技术领域technical field
本实用新型涉及医疗器械技术领域，尤其涉及一种上肢康复机器人及其系统。The utility model relates to the technical field of medical equipment, in particular to an upper limb rehabilitation robot and a system thereof.
背景技术Background technique
目前中国医养领域主要分为康复和养老护理。随着社会老龄化的加剧，越来越多的老人由于中风等原因造成上肢瘫痪，给日常生活带来非常大的不便。瘫痪患者可以通过大量的康复训练激发大脑可塑性，恢复一定的运动能力，实现生活自理，提高生活质量，最大程度的回归社会。现在康复科室中的设备主要分为简单机械牵拉，中低频电脉冲治疗仪等，中高端的康复设备相对比较少见。康复主要靠人，但是合格的康复理疗师数量严重不足，所以如果能用机器人复现出理疗师的康复手法将是一个十分有商业潜力的技术。机器人辅助康复训练能够节约大量的人力物力，并能够对患者康复水平进行实时量化的评估，根据患者的康复状况循序渐进的进行训练。At present, the field of medical care in China is mainly divided into rehabilitation and elderly care. With the aggravation of the aging society, more and more elderly people suffer from upper limb paralysis due to stroke and other reasons, which brings great inconvenience to daily life. Paralyzed patients can stimulate brain plasticity through a large number of rehabilitation training, restore certain motor ability, realize self-care, improve quality of life, and return to society to the greatest extent. At present, the equipment in the rehabilitation department is mainly divided into simple mechanical stretching, medium and low frequency electric pulse therapy equipment, etc., and mid-to-high-end rehabilitation equipment is relatively rare. Rehabilitation mainly depends on people, but the number of qualified rehabilitation physiotherapists is seriously insufficient, so if robots can be used to reproduce the rehabilitation techniques of physiotherapists, it will be a technology with great commercial potential. Robot-assisted rehabilitation training can save a lot of manpower and material resources, and can conduct real-time quantitative evaluation of the patient's rehabilitation level, and carry out training step by step according to the patient's rehabilitation status.
目前，虽然有一些公司推出了康复机器人产品，但是多数都是简单把机器人生硬的加到康复应用上。它们的设备很难贴近临床的需求。比如中国专利CN2014208378875提供了一种左右手两用式上肢康复机器人，提供左右侧结构可调上肢康复机器人，其中上方横梁采用丝杆转动调整位置，调整方式不方便，智能化程度不够，不适用于家庭使用，难以满足患者需求。At present, although some companies have launched rehabilitation robot products, most of them simply add robots to rehabilitation applications. It is difficult for their equipment to meet clinical needs. For example, Chinese patent CN2014208378875 provides a dual-purpose upper limb rehabilitation robot, which provides an adjustable upper limb rehabilitation robot with left and right side structures, in which the upper beam uses a screw to adjust the position, the adjustment method is inconvenient, and the degree of intelligence is not enough, so it is not suitable for families. It is difficult to meet the needs of patients.
实用新型内容Utility model content
本实用新型的目的在于：克服现有技术的不足，提供了一种上肢康复机器人及其系统。本实用新型的康复机器人具有便携式、智能化、低成本且适用家庭使用的特点，其能够与医院里的康复器械形成高低搭配，为患者提供完善的康复训练；进一步，康复机器人与后台服务器和数据库关联构成系统，医院可以通过后台服务器控制远程的康复机器人给病人提供个性化的康复训练，还可以通过数据库存储病人的康复进程，使得康复训练有迹可循，有效地提升了康复训练效果。The purpose of the utility model is to overcome the deficiencies of the prior art and provide an upper limb rehabilitation robot and its system. The rehabilitation robot of the utility model has the characteristics of being portable, intelligent, low-cost and suitable for home use. It can be matched with the rehabilitation equipment in the hospital to provide perfect rehabilitation training for patients; further, the rehabilitation robot and the background server and database The association constitutes a system. The hospital can control the remote rehabilitation robot through the background server to provide patients with personalized rehabilitation training. It can also store the patient's rehabilitation process through the database, so that the rehabilitation training can be traced and effectively improve the rehabilitation training effect.
以下为本实用新型具体的技术方案：The following is the concrete technical scheme of the utility model:
一种上肢康复机器人，包括底座、支撑杆和上肢训练组件；所述支撑杆的下端固定安装于所述底座上，支撑杆的上端与所述上肢训练组件活动连接；An upper limb rehabilitation robot, comprising a base, a support rod and an upper limb training component; the lower end of the support rod is fixedly mounted on the base, and the upper end of the support rod is movably connected with the upper limb training component;
所述上肢训练组件，支持人体上肢进行七个自由度运动，使得肩肘关节能够在空间范围内进行复合运动和分离运动训练；所述七个自由度中，四个为电机驱动的旋转自由度，设置为肩关节三个自由度旋转关节和肘关节屈伸旋转关节，其它三个为无动力自由度，设置为高低升降调节关节、肩部旋转调节关节和肘部伸缩调节关节。The upper limb training component supports the upper limbs of the human body to carry out seven degrees of freedom movement, so that the shoulder and elbow joints can perform compound movement and separation movement training within the spatial range; among the seven degrees of freedom, four are motor-driven rotational degrees of freedom, It is set to three degrees of freedom of the shoulder joint and the rotation joint of the elbow joint, and the other three are unpowered degrees of freedom, which are set as the height adjustment joint, the shoulder rotation adjustment joint and the elbow telescopic adjustment joint.
进一步，所述七个自由度包括第一旋转自由度、第二旋转自由度、第三旋转自由度、第四旋转自由度和第一无动力自由度、第二无动力自由度、第三无动力自由度；从底座开始，第三无动力自由度、第一旋转自由度、第一无动力自由度、第二旋转自由度、第二无动力自由度、第三旋转自由度、第四旋转自由度依次串联联接，依次对应的关节运动为高低升降调节、肩关节第一向旋转、肩部旋转调节、肩关节第二向旋转、肘部伸缩调节、肩关节第三向旋转和肘关节屈伸旋转。Further, the seven degrees of freedom include the first rotational degree of freedom, the second rotational degree of freedom, the third rotational degree of freedom, the fourth rotational degree of freedom and the first unpowered degree of freedom, the second unpowered degree of freedom, the third unpowered degree of freedom Powered degrees of freedom; from base, 3rd unpowered degree of freedom, 1st rotational degree of freedom, 1st unpowered degree of freedom, 2nd rotational degree of freedom, 2nd unpowered degree of freedom, 3rd rotational degree of freedom, 4th rotational The degrees of freedom are sequentially connected in series, and the corresponding joint movements in turn are height adjustment, shoulder joint rotation in the first direction, shoulder rotation adjustment, shoulder joint rotation in the second direction, elbow telescopic adjustment, shoulder joint rotation in the third direction, and elbow flexion and extension rotate.
进一步，所述高低升降调节关节、肩部旋转调节关节和肘部伸缩调节关节均设置有锁定结构，所述锁定结构能够在各调节关节调节后锁死。所述高低升降调节可考虑采用电动推杆。Furthermore, the height adjustment joints, shoulder rotation adjustment joints and elbow telescopic adjustment joints are all provided with locking structures, and the locking structures can be locked after each adjustment joint is adjusted. An electric push rod can be considered for the height adjustment.
进一步，四个电机驱动的旋转关节均设置机械硬限位结构，所述机械硬限位包括正反方向均设置的机械撞块和碰撞开关；在失控状态下，在旋转关节到达极限位置后机械撞块产生碰撞，将电机锁定使其无法继续旋转，同时将所述碰撞开关压下，切断电源。Further, the four motor-driven rotary joints are equipped with mechanical hard limit structures, and the mechanical hard limit includes mechanical bumpers and collision switches set in both positive and negative directions; The collision block produces a collision, the motor is locked so that it cannot continue to rotate, and the collision switch is pressed down simultaneously to cut off the power supply.
进一步，还包括软限位结构，所述软限位结构包括通信连接的控制软件系统和角度传感器，角度传感器安装于各旋转关节上接收控制软件系统的控制，通过控制软件系统在各极限运动的限制范围内进行运动限位。Further, it also includes a soft limit structure, the soft limit structure includes a communication-connected control software system and an angle sensor, the angle sensor is installed on each rotary joint to receive the control of the control software system, through the control software system in each extreme movement Limit movement within the limits.
进一步，所述上肢训练组件选用质量相对较轻的铝合金和ABS，臂部容纳结构呈U字槽状，手臂放入臂部容纳结构后通过绑带固定。Further, the upper limb training component is made of relatively light aluminum alloy and ABS, and the arm accommodation structure is in the shape of a U-shaped groove, and the arm is placed in the arm accommodation structure and fixed by straps.
进一步，所述上肢康复机器人上设置有切换操作结构，通过所述切换操作结构，快速的进行左右结构切换，以支持用户的左上肢或右上肢康复需求。Furthermore, the upper limb rehabilitation robot is provided with a switching operation structure, through which the left and right structures can be quickly switched to support the rehabilitation needs of the user's left upper limb or right upper limb.
进一步，上肢康复机器人上设置有供电结构，用以向用电元件供电；以及所述底座上设置有移位结构，用以移动整个上肢康复机器人。Further, the upper limb rehabilitation robot is provided with a power supply structure for supplying power to the electrical components; and the base is provided with a displacement structure for moving the entire upper limb rehabilitation robot.
本实用新型还提供了利用前述康复机器人的一种上肢康复机器人系统，所述系统包括通信连接的系统服务器，至少一个计算机和至少一个前述康复机器人；The utility model also provides an upper limb rehabilitation robot system utilizing the aforementioned rehabilitation robot, said system comprising a communication-connected system server, at least one computer and at least one aforementioned rehabilitation robot;
所述系统服务器，用以存储和处理病人的康复信息，控制每个康复机器人给病人提供个性化的康复训练，并且通过数据库存储病人的康复进程；The system server is used to store and process the patient's rehabilitation information, control each rehabilitation robot to provide the patient with personalized rehabilitation training, and store the patient's rehabilitation process through the database;
计算机，用以采集设置的康复参数，记录训练信息，向所述康复机器人发送控制指令；以及输出虚拟训练环境，提供康复训练视觉反馈，并显示控制界面和康复训练信息；The computer is used to collect set rehabilitation parameters, record training information, and send control instructions to the rehabilitation robot; and output a virtual training environment, provide visual feedback for rehabilitation training, and display a control interface and rehabilitation training information;
所述康复机器人，作为康复训练的执行机构，用以接受所述计算机的控制指令并执行对应的运动控制，同时向前述计算机发送传感器数据；The rehabilitation robot, as an executive mechanism for rehabilitation training, is used to receive control instructions from the computer and execute corresponding motion control, while sending sensor data to the aforementioned computer;
进一步，所述计算机输出的虚拟训练环境为具有增强现实效果的训练环境。Further, the virtual training environment output by the computer is a training environment with augmented reality effects.
本实用新型相对于现有技术，具有如下有益效果。Compared with the prior art, the utility model has the following beneficial effects.
1)本实用新型的康复机器人包含了七个自由度，其中四个为电机驱动的旋转自由度，设置为实现肩关节三个自由度旋转和肘关节屈伸旋转；其它三个为无动力自由度，设置为高低升降调节、肩部旋转调节和肘部伸缩调节。机器人能够完成肩肘关节在空间范围内实现复合运动和分离运动训练。1) The rehabilitation robot of the present utility model includes seven degrees of freedom, four of which are motor-driven rotation degrees of freedom, which are set to realize the three degrees of freedom rotation of the shoulder joint and the flexion and extension rotation of the elbow joint; the other three are unpowered degrees of freedom , set to height lift adjustment, shoulder rotation adjustment and elbow telescopic adjustment. The robot can complete the compound motion and separation motion training of the shoulder and elbow joints within the spatial range.
2)本实用新型的康复机器人系统包括相互通信连接的系统服务器、至少一个计算机和至少一个康复机器人。所述康复机器人可以根据病人康复训练位置的需求，设置于社区医院、家庭康复场所或社区康复中心等地点，康复机器人通过通信网络与系统服务器进行远程通信，医院(比如三甲康复医院或康复科)可以通过系统服务器(后台服务器)控制社区医院的康复机器人给病人提供个性化的康复训练，并且通过服务器数据库存储病人的康复进程，这样康复就变成一个有迹可循的过程。2) The rehabilitation robot system of the present utility model includes a system server, at least one computer and at least one rehabilitation robot connected by mutual communication. The rehabilitation robot can be set in places such as community hospitals, home rehabilitation places, or community rehabilitation centers according to the needs of the patient's rehabilitation training location. The rehabilitation robot communicates remotely with the system server through the communication network. The rehabilitation robot in the community hospital can be controlled through the system server (background server) to provide patients with personalized rehabilitation training, and the patient's rehabilitation process can be stored through the server database, so that rehabilitation becomes a traceable process.
本实用新型的康复机器人及康复机器人系统具有便携式、智能化、低成本且适用家庭使用的特点，其能够与医院里的康复器械形成高低搭配，为患者提供完善的康复训练。The rehabilitation robot and the rehabilitation robot system of the utility model have the characteristics of being portable, intelligent, low-cost and suitable for home use, and can be matched with the rehabilitation equipment in the hospital to provide perfect rehabilitation training for patients.
附图说明Description of drawings
图1为本实用新型实施例提供的上肢康复机器人的结构示意图。Fig. 1 is a schematic structural diagram of an upper limb rehabilitation robot provided by an embodiment of the present invention.
图2为本实用新型实施例提供的上肢康复机器人中角度传感器的布置示意图。Fig. 2 is a schematic diagram of the layout of the angle sensor in the upper limb rehabilitation robot provided by the embodiment of the present invention.
图3为本实用新型实施例提供的上肢康复机器人中各部分设计长度示意图。Fig. 3 is a schematic diagram of the design length of each part of the upper limb rehabilitation robot provided by the embodiment of the present invention.
图4为本实用新型实施例提供的具有增强现实效果的虚拟训练场景示例图。Fig. 4 is an example diagram of a virtual training scene with an augmented reality effect provided by an embodiment of the present invention.
图5为本实用新型实施例提供的控制电机协调运行的控制系统的结构框图。Fig. 5 is a structural block diagram of a control system for controlling coordinated operation of motors provided by an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图和具体实施例对本实用新型提供的上肢康复机器人及其系统作进一步详细说明。应当注意的是，下述实施例中描述的技术特征或者技术特征的组合不应当被认为是孤立的，它们可以被相互组合从而达到更好的技术效果。The upper limb rehabilitation robot and its system provided by the utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be regarded as isolated, and they can be combined with each other to achieve better technical effects.
需说明的是，本说明书所附图中所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定实用新型可实施的限定条件，任何结构的修饰、比例关系的改变或大小的调整，在不影响实用新型所能产生的功效及所能达成的目的下，均应落在实用新型所揭示的技术内容所能涵盖的范围内。It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the utility model. The restrictive conditions for implementation, any modification of structure, change of proportional relationship or adjustment of size shall fall within the technical contents disclosed in the utility model without affecting the effect and purpose of the utility model. within the range that can be covered.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values.
实施例Example
参见图1所示，一种上肢康复机器人，包括底座、支撑杆和上肢训练组件。Referring to Fig. 1, an upper limb rehabilitation robot includes a base, a support rod and an upper limb training component.
所述支撑杆的下端固定安装于所述底座上，支撑杆的上端与所述上肢训练组件活动连接。本实施例中，所述支撑杆采用中空杆，所述上肢训练组件的一端安装于所述中空杆内，使得整个上肢训练组件可相对支撑杆升降运动。The lower end of the support rod is fixedly installed on the base, and the upper end of the support rod is movably connected with the upper limb training assembly. In this embodiment, the support rod is a hollow rod, and one end of the upper limb training component is installed in the hollow rod, so that the entire upper limb training component can move up and down relative to the support rod.
所述上肢训练组件的机械系统分成7个自由度，分别用M1-M4和 P1-P3来表示，其中四个为电机驱动的旋转自由度，设置为实现肩关节三个自由度旋转和肘关节屈伸旋转；其它三个为无动力自由度，设置为高低升降调节、肩部旋转调节和肘部伸缩调节。继续参见图1所示，所述七个自由度包括第一旋转自由度M1、第二旋转自由度M2、第三旋转自由度M3、第四旋转自由度M4和第一无动力自由度P1、第二无动力自由度P2、第三无动力自由度P3；从底座开始，第三无动力自由度P3、第一旋转自由度M1、第一无动力自由度P1、第二旋转自由度M2、第二无动力自由度P2、第三旋转自由度M3、第四旋转自由度M4依次串联联接。所述第三无动力自由度P3、第一旋转自由度 M1、第一无动力自由度P1、第二旋转自由度M2、第二无动力自由度 P2、第三旋转自由度M3、第四旋转自由度M4依次对应的关节运动为高低升降调节、肩关节第一向旋转、肩部旋转调节、肩关节第二向旋转、肘部伸缩调节、肩关节第三向旋转和肘关节屈伸旋转。The mechanical system of the upper limb training component is divided into 7 degrees of freedom, represented by M1-M4 and P1-P3 respectively, four of which are motor-driven rotational degrees of freedom, which are set to realize the three degrees of freedom rotation of the shoulder joint and the rotation of the elbow joint. Flexion and extension rotation; the other three are unpowered degrees of freedom, which are set to height adjustment, shoulder rotation adjustment and elbow telescopic adjustment. Continuing to refer to Fig. 1, the seven degrees of freedom include the first rotational degree of freedom M1, the second rotational degree of freedom M2, the third rotational degree of freedom M3, the fourth rotational degree of freedom M4 and the first unpowered degree of freedom P1, The second unpowered degree of freedom P2, the third unpowered degree of freedom P3; starting from the base, the third unpowered degree of freedom P3, the first rotational degree of freedom M1, the first unpowered degree of freedom P1, the second rotational degree of freedom M2, The second unpowered degree of freedom P2, the third rotational degree of freedom M3, and the fourth rotational degree of freedom M4 are sequentially connected in series. The third unpowered degree of freedom P3, the first rotational degree of freedom M1, the first unpowered degree of freedom P1, the second rotational degree of freedom M2, the second unpowered degree of freedom P2, the third rotational degree of freedom M3, the fourth rotational The joint movements corresponding to the M4 degree of freedom in turn are height adjustment, shoulder joint rotation in the first direction, shoulder rotation adjustment, shoulder joint rotation in the second direction, elbow telescopic adjustment, shoulder joint rotation in the third direction, and elbow flexion and extension rotation.
所述高低升降调节关节、肩部旋转调节关节和肘部伸缩调节关节均设置有锁定结构，所述锁定结构能够在各调节关节调节后锁死。所述高低升降调节可考虑采用电动推杆。The height adjustment joints, shoulder rotation adjustment joints and elbow telescopic adjustment joints are all provided with locking structures, and the locking structures can be locked after each adjustment joint is adjusted. An electric push rod can be considered for the height adjustment.
结构部分材料选用质量相对较轻的铝合金6061和ABS，臂部容纳结构呈U字槽状，手臂放入臂部容纳结构后通过绑带固定。The material of the structural part is relatively light aluminum alloy 6061 and ABS. The arm holding structure is in the shape of a U-shaped groove. After the arm is put into the arm holding structure, it is fixed by straps.
考虑安全性及控制要求，四个电机驱动的旋转关节均设置机械硬限位。机械硬限位由两部分构成，即为正反方向均设置的机械撞块和碰撞开关。在失控状态下旋转到达极限位置后产生碰撞，将电机锁定堵死，使电机无法继续旋转，同时将碰撞开关压下，切断电源。此双重保护可确保人手臂的安全。Considering safety and control requirements, the four motor-driven rotary joints are all equipped with mechanical hard limits. The mechanical hard limit is composed of two parts, that is, a mechanical bumper and a collision switch set in both positive and negative directions. When the rotation reaches the limit position in the out-of-control state, a collision occurs, and the motor is locked and blocked, so that the motor cannot continue to rotate. At the same time, the collision switch is pressed to cut off the power supply. This double protection ensures the safety of the human arm.
除硬限位外，康复机器人还包括软限位结构，所述软限位结构包括通信连接的控制软件系统和角度传感器，角度传感器安装在各旋转关节上接收控制软件系统的控制，通过控制软件系统在各极限运动的限制范围内进行运动限位，安全方面可有三重保护。In addition to the hard limit, the rehabilitation robot also includes a soft limit structure. The soft limit structure includes a communication-connected control software system and an angle sensor. The angle sensor is installed on each rotary joint to receive the control of the control software system. Through the control software The system performs movement limitation within the limit range of each extreme movement, and there are triple protections in terms of safety.
各角度传感器的设置位置参见图2所示，对应于肩关节三个自由度旋转关节、肘关节屈伸旋转关节、肩部旋转调节关节分别设置了一个角度传感器。对应于肩关节第一向旋转、肩部旋转调节、肩关节第二向旋转、肩关节第三向旋转、肘关节屈伸旋转分别依次设置了角度传感器S1、S5、S2、S3、S4。The setting positions of each angle sensor are shown in Fig. 2. An angle sensor is respectively set up corresponding to the three degrees of freedom of the shoulder joint, the elbow joint flexion and extension rotation joint, and the shoulder rotation adjustment joint. Angle sensors S1 , S5 , S2 , S3 , and S4 are arranged in sequence corresponding to the first rotation of the shoulder joint, the adjustment of shoulder rotation, the second rotation of the shoulder joint, the third rotation of the shoulder joint, and the flexion and extension rotation of the elbow joint.
优选的，所述控制软件系统在各极限运动的90％范围内设置软限位。各关节的运动参数值参见表1所示。Preferably, the control software system sets soft limits within 90% of each extreme movement. The motion parameter values of each joint are shown in Table 1.
表1Table 1
上肢训练组件的各部分的长度参数参见图3所示，针对依次串联联接的第一旋转自由度M1、第一无动力自由度P1、第二旋转自由度 M2、第二无动力自由度P2、第三旋转自由度M3、第四旋转自由度M4，各部件的长度参数依次用q1-q9表示，其中q4代表肘部伸缩调节杆对应的长度。本实施例中，q1设计长度优选为5-7cm；q2设计长度优选为22-25cm；q3设计长度优选为20-24cm；q4设计长度优选为 38-44cm；q5设计长度优选为14-18cm；q6设计长度优选为8-12cm； q7设计长度优选为8-12cm；q8设计长度优选为6-7cm；q9设计长度优选为32cm。The length parameters of each part of the upper limb training assembly are shown in Figure 3, for the first rotational degree of freedom M1, the first unpowered degree of freedom P1, the second rotational degree of freedom M2, the second unpowered degree of freedom P2, The third rotational degree of freedom M3, the fourth rotational degree of freedom M4, the length parameters of each component are represented by q1-q9 in turn, where q4 represents the length corresponding to the telescopic adjustment rod of the elbow. In this embodiment, the design length of q1 is preferably 5-7cm; the design length of q2 is preferably 22-25cm; the design length of q3 is preferably 20-24cm; the design length of q4 is preferably 38-44cm; the design length of q5 is preferably 14-18cm; The design length of q6 is preferably 8-12cm; the design length of q7 is preferably 8-12cm; the design length of q8 is preferably 6-7cm; the design length of q9 is preferably 32cm.
本实施例中，所述上肢康复机器人上设置有切换操作结构，通过所述切换操作结构，快速的进行左右结构切换，支持用户的左上肢或右上肢康复需求。比如切换至左结构时，适用于用户进行左上肢康复训练，切换至右结构时，适用于用户进行右上肢康复训练，所述切换时间可以在5分钟内完成。In this embodiment, the upper limb rehabilitation robot is provided with a switching operation structure, and through the switching operation structure, the left and right structures can be quickly switched to support the rehabilitation needs of the user's left upper limb or right upper limb. For example, when switching to the left structure, it is suitable for the user to perform rehabilitation training of the left upper limb, and when switching to the right structure, it is suitable for the user to perform rehabilitation training of the right upper limb. The switching time can be completed within 5 minutes.
所述上肢康复机器人上还可以设置有供电结构，用以向用电元件供电。优选的，采用电池供电方式，康复机器人上设置有电池放置腔和电池固定结构。The upper limb rehabilitation robot may also be provided with a power supply structure for supplying power to the electrical components. Preferably, battery power is used, and the rehabilitation robot is provided with a battery placement cavity and a battery fixing structure.
所述上肢康复机器人上还设置有电机接口，可以装配电机驱动电路，并提供每一个电机控制软硬件接口；同时还设置传感器输出接口。The upper limb rehabilitation robot is also provided with a motor interface, which can be equipped with a motor drive circuit, and provides each motor control software and hardware interface; at the same time, a sensor output interface is also provided.
为便于整个上肢康复机器人的移动，所述底座上还可以设置有移位结构，用以移动整个上肢康复机器人。对应的，在移位结构上设置锁定结构，在移位完成的情况下，通过所述锁定结构锁死移位结构，防止上肢康复机器人移动位置。In order to facilitate the movement of the entire upper limb rehabilitation robot, a displacement structure may also be provided on the base to move the entire upper limb rehabilitation robot. Correspondingly, a locking structure is provided on the displacement structure, and when the displacement is completed, the displacement structure is locked by the locking structure to prevent the upper limb rehabilitation robot from moving.
参见图4所示，为本实用新型还提供了利用前述康复机器人的一种上肢康复机器人系统。Referring to FIG. 4 , the present invention also provides an upper limb rehabilitation robot system utilizing the aforementioned rehabilitation robot.
所述系统包括通信连接的系统服务器，至少一个计算机和至少一个前述康复机器人。The system includes a communicatively connected system server, at least one computer and at least one aforementioned rehabilitation robot.
所述系统服务器，用以存储和处理病人的康复信息，控制每个康复机器人给病人提供个性化的康复训练，并且通过数据库存储病人的康复进程。所述计算机，用以采集设置的康复参数，记录训练信息，向所述康复机器人发送控制指令；以及输出虚拟训练环境，提供康复训练视觉反馈，并显示控制界面和康复训练信息。所述康复机器人，作为康复训练的执行机构，用以接受所述计算机的控制指令并执行对应的运动控制，同时向前述计算机发送传感器数据。The system server is used to store and process the patient's rehabilitation information, control each rehabilitation robot to provide the patient with personalized rehabilitation training, and store the patient's rehabilitation process through the database. The computer is used to collect set rehabilitation parameters, record training information, and send control instructions to the rehabilitation robot; and output a virtual training environment, provide visual feedback for rehabilitation training, and display a control interface and rehabilitation training information. The rehabilitation robot, as an executive mechanism for rehabilitation training, is used to receive control instructions from the computer and execute corresponding motion control, while sending sensor data to the aforementioned computer.
图4中示例的系统包括有分别设置在社区医院A、社区医院B、社区医院C、社区医院D和两个家庭康复场所的多个康复机器人。The system illustrated in FIG. 4 includes a plurality of rehabilitation robots respectively installed in community hospital A, community hospital B, community hospital C, community hospital D and two home rehabilitation places.
整个上肢康复机器人系统分成三个部分：The entire upper limb rehabilitation robot system is divided into three parts:
康复机器人，包括机械结构及其电机驱动。机器人包含了七个自由度，其中四个为电机驱动的旋转自由度，设置为实现肩关节三个自由度旋转和肘关节屈伸旋转；其它三个为无动力自由度，设置为高低升降调节、肩部旋转调节和肘部伸缩调节。机器人能够完成肩肘关节在空间范围内实现复合运动和分离运动训练。Rehabilitation robot, including mechanical structure and its motor drive. The robot contains seven degrees of freedom, four of which are motor-driven rotational degrees of freedom, which are set to realize three degrees of freedom of shoulder joint rotation and elbow flexion and extension rotation; the other three are unpowered degrees of freedom, which are set to height adjustment, Shoulder rotation adjustment and elbow telescopic adjustment. The robot can complete the compound motion and separation motion training of the shoulder and elbow joints within the spatial range.
计算机，其上可以设置有GUI和PC端控制软件，其中GUI主要包括了康复参数设置功能和增强现实系统。在GUI的设计和PC端的控制软件，能够实现虚拟现实的康复手段。虚拟现实技术为康复训练提供了重复练习、成绩反馈和维持动机三个关键要素的技术手段。反复练习是患者习得一项新的运动技能的必要因素，但仅仅是反复练习是不够的，患者本身的康复积极性以及对康复结果的正确认知也至关重要。将虚拟现实用于康复训练能为接受康复训练的患者提供每次练习结果的实时反馈,提高患者对结果知晓感。虚拟环境还可以增加任务的趣味性，以多种反馈形式激发和维持患者重复练习的动机，并获得愉快的成功情绪体验，增加回归正常生活的信心。大量研究结果表明，患者能在虚拟环境中学会运动技能,并且能将习得的运动技能迁移到真实环境中。The computer can be provided with a GUI and PC-side control software, wherein the GUI mainly includes a rehabilitation parameter setting function and an augmented reality system. In GUI design and PC-side control software, virtual reality rehabilitation means can be realized. Virtual reality technology provides technical means for the three key elements of repeated practice, performance feedback and maintenance of motivation for rehabilitation training. Repeated practice is a necessary factor for patients to acquire a new motor skill, but repeated practice alone is not enough. The patient's own enthusiasm for rehabilitation and correct perception of rehabilitation results are also crucial. The use of virtual reality in rehabilitation training can provide real-time feedback on the results of each exercise for patients undergoing rehabilitation training, and improve patients' awareness of the results. The virtual environment can also increase the fun of the task, stimulate and maintain the patient's motivation to repeat the practice with a variety of feedback forms, and obtain a pleasant emotional experience of success, increasing confidence in returning to normal life. A large number of research results have shown that patients can learn motor skills in a virtual environment and can transfer the acquired motor skills to the real environment.
系统服务器，可以包括后台服务器和数据库，医院(比如三甲康复医院或康复科)可以通过后台服务器控制社区医院的康复机器人给病人提供个性化的康复训练，并且通过数据库存储病人的康复进程，这样康复就变成一个有迹可循的过程。本实施例中，所述系统服务器后优选采用云端处理的方式(云服务器)，比如租用已有的阿里云和腾讯的云平台，这样可以节省成本。The system server can include background servers and databases. Hospitals (such as top-tier rehabilitation hospitals or rehabilitation departments) can control rehabilitation robots in community hospitals through the background server to provide patients with personalized rehabilitation training, and store the patient's rehabilitation progress through the database. It becomes a traceable process. In this embodiment, the system server preferably adopts a cloud processing method (cloud server), such as renting the existing cloud platforms of Alibaba Cloud and Tencent, which can save costs.
本实施例中，优选的，所述计算机输出的虚拟训练环境为具有增强现实效果的训练环境。参见图4所示，通过GUI软件设计，针对上肢康复机械臂设计了一款抓小球的游戏，患者在康复训练过程中机械臂的七个自由度的实际运动反映在虚拟场景中人的上肢运动中。当机器人带动患者带动的某一个关节旋转某一角度，则虚拟人的上肢也相应的旋转。In this embodiment, preferably, the virtual training environment output by the computer is a training environment with an augmented reality effect. As shown in Figure 4, through GUI software design, a game of catching small balls is designed for the upper limb rehabilitation robotic arm. The actual movement of the seven degrees of freedom of the robotic arm during the rehabilitation training process of the patient is reflected in the human upper limb in the virtual scene. in motion. When the robot drives a certain joint driven by the patient to rotate at a certain angle, the upper limbs of the virtual human will also rotate accordingly.
具体的使用方法为：患者佩戴好上肢康复机器人，根据GUI中虚拟手臂的运动指示(图4中为一个虚拟人手移动到左边篮子上方时可抓起一个小球，然后移到右边的篮子上方时小球放入篮子里)，在机器人的辅助下进行移动小球的康复运动。这种有些场景可以按照康复需求进行设计。实现的技术和平台可以采用OpenGL和windows开发平台用C#语言实现。The specific method of use is: the patient wears the upper limb rehabilitation robot, and according to the motion instructions of the virtual arm in the GUI (in Figure 4, a virtual human hand can grab a small ball when it moves over the left basket, and then move over the right basket) ball into the basket), with the aid of a robot for rehabilitation exercises to move the ball. Some of these scenarios can be designed according to rehabilitation needs. The realized technology and platform can be realized with C# language by using OpenGL and windows development platform.
对于PC端控制软件，可以输入相关控制指令。通过CAN总线的方式建立起以PC机为核心的小型分布式控制系统，控制四个电机的协调运行，所述小型分布式控制系统的总体结构框图参见图5所示。所述小型分布式控制系统包括工控机，工控机通过I2C总线连接三个三轴陀螺仪，通过CAN总线连接了四个控制电路，用于控制四个电机的协调运行。For PC-side control software, relevant control commands can be input. A small distributed control system with a PC as the core is established through the CAN bus to control the coordinated operation of the four motors. The overall structural block diagram of the small distributed control system is shown in FIG. 5 . The small-scale distributed control system includes an industrial computer, which is connected to three three-axis gyroscopes through an I2C bus and connected to four control circuits through a CAN bus to control the coordinated operation of four motors.
| Application Number | Priority Date | Filing Date | Title |
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| CN201720727948.6UCN207979965U (en) | 2017-06-21 | 2017-06-21 | Upper limb rehabilitation robot and its system |
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