CN112022633A

CN112022633A - End traction upper limb rehabilitation training device

Info

Publication number: CN112022633A
Application number: CN202011042609.7A
Authority: CN
Inventors: 韩建海; 李辽远; 李向攀; 郭冰菁; 王志强; 杨元
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2020-12-04

Abstract

The invention discloses a tail end traction upper limb rehabilitation training device, wherein the forearm and hand of the upper limb of a patient are fixed on an arm support and a handle of a robot in rehabilitation training, and the arm of the robot drives the tail end of the upper limb of a human body so as to drive the upper limb to complete various rehabilitation training modes in the horizontal plane and the sagittal plane of the human body. The device drives two motors and a single-action cylinder, the first joint motor drives the large arm to swing relative to the stand column, the second joint motor drives the small arm to swing relative to the large arm through the transmission of the synchronous belt II, and the single-action cylinder drives the tail end of the robot to do vertical linear motion. And a servo closed-loop control system is adopted to accurately control the posture, the moving range and the training intensity of the upper limbs of the human body. The controller is composed of a touch screen and a switch button, the rehabilitation training modes can be selected through the touch screen, corresponding dynamic schematic diagrams are displayed for each rehabilitation mode training, the controller is convenient and easy to understand, and the speed, the time and the moving range of each joint of each rehabilitation training mode can be adjusted according to the condition of a patient.

Description

End traction upper limb rehabilitation training device

Technical Field

The invention relates to the technical field of medical health care instruments, in particular to a tail end traction upper limb rehabilitation training device.

Background

The end traction upper limb rehabilitation training is a mode for upper limb rehabilitation, is very suitable for the rehabilitation training of patients with upper limb movement ability loss caused by upper limb cranial nerve injury and muscle injury, such as patients with cerebral apoplexy and hemiplegia, wherein one side of the limbs of most of the patients lose part or all of the movement ability, the limbs are subjected to different degrees of muscular atrophy and joint adhesion caused by lack of movement or effective and scientific rehabilitation movement all the year round, and the upper limb movement ability loss is very easily caused by the lack of active and effective movement training for a long time. The upper limb rehabilitation training device can enable the upper limbs to be sufficiently moved under the sitting posture of the patients, thereby achieving the purpose of rehabilitation training.

The upper limb rehabilitation device commonly used in the market at present is mostly in a rehabilitation form similar to a CPM machine, is simple in structure, but is fixed in a training mode and only can be used for passively training joints. Or an exoskeleton rod piece with 6 degrees of freedom is adopted to pull and bind the upper limbs and the tail ends of the human body together, so that the joints of the upper limbs move along with the joint movement of the exoskeleton. The exoskeleton robot with 6 degrees of freedom and the upper limbs of different patients are inconvenient to adjust, the structure is complex, the upper limbs are fixed in a wrapping mode, and once the robot breaks down, or the muscle spasm of the patients easily injures the patients. In addition, a 2-degree-of-freedom rectangular coordinate tail end traction rehabilitation robot is available in the market, only the motion of the upper limb in the horizontal plane can be realized, and the problems that the training of the upper limb joint of a human body is incomplete, the mode is single, the upper limb ligament cannot be subjected to all-dimensional stretching motion, the training effect is limited and the like exist.

Disclosure of Invention

The upper limb rehabilitation training device has the advantages that the upper arm and the lower arm of the device have one degree of freedom respectively and are driven by the first joint motor and the second joint motor respectively, the lifting of the tail end component is driven by the single-action air cylinder, the device is wide in training space, various in training modes and convenient in training parameter adjustment, various motion modes are designed according to a physical therapy technique of the rehabilitation exercise, the device has an inward contraction mode and an outward expansion mode of shoulder joints in a horizontal plane and a flexion and extension mode of elbow joints in the sagittal plane, and the motion range of each joint can be adjusted according to needs so as to meet the rehabilitation training requirements of different patients.

The invention is realized by the following technical scheme:

a tail end traction upper limb rehabilitation training device comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises a large arm, a small arm connected with one end of the large arm and three degrees of freedom formed by a tail end assembly, and the robot supporting mechanism comprises a supporting upright post for supporting the robot body;

the supporting upright post is of a rectangular frame structure, a first mounting plate is arranged at the top of the supporting upright post, and a second mounting plate and a third mounting plate are sequentially and horizontally arranged below the first mounting plate;

the bottom of one end of the large arm is horizontally arranged on a first mounting plate through a large arm speed reducer, the large arm speed reducer penetrates through the first mounting plate, a driving transmission mechanism I for driving the large arm to rotate is arranged between the first mounting plate and a third mounting plate, the driving transmission mechanism I comprises a first joint motor, one end of the first joint motor is vertically arranged between a second mounting plate and the third mounting plate, a driving belt wheel I, arranged by the first joint motor and penetrating through the other end of the second mounting plate, is connected with a driven belt wheel I arranged at the input end of the large arm speed reducer through a horizontally arranged synchronous belt I, and therefore the large arm is controlled to swing relative to a support upright post through the first joint motor;

a motor flange is fixedly arranged in an inner cavity at one end of the large arm, which is positioned at the large arm speed reducer, a driving transmission mechanism II for controlling the rotation of the small arm is vertically arranged on the motor flange, the driving transmission mechanism II comprises a second joint motor, an output shaft of the second joint motor is connected with a driving belt pulley II positioned in the inner cavity of the motor flange, a driven belt pulley II is arranged at the other end of the inner cavity of the large arm, a synchronous belt II is arranged between the driving belt pulley II and the driven belt pulley II, the driven belt pulley II is connected with the small arm speed reducer, the output end of the small arm speed reducer is connected with the small arm, so that the second joint motor controls the small arm to swing relative to the large arm, and the other;

the tail end assembly comprises a vertically arranged single-acting cylinder, a three-dimensional force sensor positioned in an inner cavity of the forearm is arranged at the bottom of the single-acting cylinder, a horizontally arranged hand support and an arm support are arranged at the top of the single-acting cylinder, a handle is arranged at one end of the hand support, the other end of the hand support is rotatably connected with a single elbow head connected with the top of the single-acting cylinder through a connecting elbow head, and the arm support is fixedly connected with one side of the top of the connecting elbow head;

the control driving unit comprises a controller and a motor driver, and the motor driver is arranged on the end face of the third mounting plate.

Further, one side between first mounting panel and second mounting panel is fixed and is provided with the curb plate, has the movable plate through bolted connection on the second mounting panel is close to the one end terminal surface of curb plate, first joint motor passes through screw and movable plate fixed connection, the movable plate is the L type, thereby the vertical section and the curb plate of movable plate pass through the bolt column connection, thereby adjust the removal of first joint motor through the distance of pulling bolt column adjustment movable plate and curb plate to the tensioning of adjustment hold-in range I.

Furthermore, a connecting hole between the horizontal section of the moving plate and the second mounting plate is a long elliptical hole, so that the moving plate drives the first joint motor to move relative to the second mounting plate.

Furthermore, a tensioning wheel is arranged in the synchronous belt II between the driving belt wheel II and the driven belt wheel II, and the tensioning of the synchronous belt II is adjusted by adjusting the position of the tensioning wheel.

Furthermore, the connecting elbow head and the single elbow head are connected through bolts, and the friction force of relative rotation can be adjusted through the tightness of the bolt connection.

Further, the top of connecting the elbow head is provided with the shaft hole, the hand holds in the palm the one end of keeping away from the handle and forms with the shaft hole cooperation of connecting the elbow head, and just connects fixedly through the axle head screw for wrist joint's rotational resistance compresses tightly the degree through the axle head screw and adjusts.

Furthermore, the first joint motor and the second joint motor are both provided with photoelectric encoder detection mechanisms.

Furthermore, harmonic reducers are adopted for the large arm reducer and the small arm reducer.

Furthermore, the rotation center of the large arm reducer and the rotation center of the second joint motor are coincided with the central axis of the support upright post.

Furthermore, the side face of the motor flange is provided with an opening convenient for mounting a synchronous belt II.

The invention has the beneficial effects that:

(1) the invention can select the corresponding rehabilitation mode according to the specific condition of the patient, each rehabilitation mode training has the corresponding dynamic schematic diagram to display, which is convenient and easy to understand, and the speed, time and range of motion of each joint of each rehabilitation training mode can be adjusted according to the condition of the patient, each motor is provided with overload safety protection, once an accident occurs, the robot stops working in time to prevent the patient from being injured;

(2) the invention utilizes the coordinated actions of the first joint motor, the second joint motor and the single-acting cylinder to drive the upper limbs of the human body to complete the multi-mode space three-dimensional rehabilitation training movement, simultaneously respectively and correspondingly collects the force signal at the tail end of the robot and the angle signal of each rotary joint in real time according to the three-dimensional force sensor and the photoelectric encoder detection mechanism to achieve the accurate control of the upper limbs, and utilizes the single-acting cylinder as a driving element for the vertical movement of the tail end to have certain flexibility and safety, thereby obtaining good rehabilitation training effect on the premise of not injuring patients;

(3) according to the invention, the first joint motor and the second joint motor are both arranged on the support upright post in a centralized manner, so that the gravity of the motor on the mechanical arm is reduced to a certain extent, the influence of the inertia force on a mechanical system is reduced, and the control performance of the mechanical system is improved.

Drawings

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

FIG. 2 is a schematic structural diagram of a drive transmission mechanism I of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a schematic structural diagram of a drive transmission mechanism II of the present invention;

FIG. 5 is a schematic view of the overall construction of the tip assembly of the present invention;

FIG. 6 is a partial view of the top of the terminus assembly of the present invention;

reference numerals: 1. big arm, 2, forearm, 3, support column, 301, first mounting panel, 302, second mounting panel, 303, third mounting panel, 4, second joint motor, 5, first joint motor, 6, hold-in range I, 7, single-acting cylinder, 8, single elbow head, 9, connect elbow head, 10, hand rest, 11, handle, 12, arm rest, 13, curb plate, 14, movable plate, 15, driving pulley II, 16, driven pulley II, 17, forearm reduction gear, 18, hold-in range II, 19, take-up pulley, 20, motor drive, 21, driving pulley I, 22, driven pulley I, 23, motor flange, 24, big arm reduction gear, 25, three-dimensional force sensor.

Detailed Description

The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the accompanying drawings.

Example 1

As shown in the attached drawings, the upper limb rehabilitation training device with tail end traction comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises a large arm 1, a small arm 2 connected with one end of the large arm and three degrees of freedom formed by a tail end assembly, the robot supporting mechanism comprises a supporting upright post 3 for supporting the robot body, a chassis is arranged at the bottom of the supporting upright post 3, and sliding wheels are arranged on the periphery of the chassis, so that the chassis is convenient to move and saves time and labor;

the supporting upright post 3 is of a rectangular frame structure, a first mounting plate 301 is arranged at the top of the supporting upright post 3, and a second mounting plate 302 and a third mounting plate 303 are sequentially and horizontally arranged below the first mounting plate 301;

the bottom of one end of the large arm 1 is horizontally arranged on a first mounting plate 301 through a large arm speed reducer 24, the large arm speed reducer 24 penetrates through the first mounting plate 301, a driving transmission mechanism I for driving the large arm to rotate is arranged between the first mounting plate 301 and a third mounting plate 303, the driving transmission mechanism I comprises a first joint motor 5, one end of the first joint motor 5 is vertically arranged between a second mounting plate 302 and the third mounting plate 303, and a driving belt wheel I21, arranged at the other end of the first joint motor 5, penetrating through the second mounting plate 302 is connected with a driven belt wheel I22 arranged at the input end of the large arm speed reducer through a horizontally arranged synchronous belt I6, so that the large arm 1 is controlled to swing relative to a support upright through the first joint motor 5; the large arm speed reducer 24 is a harmonic speed reducer and is fixed on the first mounting plate 301 through a screw, the input end of the harmonic speed reducer is connected with the driving pulley I21 through the driven pulley I22 and the synchronous belt I, and the output end, namely the flexible gear, of the harmonic speed reducer is connected with the large arm through a screw;

a side plate 13 is fixedly arranged on one side between the first mounting plate 301 and the second mounting plate 302, a moving plate 14 is connected to the end face, close to the side plate, of the second mounting plate 302 through a bolt, the first joint motor 5 is fixedly connected with the moving plate 14 through a bolt, the moving plate 14 is of an L shape, the vertical section of the moving plate 14 is connected with the side plate 13 through a bolt column, the distance between the moving plate 14 and the side plate 13 is adjusted through pulling the bolt column, so that the movement of the first joint motor 5 is adjusted, the tension of the synchronous belt I6 is adjusted, a connecting hole between the horizontal section of the moving plate 14 and the second mounting plate 302 is a long elliptical hole, and the moving plate 14 drives the first joint motor 5 to move relative to the second mounting plate 302.

A motor flange 23 is fixedly arranged in an inner cavity at one end of the large arm 1, which is positioned on the large arm reducer, a driving transmission mechanism II for controlling the rotation of the small arm is vertically arranged on the motor flange 23, the driving transmission mechanism II comprises a second joint motor 4, an output shaft of the second joint motor 4 is connected with a driving pulley II 15 positioned in the inner cavity of the motor flange, a driven pulley II 16 is arranged at the other end of the inner cavity of the large arm, a synchronous belt II 18 is arranged between the driving pulley II 15 and the driven pulley II 16, an opening for conveniently installing the synchronous belt II is arranged on the side surface of the motor flange 23, a tension pulley 19 is arranged in the synchronous belt II positioned between the driving pulley II 15 and the driven pulley II 16, the driven pulley II 16 is connected with the small arm reducer 17 through the tension of the position adjusting synchronous belt II 18 of the tension pulley 19, and the output end of the small, the forearm is connected one end with big arm and is located big arm top setting promptly for second joint motor 4 control forearm 2 is for the swing of big arm 1, first joint motor 5 and second joint motor 4 all are provided with photoelectric encoder detection mechanism for detect the motion angle and the speed of each joint, and each motor all is equipped with overload safety protection, in case the accident appears, and the robot can in time stop work, prevents to injure patient. In addition, a mechanical limiting device is arranged on the robot arm, so that further protection is achieved;

the rotation center of the large arm reducer 24 and the rotation center of the second joint motor 4 are coincided with the central axis of the support upright post 3, the small arm reducer 17 is a harmonic reducer, namely a rigid wheel of the small arm reducer is fixed on the large arm, the output of a flexible wheel of the small arm reducer is connected with the small arm, and the other end of the small arm 2 is connected with a terminal component;

the tail end assembly comprises a vertically arranged single-acting cylinder 7, a three-dimensional force sensor 25 positioned in a small arm inner cavity is arranged at the bottom of the single-acting cylinder 7, a horizontally arranged hand support 10 and an arm support 12 are arranged at the top of the single-acting cylinder 7, a handle 11 is arranged at one end of the hand support, the other end of the hand support is rotatably connected with a single elbow head 8 connected with the top of the single-acting cylinder 7 through a connecting elbow head 9, and the arm support 12 is fixedly connected with one side of the top of the connecting elbow head 9;

the terminal effort passes to three-dimensional force sensor 25 through single-action cylinder 7, human hand is at the terminal effort size and the pressure value and the direction expression of three-dimensional force sensor 25 measuring of direction, thereby reflect training person's initiative motion intention, can be used to the initiative rehabilitation training based on impedance control, single-action cylinder 7 relies on gas pressure to release the cylinder piston rod, rely on the internal spring to push back the cylinder piston rod, the pressure size of admitting air through the control of proportional pressure regulating valve, balanced spring force and external load, realize the control to cylinder piston rod extension displacement, wrist joint is the rotation of hand rest 10 for connecting elbow head 9, wrist joint can realize the passive rehabilitation of certain intensity when the robot drives human upper limbs and does the rehabilitation motion.

Furthermore, connect through bolted connection between elbow head 9 and the single elbow head 8, can adjust relative pivoted frictional force through bolted connection's elasticity, can realize wrist joint ulnar deviation and radius deviation action passive training of certain degree in upper limbs rehabilitation training process, can realize again that the terminal compliance when wrist joint atress is too big when reciprocating rotates.

Further, the top of connecting elbow head 9 is provided with the shaft hole, the one end that the handle was kept away from to hand rest 10 is constituteed with the shaft hole cooperation of connecting elbow head 9, and fixes through axle head screwed connection for wrist joint's rotation resistance is adjusted through axle head screw compression degree, can realize wrist joint palm and bend and stretch out the passive training of action at upper limbs rehabilitation training in-process certain degree with the back, can realize again that wrist joint atress is too big compliance rotates.

Furthermore, the control driving unit comprises a computer, a simulation machine, a controller, a motion control mechanism, a motor driver 20 and the like, is a control core of the rehabilitation training device, and further comprises a control interface, wherein the control interface comprises a touch screen and a switch button, the rehabilitation training mode is selected through the touch screen, and different rehabilitation training modes and the amplitude, speed and strength of rehabilitation actions can be selected according to the specific conditions of a patient. The rehabilitation training parameters are fed back to the control panel of the control interface in real time, so that doctors can conveniently know the rehabilitation condition of patients, and the motor driver 20 is arranged on the end face of the third mounting plate 303.

The working process is as follows: when the robot is used, the robot is started to be in an initial working position (under the condition that a patient is not injured), the height of the seat and the position relative to the robot are adjusted according to the basic size of the upper limb of the patient and the sitting posture and shoulder height of the patient which are measured in advance, after the adjustment is finished, the hand of the patient holds the handle 11, meanwhile, the forearm is placed on the arm support 12, the wrist is properly fixed through the bandage, and the wrist cannot be rotated or fall off from the handle 11 due to the fact that the wrist cannot be affected due to proper tightness. The method comprises the steps of inputting a range of permitted movement of each joint of a patient into a device through a touch screen, selecting a proper rehabilitation training mode, setting rehabilitation training time, starting the rehabilitation training device, controlling a single-acting air cylinder 7 on an arm body of the three-degree-of-freedom robot to overcome spring force and external load in the single-acting air cylinder 7 through air inlet pressure according to the set rehabilitation training mode, enabling the tail end of the robot to move vertically and stop at a certain position, timely feeding back the pressure detected by a three-dimensional force sensor 25 to a computer in a control unit for operation processing, driving a corresponding synchronous belt and a corresponding speed reducer to drive a large arm 1 and a small arm 2 through corresponding first joint motors and second joint motors, and further completing coordination movement. The motion angle and speed of each joint are detected by a photoelectric encoder of each motor, and are fed back to the controller in real time, and a motor action instruction of the next step is sent out through the operation controller. The three joints make the motion of each joint accurately smooth through the closed-loop servo control of driving-detecting-feedback-processing-driving. In the training process, different action times, speeds and training strengths can be set through key operation according to the specific rehabilitation conditions of the upper limbs of the patients.

In summary, the following steps: according to the device, the large arm joint and the small arm joint are respectively driven by the corresponding first joint motor and the second joint motor, so that the rotary motion of the shoulder joint and the elbow joint in the horizontal plane is realized, the vertical movement of the tail end is driven by the single-acting cylinder, the motion of the tail end in the sagittal plane is realized, the rotational freedom degrees of the large arm and the small arm and the motion freedom degrees of the single-acting cylinder realize closed-loop servo control, the three-degree-of-freedom coordinated motion can drive the tail end of the robot to perform three-dimensional compound motion in space, and the upper limbs of a patient are driven to realize omnidirectional rehabilitation training.

While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. The utility model provides a terminal recovered trainer of upper limbs that pulls which characterized in that: the robot comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises a large arm (1), a small arm (2) connected with one end of the large arm and three degrees of freedom formed by a tail end assembly, and the robot supporting mechanism comprises a supporting upright post (3) for supporting the robot body;

the supporting upright post (3) is of a rectangular frame structure, a first mounting plate (301) is arranged at the top of the supporting upright post (3), and a second mounting plate (302) and a third mounting plate (303) are sequentially and horizontally arranged below the first mounting plate (301);

the bottom of one end of the large arm (1) is horizontally arranged on the first mounting plate (301) through a large arm speed reducer (24), the large arm speed reducer (24) penetrates through the first mounting plate (301), a driving transmission mechanism I for driving the large arm to rotate is arranged between the first mounting plate (301) and the third mounting plate (303), the driving transmission mechanism I comprises a first joint motor (5), one end of the first joint motor (5) is vertically arranged between a second mounting plate (302) and a third mounting plate (303), and a driving belt wheel I (21) arranged at the other end of the first joint motor (5) passing through the second mounting plate (302) is connected with a driven belt wheel I (22) arranged at the input end of the large arm speed reducer through a horizontal synchronous belt I (6), thereby controlling the large arm (1) to swing relative to the supporting upright post through the first joint motor (5);

a motor flange (23) is fixedly arranged in an inner cavity at one end of the big arm (1) positioned at the big arm reducer, a driving transmission mechanism II for controlling the rotation of the small arm is vertically arranged on the motor flange (23), the driving transmission mechanism II comprises a second joint motor (4), an output shaft of the second joint motor (4) is connected with a driving belt wheel II (15) positioned in the inner cavity of the motor flange, the other end positioned in the inner cavity of the large arm is provided with a driven belt wheel II (16), a synchronous belt II (18) is arranged between the driving pulley II (15) and the driven pulley II (16), the driven belt wheel II (16) is connected with a small arm speed reducer (17), the output end of the small arm speed reducer (17) is connected with a small arm, enabling a second joint motor (4) to control the small arm (2) to swing relative to the large arm (1), wherein the other end of the small arm (2) is connected with a terminal component;

the tail end assembly comprises a vertically arranged single-acting cylinder (7), a three-dimensional force sensor (25) located in a small arm inner cavity is arranged at the bottom of the single-acting cylinder (7), a hand support (10) and an arm support (12) are horizontally arranged at the top of the single-acting cylinder (7), a handle (11) is arranged at one end of the hand support, the other end of the hand support is rotatably connected with a single elbow head (8) connected with the top of the single-acting cylinder (7) through a connecting elbow head (9), and the arm support (12) is fixedly connected with one side of the top of the connecting elbow head (9);

the control driving unit comprises a controller and a motor driver (20), and the motor driver (20) is arranged on the end face of the third mounting plate (303).

2. The end-traction upper limb rehabilitation training device of claim 1, wherein: fixed curb plate (13) that is provided with in one side between first mounting panel (301) and second mounting panel (302), there is movable plate (14) through bolted connection on the one end terminal surface that is close to the curb plate in second mounting panel (302), first joint motor (5) are through screw and movable plate (14) fixed connection, movable plate (14) are the L type, the vertical section and curb plate (13) of movable plate (14) pass through the bolt column connection, thereby adjust the removal of first joint motor (5) through the distance of pulling bolt column adjustment movable plate (14) and curb plate (13) to the tensioning of adjustment hold-in range I (6).

3. The end-traction upper limb rehabilitation training device of claim 2, wherein: the connecting hole between the horizontal section of the moving plate (14) and the second mounting plate (302) is a long elliptical hole, so that the moving plate (14) drives the first joint motor (5) to move relative to the second mounting plate (302).

4. The end-traction upper limb rehabilitation training device of claim 1, wherein: and a tension pulley (19) is arranged in the synchronous belt II between the driving pulley II (15) and the driven pulley II (16), and the tension of the synchronous belt II (18) is adjusted by adjusting the position of the tension pulley (19).

5. The end-traction upper limb rehabilitation training device of claim 1, wherein: the connecting elbow head (9) is connected with the single elbow head (8) through bolts, and the friction force of relative rotation can be adjusted through the tightness of the bolt connection.

6. The end-traction upper limb rehabilitation training device of claim 1, wherein: the top of connecting elbow head (9) is provided with the shaft hole, the hand holds in the palm (10) and keeps away from the one end of handle and the shaft hole cooperation of connecting elbow head (9) and constitutes, and just fixes through axle head screwed connection for wrist joint's turning resistance compresses tightly the degree through the axle head screw and adjusts.

7. The end-traction upper limb rehabilitation training device of claim 1, wherein: and the first joint motor (5) and the second joint motor (4) are both provided with photoelectric encoder detection mechanisms.

8. The end-traction upper limb rehabilitation training device of claim 1, wherein: the large arm speed reducer (24) and the small arm speed reducer (17) both adopt harmonic speed reducers.

9. The end-traction upper limb rehabilitation training device of claim 1, wherein: the rotation center of the large arm reducer (24) and the rotation center of the second joint motor are coincided with the central axis of the support upright post (3).

10. The end-traction upper limb rehabilitation training device of claim 1, wherein: the side of the motor flange (23) is provided with an opening convenient for mounting a synchronous belt II.