: determining whether to continue to rotate,
Step S23: if so, shoulder top spinner handle, which continues rotation, in mirror symmetry, completes right-hand man's state to original state
Conversion；
If it is not, then spinner handle cycle in shoulder top is to original state.
Further, step S2 can also include:
Step S21: the angle described in angle inductor real-time detection between shoulder top spinner handle and the great cantilever, host computer are soft
Part system reads the angle data, and judges that the interchangeable upper limb rehabilitation robot of the right-hand man is in left-handed mode or the right side
Fingerprint formula；
Step S22: mode and right-hand man's state phase locating for the interchangeable upper limb rehabilitation robot of the right-hand man
Meanwhile shoulder top spinner handle continues rotation extremely with original state in mirror symmetry；
When the mode locating for the interchangeable upper limb rehabilitation robot of the right-hand man and right-hand man's state difference, shoulder top
Spinner handle cycle is to the original state.
Preferably, the control method of the interchangeable upper limb rehabilitation robot of right-hand man provided by the invention further include:
Step S3: the insertion position of spacer pin in mobile upper arm limiting slot and forearm limiting slot forms right-hand man's state not
Same mechanical position limitation.
Preferably, the control method of the interchangeable upper limb rehabilitation robot of right-hand man provided by the invention further include:
Step S20: electric box manipulation slide unit is moved along sliding rail, later, passes through the fixed slide unit of slide unit positioning knob.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention one；
Fig. 2 is the sliding process schematic diagram of the embodiment of the present invention one；
Fig. 3 is the rotary course schematic diagram of the embodiment of the present invention one；
Fig. 4 is the angular regions schematic diagram of the embodiment of the present invention one；
Fig. 5 is that one upper computer software system of the embodiment of the present invention switches interface；
Fig. 6 is the schematic diagram of the upper arm position-limit mechanism of the embodiment of the present invention one in different modes；
Fig. 7 is the schematic diagram of the forearm position-limit mechanism of the embodiment of the present invention one in different modes；
Fig. 8 is the structural schematic diagram of the upper arm position-limit mechanism of the embodiment of the present invention one；
Fig. 9 is overall structure diagram when the embodiment of the present invention one uses.
Description of symbols
1. electric box, 2. great cantilevers, 3. angle inductors, 4. shoulder top spinner handles, 5. mechanical arms, armed lever, 52. upper arm on 51.
Armed lever, 54. forearm motor cabinets, 55. upper arm position-limit mechanisms, 55a. upper arm spacer pin, 55b. locating part, 56. before motor cabinet, 53.
It is forearm position-limit mechanism, 56a. forearm spacer pin, 56b. locating part, fupport arm on 57., 58. forearm holders, 6. slide assemblies, 61. sliding
Platform, 62. sliding rails, 63. positioning knobs, 7. wrist mobile phone structures, 71. levers, A1. normally train region, the hand-off detection trigger region of A2.
Domain.
Specific embodiment
Embodiment one
A kind of interchangeable upper limb rehabilitation robot of right-hand man is present embodiments provided, Fig. 1 is the whole knot of the present embodiment
Structure schematic diagram, shown referring to Fig.1, upper limb rehabilitation robot provided in this embodiment includes: electric box 1, great cantilever 2, angle sense
Answer device 3, shoulder top spinner handle 4, mechanical arm 5, slide assemblies 6 and lifting column.Electric box 1 is set to lifting column top, is upper limb health
Multiple robot provides power, and connect with host computer, controls the movement of each component, is equipped with slide assemblies 6 above electric box 1,
Sliding rail 62 including being fixed on 1 top of electric box, and can be along the slide unit 61 that sliding rail arbitrarily slides, and fixed slide unit on sliding rail
The slide unit positioning knob 63 of position on the slide rail, slide unit positioning knob 63 can be set on slide unit 61 and also be set on sliding rail 62.Greatly
2 one end of cantilever is set on slide unit 61 and is fixedly connected with slide unit 61, and the other end is fixedly connected with angle inductor 3.Shoulder top spinner handle 4 is logical
It crosses bearing and is rotationally connected with 3 lower section of angle inductor, spinner handle 4 other end in shoulder top connects mechanical arm by bearing.In the present embodiment,
Mechanical arm 5 includes upper armed lever 51, preceding armed lever 53 and the upper arm motor cabinet 52 for controlling the above movement of armed lever 51 and preceding armed lever 53 respectively
And forearm motor cabinet 54, specifically, 52 one end of upper arm motor cabinet is connect by bearing with shoulder top spinner handle, and upper arm motor cabinet 52 is another
One end is motor output end, is connected with upper armed lever 51, similar, and 54 one end of forearm motor cabinet connects upper armed lever 51, other end electricity
Machine output end is connected with preceding armed lever 53, and in the present embodiment, 5 end of mechanical arm is additionally provided with the wrist mobile phone structure 7 connecting with preceding armed lever 53,
Wrist mobile phone structure 7 includes the lever 71 held for user.Furthermore it should be noted that in the present embodiment, angle inductor 3 and big
Cantilever 2 is fixedly connected, and is rotatablely connected with shoulder top spinner handle 4 by bearing, angle inductor 3 and great cantilever 2 can also be passed through bearing
Rotation connection the modes such as is fixedly connected with shoulder top spinner handle 4 and connect, it is only necessary to ensure that angle inductor 3 can measure great cantilever 2 and shoulder
Push up the angle between spinner handle 4.
Fig. 2 is the sliding process schematic diagram of the present embodiment, and referring to shown in Fig. 2, when converting use pattern, (Fig. 2 is the right hand
Mode is transformed into left-handed mode), make mechanical arm 5 generally in state perpendicular to the ground, slide unit positioning knob 63 is unscrewed, is made
Slide unit 61 can slide into the other side from side along sliding rail 62, and the movement of slide unit 62 drives great cantilever 2 and mechanical arm 5 simultaneously simultaneously
Mobile, tightening slide unit positioning knob 63 later keeps slide unit 61 fixed.Fig. 3 is the rotary course schematic diagram of the present embodiment, referring to Fig. 3
Shown (Fig. 3 is that right-handed mode is transformed into left-handed mode), makes shoulder top by electric control system or upper computer software control system
Spinner handle 4 rotates 180 ° relative to great cantilever 2 and 3 anticlockwise horizontal of angle inductor, and the rotation of shoulder top spinner handle 4 drives machinery simultaneously
The mirror image of mechanical arm 5 in both modes is realized in the rotation of arm 5, and angle inductor 3 measures real-time angular, by electricity
Gas control system reading angular data are simultaneously transferred to upper computer software system, and upper computer software system is according to the angle number received
According to the locating mode of switching.In addition, can also directly read angle inductor 3 by upper computer software system measures obtained angle number
According to, and thus judge whether to switch its mode.It can set, when shoulder top spinner handle 4 and 2 angle of great cantilever are 0 ° and when being 180 °
It is set as boundary, robot is in halted state at this time, sets when the angle of shoulder top spinner handle 4 and great cantilever 2 is 0 ° -180 ° of positive angle
Left-handed mode similarly is set as when the angle of shoulder top spinner handle 4 and great cantilever 2 is 0 ° -180 ° of negative angle for right-handed mode.In addition, needing
It is noted that using the exchange for first sliding the sequence rotated afterwards realization right-hand man's mode in the present embodiment.Likewise, first controlling
Shoulder top spinner handle 4 drives mechanical arm 5 to rotate, and the rear slide unit 61 that slides also can be realized the present invention.
Further, in the present embodiment, upper computer software system passes through angular range area detected by angle inductor
Other different mode, Fig. 4 are the angular regions schematic diagram of the present embodiment, and Fig. 5 is that the present embodiment upper computer software system switches interface
Figure, referring to shown in Fig. 4, the angle of great cantilever 2 and shoulder top spinner handle 4 is 90 ° of positive angle, the as original state of right-handed mode, at this time
Shoulder top spinner handle 4 is rotated clockwise 45 ° -50 ° ranges to 130 ° -135 ° of rotation counterclockwise to be set as normally training region A1 i.e.
For the right hand training region in the present embodiment, when the rotation of shoulder top spinner handle 4 is more than this region, healing robot can integrally enter tight
Anxious halted state, while dialog box as shown in Figure 5 is popped up in the user interface of upper computer software system, operator is needed at this time
Training mode needed for confirming such as selects "Yes" to confirm and is switched to left-handed mode, and shoulder top spinner handle 4 will continue to rotation to great cantilever 2
Angle with shoulder top spinner handle 4 is 90 ° of negative angle, the as original state of left-handed mode, complete healing robot from mechanical structure to
The switching of electrical and upper computer software system right-hand man's training mode；If selecting "No" shoulder top spinner handle 4 can cycle to the right hand
The original state of mode.Further, there are certain blank and angles when being transferred to host computer because of angle sensor measurement data
The problems such as spending inductor accuracy is additionally provided with hand-off detection trigger area A2, specially the mode original state in the present embodiment
Under, ± 20 ° of -25 ° of regional scopes of shoulder top spinner handle mirror image opposite side.
Particularly, upper arm motor cabinet 52 and upper 51 junction of armed lever and forearm motor cabinet 54 and preceding armed lever in the present embodiment
53 junctions are respectively equipped with upper arm position-limit mechanism 55 and forearm position-limit mechanism 56.Fig. 6 is that the upper arm position-limit mechanism of the present embodiment exists
Schematic diagram under different mode, Fig. 7 are the schematic diagram of the forearm position-limit mechanism of the present embodiment in different modes, and Fig. 8 is this reality
The structural schematic diagram of the upper arm position-limit mechanism of example is applied, referring to shown in Fig. 6-8, upper arm position-limit mechanism 55 includes being set on upper armed lever 51
Arc upper arm limiting slot 55a, and the elastic spacing pin 55b being mounted on upper arm motor cabinet 52, elastic spacing pin 55b be inserted into arc
Shape upper arm limiting slot 55a is the mechanical position limitation for forming upper arm motor cabinet 52 Yu upper armed lever 51, makes armed lever without departing from normal health
The scope of activities that refreshment is practiced, enhances safety in utilization.Similar, forearm position-limit mechanism 56 includes the arc on preceding armed lever 53
Shape upper arm limiting slot 56a, and the elastic spacing pin 56b being mounted on forearm motor cabinet 54, elastic spacing pin 56b are inserted on arc
Arm limiting slot 56a is the mechanical position limitation for forming upper arm motor cabinet 54 Yu upper armed lever 53.Elastic spacing pin is inserted under different mode
Different spacing place on limiting slot is limited the motion range of upper armed lever 51 and preceding armed lever 53 by mechanical position limitation, prevents electric-controlled
User is damaged beyond normal training region when system processed or upper computer software control system break down, further
Enhance safety.It will be appreciated by persons skilled in the art that during switching right and left hand state, it is only necessary to carry out health
Elastic spacing pin is inserted into corresponding spacing place on limiting slot before refreshment white silk, it will be able to realize the present invention.
Fig. 9 is overall structure diagram when the present embodiment uses, for arm and mechanical arm 5 is effectively and comfortable fixed,
Side in the present embodiment on upper armed lever 51 and preceding armed lever 53 close to user is respectively provided with upper fupport arm 57 and forearm holder 58,
And it is fixed with arm of the bandage to user.In use, select required use pattern first, that is, determine left-handed mode or
Right-handed mode, user's end is sitting on the chair that upper limb rehabilitation robot front is put later, then according to the sitting height of user
The height of the height for adjusting lifting column, the height and user that make mechanical arm 5 is adapted, and adjusts the brachium of mechanical arm 5, is protected
Card each joint of user axle center think alike substantially with 5 joint shaft of mechanical arm it is flat, hand can good grasping lever 71, later general
The arm of user and upper fupport arm 57 and forearm holder 58 are properly fixed, can start to train after completing wearing.The present embodiment passes through
The designed in mirror image of mechanical arm is realized in the mirror image rotation of shoulder top spinner handle 4, can meet the training demand of right-hand man simultaneously, and switching
When only need simply control operation, save upper limb rehabilitation robot use the time, improve service efficiency, and avoid
Loss of the disassembly of structure to equipment, improves service life, and by the angle of monitoring great cantilever 2 and shoulder top spinner handle 4 with
Upper computer software system combines, further ensure upper limb rehabilitation robot using safe.
It will be understood by those skilled in the art that in the above-described embodiment, in order to more fully understand reader
The present invention and propose many technical details.But even if without these technical details and various changes based on above embodiment
Change and modify, can also realize each claim technical solution claimed of the present invention substantially.Therefore, in practical application
In, various changes can be done to above embodiment in the form and details, without departing from the spirit and scope of the present invention.
Claims (14)
1. a kind of interchangeable upper limb rehabilitation robot of right-hand man include electric box, great cantilever, angle inductor, shoulder top spinner handle and
Mechanical arm；Wherein,
The electric box is for manipulating the interchangeable upper limb rehabilitation robot of the right-hand man；
The great cantilever and shoulder top spinner handle are rotatablely connected；
The mechanical arm is connect with shoulder top spinner handle；
The angle inductor is used to detect the relative position of shoulder top spinner handle Yu the great cantilever.
2. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1, which is characterized in that the angle induction
Device is fixedly connected with great cantilever, is rotatablely connected with shoulder top spinner handle.
3. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1, which is characterized in that the angle induction
Device and great cantilever are rotatablely connected, and are fixedly connected with shoulder top spinner handle.
4. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1-3, which is characterized in that also wrap
Upper computer software system is included, the upper computer software system has left-handed mode and right-handed mode, and incudes according to the angle
The angular range that device senses distinguishes different mode.
5. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1-3, which is characterized in that described
Mechanical arm includes upper armed lever, preceding armed lever and mechanical arm driving motor；The mechanical arm driving motor includes upper arm motor cabinet and preceding
Arm motor cabinet is separately connected armed lever and preceding armed lever.
6. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 5, which is characterized in that upper arm motor cabinet with
Upper armed lever junction is equipped with upper arm position-limit mechanism, and the upper arm position-limit mechanism includes upper arm limiting slot and spacer pin, the limit
Pin is inserted into the limiting slot for limiting the scope of activities of the upper armed lever.
7. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 5, which is characterized in that forearm motor cabinet with
Preceding armed lever junction is equipped with forearm position-limit mechanism, and the forearm position-limit mechanism includes forearm limiting slot and spacer pin, the limit
Pin is inserted into the limiting slot for limiting the scope of activities of the preceding armed lever.
8. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1, which is characterized in that big equipped with being connected to
The slide assemblies of cantilever, the slide assemblies include slide unit, sliding rail and slide unit positioning knob, and the great cantilever is fixed on slide unit
On.
9. the interchangeable upper limb rehabilitation robot of right-hand man according to claim 1, which is characterized in that mechanical arm tail end is set
There is wrist mobile phone structure, the wrist mobile phone structure includes lever.
10. a kind of control method of the interchangeable upper limb rehabilitation robot of right-hand man characterized by comprising
Step S1: determined whether to convert right-hand man's state by original state；
Step S2: if so, electric box manipulation shoulder top spinner handle rotation, shoulder top spinner handle drives mechanical arm rotation, while angle incudes
Angle between shoulder top spinner handle and great cantilever described in device real-time detection makes shoulder top spinner handle and the mechanical arm complete right-hand man
The conversion of state；
If it is not, then keeping original state.
11. the control method of the interchangeable upper limb rehabilitation robot of right-hand man according to claim 10, which is characterized in that
The step S2 includes:
Step S21: the angle described in angle inductor real-time detection between shoulder top spinner handle and the great cantilever, when the angle is super
When crossing setting value, shoulder top spinner handle stops rotating；
Step S22: determining whether to continue to rotate,
Step S23: if so, shoulder top spinner handle, which continues rotation, in mirror image, completes right-hand man's state to original state
Conversion；
If it is not, then spinner handle cycle in shoulder top is to the original state.
12. the control method of the interchangeable upper limb rehabilitation robot of right-hand man according to claim 10, which is characterized in that
The step S2 includes:
Step S21: the angle described in angle inductor real-time detection between shoulder top spinner handle and the great cantilever, upper computer software system
System reads the angle data, and judges that the interchangeable upper limb rehabilitation robot of the right-hand man is in left-handed mode or right hand mould
Formula；
Step S22: when the mode locating for the interchangeable upper limb rehabilitation robot of the right-hand man is identical as right-hand man's state,
Shoulder top spinner handle continues rotation extremely with original state in mirror symmetry；
When the mode locating for the interchangeable upper limb rehabilitation robot of the right-hand man and right-hand man's state difference, shoulder top spinner handle
Cycle is to the original state.
13. the control method of the interchangeable upper limb rehabilitation robot of the described in any item right-hand men of 0-12 according to claim 1,
It is characterized in that, further includes:
Step S3: the spacer pin in mobile upper arm limiting slot and forearm limiting slot, until insertion position corresponding with right-hand man's state,
Form the different mechanical position limitation of right-hand man's state.
14. the control method of the interchangeable upper limb rehabilitation robot of the described in any item right-hand men of 0-12 according to claim 1,
It is characterized in that, further includes:
Step S20: electric box manipulation slide unit is moved along sliding rail, later, passes through the fixed slide unit of slide unit positioning knob.
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