CN214181024U

CN214181024U - Three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot

Info

Publication number: CN214181024U
Application number: CN202022171416.3U
Authority: CN
Inventors: 韩建海; 李辽远; 李向攀; 郭冰菁; 王志强; 杨元
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-09-14
Anticipated expiration: 2030-09-28

Abstract

The utility model discloses a horizontal many joints of three degrees of freedom upper limbs rehabilitation training robot fixes patient's upper limbs forearm and hand on the arm support and the terminal handle of robot in rehabilitation training, thereby the human upper limbs of robot arm drive end drives the upper limbs and accomplishes various rehabilitation training modes in human horizontal plane and sagittal plane. The device has three motors in total, a first joint motor drives the large arm to swing relative to the upright column, a second joint motor drives the small arm to swing relative to the large arm, and a third joint motor drives the screw rod to drive the tail end of the robot to do vertical linear motion. And a servo closed-loop control system is adopted to accurately control the posture, the moving range and the training intensity of the upper limbs of the human body. The human-computer interface consists of a touch screen and a switch button, the rehabilitation training mode can be selected through the touch screen, the corresponding dynamic schematic diagrams are displayed for each rehabilitation mode training, the human-computer interface is convenient and easy to understand, and the speed, the time and the moving range of each joint of each rehabilitation training mode can be adjusted according to the condition of a patient.

Description

Three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot

Technical Field

The utility model belongs to the technical field of medical care apparatus, specific horizontal many joints of three degrees of freedom upper limbs rehabilitation training robot that says so.

Background

The upper limb rehabilitation training method is a mode for upper limb rehabilitation, is very suitable for the rehabilitation training of patients with upper limb motor disabilities caused by upper limb cranial nerve injuries and muscle injuries, such as patients with cerebral apoplexy and hemiplegia, wherein one limb of most of the patients loses motor disabilities partially or completely, if scientific and effective rehabilitation training or activities are lacked in a long time, the limbs of the patients have different degrees of muscular atrophy and joint adhesion, and finally the upper limbs lose the motor disabilities. The upper limb rehabilitation training robot can carry out targeted training on the patients, so that the upper limbs can be moved sufficiently, and the purposes of nerve remodeling and limb movement recovery capacity are achieved.

The CPM machine (joint restorer) is mostly used for upper limb rehabilitation in the market at an early time, the equipment is simple in structure, the training mode is fixed, and only passive training of joints can be carried out. Most of the exoskeleton robots with 6 degrees of freedom in the market in recent years are large in size, and human upper limbs and exoskeleton rod pieces are bound together, so that upper limb joints move along with the joints of the exoskeleton robots. The long size of the arm of the exoskeleton robot of 6 degrees of freedom and the upper limbs of different patients cooperate to adjust inconveniently or can not be adjusted, the structure is complex, in addition, the mode of binding the whole upper limbs is adopted for fixing, once the robot breaks down, or the muscle spasm condition of the patients easily causes secondary injury to the patients. In addition, the upper limb rehabilitation robot with 2-degree-of-freedom rectangular coordinates is also available in the market, and the whole size of the robot is large and inconvenient to move due to the fact that a curve track is synthesized through linear motion in a rectangular coordinate mode. In addition, the upper limb rehabilitation robot with 2 degrees of freedom can only realize the motion of the upper limb in the horizontal plane, and has the problems of incomplete training of upper limb joints of a human body, single mode, incapability of obtaining omnibearing stretching motion of upper limb ligaments, limited training effect and the like.

SUMMERY OF THE UTILITY MODEL

The utility model provides a solve above-mentioned problem, provide a horizontal many joints of three degrees of freedom upper limbs rehabilitation training robot, this device operating space is big but the little just training mode of whole size is various, training parameter adjustment is convenient.

The utility model discloses a following technical scheme realizes:

a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises three degrees of freedom consisting of a large arm, a small arm connected with one end of the large arm and a tail end assembly;

one end of the large arm is horizontally connected to the top end face of the supporting stand column to form a first horizontal joint, the small arm is horizontally connected to the other end plane of the large arm to form a second horizontal joint, an inner cavity of the other end of the small arm is connected with a screw nut and a screw through a screw reducer, so as to form a third horizontal joint, the first horizontal joint is driven to rotate by a driving transmission mechanism I, so that the large arm horizontally swings relative to the supporting stand column, the second horizontal joint is driven to rotate by a driving transmission mechanism II, so that the small arm horizontally swings relative to the large arm, and the third horizontal joint is driven by a driving transmission mechanism III to drive the screw nut to rotate, so that the screw vertically moves up and down;

the driving transmission mechanism III comprises a third joint motor, the third joint motor is arranged in an inner cavity at one end, connected with the large arm, of the small arm, a driving belt pulley III arranged on an output shaft of the third joint motor is connected with a driven belt pulley III arranged at one end of a lead screw speed reducer through a synchronous belt III, one end of the lead screw speed reducer is arranged in an inner cavity at the other end of the small arm, the other end of the lead screw speed reducer is connected with a lead screw nut, the lead screw nut is connected with a vertically arranged lead screw, one end of the lead screw extends to the upper part outside the small arm, and the lead screw nut is driven to rotate through the third joint motor so as to drive the lead screw to move up and down;

the terminal component comprises a coupler, a three-dimensional force sensor, a hand support and an arm support, the top of the lead screw is connected with the three-dimensional force sensor through the coupler, the top of the three-dimensional force sensor is connected with the hand support horizontally arranged through a wrist joint flange, one end of the hand support is provided with a handle, the other end of the hand support is rotatably connected with the top of the three-dimensional force sensor, and the arm support is fixedly connected with one side of the top of the three-dimensional force sensor.

Furthermore, the support column is of a rectangular frame structure, a first mounting plate is arranged at the top of the support column, a second mounting plate and a third mounting plate are sequentially and horizontally arranged below the first mounting plate, the large arm is horizontally arranged on the end face of the first mounting plate, the bottom of one end of the large arm is fixed on the first mounting plate through a large arm speed reducer, the large arm speed reducer penetrates through the first mounting plate, the driving transmission mechanism I is arranged between the first mounting plate and the second mounting plate, the driving transmission mechanism I comprises a first joint motor, one end of the first joint motor is vertically arranged between the second mounting plate and the third mounting plate, and a driving belt wheel I arranged at the other end of the first joint motor and penetrating through the second mounting plate is connected with a driven belt wheel I arranged at the input end of the large arm speed reducer through a horizontally arranged synchronous belt I, thereby controlling the swing of the large arm relative to the supporting upright post through the first joint motor.

Further, the fixed motor flange that is provided with in the one end that big arm is located big arm reduction gear on big arm, drive transmission mechanism II includes the second joint motor of vertical setting on the motor flange, the output shaft of second joint motor has the driving pulley II that is located big arm inner chamber, and the other end that is located big arm inner chamber is provided with driven pulley II, be provided with hold-in range II between driving pulley II and the driven pulley II, driven pulley II is connected with the forearm reduction gear, the output and the forearm of forearm reduction gear are connected for the swing of second joint motor control forearm for big arm.

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

Further, be provided with take-up pulley III between the hold-in range III, and take-up pulley III is connected with the take-up pulley support, the take-up pulley support is connected with adjusting screw, makes the take-up pulley support drive take-up pulley III through adjusting screw and removes to compress tightly hold-in range III.

Furthermore, the end of the lead screw is fixedly connected with a lower sensor flange below the three-dimensional force sensor through the coupler, and the lower sensor flange is connected with the three-dimensional force sensor through a screw.

Furthermore, the upper part of the three-dimensional force sensor is connected with the upper flange of the sensor and the wrist joint flange through screws in sequence.

Furthermore, the third joint motor is fixed on the small arm through a motor support, the third joint motor is coaxial with the rotation center of the small arm, and the third joint motor is provided with a photoelectric encoder detection mechanism.

Further, the big arm and the small arm can be folded.

Further, the controller comprises a control interface, the control interface comprises a touch screen and a switch button, and the rehabilitation training mode is selected through the touch screen.

The beneficial effects of the utility model reside in that:

(1) this device adopts the structural style of the articulated series connection robot of level, the end has great operating space to be convenient for to the all-round extension of upper limbs muscle during rehabilitation training, the articulated series connection structure of robot level articulated can be folded and unfolded freely when not doing rehabilitation training to the rehabilitation training in the three-dimensional space is realized to less volume, and robot forearm, forearm collapsible and occupy less space and be convenient for operation such as removal, reduce the space occupancy, conveniently remove in the hospital, can use at home even. In addition, the rehabilitation mode can be selected according to the specific conditions of patients, the adduction and abduction modes of shoulder joints in the horizontal plane and the flexion and extension modes of elbow joints in the sagittal plane are realized, meanwhile, the force signals of the tail end of the robot and the angle signals of all rotary joints are respectively and correspondingly acquired in real time according to the three-dimensional force sensor and the photoelectric encoder detection mechanism to achieve the accurate control of upper limbs, a good rehabilitation training effect is obtained on the premise of not injuring the patients, and the movement range of each joint can be adjusted according to the requirements to adapt to the rehabilitation training requirements of different patients;

(2) first joint motor and second joint motor all concentrate in this device and arrange on support post to alleviate the gravity that receives the motor on the arm to a certain extent, reduce the influence that inertia force produced mechanical system, improved mechanical system's control performance.

Drawings

FIG. 1 is a schematic view of the position of three joints of the present invention;

fig. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a diagram of the idle folded state of the robot of the present invention;

figure 4 is a partial schematic view of the robot support column of the present invention;

fig. 5 is a partial schematic view of the inner cavity of the big arm and the inner cavity of the small arm of the robot of the utility model;

figure 6 is a partial schematic view of a robotic end assembly of the present invention;

reference numerals: 1. a first mounting plate, 2, a second mounting plate, 3, a third mounting plate, 4, a support column, 5, a motor driver, 6, a first joint motor, 7, a driving pulley I, 8, a driven pulley I, 9, a big arm reducer, 10, a big arm, 11, a second joint motor, 12, a driving pulley II, 13, a synchronous belt II, 14, a tension pulley II, 15, a tension pulley bracket, 16, a driven pulley II, 17, a small arm reducer, 18, a motor bracket, 19, a third joint motor, 20, a small arm, 21, a driving pulley III, 22, a synchronous belt III, 23, an adjusting screw, 24, a screw fixing bracket, 25, a tension pulley bracket, 26, a tension pulley III, 27, a driven pulley, 28, a screw reducer, 29, a screw nut, 30, a screw, 31, a coupling, 32, a sensor lower flange, 33, a three-dimensional force sensor, 34, a sensor upper method, 35. wrist joint flange, 36, arm support, 37, hand support, 38 and handle.

Detailed Description

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

Example 1

As shown in fig. 1 and 2, the three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises three degrees of freedom formed by a large arm 10, a small arm 20 and a tail end assembly, the robot supporting mechanism comprises a supporting upright post 4, a chassis can be arranged at the bottom of the supporting upright post, and sliding wheels are arranged around the chassis. The control driving unit comprises a controller and a motor driver 5, and the motor driver 5 is arranged in the support upright post 4;

one end of the large arm 10 is horizontally connected to the top end face of the support column to form a first horizontal joint 39 (shoulder joint), one end of the small arm 20 is horizontally connected to the upper portion of the other end plane of the large arm to form a second horizontal joint 40 (elbow joint), the inner cavity of the other end of the small arm 20 is connected with a screw nut 29 and a screw 30 through a screw reducer 28 arranged to form a third horizontal joint 41, the first horizontal joint is driven to rotate by a driving transmission mechanism I to realize horizontal swinging of the large arm 10 relative to the support column, the second horizontal joint is driven to rotate by a driving transmission mechanism II to realize horizontal swinging of the small arm 20 relative to the large arm, the third horizontal joint is driven by a driving transmission mechanism III to drive the screw nut 29 to rotate to realize vertical movement of the screw 30, and the driving end of the third joint can move in a three-dimensional space.

The driving transmission mechanism III comprises a third joint motor 19, the third joint motor 19 is arranged in an inner cavity at one end of the small arm connected with the large arm, the third joint motor 19 is fixed on the small arm 20 through a motor bracket 18, the rotation center of the third joint motor 19 is coaxial with that of the small arm 20, a driving pulley III 21 arranged on an output shaft of the third joint motor 19 is connected with a driven pulley III 27 arranged at one end of a lead screw reducer 28 through a synchronous belt III 22, a steel wheel of the lead screw reducer 28 is fixed on the small arm, an output wheel (namely a flexible wheel) of the lead screw reducer 28 is connected with a lead screw nut 29, the lead screw nut 29 is connected with a lead screw 30 which is vertically arranged, one end of the lead screw 30 extends to the upper part outside of the small arm, the lead screw nut 29 is driven to rotate through the third joint motor 19 so as to drive the lead screw nut 30 to move up and down, a tension pulley III 26 is arranged between the synchronous belts III 22, and the tensioning wheel III 26 is connected with a tensioning wheel support 25, the tensioning wheel support 25 is connected with an adjusting screw 23, the tensioning wheel support 25 drives the tensioning wheel III 26 to move through the adjusting screw 23, and therefore the synchronous belt III 22 is compressed.

The tail end assembly comprises a coupler 31, a three-dimensional force sensor 33, a hand support 37 and an arm support 36, the top of the lead screw 30 is connected with the three-dimensional force sensor 33 through the coupler 31, the top of the three-dimensional force sensor 33 is connected with the horizontally arranged hand support 37 through a wrist joint flange 35, one end of the hand support 37 is provided with a handle 38, the other end of the hand support 37 is rotatably connected with the top of the three-dimensional force sensor 33, the arm support 12 is fixedly connected with one side of the top of the three-dimensional force sensor 33, the size and the direction of the force applied on the handle 38 at the tail end of the robot by the trainer are detected in real time through the installation of the three-dimensional force sensor 33, the measured active movement intention of the trainer is more accurate and can be used for active rehabilitation training based on impedance control, the coupler 31 fixedly connects the tail end of the lead screw 30 and a lower sensor flange 32 below the three-dimensional force sensor 33 together, the sensor lower flange 32 is connected with the three-dimensional force sensor 33 through screws, and the upper part of the three-dimensional force sensor 33 is connected with the sensor upper flange 34 and the wrist joint flange 35 through the screws in sequence.

Further, the support column 4 is of a rectangular frame structure, a first mounting plate 1 is arranged at the top of the support column 4, a second mounting plate 2 and a third mounting plate 3 are sequentially and horizontally arranged below the first mounting plate 1, the large arm 10 is horizontally arranged on the end face of the first mounting plate 1, the bottom of the large arm 10 is fixed on the first mounting plate 1 through a large arm speed reducer 9, the large arm speed reducer 9 penetrates through the first mounting plate 1, the driving transmission mechanism I is arranged between the first mounting plate 1 and the second mounting plate 2, the driving transmission mechanism I comprises a first joint motor 6, one end of the first joint motor 6 is vertically arranged between the second mounting plate 2 and the third mounting plate 3, and a driving belt pulley I7, arranged by the second mounting plate 2 and penetrating through the other end of the first joint motor 6, is connected with a driven belt pulley I8 arranged at the input end of the large arm speed reducer through a synchronous belt I horizontally arranged, the large arm 10 is controlled to swing relative to the supporting upright post through the first joint motor 6, the large arm speed reducer 9 adopts a harmonic speed reducer, the rotation center of the large arm speed reducer 9 is overlapped with the central axis of the supporting upright post, namely, the input end of the large arm speed reducer 9 is connected with the driving belt wheel I through the driven belt wheel I and the synchronous belt I, and the output end of the large arm speed reducer, namely, the flexible wheel is connected with the large arm through a screw;

furthermore, a side plate is fixedly arranged on one side between the first mounting plate and the second mounting plate, a moving plate is connected to the end face, close to the side plate, of the second mounting plate through bolts, the first joint motor is fixedly connected with the moving plate through screws, the moving plate is of an L shape, the vertical section of the moving plate is connected with the side plate through bolt columns, the moving plate and the side plate are adjusted through pulling the bolt columns, the distance between the moving plate and the side plate is adjusted, and therefore the first joint motor moves, the tensioning of the synchronous belt I is adjusted, a connecting hole between the horizontal section of the moving plate and the second mounting plate is a long elliptical hole, and the moving plate drives the first joint motor to move relative to the second mounting plate.

Further, a motor flange is fixedly arranged in an inner cavity of one end, located at the large arm reducer, of the large arm 10, the driving transmission mechanism ii comprises a second joint motor 11 vertically arranged on the motor flange, a rotation center of the second joint motor coincides with a central axis of the support column, an output shaft of the second joint motor 11 is connected with a driving pulley ii 12 located at the inner cavity of the large arm, a driven pulley ii 16 is arranged at the other end, located at the inner cavity of the large arm, a synchronous belt ii 13 is arranged between the driving pulley ii 12 and the driven pulley ii 16, the driven pulley ii 16 is connected with a small arm reducer 17, namely, a steel wheel of the small arm reducer 17 is fixed on the large arm, an output end (namely, a flexible wheel) of the small arm reducer 17 is connected with the small arm, the small arm reducer is a harmonic reducer, so that the small arm 20 is controlled by the second joint motor 11 to swing relative to the large arm 10, and a tension pulley ii 14 is arranged in the synchronous belt ii located between the driving pulley ii 12 and the driven pulley ii 16, the tension of the synchronous belt II 13 is adjusted by adjusting the position of the tension pulley II 14.

Furthermore, the first joint motor 6, the second joint motor 11 and the third joint motor 19 have a power-off contracting brake function, so that the upper arm 10 and the lower arm 20 can be folded and placed, when rehabilitation training is not performed, the upper arm and the lower arm are folded to reduce space occupation, high movement flexibility is achieved, each motor is provided with overload safety protection, and once an accident occurs, the robot can stop working in time to prevent a patient from being injured. The first joint motor 6, the second joint motor 11 and the third joint motor 19 are provided with photoelectric encoder detection mechanisms, and angle signals of all rotary joints of the robot are collected to achieve accurate control of upper limbs;

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

The working process is as follows: when the rehabilitation training is not carried out, the state of the robot is as shown in figure 3, the big arm and the small arm are folded and placed still, the robot can keep the state due to the power-off contracting brake function of the corresponding servo motor, the occupied space is reduced, and the robot cannot be stretched, when the rehabilitation training device is used, the robot is started to enable the big arm and the small arm to be stretched out by a certain angle to be located at an initial working position (under the condition that a patient is not hurt), the height of a seat and the position relative to the robot are adjusted according to the basic size of the upper limb of the patient and the sitting posture shoulder height of the patient which are measured in advance, after the adjustment is finished, the hand 38 of the patient is held by the hand, the forearm is placed on the arm support 12, the wrist is properly fixed by a bandage, and the rotation of the wrist cannot be influenced by proper tightness, and the hand cannot fall off from the hand 38. The range of the motion allowed by each joint of the patient is input into the device through the touch screen, a proper rehabilitation training mode is selected, the rehabilitation training time is set, and then the rehabilitation training device is started. According to the set rehabilitation training mode, the vertical movement distance of the tail end of the three-degree-of-freedom robot is determined by the pulse number sent to the third joint motor 19 by the control system, the reduction ratio of the lead screw speed reducer 28 and the lead of the ball screw 30 in a calculation mode, or a displacement sensor is additionally arranged at the tail end to carry out real-time monitoring and feedback, and the large arm 10 and the small arm 20 are driven by the corresponding first joint motor 6 and the second joint motor 11 to drive the corresponding synchronous belts and speed reducers so as to complete the coordination action. The motion angle and speed of each joint are detected by photoelectric encoders arranged on the first joint motor 6, the second joint motor 11 and the third joint motor 19, and are fed back to the controller in real time, and a motor action instruction of the next step is sent out through the operation controller. The three joints make the motion of each joint accurately smooth through the closed-loop servo control of driving-detecting-feedback-processing-driving. In the training process, different action times, speeds and training strengths can be set through key operation according to the specific rehabilitation conditions of the upper limbs of the patients.

In summary, the following steps: the servo control system of the robot is composed of joint motors, a motion controller, an angle encoder, a three-dimensional force sensor and the like, and a closed-loop servo system capable of accurately controlling the motion range and the training intensity of the upper limbs is formed. The three-degree-of-freedom coordinated motion can drive the tail end of the robot to perform three-dimensional compound motion in space, and drives the upper limbs of the patient to realize omnibearing rehabilitation training.

Having shown and described the basic principles, essential features and advantages of the invention, it will be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, which are merely illustrative of the principles of the invention, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, as claimed herein.

Claims

1. A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot is characterized in that: the robot comprises a robot body, a robot supporting mechanism and a control driving unit, wherein the robot body comprises three degrees of freedom consisting of a large arm (10), a small arm (20) connected with one end of the large arm and a tail end assembly, the robot supporting mechanism comprises a supporting upright post (4), the control driving unit comprises a controller and a motor driver (5), and the motor driver (5) is arranged in the supporting upright post (4);

one end of the large arm (10) is horizontally connected to the top end face of the supporting upright column to form a first horizontal joint (39), the small arm (20) is horizontally connected to the other end plane of the large arm to form a second horizontal joint (40), the inner cavity of the other end of the small arm (20) is connected with a screw nut (29) and a screw (30) through a screw reducer (28) to form a third horizontal joint (41), the first horizontal joint is driven to rotate by a driving transmission mechanism I so as to achieve horizontal swinging of the large arm (10) relative to the supporting upright column, the second horizontal joint is driven to rotate by a driving transmission mechanism II so as to achieve horizontal swinging of the small arm (20) relative to the large arm, and the third horizontal joint is driven by a driving transmission mechanism III to drive the screw nut (29) to rotate so as to achieve vertical up and down movement of the screw (30);

the driving transmission mechanism III comprises a third joint motor (19), the third joint motor (19) is arranged in an inner cavity at one end, connected with the large arm, of the small arm, a driving belt wheel III (21) arranged on an output shaft of the third joint motor (19) is connected with a driven belt wheel III (27) arranged at one end of a lead screw speed reducer (28) through a synchronous belt III (22), one end of the lead screw speed reducer (28) is arranged in an inner cavity at the other end of the small arm, the other end of the lead screw speed reducer (28) is connected with a lead screw nut (29), the lead screw nut (29) is connected with a vertically arranged lead screw (30), one end of the lead screw (30) extends to the upper part of the outer part of the small arm, and the lead screw nut (29) is driven to rotate through the third joint motor (19) so as to drive the lead screw (30) to move up and down;

the terminal component comprises a coupler (31), a three-dimensional force sensor (33), a hand support (37) and an arm support (36), the top of the lead screw (30) is connected with the three-dimensional force sensor (33) through the coupler (31), the top of the three-dimensional force sensor (33) is connected with the hand support (37) horizontally arranged through a wrist joint flange (35), one end of the hand support (37) is provided with a handle (38), the other end of the hand support (37) is rotatably connected with the top of the three-dimensional force sensor (33), and the arm support (36) is fixedly connected with one side of the top of the three-dimensional force sensor (33).

2. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: support post (4) are rectangular frame structure, the top of support post (4) is provided with first mounting panel (1), and level set gradually second mounting panel (2) and third mounting panel (3) in the below of first mounting panel (1), big arm (10) level sets up on the terminal surface of first mounting panel (1), the bottom of big arm (10) one end is fixed on first mounting panel (1) through big arm reduction gear (9), big arm reduction gear (9) run through in first mounting panel (1) setting, drive mechanism I sets up between first mounting panel (1) and second mounting panel (2), drive mechanism I includes first joint motor (6), the vertical setting of one end of first joint motor (6) is between second mounting panel (2) and third mounting panel (3), and the driving pulley (7) that the second mounting panel (2) set up are passed to the first joint motor (6) other end ) Synchronous belt I through the level setting is connected with driven pulley I (8) that big arm reduction gear input set up to through first joint motor (6) control big arm (10) for the support post swing.

3. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1 or 2, wherein: the fixed motor flange that is provided with in one end that is located big arm reduction gear in big arm (10), drive transmission mechanism II includes second joint motor (11) of vertical setting on the motor flange, the output shaft of second joint motor (11) has driving pulley II (12) that are located big arm inner chamber, and the other end that is located big arm inner chamber is provided with driven pulley II (16), be provided with hold-in range II (13) between driving pulley II (12) and driven pulley II (16), driven pulley II (16) are connected with forearm reduction gear (17), the output and the forearm of forearm reduction gear (17) are connected for second joint motor (11) control forearm (20) are for big arm (10) swing.

4. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 3, wherein: a tension pulley II (14) is arranged in the synchronous belt II between the driving pulley II (12) and the driven pulley II (16), and the tension of the synchronous belt II (13) is adjusted by adjusting the position of the tension pulley II (14).

5. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: be provided with tensioning pulley III (26) between hold-in range III (22), and tensioning pulley III (26) are connected with tensioning pulley support (25), tensioning pulley support (25) are connected with adjusting screw (23), make tensioning pulley support (25) drive tensioning pulley III (26) through adjusting screw (23) and remove to compress tightly hold-in range III (22).

6. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: the end of the screw rod (30) is fixedly connected with a sensor lower flange (32) below the three-dimensional force sensor (33) through the coupler (31), and the sensor lower flange (32) is connected with the three-dimensional force sensor (33) through screws.

7. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1 or 6, wherein: the upper part of the three-dimensional force sensor (33) is connected with the upper sensor flange (34) and the wrist joint flange (35) through screws in sequence.

8. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: the third joint motor (19) is fixed on the small arm (20) through a motor support (18), the rotating center of the third joint motor (19) and the rotating center of the small arm (20) are coaxial, and the third joint motor (19) is provided with a photoelectric encoder detection mechanism.

9. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: the big arm (10) and the small arm (20) can be folded.

10. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot of claim 1, wherein: the controller comprises a control interface, the control interface comprises a touch screen and a switch button, and the rehabilitation training mode is selected through the touch screen.