CN211884481U - Upper limb rehabilitation robot system based on multi-dimensional force feedback - Google Patents

Abstract

The invention provides an upper limb rehabilitation robot system based on multi-dimensional force feedback, which comprises a base component, an upper limb rehabilitation training mechanical arm, a multi-dimensional force sensor subsystem and a control system, wherein the base component comprises a steel structure support and an electric lifting column, the mechanical arm comprises a shoulder joint component, an elbow joint component and a wrist joint component, a cantilever beam of the shoulder joint component is connected to the electric lifting column, the elbow joint component is connected with the shoulder joint component through a horizontal shaft, the wrist joint component is connected to a C-shaped track at the tail end of the elbow joint component, and six-axis rotation of the upper limb shoulder joint, the elbow joint, the wrist joint, the palm joint, the dorsiflexion joint and the like of a human body is realized through motor drive. The invention has accurate control, can feed back the man-machine acting force in real time and has high intelligent degree.

Description

Upper limb rehabilitation robot system based on multi-dimensional force feedback

Technical Field

The invention relates to the technical field of rehabilitation medical robots, in particular to a rehabilitation medical robot for rehabilitation treatment of upper limbs of a human body.

Background

Cerebral apoplexy is a group of diseases which take cerebral ischemia and hemorrhagic injury symptoms as main clinical manifestations, is also called cerebral apoplexy and has extremely high fatality rate and disability rate. The cerebral apoplexy is acute and the fatality rate is high, which is one of the most important lethal diseases in the world. Epidemiological sampling survey shows that the annual incidence rate of stroke in China is 200/10 ten thousand, the mortality rate is about 130/10 ten thousand, and the morbidity rate is 400-700/10 ten thousand. According to the calculation, about 250 million new strokes occur in China every year, and about 150 million people die of the strokes every year. Of the survivors, approximately 75% left sequelae, and 40% were severely disabled. Hemiplegia is the most common sequela, and severely affects the motor function and the life quality of patients.

The traditional rehabilitation treatment mainly depends on experience of therapists and free-hand operation technology, so that the labor cost is relatively high and the accuracy is poor. Therefore, the development of a high-precision upper limb rehabilitation training robot which can actively participate in the rehabilitation training of patients, monitor the muscle strength change of the patients in real time and feed back the muscle strength change to a control system is urgent.

Chinese patent CN 208492618U discloses an upper limb rehabilitation training robot, which adopts 2 sets of independent mechanical arms to respectively realize the training of the left and right arms, and is configured with a liftable seat, and the patient needs to sit on the seat configured with the equipment to perform rehabilitation training. The upper limb rehabilitation robot device mentioned in the patent is complex in structure, left and right hand training is realized by two sets of independent mechanical arms, single-arm training has idle conditions, intellectualization is not strong, a real-time feedback system of man-machine acting force is not available, and enthusiasm of trainees can not be well mobilized. Therefore, the upper limb intelligent rehabilitation robot has the advantages of accurate control, real-time feedback of the acting force of the robot and high intelligence degree and has important significance.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the upper limb rehabilitation robot system based on multi-dimensional force feedback, which is accurate in control, can feed back the acting force of the robot in real time and has high intelligent degree.

The technical scheme adopted by the invention for solving the technical problems is as follows: an upper limb rehabilitation robot system based on multi-dimensional force feedback comprises a base component, an upper limb rehabilitation training mechanical arm, a multi-dimensional force sensor subsystem and a control system.

The lifting column capable of adjusting the height is arranged on the base; the upper limb rehabilitation training mechanical arm comprises a shoulder joint component, an upper limb length adjusting component, an elbow joint component, a wrist joint component and a palm component; the shoulder joint assembly comprises a cantilever beam, a horizontal rotating arm, a vertical arm and a speed reducing motor, wherein one end of the cantilever beam is connected with the lifting column, the other end of the cantilever beam is connected with one end of the horizontal rotating arm through the vertical shaft, and the horizontal rotating arm is driven through the speed reducing motor to realize the abduction and adduction of the shoulder joint; the upper end of the vertical arm is fixedly connected with the other end of the horizontal rotating arm, and the lower end of the vertical arm is connected with the large arm length adjusting assembly through a horizontal shaft; the large arm length adjusting assembly comprises a rocker arm, a guide shaft, a ball screw pair and a sliding block, the rocker arm is connected with the shoulder joint assembly through a horizontal shaft, the parallel guide shaft and a screw are mounted on the rocker arm, the sliding block is connected with a nut of the ball screw pair, the sliding block is driven to move on the guide shaft through the ball screw pair, and the distance between the sliding block and the rocker arm is changed; the elbow joint assembly comprises a large arm C-shaped rail base, a small arm C-shaped rail base, a large arm C-shaped rail, a small arm C-shaped rail, a large arm synchronous belt, a small arm synchronous belt, a large arm binding belt and a large arm six-dimensional force sensor; the wrist joint assembly comprises a sliding block, a small arm six-dimensional force sensor and a small arm binding band, the large arm C-shaped rail base and the small arm C-shaped rail base are hinged, and a hinged shaft is perpendicular to a plane formed by arc axes of the large arm C-shaped rail base and the small arm C-shaped rail base; the large arm C-shaped rail is connected with a sliding block of the large arm length adjusting assembly, the large arm synchronous belt drives a large arm C-shaped rail base to rotate under the drive of a motor, the large arm binding belt is installed on the large arm C-shaped rail base through a large arm six-dimensional force sensor, and the large arm of a patient is bound through the large arm binding belt; the forearm of the patient is tightened through a forearm bandage, the forearm bandage is installed on the forearm C-shaped rail base through a forearm six-dimensional force sensor, and a forearm synchronous belt drives the forearm C-shaped rail base to rotate under the driving of a motor; the six-dimensional force sensor transmits the acting force of the large arm and the acting force of the small arm fed back by the binding belt to the control system, and the control system calculates out a control signal to realize the accurate control of each motor; the palm component comprises a rocker arm and a grip strength acquisition module, the rocker arm rotates under the drive of a motor to drive the grip strength acquisition module at one end of the rocker arm, a patient holds the grip strength acquisition module, the grip strength acquisition module feeds back the grip strength to a control system, the control system calculates a control instruction, and the motor is controlled to drive the rocker arm to drive the wrist of the patient to do palm bending-dorsiflexion training.

The base component comprises a steel structure support, an electric lifting column, a caster and a handle, and the control system is installed in the steel structure support and protected by a protective cover; the electric lifting column is arranged on the steel structure bracket and is driven to lift through the speed reducing motor, so that the requirements of people with different sitting postures and heights are met; the lower part of the steel structure bracket is provided with a plurality of trundles; one side of the steel structure bracket is provided with a handle.

The caster comprises a base body, a roller, a support column and a shifting fork, wherein the base body is fixedly connected with the base assembly, the roller is arranged on the base body, the support column is hinged with the base body, and the support column is driven by the shifting fork to turn; when the robot needs to be carried, the robot is in a moving state, the supporting column is lifted, and the roller rolls in a universal mode; and after the robot is in place, the equipment is jacked up by using the supporting columns, and the rollers are suspended.

And the shoulder joint assembly is provided with a limiting knob beside the horizontal shaft and the vertical shaft respectively to limit the rotation angles of the rocker arm and the horizontal rotating arm.

The large arm length adjusting assembly drives the ball screw pair through a hand wheel to realize the movement of the sliding block and change the length of the large arm.

The palm portion subassembly link firmly at rocking arm one end and rotate the axle sleeve, rotate the other gag lever post of installing of axle sleeve, rotate the axle sleeve and pass through the key-type connection with gear motor output shaft, the rocking arm is at gag lever post restriction angle internal rotation.

The invention has the beneficial effects that: the upper limb rehabilitation robot system based on multi-dimensional force feedback is formed by adopting key parts such as the base component, the upper limb rehabilitation training mechanical arm, the sensor subsystem, the control system and the like, is high in precision and reliability, adopts high-precision control of the servo speed reduction motor, combines multi-dimensional force sensing feedback signals, and can provide accurate upper limb rehabilitation training for patients. The invention adopts a multi-dimensional force signal feedback module, can collect the muscle force change of a patient in real time and stimulate the enthusiasm of the patient for participating in training; the electric lifting column is adopted to drive the mechanical arm to lift, so that the training of patients with different sitting postures and heights can be met; the invention provides the large arm length adjustment and the small arm length adjustment, which can meet the use requirements of patients with different arm lengths; the mechanical arm can realize one-key switching of the left hand training mode and the right hand training mode through the control system.

Drawings

FIG. 1 is a schematic view of the overall structure;

FIG. 2 is a schematic view of a base structure;

FIG. 3 is a schematic view of a robotic arm configuration;

FIG. 4 is a schematic view of a lifting caster structure;

FIG. 5 is a schematic view of a shoulder joint assembly;

FIG. 6 is a schematic view of the upper arm length adjustment assembly;

FIG. 7 is a schematic illustration of a wrist assembly;

FIG. 8 is a schematic view of a wrist joint assembly;

fig. 9 is a schematic view of the palm portion assembly.

Detailed Description

The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.

The invention provides an upper limb rehabilitation robot system based on multi-dimensional force feedback, which comprises a base component, an upper limb rehabilitation training mechanical arm, a sensor subsystem and a control system. Wherein the base component comprises a steel structure bracket, an electric lifting column and a caster. The mechanical arm comprises a shoulder joint assembly, an elbow joint assembly and a wrist joint assembly. One end of a cantilever beam in the shoulder joint assembly is connected to the electric lifting column, and the shoulder joint assembly is installed at the other end of the cantilever beam through a vertical shaft; the elbow joint component is connected with the shoulder joint component through a horizontal shaft, and the wrist joint component is connected on a C-shaped rail at the tail end of the elbow joint component.

Seven speed reducing motors are arranged in the lifting column, and the motors in the lifting column realize the vertical lifting of the mechanical arm through a remote controller, so that the requirements of patients with different sitting posture heights are met; the other six motors respectively realize the rotation of six axes of the upper limb shoulder joint of the human body, such as abduction-adduction, shoulder joint anteflexion-retroextension, shoulder joint external rotation-internal rotation, elbow joint flexion-hyperextension, elbow joint external rotation-internal rotation, wrist joint palmar flexion-dorsiflexion and the like.

In the invention, the patient can directly push to the training position by taking the wheelchair without moving the patient for the second time, and can directly receive the training. The chair also can be used for training by sitting on a common chair, and the lifting columns can provide different sitting posture height requirements through a remote controller.

The sensor subsystem comprises an absolute value encoder, a current sensor, a multi-dimensional force sensor and a grip strength sensor which are required by a robot closed-loop control system, wherein the multi-dimensional force sensor is arranged at a large arm binding band and a small arm binding band, and the grip strength sensor is arranged at a palm rocker arm and is used for collecting real-time intention and acting force of a human body and feeding back the real-time intention and acting force to the control system. The absolute value encoder is arranged in the center of each joint rotating shaft and used for collecting the position information of each rotating system.

According to the elbow joint assembly, outward rotation-inward rotation of the shoulder joint is realized through the speed reducing motor, the synchronous belt pulley, the synchronous belt, the arc rail and the encoder, outward rotation-inward rotation of the elbow joint is realized, limit control is realized through the plunger pin and the limit groove, and safety redundancy design is realized in combination with electrical limit, so that training safety is ensured.

The wrist joint assembly comprises a synchronous belt wheel, a small arm binding belt, an idler wheel, a sliding block, a double-track sliding table, a speed reducing motor, a locking handle and the like, wherein the speed reducing motor drives the synchronous belt through the belt wheel, and the synchronous belt drives the small arm multidimensional force sensor and the small arm binding belt to rotate so as to drive the small arm to rotate outwards and inwards.

As shown in fig. 1, the present invention includes a base assembly 101, an upper limb rehabilitation training robot 102, a multi-dimensional force sensor subsystem 103, and a control system 104. The base is the installation basis of whole machine, and upper limbs rehabilitation training arm installs at the lift capital end of base, and the multidimensional force sensor subsystem is installed at the arm and corresponds the position, and control system installs on the base to protect with the protection casing.

As shown in fig. 2, the base assembly includes a steel structure bracket 201, an electric lifting column 202, a caster 203, a handle 204, and the like. The steel structure support is the installation basis of equipment, and electric lifting column, truckle all install above that. A speed reducing motor is arranged in the electric lifting column, and the lifting is controlled by a remote controller 206, so that the requirements of people with different sitting postures and heights are met. The steel structure support is externally coated with a plastic shell 205, the caster 203 is of a lifting structure (refer to fig. 4) and consists of a base 404, a roller 401, a support column 402 and a shifting fork 403, when the robot needs to be carried, the robot is in a moving state, the support column is lifted, and the roller 401 universally and flexibly rolls; after the robot is in place, the equipment is jacked up by the support column 402, and the roller is suspended, so that the phenomenon that most of similar equipment runs unstably is avoided; the handle 204 provides a gripping location for the mobile device.

As shown in fig. 3, the upper limb rehabilitation training mechanical arm comprises a shoulder joint component 301, an upper limb length adjusting component 302, an elbow joint component 303, a wrist joint component 304 and a palm component 307. The shoulder joint component 301 is connected to the electric lifting column through one end of a cantilever beam, and is arranged at the other end of the cantilever beam through a vertical shaft; the elbow joint component is connected with the shoulder joint component through a horizontal shaft, and the wrist joint component is connected on a C-shaped rail at the tail end of the elbow joint component. Seven motors are arranged in the whole system, and the motors in the lifting columns realize the vertical lifting of the mechanical arms through a remote controller, so that the requirements of different sitting posture heights are met; the other six motors respectively realize the rotation of six axes of the upper limb shoulder joint of the human body, such as abduction-adduction, shoulder joint anteflexion-retroextension, shoulder joint external rotation-internal rotation, elbow joint flexion-hyperextension, elbow joint external rotation-internal rotation, wrist joint palmar flexion-dorsiflexion and the like.

As shown in fig. 5, the shoulder joint assembly includes a cantilever beam 501, a horizontal rotation arm 502, a vertical arm 503, a deceleration motor 504, a limit knob 505, a limit knob 506, and the like, wherein one end of the cantilever beam 501 is connected to the electric lifting column 202, and the other end is connected to the horizontal rotation arm 502 through the deceleration motor (installed inside the cantilever beam 501), so as to implement the shoulder joint abduction-adduction action. The lower section of the vertical arm is provided with a speed reducing motor 504 which is connected with the elbow joint component through a horizontal shaft.

As shown in fig. 6, the large arm length adjusting assembly includes a rocker arm 601, a guide shaft 602, an adjusting screw 603, a nut 608, a hand wheel 604, a slider 605, a speed reduction motor 606, a shaft sleeve 607 and the like, the hand wheel 604 is rotated to realize the axial movement of the slider 605, the length of the large arm is changed, the individual requirements of different arm lengths are met, and the training comfort is improved.

As shown in fig. 7, the elbow joint assembly comprises a large arm C-shaped rail base 701, a small arm C-shaped rail base 702, a large arm C-shaped rail 703, a small arm C-shaped rail 704, an elbow joint motor 705, a large arm synchronous belt 706, a small arm synchronous belt 707, a large arm binding belt 708, a large arm six-dimensional force sensor 709, etc., the large arm length adjusting assembly is connected with the large arm C-shaped rail 703 through a sliding block, a belt wheel of the large arm length adjusting assembly speed reducing motor 606 is engaged with the large arm synchronous belt 706, the large arm is bound through the large arm binding belt 708, and the motor rotates to drive the large arm C-shaped rail 703 to rotate, so as to realize the internal rotation-external rotation training of the large arm.

As shown in fig. 8, the wrist joint assembly comprises a speed reduction motor 801, a belt pulley 802, an idler pulley 803, a sliding block 804, a small arm six-dimensional force sensor 805, a small arm strap 806, a double gauge sliding table 807, a speed reduction motor 808, an adjusting handle 809 and the like, wherein the small arm of the patient is tightly tied with the small arm strap 806, the sliding block 804 is meshed with the small arm C-shaped rail, the small arm synchronous belt is meshed with the belt pulley, and the motor 801 drives the belt pulley 802 to rotate to drive the C-shaped rail base 802 to rotate so as to realize outward rotation and inward rotation of the small arm; the six-dimensional force sensor transmits the small arm acting force fed back by the binding band to the control system through an electric signal, and the control system 104 calculates a control signal through an algorithm to realize accurate control on the mechanical arm;

as shown in fig. 9, the palm component is composed of a rotating shaft sleeve 901, a limiting rod 902, a rocker arm 903, a grip strength acquisition module 904, and the like, the rotating shaft sleeve 901 is connected with the shaft of the speed reducing motor 808 through a key, the rocker arm 903 is connected with the limiting rod 902, the grip strength acquisition module 904 is fixed at the tail end of the rocker arm 903, the grip strength acquisition module 904 is held by a hand of a patient, the grip strength acquisition module 904 converts the grip strength into an electric signal and feeds the electric signal back to the control system 104, the control system 104 calculates a control instruction through an algorithm, controls the speed reducing motor 808 to rotate, and drives the rocker arm 903 to drive the wrist of.

Claims (6)

1. The utility model provides an upper limbs rehabilitation robot system based on multidimension force feedback, includes base subassembly, upper limbs rehabilitation training arm, multidimension force transducer subsystem and control system, its characterized in that: the lifting column capable of adjusting the height is arranged on the base; the upper limb rehabilitation training mechanical arm comprises a shoulder joint component, an upper limb length adjusting component, an elbow joint component, a wrist joint component and a palm component; the shoulder joint assembly comprises a cantilever beam, a horizontal rotating arm, a vertical arm and a speed reducing motor, wherein one end of the cantilever beam is connected with the lifting column, the other end of the cantilever beam is connected with one end of the horizontal rotating arm through the vertical shaft, and the horizontal rotating arm is driven through the speed reducing motor to realize the abduction and adduction of the shoulder joint; the upper end of the vertical arm is fixedly connected with the other end of the horizontal rotating arm, and the lower end of the vertical arm is connected with the large arm length adjusting assembly through a horizontal shaft; the large arm length adjusting assembly comprises a rocker arm, a guide shaft, a ball screw pair and a sliding block, the rocker arm is connected with the shoulder joint assembly through a horizontal shaft, the parallel guide shaft and a screw are mounted on the rocker arm, the sliding block is connected with a nut of the ball screw pair, the sliding block is driven to move on the guide shaft through the ball screw pair, and the distance between the sliding block and the rocker arm is changed; the elbow joint assembly comprises a large arm C-shaped rail base, a small arm C-shaped rail base, a large arm C-shaped rail, a small arm C-shaped rail, a large arm synchronous belt, a small arm synchronous belt, a large arm binding belt and a large arm six-dimensional force sensor; the wrist joint assembly comprises a sliding block, a small arm six-dimensional force sensor and a small arm binding band, the large arm C-shaped rail base and the small arm C-shaped rail base are hinged, and a hinged shaft is perpendicular to a plane formed by arc axes of the large arm C-shaped rail base and the small arm C-shaped rail base; the large arm C-shaped rail is connected with a sliding block of the large arm length adjusting assembly, the large arm synchronous belt drives a large arm C-shaped rail base to rotate under the drive of a motor, the large arm binding belt is installed on the large arm C-shaped rail base through a large arm six-dimensional force sensor, and the large arm of a patient is bound through the large arm binding belt; the forearm of the patient is tightened through a forearm bandage, the forearm bandage is installed on the forearm C-shaped rail base through a forearm six-dimensional force sensor, and a forearm synchronous belt drives the forearm C-shaped rail base to rotate under the driving of a motor; the six-dimensional force sensor transmits the acting force of the large arm and the small arm fed back by the binding bands to the control system, and the control system calculates out control signals to realize accurate control of motors used by the large arm and the small arm; the palm component comprises a rocker arm and a grip strength acquisition module, the rocker arm rotates under the drive of a motor to drive the grip strength acquisition module at one end of the rocker arm, a patient holds the grip strength acquisition module, the grip strength acquisition module feeds back the grip strength to a control system, the control system calculates a control instruction, and the motor is controlled to drive the rocker arm to drive the wrist of the patient to do palm bending-dorsiflexion training.

2. The multi-dimensional force feedback-based upper limb rehabilitation robot system according to claim 1, characterized in that: the base component comprises a steel structure support, an electric lifting column, a caster and a handle, and the control system is installed in the steel structure support and protected by a protective cover; the electric lifting column is arranged on the steel structure bracket and is driven to lift through the speed reducing motor, so that the requirements of people with different sitting postures and heights are met; the lower part of the steel structure bracket is provided with a plurality of trundles; one side of the steel structure bracket is provided with a handle.

3. The multi-dimensional force feedback-based upper limb rehabilitation robot system according to claim 2, characterized in that: the caster comprises a base body, a roller, a support column and a shifting fork, wherein the base body is fixedly connected with the base assembly, the roller is arranged on the base body, the support column is hinged with the base body, and the support column is driven by the shifting fork to turn; when the robot needs to be carried, the robot is in a moving state, the supporting column is lifted, and the roller rolls in a universal mode; and after the robot is in place, the equipment is jacked up by using the supporting columns, and the rollers are suspended.

4. The multi-dimensional force feedback-based upper limb rehabilitation robot system according to claim 1, characterized in that: and the shoulder joint assembly is provided with a limiting knob beside the horizontal shaft and the vertical shaft respectively to limit the rotation angles of the rocker arm and the horizontal rotating arm.

5. The multi-dimensional force feedback-based upper limb rehabilitation robot system according to claim 1, characterized in that: the large arm length adjusting assembly drives the ball screw pair through a hand wheel to realize the movement of the sliding block and change the length of the large arm.

6. The multi-dimensional force feedback-based upper limb rehabilitation robot system according to claim 1, characterized in that: the palm portion subassembly link firmly at rocking arm one end and rotate the axle sleeve, rotate the other gag lever post of installing of axle sleeve, rotate the axle sleeve and pass through the key-type connection with gear motor output shaft, the rocking arm is at gag lever post restriction angle internal rotation.

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