CN113576828A

CN113576828A - Tensile upper limbs rehabilitation training device of adjustable training

Info

Publication number: CN113576828A
Application number: CN202110284186.8A
Authority: CN
Inventors: 王道明; 潘瑞; 钱森; 王正雨; 董�成; 周贤德
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-11-02
Anticipated expiration: 2041-03-17
Also published as: CN113576828B

Abstract

The invention discloses an upper limb rehabilitation training device capable of adjusting training tension, which relates to the technical field of rehabilitation training devices and comprises a shoulder joint movement mechanism, an upper arm rotation mechanism, an elbow joint flexion and extension mechanism, a forearm rotation mechanism, a wrist joint flexion and extension mechanism, a forearm tension adjusting mechanism, a massage mechanism, a joint traction mechanism and an upper arm rotation centering mechanism, wherein the shoulder joint movement mechanism, the upper arm rotation mechanism, the elbow joint flexion and extension mechanism, the forearm rotation mechanism and the wrist joint flexion and extension mechanism are used for realizing outward swinging adduction and flexion and extension movements, the forearm tension adjusting mechanism is used for providing counterforce and driving force, the massage mechanism is used for massaging a big arm, the joint traction mechanism is used for providing traction force for the wrist, and the upper arm rotation centering mechanism is used for compensating eccentricity of the big arm. The upper limb rehabilitation training device can realize the multi-form upper limb rehabilitation training with six degrees of freedom, and can effectively avoid secondary injury to a user caused by the rehabilitation training device; the muscle tension of the upper arm can be effectively relieved in the rehabilitation training process, the fatigue is delayed, the joints of a user can be stretched, the joint clearance is increased, the muscle tension is reduced, and the pain and the discomfort of the patient in the rehabilitation training process are effectively relieved.

Description

Tensile upper limbs rehabilitation training device of adjustable training

Technical Field

The invention relates to the technical field of rehabilitation training devices, in particular to a device for upper limb rehabilitation training.

Background

The aging of population is one of the serious problems facing the modern human society, and along with the aging phenomenon of population, the number of patients suffering from diseases such as cerebral apoplexy, cerebral palsy and the like is increased year by year. The physical adjuvant therapy has remarkable rehabilitation effect in the early stage of cerebral apoplexy and cerebral palsy, and the traditional physical adjuvant therapy needs to be carried out by the auxiliary patient of rehabilitation medical personnel. However, as the number of patients increases, the number of limited rehabilitation medical personnel cannot meet the actual requirement. Therefore, rehabilitation training devices that can automatically or semi-automatically assist patients in performing rehabilitation training are increasingly widely used.

The upper limb rehabilitation training device is one of the rehabilitation training devices with large rehabilitation training demand, can effectively provide corresponding rehabilitation training for patients with different disease degrees at all ages, and accurately executes a rehabilitation training plan made by medical personnel according to the motion range of all joints of the upper limb of the patient. However, when the existing upper limb rehabilitation training device drives the injured upper limb of the patient to perform rehabilitation training, the patient often generates severe pain and fatigue, so that the patient has a lot of discomfort in the rehabilitation training, and even secondary injury to the injured upper limb of the patient can be caused.

By prior art search, there are the following known solutions:

prior art 1:

application No.: CN201710811090.6, application date: 20170911, publication (announcement) date: 20191029, discloses a five-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which comprises an upper shoulder joint rotating assembly, an upper arm rotating assembly, an elbow joint flexion and extension assembly, a forearm rotating assembly, a wrist joint flexion and extension assembly, an arm integral rotating assembly and an arm integral height adjusting box; the upper shoulder joint rotating assembly is connected with the upper arm rotating assembly; the upper arm rotating assembly is connected with the elbow joint flexion and extension assembly; the elbow joint flexion and extension component is connected with the forearm rotating component; the forearm rotating component is connected with the wrist joint bending and stretching component; the arm integral rotating component is connected with the upper shoulder joint rotating component; the arm integral rotating assembly is fixed on the arm integral height adjusting box. The robot can realize five-degree-of-freedom motion of shoulder joint rotation, upper arm internal rotation and external rotation, elbow joint flexion and extension, forearm internal rotation and external rotation, wrist joint flexion and extension and arm vertical direction height adjustment, and improves the scientificity, flexibility and effectiveness of rehabilitation motion.

However, this prior art is limited by the structure of the device itself, so that the degree of trainability of the shoulder joint is very limited, and the invention has no training device for the flexion/extension degrees of freedom of the shoulder joint, and no auxiliary training device other than the five degrees of freedom.

Prior art 2:

application No.: CN201811012470.4, application date: 20180831, publication (announcement) date: 20200825, discloses an upper limb rehabilitation trainer with shoulder massage function, which comprises a supporting leg, a seat cushion and a backrest, wherein the seat cushion is arranged at the upper end of the supporting leg, the rear side of the seat cushion is provided with an insertion groove with a non-circular cross section along the vertical direction, and the lower end of the backrest is provided with a first rack which is connected in the insertion groove in a sliding way; a first driving motor is mounted on the lower surface of the seat cushion through a supporting plate, and a first gear meshed with the first rack is mounted on an output shaft of the first driving motor; the left side and the right side of the upper end of the backrest are respectively provided with an arm recovery mechanism; the left side and the right side of the back side of the backrest are both provided with a shoulder massage mechanism; this upper limbs rehabilitation training ware with shoulder massage function not only simple structure can realize the diversified training of upper limbs moreover for the patient can accomplish the recovery of upper limbs fast.

The prior art adopts the beating hammer to massage in a beating mode, although the structure is simple, the massage effect is limited, the active training requirement of a patient cannot be met, and the training mode is single.

The search shows that the technical scheme does not influence the novelty of the invention; and the combination of the above prior arts with each other does not destroy the inventive step of the present invention.

Disclosure of Invention

The invention provides the upper limb rehabilitation training device capable of adjusting the training tension, which aims to overcome the defects in the prior art.

The invention adopts the following technical scheme for solving the technical problems: an upper limb rehabilitation training device capable of adjusting training tension comprises a shoulder joint movement mechanism, an upper arm rotating mechanism, an elbow joint bending and stretching mechanism, a forearm rotating mechanism, a wrist joint bending and stretching mechanism and a forearm tension adjusting mechanism, wherein the shoulder joint movement mechanism, the upper arm rotating mechanism, the elbow joint bending and stretching mechanism, the forearm rotating mechanism and the wrist joint bending and stretching mechanism are sequentially installed and connected with one another;

the shoulder joint motion mechanism comprises a fixed support, a shoulder joint outward-swinging inward-contracting driving motor, a shoulder joint outward-swinging inward-contracting motion connecting rod, a shoulder joint flexion and extension driving motor, a shoulder joint flexion and extension supporting frame, a flexion and extension sliding block, a shoulder joint flexion and extension crank and a flexion and extension compensation sliding block; the shoulder joint outward-swinging and inward-contracting driving motor is mounted on the fixed support and positioned above the shoulder of a user, the output end of the shoulder joint outward-swinging and inward-contracting driving motor is fixedly connected with the top end of the shoulder joint outward-swinging and inward-contracting motion connecting rod, and the shoulder joint outward-swinging and inward-contracting motion connecting rod is attached to the top of the shoulder of the user and the outer side of the upper arm of the user; the shoulder joint outward-swinging and inward-contracting driving motor is used for driving the shoulder joint outward-swinging and inward-contracting movement connecting rod to rotate in the shoulder joint outward-swinging and inward-contracting direction relative to the fixed support;

the shoulder joint flexion and extension support frame is positioned on the outer side of the upper arm of a user, the front end of the shoulder joint flexion and extension support frame is rotatably connected with the bottom end of the shoulder joint outward-swing inward-contraction motion connecting rod, and the shoulder joint flexion and extension driving motor is installed on the shoulder joint outward-swing inward-contraction motion connecting rod; the front end of the shoulder joint flexion and extension crank is fixedly connected with the output end of the shoulder joint flexion and extension driving motor, the tail end of the shoulder joint flexion and extension driving motor is rotatably connected with the flexion and extension sliding block, and the flexion and extension sliding block is connected with the shoulder joint flexion and extension supporting frame in a sliding fit mode and forms a sliding pair along the length direction of the shoulder joint flexion and extension supporting frame; the shoulder joint flexion and extension driving motor is used for driving the shoulder joint flexion and extension crank to rotate so as to drive the shoulder joint flexion and extension supporting frame to rotate in the shoulder joint flexion and extension direction relative to the shoulder joint outward-swinging and inward-contracting movement connecting rod;

the buckling and stretching compensation sliding block is connected to the shoulder joint buckling and stretching support frame in a sliding fit mode, and a sliding pair in the length direction of the shoulder joint buckling and stretching support frame is formed by the buckling and stretching compensation sliding block and the shoulder joint buckling and stretching support frame;

the upper arm rotating mechanism comprises an upper arm rotating support plate, an upper arm rotating driving motor, arc guide rails, arc guide rail support rollers, an arc rack and an upper arm support sleeve, the upper arm rotating support plate is fixedly connected to the buckling and stretching compensation sliding block, the upper arm rotating driving motor is mounted on the upper arm rotating support plate, at least four arc guide rail support rollers are rotatably connected to the upper arm rotating driving motor, limit grooves are formed in the arc guide rail support rollers, and the arc guide rails are clamped in the limit grooves of the arc guide rail support rollers in a matched mode and can slide in the limit grooves; each arc guide rail supporting roller is respectively arranged above and below the arc guide rail, and the number of the arc guide rail supporting rollers arranged above and below the arc guide rail is not less than two; the arc rack is arranged on one side face of the arc guide rail, the arc rack is meshed with an upper arm rotation driving gear connected with the output end of the upper arm rotation driving motor, and the upper arm rotation driving motor is used for driving the arc guide rail to drive the upper arm support sleeve to rotate in the large arm rotation direction relative to the upper arm rotation support plate through transmission of the upper arm rotation driving gear and the arc rack;

the upper arm supporting sleeve is fixedly connected with the arc guide rail through an upper arm supporting sleeve connecting plate and is used for fixing a large arm of a user; the axes of the arc guide rails, the arc guide rail support rollers, the arc racks and the upper arm support sleeve are all parallel to the length direction of the user's large arm;

the elbow joint bending and stretching mechanism comprises an elbow joint bending and stretching motor, an electromagnetic clutch, elbow joint support frames, elbow joint displacement compensation plates, an elbow joint displacement guide rod and a connecting block, wherein the two elbow joint support frames are respectively arranged on the front side and the rear side of a large arm of a user when the large arm naturally sags, the two elbow joint displacement compensation plates are respectively arranged on the front side and the rear side of a small arm of the user when the small arm naturally sags, and the front end of each elbow joint displacement compensation plate is rotationally connected with the tail end of the elbow joint support frame on the same side to form a revolute pair with the axis positioned at the elbow of the user; the elbow joint flexion and extension motor is arranged on any elbow joint support frame, and the electromagnetic clutch is arranged between the output end of the elbow joint flexion and extension motor and the front end of the elbow joint displacement compensation plate on the same side; the elbow joint flexion and extension motor is used for driving the elbow joint displacement compensation plate to rotate in the elbow joint flexion and extension direction relative to the elbow joint support frame when the electromagnetic clutch is in attraction;

the two elbow joint displacement guide rods are respectively connected with the elbow joint displacement compensation plates on the same side in a sliding fit mode through the tail ends of the two elbow joint displacement compensation plates, a sliding pair along the length direction of the elbow joint displacement compensation plates is formed, and the connecting blocks are fixedly connected to the side faces of the two elbow joint displacement compensation plates;

the forearm rotating mechanism comprises a forearm rotating telescopic rod, a forearm rotating support seat, a forearm rotating driving motor, a limiting rotating block and an arc-shaped inner rack, the forearm rotating support seat is connected with the connecting block through the forearm rotating telescopic rod, the forearm rotating support seat and the limiting rotating block are of arc-shaped plate structures, and the rear end face of the forearm rotating support seat is connected with the front end face of the limiting rotating block in a sliding fit manner to form a sliding pair; an arc-shaped inner rack is fixedly connected to the outer side of the limiting rotation block, the forearm rotation driving motor is mounted on the forearm rotation supporting seat, and the output end of the forearm rotation driving motor is fixedly connected with a forearm rotation driving gear meshed with the arc-shaped inner rack; the forearm rotating driving motor is used for driving the limiting rotating block to rotate in a forearm rotating direction relative to the forearm rotating supporting seat through the arc-shaped inner rack and the forearm rotating driving gear; the forearm rotating support seat and the forearm rotating driving motor are worn by fitting the forearm of a user, and the telescopic direction of the forearm rotating telescopic rod is along the length direction of the forearm of the user;

the wrist joint flexion and extension mechanism comprises a wrist joint flexion and extension motor, a gripping handle, wrist joint support frames, wrist joint displacement compensation plates and wrist joint displacement guide rods, the two wrist joint support frames are respectively arranged on the front side and the rear side of the user when the forearm naturally sags, the two wrist joint displacement compensation plates are respectively arranged on the front side and the rear side of the user when the hand naturally sags, and the front ends of the wrist joint displacement compensation plates are rotatably connected with the tail ends of the wrist joint support frames on the same side to form a rotating pair with the axis positioned at the wrist of the user; the wrist joint bending and stretching motor is arranged on any wrist joint support frame, and the output end of the wrist joint bending and stretching motor is fixedly connected with the front end of the wrist joint displacement compensation plate on the same side; the wrist joint flexion and extension motor is used for driving the wrist joint displacement compensation plate to rotate in the wrist joint flexion and extension direction relative to the wrist joint support frame; the two wrist joint displacement guide rods are respectively connected with the wrist joint displacement compensation plates on the same side through the tail ends of the two wrist joint displacement compensation plates in a sliding fit manner, a sliding pair along the length direction of the wrist joint displacement compensation plates is formed, and the grasping handle is fixedly connected with the tail ends of the two wrist joint displacement guide rods;

the forearm tension adjusting mechanism comprises a ball screw frame, a forearm tension adjusting motor, a screw, a pulley support frame, a pulley and an elastic belt, the ball screw frame is fixedly connected to the elbow joint displacement compensation plate, the screw is rotatably mounted on the ball screw frame, the pulley support frame is connected to the screw through a guide block arranged on the back of the pulley support frame in a threaded fit manner, and the pulley support frame and the screw form a moving pair along the axial direction of the screw; the pulley support frame is rotatably provided with two pulleys, the elastic belt passes between the two pulleys and is wound on one pulley in a tensioning manner, the front end of the elastic belt is fixedly connected with the elbow joint support frame, and the other end of the elastic belt is fixedly connected with the elbow joint displacement compensation plate or the connecting block;

the front arm tension adjusting motor is arranged on the ball screw frame, and a front arm tension adjusting gear connected with the output end of the front arm tension adjusting motor is meshed with a screw rod gear connected and fixed on the screw rod; the front arm tension adjusting motor is used for driving the guide block to drive the pulley supporting frame to slide along the lead screw through the front arm tension adjusting gear and the lead screw gear so as to adjust the positions of the two pulleys and further realize the adjustment of the tension of the elastic belt;

the shoulder joint flexion and extension support frame is characterized by further comprising a flexion and extension compensation sliding block and a massage mechanism, wherein the flexion and extension compensation sliding block is connected to the shoulder joint flexion and extension support frame in a sliding fit mode and forms a sliding pair along the length direction of the shoulder joint flexion and extension support frame;

the massage mechanism comprises a massage connecting plate, massage driving motors, massage cams, massage pressure rods, massage rollers, a massage supporting frame, massage telescopic rods, massage press blocks and massage plates, the massage connecting plate is fixedly connected to the buckling and stretching compensation sliding block and is provided with two massage driving motors, and the output ends of the massage driving motors are fixedly connected with the massage cams; the openings of the massage supporting frames of the two arc structures are arranged at the same side and are connected and fixed to the massage connecting plate, and the connecting line of the circle centers of the two massage supporting frames is along the length direction of the large arm of the user;

massage pressure rod grooves with arc structures are arranged on the opposite end surfaces of the two massage support frames, the massage pressure rods are arranged in the massage pressure rod grooves in a matched mode, and massage rollers which are in matched contact with the corresponding massage cams are rotatably connected to the massage pressure rods; each massage pressing block groove is formed in the massage supporting frame in the circumferential direction on the outer side or the inner side of the massage pressing rod groove, and massage pressing blocks capable of moving in the massage pressing block grooves along the radial direction of the corresponding massage supporting frame and massage reset springs are arranged in the massage pressing block grooves; the outer end of each massage pressing block groove is provided with an arc-shaped convex block facing one side of the corresponding massage pressing rod, one end of each massage reset spring is fixedly connected with the end part of the corresponding massage pressing block groove, the other end of each massage reset spring is fixedly connected with the corresponding massage pressing block, and the massage reset springs and the arc-shaped convex blocks are respectively positioned on two sides of the corresponding massage pressing blocks;

the massage support frames are provided with a plurality of massage pressing block grooves, the massage supporting frames are provided with a plurality of massage pressing block grooves, the massage pressing block grooves are symmetrically arranged in pairs, a corresponding pair of massage pressing blocks are respectively hinged with two ends of the same massage telescopic rod, the massage telescopic rod is fixedly connected with the massage plate, and the massage plate is arranged at the telescopic position of the corresponding massage telescopic rod in a disconnected mode; the massage support frame and the massage plate are arranged to fit with the big arm of the user.

The wrist joint traction mechanism comprises a movable sheath supporting block, coils, a movable sheath, movable magnet cores and a wrist fixing structure, wherein the movable sheath supporting block is positioned on the sides of the two wrist joint displacement compensation plates and is fixedly connected with the two wrist joint displacement compensation plates, each coil is fixedly connected with the movable sheath supporting block, the axis of each coil is parallel to the length direction of the forearm of a user, and the number and the positions of the movable magnet cores are arranged corresponding to the coils;

the movable magnetic core is inserted into the coil from one end of the corresponding coil in a matching way and is fixedly connected with the other end of the coil through a joint traction return spring, and the movable magnetic core and the corresponding coil form a sliding pair along the axis direction of the movable magnetic core and the coil; the movable sheath is fixedly connected with the free end of each movable magnetic core, the wrist fixing structure is installed on the movable sheath, and the wrist fixing structure is worn and fixed on the wrist of a user.

Furthermore, the movable sheath supporting block and the movable sheath are both arc-shaped, and the coils and the movable magnetic cores are uniformly distributed along the circumferential direction of the movable sheath supporting block and the movable sheath.

The upper arm rotating and centering mechanism comprises upper arm centering connecting blocks and upper arm centering spring sets, the upper arm centering connecting blocks are uniformly distributed along the circumferential direction of the inner side of the upper arm supporting sleeve, and the upper arm centering connecting blocks are respectively connected with the upper arm supporting sleeve through the corresponding upper arm centering spring sets; the upper arm fixing structure is arranged on the inner side of the upper arm supporting sleeve, the upper arm centering connecting blocks are fixedly connected to the outer side surface of the upper arm fixing structure, and the upper arm fixing structure is worn and fixed on the upper arm of a user.

Furthermore, the upper arm fixing structure and the wrist fixing structure comprise a fixed contact sleeve, a fixed binding band, a fixed ring and a magic tape, the fixed contact sleeve is of an arc-shaped structure, and one end of the fixed contact sleeve is provided with the fixed ring; one end of the binding band is fixedly connected with the end part of the fixed contact sleeve which is not provided with the fixing ring, and the other end of the binding band penetrates through the fixing ring to be turned over outwards and is fixed by a magic tape arranged on the outer side of the fixing ring.

Furthermore, an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove are respectively formed in the elbow joint displacement compensation plate and the wrist joint displacement compensation plate, and the corresponding elbow joint displacement guide rod and the corresponding wrist joint displacement guide rod are respectively connected in a sliding fit manner in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove;

the tail ends of the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove are respectively provided with a displacement compensation limiting block used for limiting the sliding limit position of the elbow joint displacement guide rod and the sliding limit position of the wrist joint displacement guide rod, a displacement compensation spring is further arranged in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove, one end of the displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod hole groove or the front end of the wrist joint displacement guide rod hole groove, and the other end of the displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod or the front end of the wrist joint displacement guide rod.

Furthermore, the front end and the tail end of the elastic band are respectively connected and fixed with the elbow joint support frame and the elbow joint displacement compensation plate or the connecting block through connecting columns, and the connecting columns extend out of the elbow joint bending and extending mechanism and the outer sides of the rollers; the connecting line of the two connecting columns is perpendicular to the axis of the screw rod;

furthermore, output shafts of the shoulder joint outward-swinging inward-contracting driving motor, the shoulder joint flexion-extension driving motor, the upper arm rotation driving motor, the elbow joint flexion-extension motor, the forearm rotation driving motor, the wrist joint flexion-extension motor and the forearm tension adjusting motor are all connected with a speed reducer, and output shafts of the speed reducers which are correspondingly connected are used as output ends; the shoulder joint outward-swinging adduction drive motor, the shoulder joint flexion and extension drive motor, the upper arm rotation drive motor, the elbow joint flexion and extension motor, the forearm rotation drive motor and the wrist joint flexion and extension motor are servo motors.

The lifting assembly and the seat are mounted at the top of the moving frame, and the bottom of the moving frame is provided with universal wheels; the front end of a fixed support of the shoulder joint movement mechanism is fixedly connected with the execution end of the lifting assembly, and the shoulder joint flexion and extension driving motor is installed at the position from the lower part to the bottom of the shoulder joint outward-swing adduction movement connecting rod.

The invention provides an upper limb rehabilitation training device capable of adjusting training tension, which has the following beneficial effects:

1. the invention can realize the upper limb rehabilitation training of various forms with three degrees of freedom of the shoulder joint, two degrees of freedom of the elbow joint and one degree of freedom of the wrist joint through the shoulder joint motion mechanism, the upper arm rotation mechanism, the elbow joint flexion and extension mechanism, the forearm rotation mechanism and the wrist joint flexion and extension mechanism, and the forearm tension adjusting mechanism can provide stepless adjustable counter force or driving force for flexion and extension of the elbow joint when the electromagnetic clutch cuts off the power of the elbow joint flexion and extension motor, so as to realize the active rehabilitation training for flexion and extension of the elbow joint and facilitate the rehabilitation of the flexion and extension functions of the elbow joint in the middle and later periods of the rehabilitation training of a user;

2. the massage mechanism is worn on the large arm of a user, in the rehabilitation training process, a massage driving motor of the massage mechanism drives the pressure rods to periodically press each massage pressure block through the cam roller structure, and the massage driving motor is matched with each massage return spring to drive the massage plates on each massage telescopic rod to perform extrusion massage on the large arm, so that the tension of the muscle of the large arm can be effectively relieved, the fatigue is delayed, and the rehabilitation of the muscle and nerve tissue of the large arm is facilitated;

3. the wrist joint traction mechanism is arranged on the wrist of a user, and in the rehabilitation training process, the joint traction mechanism can stretch the joint of the user, increase the joint clearance, reduce the muscle tension and effectively relieve the pain and discomfort of the patient in the rehabilitation training process;

4. the upper arm rotation centering mechanism can realize the relative displacement generated by the misalignment of the rotation axis of the upper arm and the rotation axis of the device in the rehabilitation training process, and the flexion and extension compensation slide block, the shoulder joint flexion and extension support frame, the elbow joint displacement compensation plate, the elbow joint displacement guide rod and the sliding pair between the wrist joint displacement compensation plate and the wrist joint displacement guide rod can compensate the linear displacement deviation generated by the misalignment of the upper limb of a user and the rotation axis of the device, thereby effectively avoiding the secondary injury of the rehabilitation training device to the user.

Drawings

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

FIG. 2 is a partial schematic view of the present invention;

FIG. 3 is a schematic structural view of the shoulder joint movement mechanism of the present invention;

FIG. 4 is a schematic structural view of an upper arm rotating mechanism according to the present invention;

FIG. 5 is a schematic structural view of the elbow flexion-extension mechanism of the present invention;

FIG. 6 is a schematic structural view of a forearm rotating mechanism according to the present invention;

FIG. 7 is a schematic structural view of the wrist joint flexion and extension mechanism according to the present invention;

FIG. 8 is a schematic structural diagram of a forearm tension adjustment mechanism of the present invention;

fig. 9 is a schematic structural view of the massage mechanism of the present invention;

FIG. 10 is a schematic structural view of the massage press rod, the massage support frame and the massage press block of the present invention;

FIG. 11 is a schematic cross-sectional view taken along line A-A of the present invention;

FIG. 12 is a schematic illustration of the construction of the joint distraction mechanism of the invention;

FIG. 13 is a schematic structural view of the upper arm rotation centering mechanism of the present invention.

In the figure:

1. the shoulder joint flexion and extension device comprises a shoulder joint movement mechanism 11, a fixed support 12, a shoulder joint flexion and extension driving motor 13, a shoulder joint flexion and extension connecting rod 14, a shoulder joint flexion and extension driving motor 15, a shoulder joint flexion and extension support frame 16, a flexion and extension sliding block 17, a shoulder joint flexion and extension crank 18 and a flexion and extension compensation sliding block;

2. an upper arm rotating mechanism 21, an upper arm rotating support plate 22, an upper arm rotating drive motor 23, an arc guide rail 24, an arc guide rail support roller 25, an arc rack 26 and an upper arm support sleeve;

3. the elbow joint bending and stretching mechanism comprises an elbow joint bending and stretching mechanism 31, an elbow joint bending and stretching motor 32, an electromagnetic clutch 33, an elbow joint support frame 34, an elbow joint displacement compensation plate 35, an elbow joint displacement guide rod 38 and a connecting block;

4. a forearm rotating mechanism 41, a forearm rotating telescopic rod 42, a forearm rotating supporting seat 43, a forearm rotating driving motor 44, a limiting rotating block 45 and an arc-shaped inner rack;

5. a wrist joint flexion and extension mechanism 51, a wrist joint flexion and extension motor 52, a grasping handle 53, a wrist joint support frame 54, a wrist joint displacement compensation plate 55 and a wrist joint displacement guide rod;

6. the massage mechanism 61, the massage connecting plate 62, the massage driving motor 63, the massage cam 64, the massage press rod 65 and the massage roller; 66. the massage support frame is 661, the massage press rod groove is 662, the massage press block groove is 663, the massage reset spring is 67, the massage telescopic rod is 68, the massage press block is 69 and the massage plate;

7. an upper arm rotation centering mechanism 71, an upper arm centering connecting block 72 and an upper arm centering spring set;

8. a forearm tension adjusting mechanism 81, a ball screw frame 82, a forearm tension adjusting motor 83, a screw rod 84, a pulley supporting frame 85, a pulley 86 and an elastic belt;

9. joint traction mechanism 91, movable sheath supporting block 92, coil 93, movable sheath 94 and movable magnetic core.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 13, the structural relationship is as follows: comprises a shoulder joint movement mechanism 1, an upper arm rotation mechanism 2, an elbow joint flexion and extension mechanism 3, a forearm rotation mechanism 4, a wrist joint flexion and extension mechanism 5 and a forearm tension adjusting mechanism 8 which are sequentially arranged and connected, wherein the forearm tension adjusting mechanism 8 is arranged on the elbow joint flexion and extension mechanism 3;

the shoulder joint movement mechanism 1 comprises a fixed support 11, a shoulder joint outward-swinging inward-contracting driving motor 12, a shoulder joint outward-swinging inward-contracting movement connecting rod 13, a shoulder joint flexion and extension driving motor 14, a shoulder joint flexion and extension supporting frame 15, a flexion and extension sliding block 16, a shoulder joint flexion and extension crank 17 and a flexion and extension compensation sliding block 18; the shoulder joint outward-swinging inward-contracting driving motor 12 is installed on the fixed support 11 and is positioned above the shoulder of a user, the output end of the shoulder joint outward-swinging inward-contracting driving motor is fixedly connected with the top end of a shoulder joint outward-swinging inward-contracting movement connecting rod 13, and the shoulder joint outward-swinging inward-contracting movement connecting rod 13 is attached to the top of the shoulder and the outer side of the upper arm of the user; the shoulder joint outward-swinging and inward-contracting driving motor 12 is used for driving the shoulder joint outward-swinging and inward-contracting movement connecting rod 13 to rotate in the shoulder joint outward-swinging and inward-contracting direction relative to the fixed support 11, namely the movement of the first degree of freedom of the shoulder joint movement mechanism 1 is realized, and meanwhile, the movement of the first degree of freedom of the upper limb rehabilitation training device is also realized;

the shoulder joint flexion and extension support frame 15 is positioned on the outer side of the upper arm of a user, the front end of the shoulder joint flexion and extension support frame is rotatably connected with the bottom end of the shoulder joint outward-swing inward-contraction motion connecting rod 13, and the shoulder joint flexion and extension driving motor 14 is installed on the shoulder joint outward-swing inward-contraction motion connecting rod 13; the front end of the shoulder joint flexion and extension crank 17 is connected and fixed with the output end of the shoulder joint flexion and extension driving motor 14, the tail end of the shoulder joint flexion and extension driving motor is rotationally connected with a flexion and extension sliding block 16, the flexion and extension sliding block 16 is connected with the shoulder joint flexion and extension supporting frame 15 in a sliding fit mode, and a sliding pair in the length direction of the shoulder joint flexion and extension supporting frame 15 is formed; the shoulder joint flexion and extension driving motor 14 is used for driving a shoulder joint flexion and extension crank 17 to rotate so as to drive the shoulder joint flexion and extension supporting frame 15 to rotate in the shoulder joint flexion and extension direction relative to the shoulder joint outward-swinging adduction movement connecting rod 13, namely the movement of the shoulder joint movement mechanism 1 with the second degree of freedom and the movement of the upper limb rehabilitation training device with the second degree of freedom; the sliding pair between the flexion-extension sliding block 16 and the shoulder joint flexion-extension supporting frame 15 is used for linearly compensating the position deviation generated between the shoulder joint flexion-extension crank 17 and the shoulder joint flexion-extension supporting frame 15 in the motion process;

the flexion and extension compensation slide block 18 is connected to the shoulder joint flexion and extension support frame 15 in a sliding fit manner, and the flexion and extension compensation slide block and the shoulder joint flexion and extension support frame 15 form a sliding pair along the length direction of the shoulder joint flexion and extension support frame 15;

the upper arm rotating mechanism 2 comprises an upper arm rotating support plate 21, an upper arm rotating drive motor 22, arc guide rails 23, arc guide rail support rollers 24, an arc rack 25 and an upper arm support sleeve 26, wherein the upper arm rotating support plate 21 is fixedly connected to the buckling and stretching compensation slide block 18, the upper arm rotating drive motor 22 is mounted on the upper arm rotating support plate and is rotatably connected with at least four arc guide rail support rollers 24, limit grooves are formed in the arc guide rail support rollers 24, and the arc guide rails 23 are clamped in the limit grooves of the arc guide rail support rollers 24 in a matched manner and can slide in the limit grooves; the arc guide rail supporting rollers 24 are respectively arranged above and below the arc guide rail 23, and the number of the arc guide rail supporting rollers 24 arranged above and below the arc guide rail 23 is not less than two; one side surface of the arc guide rail 23 is provided with an arc rack 25, the arc rack 25 is meshed with an upper arm rotation driving gear connected with the output end of the upper arm rotation driving motor 22,

the upper arm rotation driving motor 22 is used for driving the upper arm rotation driving gear and the arc rack 25 to drive the arc guide rail 23 to drive the upper arm support sleeve 26 to rotate in the upper arm rotation direction relative to the upper arm rotation support plate 21, namely, the upper arm rotation mechanism 2 moves with a first degree of freedom and also moves with a third degree of freedom of the upper limb rehabilitation training device; it should be noted that the motion in the direction of rotation of the large arm is actually supported by the shoulder joint in the anatomy, and therefore, the motion is also the motion of the third degree of freedom of the shoulder joint in the anatomy; the upper arm supporting sleeve 26 is fixedly connected with the arc guide rail 23 through an upper arm supporting sleeve connecting plate and is used for fixing the big arm of a user; the axes of the arc guide rail 23, each arc guide rail support roller 24, the arc rack 25 and the upper arm support sleeve 26 are all parallel to the length direction of the user's large arm;

the elbow joint flexion and extension mechanism 3 comprises an elbow joint flexion and extension motor 31, an electromagnetic clutch 32, elbow joint support frames 33, elbow joint displacement compensation plates 34, elbow joint displacement guide rods 35 and connecting blocks 38, wherein the two elbow joint support frames 33 are respectively arranged on the front side and the rear side of the upper arm of a user when the upper arm naturally droops, the two elbow joint displacement compensation plates 34 are respectively arranged on the front side and the rear side of the lower arm of the user when the lower arm naturally droops, and the front end of each elbow joint displacement compensation plate 34 is rotatably connected with the tail end of the elbow joint support frame 33 on the same side to form a rotating pair with the axis positioned at the elbow of the user; the elbow joint bending and stretching motor 31 is arranged on any elbow joint support frame 33, an electromagnetic clutch 32 is arranged between the output end of the elbow joint bending and stretching motor 31 and the front end of the elbow joint displacement compensation plate 34 on the same side, when the electromagnetic clutch 32 is attracted, the output end of the elbow joint bending and stretching motor 31 is equivalently connected and fixed with the front end of the elbow joint displacement compensation plate 34 on the same side, and when the electromagnetic clutch 32 is separated, the output end of the elbow joint bending and stretching motor 31 is equivalently separated from the front end of the elbow joint displacement compensation plate 34 on the same side;

the elbow joint flexion and extension motor 31 is used for driving the elbow joint displacement compensation plate 34 to rotate relative to the elbow joint support frame 33 in the elbow joint flexion and extension direction when the electromagnetic clutch 32 is in attraction, namely the elbow joint flexion and extension mechanism 3 moves with the first degree of freedom, and meanwhile, the elbow joint flexion and extension motor also moves with the fourth degree of freedom of the upper limb rehabilitation training device;

the two elbow joint displacement guide rods 35 are respectively connected with the elbow joint displacement compensation plates 34 on the same side through the tail ends of the two elbow joint displacement compensation plates 34 in a sliding fit mode to form a sliding pair along the length direction of the elbow joint displacement compensation plates 34, and the side faces of the two elbow joint displacement compensation plates 34 are fixedly connected with connecting blocks 38; the sliding pair between the elbow joint displacement compensation plate 34 and the displacement guide rod 35 is used for linearly compensating the position deviation caused by the non-concentric rotation of the user's forearm and the elbow joint displacement compensation plate 34 when the elbow joint displacement compensation plate 34 rotates relative to the elbow joint support frame 33 in the elbow joint bending and stretching direction;

the forearm rotating mechanism 4 comprises a forearm rotating telescopic rod 41, a forearm rotating support seat 42, a forearm rotating drive motor 43, a limiting rotating block 44 and an arc-shaped inner rack 45, the forearm rotating support seat 42 is connected with the connecting block 38 through the forearm rotating telescopic rod 41, the forearm rotating support seat 42 and the limiting rotating block 44 are in arc-shaped plate structures, and the rear end face of the forearm rotating support seat 42 is connected with the front end face of the limiting rotating block 44 in a sliding fit manner to form a sliding pair; an arc-shaped inner rack 45 is fixedly connected to the outer side of the limiting rotation block 44, a forearm rotation driving motor 43 is mounted on the forearm rotation supporting seat 42, and the output end of the forearm rotation driving motor is fixedly connected with a forearm rotation driving gear meshed with the arc-shaped inner rack 45; the forearm rotation driving motor 43 is used for driving the limiting rotation block 44 to rotate in the forearm rotation direction relative to the forearm rotation supporting seat 42 through the arc-shaped inner rack 45 and the forearm rotation driving gear, namely the movement of the forearm rotation mechanism 4 with the first degree of freedom and the movement of the upper limb rehabilitation training device with the fifth degree of freedom; the forearm rotating support seat 42 and the forearm rotating drive motor 43 are worn by the forearm of the user, and the telescopic direction of the forearm rotating telescopic rod 41 is along the length direction of the forearm of the user;

the wrist joint flexion and extension mechanism 5 comprises a wrist joint flexion and extension motor 51, a grasping handle 52, two wrist joint support frames 53, two wrist joint displacement compensation plates 54 and a wrist joint displacement guide rod 55, wherein the two wrist joint support frames 53 are respectively arranged at the front side and the rear side of the user when the forearm naturally sags, the two wrist joint displacement compensation plates 54 are respectively arranged at the front side and the rear side of the user when the hand naturally sags, and the front end of each wrist joint displacement compensation plate 54 is rotationally connected with the tail end of the wrist joint support frame 53 at the same side to form a revolute pair with the axis positioned at the wrist of the user; the wrist joint flexion and extension motor 51 is arranged on any wrist joint support 53, and the output end of the wrist joint flexion and extension motor is fixedly connected with the front end of the wrist joint displacement compensation plate 54 on the same side; the wrist joint flexion and extension motor 51 is used for driving the wrist joint displacement compensation plate 54 to rotate relative to the wrist joint support 53 in the wrist joint flexion and extension direction, namely the movement of the first degree of freedom of the wrist joint flexion and extension mechanism 5 and the movement of the sixth degree of freedom of the upper limb rehabilitation training device;

the two wrist joint displacement guide rods 55 are respectively connected with the wrist joint displacement compensation plates 54 on the same side by the tail ends of the two wrist joint displacement compensation plates 54 in a sliding fit manner, and form a sliding pair along the length direction of the wrist joint displacement compensation plates 54, the gripping handle 52 is fixedly connected with the tail ends of the two wrist joint displacement guide rods 55, and the sliding pair between the wrist joint displacement compensation plates 54 and the wrist joint displacement guide rods 55 is used for linearly compensating the position deviation caused by the non-concentric rotation of the hand and the wrist joint displacement compensation plates 54 of the user when the wrist joint displacement compensation plates 54 rotate relative to the wrist joint displacement guide rods 55 in the wrist joint flexion and extension direction;

the forearm tension adjusting mechanism 8 comprises a ball screw frame 81, a forearm tension adjusting motor 82, a screw 83, a pulley support frame 84, a pulley 85 and an elastic belt 86, wherein the ball screw frame 81 is fixedly connected to the elbow joint displacement compensation plate 34, the screw 83 is rotatably mounted on the ball screw frame, the pulley support frame 84 is connected to the screw 83 through a guide block arranged on the back of the pulley support frame in a threaded fit manner, the pulley support frame 84 and the screw 83 form a moving pair along the axial direction of the screw 83, and the moving pair forms a constraint that the guide block needs to be rotated, for example, the back of the guide block is attached to the plate surface of the ball screw frame 81, so that the relative rotation of the screw 83 and the guide block is converted into the linear motion of the guide block along the axial direction of the screw 83;

the pulley support frame 84 is rotatably provided with two pulleys 85, the elastic belt 86 passes between the two pulleys 85 and is wound on one pulley 85 in a tensioning manner, the front end of the elastic belt is fixedly connected with the elbow joint support frame 33, and the other end of the elastic belt is fixedly connected with the elbow joint displacement compensation plate 34 or the connecting block 38;

a front arm tension adjusting motor 82 is arranged on the ball screw frame 81, and a front arm tension adjusting gear connected with the output end of the front arm tension adjusting motor is meshed with a screw rod gear connected and fixed on a screw rod 83; the front arm tension adjusting motor 82 is used for driving the guide block to drive the pulley support frame 84 to slide along the lead screw 83 through the front arm tension adjusting gear and the lead screw gear so as to adjust the positions of the two pulleys 85 and further realize the adjustment of the tension of the elastic belt 86;

the elastic belt 86 of the forearm tension adjusting mechanism 8 can change the tensioning pulley 85 due to the change of the relative position in the relative rotation process of the elbow joint support frame 33 and the elbow joint displacement compensation plate 34, but can be tensioned with one pulley 85 except the process of rapidly changing the tensioning pulley 85, and always keeps the tensioning state and generates a tensioning force;

the tension of the elastic belt 86 is shown as a counter force in the relative rotation process of the elbow joint support frame 33 and the elbow joint displacement compensation plate 34 so as to resist the rotation force of the forearm of the user and form a certain obstruction to the rotation action of the forearm of the patient; in addition, the tension of the elastic belt 86 always provides a smaller driving force which tends to drive the elbow joint support frame 33 and the elbow joint displacement compensation plate 34 to rotate relatively, and a patient can actively resist the driving force in the training process to keep the elbow joint support frame 33 and the elbow joint displacement compensation plate 34 relatively static, so that the aim of training the muscle and nerve tissues of the upper limb of the patient is fulfilled;

preferably, the massage device further comprises a flexion and extension compensation slide block 18 and a massage mechanism 6, wherein the flexion and extension compensation slide block 18 is connected to the shoulder joint flexion and extension support frame 15 in a sliding fit manner, and the flexion and extension compensation slide block 18 and the shoulder joint flexion and extension support frame 15 form a sliding pair along the length direction of the shoulder joint flexion and extension support frame 15;

the massage mechanism 6 comprises a massage connecting plate 61, a massage driving motor 62, a massage cam 63, a massage pressure rod 64, a massage roller 65, a massage supporting frame 66, a massage telescopic rod 67, a massage pressure block 68 and a massage plate 69, wherein the massage connecting plate 61 is fixedly connected to the flexion-extension compensation slide block 18, two massage driving motors 62 are mounted on the massage connecting plate, and the massage cam 63 is fixedly connected to the output ends of the massage driving motors 62; the openings of the two massage supporting frames 66 with arc structures are arranged at the same side and connected and fixed on the massage connecting plate 61, and the connecting line of the circle centers of the two massage supporting frames 66 is along the length direction of the big arm of the user;

the opposite end surfaces of the two massage supporting frames 66 are provided with massage pressure rod grooves 661 with arc structures, massage pressure rods 64 are arranged in the massage pressure rod grooves 661 in a matching way, and massage rollers 65 which are in matching contact with the corresponding massage cams 63 are rotatably connected on the massage pressure rods 64; each massage pressing block groove 662 is circumferentially arranged on the massage supporting frame 66 at the outer side or the inner side of the massage pressing rod groove 661, and a massage pressing block 68 which can move in the massage pressing block groove 662 along the radial direction of the corresponding massage supporting frame 66 and a massage return spring 663 are arranged in each massage pressing block groove 662; the outer end of the massage pressing block groove 662 is provided with an arc-shaped convex block facing one side of the corresponding massage pressing rod 64, one end of a massage return spring 663 is fixedly connected with the end part of the corresponding massage pressing block groove 662, the other end of the massage return spring 663 is fixedly connected with the corresponding massage pressing block 68, and the massage return spring 663 and the arc-shaped convex block are respectively positioned at two sides of the corresponding massage pressing block 68;

the massage pressing block grooves 662 on the two massage support frames 66 are symmetrically arranged in pairs, the corresponding pair of massage pressing blocks 68 are respectively hinged with two ends of the same massage telescopic rod 67, the massage telescopic rod 67 is connected and fixed with the massage plate 69, and the massage plate 69 is disconnected from the telescopic position of the corresponding massage telescopic rod 67; the massage support frame 66 and the massage plate 69 are arranged to fit the arm of the user;

the massage mechanism 6 is arranged on the flexion-extension compensation slide block 18, and a sliding pair between the flexion-extension compensation slide block 18 and the shoulder joint flexion-extension support frame 15 is used for performing linear compensation on position deviation caused by non-concentric rotation of the user's upper arm and the shoulder joint flexion-extension support frame 15 when the massage mechanism 6 drives the shoulder joint flexion-extension support frame 15 to rotate relative to the shoulder joint outward-swinging inward-contraction movement connecting rod 13 in the shoulder joint flexion-extension direction along with the upper arm of the user.

Preferably, the wrist joint traction device further comprises a joint traction mechanism 9, wherein the joint traction mechanism 9 comprises a movable sheath supporting block 91, coils 92, a movable sheath 93, movable magnet cores 94 and a wrist fixing structure, the movable sheath supporting block 91 is positioned at the side of the two wrist joint displacement compensation plates 54 and is fixedly connected with the two wrist joint displacement compensation plates 54, each coil 92 with the axis parallel to the length direction of the user forearm is fixedly connected to the movable sheath supporting block, and the number and the position of the movable magnet cores 94 are arranged corresponding to the coils 92;

the movable magnet core 94 is inserted into the coil 92 from one end of the corresponding coil 92 in a matching manner, and is connected and fixed with the other end of the coil 92 through a joint traction return spring, and the movable magnet core 94 and the corresponding coil 92 form a sliding pair along the self axial direction; the movable sheath 93 is fixedly connected to the free end of each movable magnetic core 94, and a wrist fixing structure is attached to the movable magnetic cores, and the wrist fixing structure is worn and fixed on the wrist of the user.

Preferably, the movable sheath supporting block 91 and the movable sheath 93 are both arc-shaped, and the coils 92 and the movable magnetic cores 94 are uniformly arranged along the circumferential direction of the movable sheath supporting block 91 and the movable sheath 93.

Preferably, the device also comprises an upper arm rotating and centering mechanism 7 and an upper arm fixing structure, wherein the upper arm rotating and centering mechanism 7 comprises upper arm centering connecting blocks 71 and upper arm centering spring sets 72, each upper arm centering connecting block 71 is uniformly distributed along the inner side circumference of the upper arm supporting sleeve 26, and each upper arm centering connecting block 71 is connected with the upper arm supporting sleeve 26 through the corresponding upper arm centering spring set 72; the upper arm fixing structure is arranged on the inner side of the upper arm supporting sleeve 26, each upper arm centering connecting block 71 is fixedly connected to the outer side surface of the upper arm fixing structure, and the upper arm fixing structure is worn and fixed on the upper arm of a user.

Preferably, the upper arm fixing structure and the wrist fixing structure comprise a fixed contact sleeve, a fixed binding band, a fixed ring and a magic tape, the fixed contact sleeve is of an arc-shaped structure, and one end of the fixed contact sleeve is provided with the fixed ring; one end of the binding band is fixedly connected with the end part of the fixed contact sleeve which is not provided with the fixing ring, and the other end of the binding band passes through the fixing ring and is turned over outwards and is stuck and fixed on the magic tape arranged on the outer side of the fixing ring.

Preferably, the elbow joint displacement compensation plate 34 and the wrist joint displacement compensation plate 54 are respectively provided with an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove, and the corresponding elbow joint displacement guide rod 35 and the corresponding wrist joint displacement guide rod 55 are respectively connected in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove in a sliding fit manner;

the tail ends of the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove are respectively provided with a displacement compensation limiting block for limiting the sliding limit positions of the elbow joint displacement guide rod 35 and the wrist joint displacement guide rod 55, displacement compensation springs are further arranged in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove, one end of each displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod hole groove or the front end of the wrist joint displacement guide rod hole groove, and the other end of each displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod 35 or the front end of the wrist joint displacement guide rod 55.

Preferably, the front end and the tail end of the elastic band 86 are respectively connected and fixed with the elbow joint support frame 33 and the elbow joint displacement compensation plate 34 or the connecting block 38 through connecting columns, and the connecting columns extend out of the elbow joint flexion and extension mechanism 3 and the pulley 85, so as to ensure that the elastic band 86 does not generate motion interference with other structures of the elbow joint flexion and extension mechanism 3 and the forearm tension adjusting mechanism 8; the connecting line of the two connecting columns is arranged perpendicular to the axis of the screw 83, so that the two pulleys 85 can realize the set tension adjustment with the minimum moving stroke.

Preferably, the output shafts of the shoulder joint outward-swinging adduction drive motor 12, the shoulder joint flexion and extension drive motor 14, the upper arm rotation drive motor 22, the elbow joint flexion and extension motor 31, the forearm rotation drive motor 43, the wrist joint flexion and extension motor 51 and the forearm tension adjusting motor 82 are all connected with a speed reducer, and the output shafts of the speed reducers correspondingly connected are taken as output ends;

the shoulder joint outward swing adduction drive motor 12, the shoulder joint flexion and extension drive motor 14, the upper arm rotation drive motor 22, the elbow joint flexion and extension motor 31, the forearm rotation drive motor 43 and the wrist joint flexion and extension motor 51 are servo motors.

Preferably, the lifting device further comprises a moving frame, a lifting assembly and a seat, wherein the lifting assembly and the seat are mounted at the top of the moving frame, and the bottom of the moving frame is provided with universal wheels; the front end of a fixed support 11 of the shoulder joint movement mechanism 1 is connected and fixed with an execution end of a lifting assembly, a shoulder joint flexion and extension driving motor 14 is installed at the position from the lower part to the bottom of a shoulder joint outward-swing inward-contraction movement connecting rod 13, a moving frame is used for conveniently realizing the movement of an upper limb rehabilitation training device, and the lifting assembly is used for driving the rest mechanisms to ascend or descend so as to realize the height adjustment of the rest mechanisms.

During the specific use, shoulder joint motion 1, upper arm rotary mechanism 2, elbow joint bend and stretch mechanism 3, forearm rotary mechanism 4 and wrist joint bend and stretch mechanism 5 and all possess passive rehabilitation training mode, can carry out rehabilitation motion through the corresponding position that corresponding motor drove user's upper limbs:

when the shoulder joint movement mechanism 1 executes passive mode rehabilitation training, the rotating speed output by the shoulder joint outward-swinging and inward-contracting driving motor 12 is reduced by the speed reducer, and then the shoulder joint outward-swinging and inward-contracting movement connecting rod 13 is driven to rotate relative to the fixed support 11, so that the shoulder joint of a user is driven to do outward-swinging and inward-contracting rehabilitation training actions;

the rotating speed output by the shoulder joint flexion and extension driving motor 14 is reduced by the speed reducer to drive the shoulder joint flexion and extension crank 17 to rotate, the flexion and extension slide block 16 moves along the shoulder joint flexion and extension crank 17 and slides along the shoulder joint flexion and extension support frame 15 to drive the shoulder joint flexion and extension support frame 15 to rotate, and therefore the shoulder joint of the user is driven to do flexion and extension rehabilitation training actions;

when the upper arm rotating mechanism 2 executes the passive mode rehabilitation training, the rotating speed output by the upper arm rotating drive motor 22 is reduced by the reducer and then transmitted to the upper arm rotating drive gear, the arc rack 25 meshed with the upper arm rotating drive gear rotates along with the upper arm rotating drive gear, and the arc guide rails 23 are driven to drive the shoulder joints of the user to do the large arm rotating rehabilitation training action under the limit of the arc guide rail supporting rollers 24.

When the elbow joint flexion and extension mechanism 3 executes the passive mode rehabilitation training, the electromagnetic clutch 32 is closed, the rotating speed output by the elbow joint flexion and extension motor 31 is reduced by the speed reducer and then is transmitted to the elbow joint displacement compensation plate 34 through the electromagnetic clutch 32, so that the elbow joint displacement compensation plate 34 is driven to rotate, and the elbow joint of a user is driven to do flexion and extension rehabilitation training actions;

when the forearm rotating mechanism 4 executes the passive mode rehabilitation training, the rotating speed output by the forearm rotating driving motor 43 is reduced by the reducer and then transmitted to the forearm rotating driving gear, so as to drive the arc-shaped inner rack 45 engaged with the forearm rotating driving gear to rotate, and the limiting rotating block 44 slides along the forearm rotating supporting seat 42 along with the arc-shaped inner rack 45, so as to drive the elbow joint of the user to do the forearm rotating rehabilitation training action.

When the wrist joint flexion and extension mechanism 5 executes the passive mode rehabilitation training, the rotation speed output by the wrist joint flexion and extension motor 51 is reduced by the reducer, and then the wrist joint displacement compensation plate 54 is driven to rotate, so as to drive the wrist joint of the user to do flexion and extension rehabilitation training.

Wherein, elbow joint flexion and extension mechanism 3 can also carry out initiative rehabilitation training mode, under this mode, should be according to user's actual conditions, at first adjust the pretension force of elastic webbing 86 of forearm pulling force adjustment mechanism 8, and specific process is: after the rotating speed output by the front arm tension adjusting motor 82 is reduced by the speed reducer, power is transmitted to the screw rod gear through the front arm tension adjusting gear to drive the screw rod to rotate, the guide block and the pulley support frame 84 are driven to slide along the screw rod, the tensioning position of the elastic belt 86 is adjusted, and then the pre-tensioning force of the elastic belt 86 is adjusted;

when the elbow joint flexion and extension mechanism 3 executes the active mode rehabilitation training, the electromagnetic clutch 32 is disconnected, the elbow joint flexion and extension motor 31 does not provide driving force, and the user performs flexion and extension rehabilitation training of the elbow joint through self strength.

When the user's elbow joint is still, the tension of the elastic band 86 provides a driving force tending to drive the user's elbow joint to flex and extend, and the user opposes with his own elbow joint force; when the elbow joint of the user performs flexion and extension movements, the tension of the elastic band 86 provides a counter force to prevent the flexion and extension movements.

Massage mechanism 6 presses the massage to user's big arm at the rehabilitation training in-process, and specific process is: the rotating speed output by the two massage driving motors 62 is transmitted to the two massage cams 63 to drive the two massage rollers 65 which are in matched contact with the massage cams 63 to do periodic reciprocating motion along the length direction of the user's large arm while rotating; the two massage press rods 64 follow the linear motion of the two massage rollers 65 to periodically press the massage press rod grooves 661 along the massage press block grooves 662 against the elastic force of the massage return springs 663, thereby driving the two ends of the massage plates 69 to periodically move along the radial direction perpendicular to the length direction of the user's forearm, and pressing the user's forearm.

The joint traction mechanism 9 stretches the joints of the user in the rehabilitation training process, and the specific process is as follows: the coils 92 are energized to drive the movable magnetic cores 94 to tend to stretch the wrist of the user in the direction of the hand of the user along the length of the forearm of the user, increasing the joint space of the user, reducing the muscle tension, and effectively relieving the pain and discomfort of the patient during the rehabilitation training process.

Before the rehabilitation training of the user, the upper arm is bound and fixed through the fixing bandage of the upper arm fixing structure, the wrist is bound and fixed through the fixing bandage of the wrist fixing structure, and the hand of the user grips the gripping handle 52; and then, according to the illness state of the user, carrying out rehabilitation training with a specified mode, specified time and specified intensity according to a rehabilitation training plan formulated by medical staff.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a tensile upper limbs rehabilitation training device of adjustable training which characterized in that: comprises a shoulder joint movement mechanism (1), an upper arm rotation mechanism (2), an elbow joint flexion and extension mechanism (3), a forearm rotation mechanism (4), a wrist joint flexion and extension mechanism (5) which are sequentially installed and connected, and a forearm tension adjusting mechanism (8) installed on the elbow joint flexion and extension mechanism (3);

the shoulder joint motion mechanism (1) comprises a fixed support (11), a shoulder joint outward-swinging inward-contracting driving motor (12), a shoulder joint outward-swinging inward-contracting motion connecting rod (13), a shoulder joint flexion and extension driving motor (14), a shoulder joint flexion and extension supporting frame (15), a flexion and extension sliding block (16), a shoulder joint flexion and extension crank (17) and a flexion and extension compensation sliding block (18); the shoulder joint outward-swinging and inward-contracting driving motor (12) is installed on the fixed support (11) and is positioned above the shoulder of a user, the output end of the shoulder joint outward-swinging and inward-contracting driving motor is fixedly connected with the top end of the shoulder joint outward-swinging and inward-contracting movement connecting rod (13), and the shoulder joint outward-swinging and inward-contracting movement connecting rod (13) is attached to the top of the shoulder of the user and the outer side of the upper arm of the user; the shoulder joint outward-swinging and inward-contracting driving motor (12) is used for driving the shoulder joint outward-swinging and inward-contracting movement connecting rod (13) to rotate in the shoulder joint outward-swinging and inward-contracting direction relative to the fixed support (11);

the shoulder joint flexion and extension support frame (15) is positioned on the outer side of the upper arm of a user, the front end of the shoulder joint flexion and extension support frame is rotatably connected with the bottom end of the shoulder joint outward-swinging and inward-contracting movement connecting rod (13), and the shoulder joint flexion and extension driving motor (14) is installed on the shoulder joint outward-swinging and inward-contracting movement connecting rod (13); the front end of a shoulder joint flexion and extension crank (17) is fixedly connected with the output end of the shoulder joint flexion and extension driving motor (14), the tail end of the shoulder joint flexion and extension driving motor is rotatably connected with a flexion and extension sliding block (16), the flexion and extension sliding block (16) is connected with the shoulder joint flexion and extension supporting frame (15) in a sliding fit mode, and a sliding pair in the length direction of the shoulder joint flexion and extension supporting frame (15) is formed; the shoulder joint flexion and extension driving motor (14) is used for driving the shoulder joint flexion and extension crank (17) to rotate so as to drive the shoulder joint flexion and extension supporting frame (15) to rotate in the shoulder joint flexion and extension direction relative to the shoulder joint outward-swinging and inward-contracting movement connecting rod (13);

the flexion and extension compensation slide block (18) is connected to the shoulder joint flexion and extension support frame (15) in a sliding fit mode, and the flexion and extension compensation slide block and the shoulder joint flexion and extension support frame form a sliding pair along the length direction of the shoulder joint flexion and extension support frame (15);

the upper arm rotating mechanism (2) comprises an upper arm rotating support plate (21), an upper arm rotating drive motor (22), an arc guide rail (23), arc guide rail support rollers (24), an arc rack (25) and an upper arm support sleeve (26), the upper arm rotating support plate (21) is fixedly connected onto the buckling extension compensation sliding block (18), the upper arm rotating drive motor (22) is mounted on the upper arm rotating support plate and is rotatably connected with at least four arc guide rail support rollers (24), limit grooves are formed in the arc guide rail support rollers (24), and the arc guide rail (23) is clamped in the limit grooves of the arc guide rail support rollers (24) in a matched manner and can slide in the limit grooves; each arc guide rail supporting roller (24) is respectively arranged above and below the arc guide rail (23), and the number of the arc guide rail supporting rollers (24) arranged above and below the arc guide rail (23) is not less than two; the arc rack (25) is arranged on one side face of the arc guide rail (23), the arc rack (25) is meshed with an upper arm rotation driving gear connected with the output end of the upper arm rotation driving motor (22), and the upper arm rotation driving motor (22) is used for driving the arc guide rail (23) to drive the upper arm support sleeve (26) to rotate in the large arm rotation direction relative to the upper arm rotation support plate (21) through transmission of the upper arm rotation driving gear and the arc rack (25); the upper arm supporting sleeve (26) is fixedly connected with the arc guide rail (23) through an upper arm supporting sleeve connecting plate and is used for fixing the big arm of a user; the axes of the arc guide rail (23), each arc guide rail support roller (24), the arc rack (25) and the upper arm support sleeve (26) are all parallel to the length direction of the user's large arm;

the elbow joint bending and stretching mechanism (3) comprises an elbow joint bending and stretching motor (31), an electromagnetic clutch (32), elbow joint support frames (33), an elbow joint displacement compensation plate (34), an elbow joint displacement guide rod (35) and a connecting block (38), wherein the two elbow joint support frames (33) are respectively arranged on the front side and the rear side of the upper arm of a user when the upper arm naturally sags, the two elbow joint displacement compensation plates (34) are respectively arranged on the front side and the rear side of the lower arm of the user when the lower arm naturally sags, the front end of the elbow joint displacement compensation plate (34) is rotatably connected with the tail end of the elbow joint support frame (33) on the same side, and a revolute pair with the axis positioned at the elbow of the user is formed; the elbow joint flexion and extension motor (31) is arranged on any elbow joint support frame (33), and the electromagnetic clutch (32) is arranged between the output end of the elbow joint flexion and extension motor and the front end of the elbow joint displacement compensation plate (34) on the same side; the elbow joint flexion and extension motor (31) is used for driving the elbow joint displacement compensation plate (34) to rotate in the elbow joint flexion and extension direction relative to the elbow joint support frame (33) when the electromagnetic clutch (32) is in attraction;

the two elbow joint displacement guide rods (35) are respectively connected with the elbow joint displacement compensation plate (34) on the same side through the tail ends of the two elbow joint displacement compensation plates (34) in a sliding fit manner, a sliding pair along the length direction of the elbow joint displacement compensation plate (34) is formed, and the connecting block (38) is fixedly connected to the side surfaces of the two elbow joint displacement compensation plates (34);

the forearm rotating mechanism (4) comprises a forearm rotating telescopic rod (41), a forearm rotating supporting seat (42), a forearm rotating driving motor (43), a limiting rotating block (44) and an arc-shaped inner rack (45), the forearm rotating supporting seat (42) is connected with the connecting block (38) through the forearm rotating telescopic rod (41), the forearm rotating supporting seat (42) and the limiting rotating block (44) are of arc-shaped plate structures, and the rear end face of the forearm rotating supporting seat (42) is connected with the front end face of the limiting rotating block (44) in a sliding fit manner to form a sliding pair; an arc-shaped inner rack (45) is fixedly connected to the outer side of the limiting rotation block (44), the forearm rotation driving motor (43) is mounted on the forearm rotation supporting seat (42), and the output end of the forearm rotation driving motor is fixedly connected with a forearm rotation driving gear meshed with the arc-shaped inner rack (45); the forearm rotating driving motor (43) is used for driving the limiting and rotating block (44) to rotate relative to the forearm rotating supporting seat (42) in a forearm rotating direction through the arc-shaped inner rack (45) and the forearm rotating driving gear; the forearm rotating support seat (42) and the forearm rotating drive motor (43) are worn by the forearm of a user, and the telescopic direction of the forearm rotating telescopic rod (41) is along the length direction of the forearm of the user;

the wrist joint flexion and extension mechanism (5) comprises a wrist joint flexion and extension motor (51), a gripping handle (52), wrist joint support frames (53), wrist joint displacement compensation plates (54) and a wrist joint displacement guide rod (55), the two wrist joint support frames (53) are respectively arranged on the front side and the rear side of the user when the forearm naturally sags, the two wrist joint displacement compensation plates (54) are respectively arranged on the front side and the rear side of the user when the hand naturally sags, the front end of the wrist joint displacement compensation plate (54) is rotatably connected with the tail end of the wrist joint support frame (53) on the same side to form a rotating pair with the axis positioned on the wrist of the user; the wrist joint flexion and extension motor (51) is arranged on any wrist joint support frame (53), and the output end of the wrist joint flexion and extension motor is fixedly connected with the front end of the wrist joint displacement compensation plate (54) on the same side; the wrist joint flexion and extension motor (51) is used for driving the wrist joint displacement compensation plate (54) to rotate in the wrist joint flexion and extension direction relative to the wrist joint support frame (53); the two wrist joint displacement guide rods (55) are respectively connected with the wrist joint displacement compensation plate (54) on the same side through the tail ends of the two wrist joint displacement compensation plates (54) in a sliding fit manner, a sliding pair along the length direction of the wrist joint displacement compensation plate (54) is formed, and the grasping handle (52) is fixedly connected with the tail ends of the two wrist joint displacement guide rods (55);

the forearm tension adjusting mechanism (8) comprises a ball screw frame (81), a forearm tension adjusting motor (82), a screw (83), a pulley support frame (84), a pulley (85) and an elastic belt (86), wherein the ball screw frame (81) is fixedly connected to the elbow joint displacement compensation plate (34), the screw (83) is rotatably mounted on the ball screw frame, the pulley support frame (84) is connected to the screw (83) through a guide block arranged on the back of the pulley support frame in a threaded fit manner, and the pulley support frame (84) and the screw (83) form a moving pair along the axial direction of the screw (83);

the pulley support frame (84) is rotatably provided with two pulleys (85), the elastic belt (86) passes between the two pulleys (85), is wound on one pulley (85) in a tensioning manner, the front end of the elastic belt is fixedly connected with the elbow joint support frame (33), and the other end of the elastic belt is fixedly connected with the elbow joint displacement compensation plate (34) or the connecting block (38);

the front arm tension adjusting motor (82) is arranged on the ball screw frame (81), and a front arm tension adjusting gear connected with the output end of the front arm tension adjusting motor is meshed with a screw rod gear connected and fixed on the screw rod (83); forearm pulling force accommodate motor (82) are used for the warp forearm pulling force accommodate gear with lead screw gear drive guide block drives pulley support frame (84) and slides along lead screw (83), in order to adjust two the position of pulley (85), and then realize the regulation of elastic webbing (86) tensile force.

2. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 1, wherein: the shoulder joint flexion and extension massage device further comprises a flexion and extension compensation sliding block (18) and a massage mechanism (6), wherein the flexion and extension compensation sliding block (18) is connected to the shoulder joint flexion and extension support frame (15) in a sliding fit mode, and a sliding pair in the length direction of the shoulder joint flexion and extension support frame (15) is formed by the flexion and extension compensation sliding block (18) and the shoulder joint flexion and extension support frame;

the massage mechanism (6) comprises a massage connecting plate (61), massage driving motors (62), massage cams (63), massage press rods (64), massage rollers (65), a massage supporting frame (66), a massage telescopic rod (67), massage press blocks (68) and massage plates (69), the massage connecting plate (61) is fixedly connected to the buckling and stretching compensation sliding block (18), the two massage driving motors (62) are mounted on the massage connecting plate, and the massage cams (63) are fixedly connected to the output ends of the massage driving motors (62); the openings of the two massage supporting frames (66) with arc structures are arranged at the same side and connected and fixed to the massage connecting plate (61), and the connecting line of the circle centers of the two massage supporting frames (66) is along the length direction of the big arm of the user;

massage pressure rod grooves (661) with arc structures are arranged on the opposite end surfaces of the two massage support frames (66), the massage pressure rods (64) are arranged in the massage pressure rod grooves (661) in a matching mode, and massage rollers (65) which are in matching contact with the corresponding massage cams (63) are rotatably connected to the massage pressure rods (64); massage pressing block grooves (662) are circumferentially arranged on the outer side or the inner side of each massage pressing rod groove (661) on the massage supporting frame (66), and massage pressing blocks (68) which can move in the massage pressing block grooves (662) along the radial direction of the corresponding massage supporting frame (66) and massage return springs (663) are arranged in the massage pressing block grooves (662); the outer end of each massage pressing block groove (662) is provided with an arc-shaped convex block facing one side of the corresponding massage pressing rod (64), one end of each massage return spring (663) is fixedly connected with the end part of the corresponding massage pressing block groove (662), the other end of each massage return spring is fixedly connected with the corresponding massage pressing block (68), and the massage return springs (663) and the arc-shaped convex blocks are respectively positioned at two sides of the corresponding massage pressing blocks (68);

the massage pressing block grooves (662) on the two massage supporting frames (66) are symmetrically arranged in pairs, a corresponding pair of massage pressing blocks (68) are respectively hinged with two ends of the same massage telescopic rod (67), the massage telescopic rod (67) is fixedly connected with the massage plate (69), and the massage plate (69) is disconnected at the telescopic position of the corresponding massage telescopic rod (67); the massage support frame (66) and the massage plate (69) are arranged to fit the arms of the user.

3. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 2, wherein: the wrist joint traction mechanism comprises a wrist joint displacement compensation plate (54), a joint traction mechanism (9) and a wrist fixing structure, wherein the joint traction mechanism (9) comprises a movable sheath supporting block (91), coils (92), a movable sheath (93), movable magnet cores (94) and the wrist fixing structure, the movable sheath supporting block (91) is located on the sides of the wrist joint displacement compensation plate (54), is fixedly connected with each coil (92) with the axis parallel to the length direction of the forearm of a user, and the number and the position of the movable magnet cores (94) are arranged corresponding to the coils (92);

the movable magnetic core (94) is inserted into the coil (92) from one end of the corresponding coil (92) in a matching way, and is fixedly connected with the other end of the coil (92) through a joint traction return spring, and the movable magnetic core (94) and the corresponding coil (92) form a sliding pair along the axis direction of the movable magnetic core; the movable sheath (93) is fixedly connected with the free end of each movable magnet core (94), the wrist fixing structure is arranged on the movable sheath, and the wrist fixing structure is worn and fixed on the wrist of a user.

4. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 3, wherein: the movable sheath supporting block (91) and the movable sheath (93) are both arc-shaped, and the coils (92) and the movable magnet cores (94) are uniformly distributed along the circumferential directions of the movable sheath supporting block (91) and the movable sheath (93).

5. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 3, wherein: the upper arm rotating centering mechanism (7) comprises upper arm centering connecting blocks (71) and upper arm centering spring sets (72), each upper arm centering connecting block (71) is uniformly distributed along the circumferential direction of the inner side of the upper arm supporting sleeve (26), and each upper arm centering connecting block (71) is connected with the upper arm supporting sleeve (26) through the corresponding upper arm centering spring set (72); the upper arm fixing structure is arranged on the inner side of the upper arm supporting sleeve (26), each upper arm centering connecting block (71) is fixedly connected to the outer side face of the upper arm fixing structure, and the upper arm fixing structure is worn and fixed on the upper arm of a user.

6. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 5, wherein: the upper arm fixing structure and the wrist fixing structure comprise fixing contact sleeves, fixing binding bands, fixing rings and magic tapes, the fixing contact sleeves are of arc structures, and one ends of the fixing contact sleeves are provided with the fixing rings; one end of the binding band is fixedly connected with the end part of the fixed contact sleeve which is not provided with the fixing ring, and the other end of the binding band penetrates through the fixing ring to be turned over outwards and is fixed by a magic tape arranged on the outer side of the fixing ring.

7. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 1, wherein: the elbow joint displacement compensation plate (34) and the wrist joint displacement compensation plate (54) are respectively provided with an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove, and the corresponding elbow joint displacement guide rod (35) and the corresponding wrist joint displacement guide rod (55) are respectively connected in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove in a sliding fit manner;

the elbow joint displacement guide rod hole groove with the end in wrist joint displacement guide rod hole groove is equipped with respectively and is used for the restriction elbow joint displacement guide rod (35) with the displacement compensation stopper of wrist joint displacement guide rod (55) extreme position that slides, elbow joint displacement guide rod hole groove with wrist joint displacement guide rod hole inslot still is equipped with displacement compensation spring, displacement compensation spring's one end with elbow joint displacement guide rod hole groove or the front end in wrist joint displacement guide rod hole groove is connected fixedly, the other end with elbow joint displacement guide rod (35) or the front end of wrist joint displacement guide rod (55) is connected fixedly.

8. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 1, wherein: the front end and the tail end of the elastic belt (86) are respectively connected and fixed with the elbow joint support frame (33) and the elbow joint displacement compensation plate (34) or the connecting block (38) through connecting columns, and the connecting columns extend out of the elbow joint bending and extending mechanism (3) and the pulley (85); the connecting line of the two connecting columns is perpendicular to the axis of the screw rod (83).

9. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 1, wherein: output shafts of the shoulder joint outward-swinging inward-retracting driving motor (12), the shoulder joint flexion and extension driving motor (14), the upper arm rotation driving motor (22), the elbow joint flexion and extension motor (31), the forearm rotation driving motor (43), the wrist joint flexion and extension motor (51) and the forearm tension adjusting motor (82) are all connected with a speed reducer, and output shafts of the speed reducers which are correspondingly connected are used as output ends;

the shoulder joint outward-swinging adduction drive motor (12), the shoulder joint flexion and extension drive motor (14), the upper arm rotation drive motor (22), the elbow joint flexion and extension motor (31), the forearm rotation drive motor (43) and the wrist joint flexion and extension motor (51) are servo motors.

10. The upper limb rehabilitation training device capable of adjusting training tension as claimed in claim 1, wherein: the lifting assembly and the seat are mounted at the top of the moving frame, and the bottom of the moving frame is provided with universal wheels; the front end of a fixing support (11) of the shoulder joint movement mechanism (1) is fixedly connected with the execution end of the lifting assembly, and a shoulder joint flexion and extension driving motor (14) is installed at the position from the lower part to the bottom of the shoulder joint outward-swing adduction movement connecting rod (13).