Wrist joint rehabilitation training device

Abstract

The invention discloses a wrist joint rehabilitation training device which comprises a box assembly, a host assembly, a sports accessory assembly and a quick insertion assembly, a control box assembly is arranged in the box assembly, and the host assembly is rotationally arranged on the box assembly; the motion accessory assembly comprises at least one of an elbow rotation forward and backward rotation accessory assembly, a wrist ulnar deflection / radial deflection accessory assembly and a palmar flexion and dorsal extension accessory assembly, and the motion accessory assembly is installed on the box body assembly through a quick insertion assembly. Compared with the prior art, the rehabilitation training device has more functions, and rehabilitation training of various different forms can be carried out on a patient.

Description

Technical Field

[0001] The present invention relates to a wrist joint rehabilitation training device, belonging to the technical field of medical equipment. Background Art

[0002] Wrist rehabilitation equipment plays an indispensable role in clinical practice, which is reflected in improving wrist function, accelerating the rehabilitation process, improving athletic ability, personalized training, real-time feedback and monitoring, reducing the burden on medical staff and providing psychological support.

[0003] Many patients, especially those undergoing wrist rehabilitation after surgery, patients with joint injuries, and the elderly, often face the problem of slow recovery of wrist function. Wrist rehabilitation equipment can effectively improve their wrist strength and flexibility through targeted training, thereby accelerating the recovery process and improving athletic ability in daily life. In addition, these devices can also provide personalized training, adjust training plans according to the specific circumstances of each patient, provide real-time feedback and monitoring, and help medical staff better understand and manage the patient's rehabilitation progress. Overall, wrist rehabilitation equipment provides a more effective means of rehabilitation treatment through its many functions and advantages, helping patients restore wrist function and improve their quality of life.

[0004] Current wrist rehabilitation equipment still has some defects. For example, the Chinese invention patent application with application publication number CN108465209A discloses a full-function wrist training robot, whose gear transmission structure is complex and inconvenient for later maintenance. The training function is single and can only realize pronation and supination of the wrist and flexion and dorsiflexion of the wrist. The accessories are complicated to disassemble and assemble. The Chinese utility model patent with authorization announcement number CN218458300U discloses a rehabilitation training accessory and a wrist rehabilitation robot, whose split structure is complex to install and the adjustment device is cumbersome. Therefore, there is an urgent need to develop wrist rehabilitation equipment with compact structure, precise control, easy maintenance and comprehensive evaluation functions. Summary of the invention

[0005] The purpose of the present invention is to provide a wrist joint rehabilitation training device to solve the technical defect of the wrist joint training robot in the prior art having a single function.

[0006] In order to solve the above problems, the technical solution adopted by the present invention is: a wrist joint rehabilitation training device, including a box assembly, a main unit assembly, a sports accessory assembly and a quick-plug assembly, a control box assembly is arranged in the box assembly, the main unit assembly is rotatably arranged on the box assembly, the sports accessory assembly includes at least one of an elbow pronation and supination accessory assembly, a wrist ulnar deviation / radial deviation accessory assembly and a palmar flexion and dorsiextension accessory assembly, and the sports accessory assembly is installed on the box assembly through a quick-plug assembly.

[0007] As a further improvement of the present invention, the elbow pronation and supination accessory assembly can be detachably connected to the output shaft of the main assembly when the output shaft of the main assembly is in a horizontal state, and is driven to rotate by the main assembly, so as to perform pronation and supination movements on the elbow joint when the patient grasps. The wrist ulnar deviation / radial deviation accessory assembly can be detachably connected to the output shaft of the main assembly when the output shaft of the main assembly is in a vertical state, and is driven to rotate by the main assembly, so as to perform ulnar deviation and radial deviation movements on the patient's wrist when the patient's hand is placed thereon. The palmar flexion and dorsiextension accessory assembly can be detachably connected to the output shaft of the main assembly when the output shaft of the main assembly is in a horizontal state, and is driven to rotate by the main assembly, so as to perform palmar flexion and dorsiextension movements on the patient's wrist joint when the patient's hand is placed thereon.

[0008] As a further improvement of the present invention, it also includes an arm support assembly, which includes a support arm A, a support arm B, a support arm C and a forearm support plate, the support arm A is fixed to the main assembly, one end of the support arm B is rotatably connected to the support arm A, and when in use, the support arm B is fixed relative to the support arm A, one end of the support arm C is rotatably connected to an end of the support arm B away from the support arm A, and when in use, the support arm C is fixed relative to the support arm B, and the forearm support plate can slide on the support arm C or on the support arm C and the support arm B to support the patient's forearm when in use.

[0009] As a further improvement of the present invention, a sliding groove B is provided on the bracket arm B, and the sliding groove B penetrates the bracket arm B for connecting one end with the bracket arm C. A sliding groove C is provided on the bracket arm C, and the sliding groove C penetrates the bracket arm C for connecting one end with the bracket arm B. When the bracket arm C is rotated to be collinear with the bracket arm B, the end of the sliding groove C is communicated with the end of the sliding groove C, and the sliding groove B is collinear with the sliding groove C. A sliding block is provided at the bottom of the forearm support plate, and the sliding block can slide in the sliding groove C and the sliding groove B to adjust the position of the forearm support plate.

[0010] As a further improvement of the present invention, it also includes a bracket support arm vertical plate and a bracket support arm slider side plate, the top of the bracket support arm vertical plate is fixedly connected to the forearm support plate, the sliding block is fixed to the lower end of the bracket support arm vertical plate, the bracket support arm slider is fixed to the bracket support arm vertical plate, a plurality of limit holes are opened at intervals on the bracket support arm B and the bracket support arm C, a limit pin is arranged on the side plate of the bracket support arm slider, the limit pin is inserted into the limit hole for fixing the forearm support plate to the bracket support arm B or the bracket support arm C when in use.

[0011] As a further improvement of the present invention, a quick-insertion assembly is fixedly installed on the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly and the palmar flexion and dorsiextension accessory assembly. The quick-insertion assembly is used to be detachably connected to the output shaft of the host assembly when in use. The quick-insertion assembly includes an insulating block, a fixed mounting seat, a pressing sheet metal and a transmission flange. The insulating block is used to be installed on the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly and the palmar flexion and dorsiextension accessory assembly. The fixed mounting seat is detachably mounted on the insulating block. A central through hole is opened on the fixed mounting seat along the axial direction, and a slide groove is opened on one end of the fixed mounting seat close to the insulating block. The pressing sheet metal is arranged in the slide groove. The pressing sheet metal is provided with a fixing hole for the output shaft to pass through, and an annular groove is provided near the end of the output shaft in the circumferential direction. When the output shaft passes through the fixing hole, the pressing sheet metal moves toward the direction of the annular groove, and the edge of the fixing hole is located in the annular groove. The pressing sheet metal prevents the quick-insertion assembly from moving axially relative to the output shaft. The pressing sheet metal moves in the reverse direction and moves out of the annular groove, and the quick-insertion assembly can be moved axially along the output shaft. The transmission flange is fixed to one end of the fixed mounting seat away from the insulating block, and connecting through holes penetrating both ends of the transmission flange are provided in the radial direction. The output shaft passes through the connecting hole, and there is no relative rotation between the output shaft and the transmission flange.

[0012] As a further improvement of the present invention, it also includes a rocker arm, a touch display and a printer assembly. The rocker arm is rotatably arranged on the box assembly. The touch display is rotatably mounted on one end of the rocker arm away from the box assembly and is electrically connected to the control box assembly in the box assembly. The printer assembly is arranged on the box assembly and is electrically connected to the control box assembly in the box assembly.

[0013] As a further improvement of the present invention, the main engine assembly includes a power head base plate and a power head housing assembly, a drive motor and an output shaft are installed on the power head base plate and are rotatably installed with the power head base plate, and an output wheel is installed on the output shaft, the output shaft of the drive motor and the output wheel are connected by two steel ropes, one end of the two steel ropes are wound around the output shaft of the drive motor, and the winding directions of the two steel ropes on the output shaft of the drive motor are opposite, the other ends of the two steel ropes are both wound around the output wheel, and the winding directions of the two steel ropes on the output wheel are opposite, the power head housing assembly is installed on the power head base plate and covers the drive motor and the output shaft, the power head housing assembly is provided with a through hole running through the inside and outside thereof, and the through hole is used for the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly or the palmar flexion and dorsiextension accessory assembly to be connected to the output shaft when in use, and the two sides of the power head housing assembly are rotatably connected to the box assembly.

[0014] As a further improvement of the present invention, the main engine component also includes a motion accessory component identification component, which is arranged on the bottom plate of the power head, and an annular baffle is arranged on the quick-plug component. The motion accessory component identification component detects the annular baffle to identify whether the motion accessory component is installed and to identify the type of the motion accessory component.

[0015] As a further improvement of the present invention, the power head housing assembly also includes a left inner support plate and a right inner support plate, the left inner support plate is fixed to the left end of the power head housing assembly, a left outer support plate is arranged on the top of the box assembly, the left inner support plate is rotatably connected to the left outer support plate, the right inner support plate is fixed to the right end of the power head housing assembly, a left outer support plate and a right outer support plate are arranged on the top of the box assembly, the left inner support plate is rotatably connected to the left outer support plate, the right inner support plate is rotatably connected to the right outer support plate, and the rotation center lines of the left inner support plate and the right inner support plate coincide.

[0016] As a further improvement of the present invention, the power head housing assembly also includes two side housing assemblies and limit pins. The two side housing assemblies are respectively arranged on the left outer support plate and the right outer support plate. Corresponding limit holes A are provided on the side housing assemblies, the left outer support plate and the right outer support plate. More than two limit holes B are provided on the left inner support plate and the right inner support plate. The limit pins are inserted into the limit holes A and the limit holes B to prevent the main engine assembly from rotating relative to the box assembly when in use.

[0017] In summary, the beneficial effects of the present invention are: 1. The elbow pronation and supination accessory component, the wrist ulnar deviation / radial deviation accessory component and the palmar flexion and dorsiextension accessory component of the sports accessory component of the present invention can be respectively installed on the main component, and driven by the main component to perform pronation and supination exercises on the patient's elbow joint, ulnar deviation and radial deviation exercises on the patient's wrist, and palmar flexion and dorsiextension exercises on the patient's wrist joint. Compared with the prior art, the present application has more functions and can perform various forms of rehabilitation training on patients.

[0018] 2. The present invention is provided with an arm support assembly, which can support the patient's forearm when the patient is undergoing rehabilitation training, and the arm support assembly in the present invention can be rotated according to the rotation of the main unit assembly to ensure that the forearm support plate is in a horizontal state when in use, thereby ensuring that the patient's forearm is in a horizontal state when in use and is supported by the forearm support plate.

[0019] 3. The present invention provides a sliding groove B and a sliding groove C on the support arm B and the support arm C respectively. When in use, the position of the forearm support plate can be slidably adjusted according to the length of the patient's forearm and the form of rehabilitation training for the patient.

[0020] 4. The present invention fixes the forearm support plate in use by arranging the support arm vertical plate and the support arm slider side plate, and cooperates with the limiting hole and the limiting pin to prevent the forearm support plate from sliding during the rehabilitation training process.

[0021] 5. The present invention is provided with a quick-insert assembly, which is convenient for quick installation and disassembly of the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly and the palmar flexion and dorsiextension accessory assembly with the main assembly, and is convenient for replacing the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly or the palmar flexion and dorsiextension accessory assembly according to the needs of the patient.

[0022] 6. The present invention arranges support base A, support base B and support base C on the box assembly to facilitate the placement of the elbow pronation and supination accessory assembly, the wrist ulnar deviation / radial deviation accessory assembly and the palmar flexion and dorsiextension accessory assembly in the present invention when not in use. The main frame improves the overall strength and stability of the box assembly.

[0023] 7. The present invention is provided with a touch display to facilitate the operation of the present invention when in use, and a rocker arm is provided to facilitate adjustment of the angle of the touch display. The present invention is provided with a printer component to print the rehabilitation training status.

[0024] 8. The power head base plate in the present invention is used to install the drive motor, and the drive motor adopts two steel ropes wound in opposite directions to connect the output wheel on the output shaft, which can realize the reverse drivable function and the transmission is gapless. It has obvious advantages in application to rehabilitation equipment and other equipment that need to interact with people. The power head shell covers the drive motor therein to improve the safety of the present invention. The present invention arranges a left inner support plate and a right inner support plate, which are respectively rotatably connected to the left outer support plate and the right outer support plate on the box assembly, so as to facilitate the rotation installation of the main assembly as a whole and the box assembly. The drive device of the present invention is modular, which is convenient to manufacture and can reduce costs. The present invention can meet the training needs of left and right wrist joints. Since the present invention adopts steel ropes to connect the drive motor and the output wheel, the main assembly of the present invention can be manually adjusted in angle.

[0025] 9. The present invention is provided with a sports accessory component identification component, which can identify whether the sports accessory component is installed and the type of the sports accessory component, thereby making the use of the present invention more convenient.

[0026] 10. The present invention is provided with two side shell components, which wrap the left outer support plate and the right outer support plate therein, so as to further improve the safety of the use of the present invention. The present invention is provided with a limit pin, and the limit pin and the limit hole A cooperate with the limit hole B to fix the main unit component in the use state, so as to prevent the main unit component from rotating relative to the box component in the use state and affecting the effect of the patient's rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0028] Figure 2 It is a three-dimensional exploded schematic diagram of the mobile chassis assembly in the present invention.

[0029] Figure 3 It is a three-dimensional exploded schematic diagram of the box assembly in the present invention.

[0030] Figure 4 It is a schematic structural diagram of the upper plate assembly of the present invention.

[0031] Figure 5 It is a schematic diagram of the exploded view of the host assembly in the present invention.

[0032] Figure 6 It is a schematic diagram of the three-dimensional structure inside the host component of the present invention.

[0033] Figure 7 It is a three-dimensional exploded schematic diagram of the arm support assembly of the present invention.

[0034] Figure 8 It is a three-dimensional exploded schematic diagram of the sports accessory assembly in the present invention.

[0035] Fig. 9 It is a three-dimensional exploded schematic diagram of the elbow pronation and supination accessory assembly of the present invention.

[0036] Fig.10 It is a three-dimensional exploded schematic diagram of the quick-connect assembly in the present invention.

[0037] Fig.11 It is a bottom view of the sports accessory assembly in the present invention.

[0038] Fig.12 It is a three-dimensional structural schematic diagram of the rocker arm and the touch display in the present invention.

[0039] Fig.13 It is a structural schematic diagram of the present invention performing pronation and supination movements on the patient's elbow joint.

[0040] Fig.14 It is a structural schematic diagram of the present invention for performing ulnar deviation and radial deviation movements on the patient's wrist.

[0041] Fig.15 It is a structural schematic diagram of the present invention performing palmar flexion and dorsiflexion exercises on the patient's wrist joint.

[0042] Among them: 1. Box assembly; 2. Control box assembly; 3. Mainframe assembly; 4. Elbow pronation and supination accessory assembly; 5. Output shaft; 6. Wrist ulnar deviation / radial deviation accessory assembly; 7. Palmar flexion and dorsiextension accessory assembly; 8. Arm support assembly; 9. Bracket support arm A; 10. Bracket support arm B; 11. Bracket support arm C; 12. Forearm support plate; 13. Sliding slot B; 14. Sliding slot C; 15. Sliding block; 16. Bracket support arm vertical plate; 17. Bracket support arm slider side plate; 18. Limiting hole; 19. Limiting pin; 20. Quick plug assembly; 21. Main frame; 22. Box shell assembly; 23. Upper plate assembly; 24. Support seat A; 25. Support seat B; 26. Support seat C; 27. Rocker arm; 28. Touch display; 29. ​​Power head bottom plate; 30. Drive motor; 31. Power head shell assembly; 32. Left inner support plate; 33. Right inner support plate ; 34. Left outer support plate; 35. Right outer support plate; 36. Side housing assembly; 37. Limit pin B; 38. Limit hole A; 39. Limit hole B; 40. Rotation handle; 41. Mobile chassis assembly; 42. Universal wheel; 43. Printer assembly; 44. Connection hole A; 45. Rotation limit hole A; 46. Indexing pin A; 47. Box handle; 48. Upper mounting plate; 49. Display bracket; 50. Motor support Frame; 51, shaft support plate; 52, output wheel; 53, U-shaped photoelectric fixed bracket; 54, U-shaped photoelectric sensor; 55, welding chassis; 56, chassis shell; 57, insulating block; 58, fixed mounting seat; 59, transmission flange; 60, pressing sheet metal; 61, pressing block; 62, embedded sheet metal; 63, insulating plate; 65, rectangular through hole; 66, hollow damping shaft; 67, rotating shaft A; 68, compression spring. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings. Example 1

[0044] like Figure 1 The wrist joint rehabilitation training device shown in the figure includes a box component 1, a main unit component 3 and a motion accessory component. A control box component 2 is arranged in the box component 1, and the main unit component 3 is rotatably arranged on the box component 1. An output shaft 5 is arranged on the main unit component 3. The main unit component 3 is flipped relative to the box component 1, and the output shaft 5 can be placed in a horizontal state and a vertical state as needed. The motion accessory component in this embodiment includes an elbow pronation and supination accessory component 4, a wrist ulnar deviation / radial deviation accessory component 6 and a palmar flexion and dorsiextension accessory component 7. The elbow pronation and supination accessory component 4 can be detachably connected to the output shaft 5 of the main unit component 3 when the output shaft 5 of the main unit component 3 is in a horizontal state, and is driven to rotate by the main unit component 3, so as to perform pronation and supination movements on the elbow joint when the patient grasps, as shown in FIG. Fig.13As shown, the patient's hand grasps the elbow pronation and supination accessory component 4, and the main component 3 drives the elbow pronation and supination accessory component 4 to rotate with the output shaft 5 in a horizontal state as the rotation axis, driving the patient's forearm to rotate back and forth toward the palm or the back of the hand, so as to perform pronation and supination rehabilitation training on the patient's elbow joint. The wrist ulnar deviation / radial deviation accessory component 6 in this embodiment can be detachably connected to the output shaft 5 of the main component 3 when the output shaft 5 of the main component 3 is in a vertical state, and is driven to rotate by the main component 3, and is used to perform ulnar deviation and radial deviation movements on the patient's wrist when the patient's hand is placed thereon, as shown in FIG. Fig.15 As shown, when the present embodiment is in use, the patient's hand support is placed on the wrist ulnar deviation / radial deviation accessory assembly 6, and the main assembly 3 drives the wrist ulnar deviation / radial deviation accessory assembly 6 to swing with the output shaft 5 in a vertical state as the rotation axis, driving the patient's hand support to swing back and forth up and down, thereby performing ulnar deviation / radial deviation rehabilitation training on the patient's wrist joint. The palmar flexion and dorsiextension accessory assembly 7 in the present embodiment can be detachably connected to the output shaft 5 of the main assembly 3 when the output shaft 5 of the main assembly 3 is in a horizontal state, and is driven to rotate by the main assembly 3, so as to perform palmar flexion and dorsiextension exercises on the patient's wrist joint when the patient's hand is placed thereon, as shown in FIG. Fig.14 As shown, in the use state, the palm of the patient is placed on the palmar flexion and dorsiflexion accessory component 7, and the palmar flexion and dorsiflexion accessory component 7 is driven by the host component 3 to swing with the output shaft 5 in a horizontal state as the rotation axis, and the palm of the patient swings back and forth synchronously, thereby performing palmar flexion and dorsiflexion rehabilitation training on the patient's wrist joint. The control box component 2 in this embodiment is provided with a control board, a power module, and an industrial control board. The control board is responsible for realizing the control logic and signal processing of the equipment, the power module provides a stable power supply, and the industrial control board is responsible for setting the control parameters and monitoring the system operation status. The control box component 2 in this embodiment itself is a prior art and will not be described in detail in this embodiment.

[0045] like Figure 1 , Figure 5 , Figure 13-Figure 15 As shown, in order to support the patient's forearm during use, this embodiment is provided with an arm support assembly 8, as shown in FIG. Figure 7As shown, the arm support assembly 8 includes a bracket support arm A9, a bracket support arm B10, a bracket support arm C11 and a small arm support plate 12. The bracket support arm A9 is detachably mounted on the main assembly 3 by at least three bolts. A connecting hole A44 and two rotation limiting holes A45 are formed on one end of the bracket support arm A9 away from the main assembly 3, wherein the two limiting holes A45 are perpendicular to the connecting line in the middle of the connecting hole A44. In this embodiment, the center lines of the connecting hole A44 and the two rotation limiting holes A45 are parallel and are all along the horizontal direction. In the embodiment, a connection hole B (not shown in the figure) and a rotation limit hole B (not shown in the figure) are provided on one end of the support arm B10. One end of the support arm B10 is rotatably connected to the support arm A9 by a rotation axis A67 passing through the connection hole A44 and the connection hole B. When in use, the support arm B10 is fixed relative to the support arm A9. In this embodiment, the support arm B10 is fixed to the support arm A9 by inserting an indexing pin A46 into the limit hole B and one of the rotation limit holes A45 to prevent the support arm B10 from being rotated. The support arm B10 is prevented from rotating relative to the support arm A9. In this embodiment, one end of the support arm C11 is rotatably connected to the end of the support arm B10 away from the support arm A9, and the support arm C11 is fixed relative to the support arm B10 when in use. In this embodiment, a connecting protrusion is provided at the end of the support arm B10 away from the support arm A9, and the vertical edges on both sides of the end of the connecting protrusion are chamfered. A vertical edge of one end of the support arm C11 used for connecting with the support arm B10 is provided with a guide fillet, and at this end A horizontal connecting groove is provided at the support arm B10, and the connecting protrusion on the support arm B10 extends into the connecting groove, and the support arm C11 is located below the connecting groove and is rotatably connected to the connecting protrusion by a rotating shaft B, wherein the rotating shaft B is arranged along the vertical direction. In this embodiment, the upper surface of the support arm C11 is coplanar with the upper surface of the support arm B10. The forearm support plate 12 in this embodiment can slide on the support arm C11 or on the support arm C11 and the support arm B10, and is used to support the patient's forearm when in use.

[0046] like Figure 7 As shown, the specific structure of the present embodiment for realizing the sliding of the forearm support plate 12 on the support arm C11 and the support arm B10 is as follows: a sliding groove B13 is provided on the support arm B10, and the sliding groove B13 penetrates one end of the support arm B10 for connecting with the support arm C11; a sliding groove C14 is provided on the support arm C11, and the sliding groove C14 penetrates one end of the support arm C11 for connecting with the support arm B10; when the support arm C11 is rotated to be collinear with the support arm B10, the end of the sliding groove C14 is communicated with the end of the sliding groove C14, and the sliding groove B13 is collinear with the sliding groove C14; a sliding block 15 is provided at the bottom of the forearm support plate 12, and the sliding block 15 can slide in the sliding groove C14 and the sliding groove B13, and is used to adjust the position of the forearm support plate 12 according to the length of the patient's forearm when in use.

[0047] like Figure 7 As shown, the present embodiment is provided with a bracket support arm vertical plate 16 and a bracket support arm slider side plate 17, the longitudinal cross-section shape of the sliding groove B13 and the sliding groove C14 are both inverted T-shaped, the thickness of the bracket support arm vertical plate 16 is slightly smaller than the width of the upper part of the sliding groove B13 and the sliding groove C14, the top of the bracket support arm vertical plate 16 is fixedly connected to the small arm support plate 12 by bolts, and the sliding block 15 in the present embodiment is fixed at the lower end of the bracket support arm vertical plate 16, and the sliding block 15 is fixed in the sliding groove B13 and the sliding groove C14. The bracket arm vertical plate 16 extends upward from the sliding groove B13 and the sliding groove C14. The bracket arm slider side plate 17 in this embodiment is fixed to the bracket arm vertical plate 16. A plurality of limiting holes 18 are provided at intervals on the bracket arm B10 and the bracket arm C11. A limiting pin 19 is provided on the bracket arm slider side plate 17. The limiting pin 19 is inserted into the limiting hole 18 to fix the small arm support plate 12 on the bracket arm B10 in the use state. Or on the bracket support arm C11, the bracket support arm slider side plate 17 in this embodiment includes a horizontal side plate unit and a vertical side plate unit, one end of the horizontal side plate unit is detachably installed with the bracket support arm vertical plate 16 by using multiple bolts, and the top end of the vertical side plate unit is fixedly connected with the end of the horizontal side plate unit away from the bracket support arm vertical plate 16. In this embodiment, the horizontal side plate unit and the vertical side plate unit are integrally formed, wherein the limiting hole 18 is opened on the vertical surface of the bracket support arm B10 and the bracket support arm C11 close to one side of the vertical side plate unit, and a limiting through hole (not shown in the figure) is opened on the vertical side plate unit. When in use, the limiting pin 19 is inserted into the limiting through hole and the limiting hole 18 to prevent the relative movement of the bracket support arm vertical plate 16 and the bracket support arm B10 and the bracket support arm C11, thereby fixing the forearm support plate 12. The forearm support plate 12 in this embodiment includes a plate body, and the two sides of the plate body are bent upward to form a limiting flip connection, which is used to limit the patient's forearm from both sides when in use.

[0048] like Figure 8 , Fig. 9 and Fig.11As shown, the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 and the palmar flexion and dorsiextension accessory assembly 7 in this embodiment are all fixedly mounted with a quick-insertion assembly 20, and the quick-insertion assembly 20 is used to be detachably connected to the output shaft 5 of the main assembly 3 when in use. The elbow pronation and supination accessory assembly 4 in this embodiment includes a grip and a U-shaped sheet metal, the grip is arranged at the opening of the U-shaped sheet metal, and the two ends of the grip are respectively fixedly connected to the two ends of the U-shaped sheet metal, the quick-insertion assembly 20 is installed on the side of the U-shaped sheet metal away from the opening, the grip is used for the patient to grasp when performing pronation and supination rehabilitation training on the patient's elbow joint, the wrist ulnar deviation / radial deviation accessory assembly 6 includes a hand support plate, a fixing rod A is fixed on the lower surface of the hand support plate, a connecting plate A is fixed on the end of the fixing rod A away from the hand support plate, and the quick-insertion assembly 20 is installed on the connecting plate A, and five slots are symmetrically provided on the hand support plate in this embodiment, of which the two slots in the middle are parallel In the use state, the insert plates are inserted into the two slots, and the patient's index finger, middle finger and ring finger are located between the two insert plates. The middle slots on both sides are inclined toward both sides, and the insert plates are inserted into the inclined slots, which are respectively used to place the patient's thumb and little finger in the use state, so as to support and fix the patient's hand when the patient's wrist joint is subjected to ulnar deviation / radial deviation rehabilitation training. The palmar flexion and dorsiextension accessory assembly 7 in this embodiment includes a hand support plate that is the same as the wrist ulnar deviation / radial deviation accessory assembly 6, and a fixing rod B perpendicular to the hand support plate is arranged at the lower part of the hand support plate, and a connecting plate B is fixed to the bottom end of the fixing rod B, and the quick-insertion assembly 20 is installed on the connecting plate B.

[0049] like Fig.10As shown, the quick-insertion assembly 20 in this embodiment includes an insulating block 57, a fixed mounting seat 58, a transmission flange 59, a pressing sheet metal 60 and a pressing block 61. The insulating block 57 is used to be installed on the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 and the palmar flexion and dorsiextension accessory assembly 7. The fixed mounting seat 58 is detachably mounted on the insulating block 57 using multiple bolts. A central through hole is opened on the fixed mounting seat 58 along the axial direction, and a slide groove is opened on one end of the fixed mounting seat 58 close to the insulating block 57, and the slide groove is perpendicular to the central through hole. The pressing sheet metal 60 is arranged in the slide slot and can move in the slide slot. The edge of the pressing sheet metal 60 is bent to form a fixing portion. The pressing block 61 is fixed on the fixing portion. A compression spring 68 is fixed on the fixing portion away from the pressing block 61. A fixing hole for the output shaft 5 to pass through is provided on the pressing sheet metal 60. In this embodiment, two or more oblong holes are provided on the side of the fixing hole. The length direction of the oblong hole is the same as the length direction of the slide slot. Bolts for fixing the mounting seat 58 and the insulating block 57 pass through the oblong holes. Since the oblong hole is provided on the pressing sheet metal 60, the bolt The movement of the pressing sheet metal 60 will not be affected, and the pressing sheet metal 60 can also be limited to prevent the pressing sheet metal 60 from popping out of the slide groove. The transmission flange 59 in this embodiment is fixed to the fixed mounting seat 58 on the end away from the insulating block 57 by bolts. A connecting through hole is radially opened on the transmission flange 59 and runs through both ends thereof, and a keyway is opened on the hole wall of the connecting through hole. A key is fixed on the output shaft 5, and the key on the output shaft 5 cooperates with the keyway in the connecting through hole, so that the quick-insertion assembly 20 and the output shaft 5 rotate synchronously when in use. In this embodiment, the output An annular groove is provided in the circumferential direction near the end of the shaft 5. When the output shaft 5 passes through the fixing hole, the end of the compression spring presses against the output shaft, so that the pressing sheet metal 60 moves toward the direction of the annular groove, and the edge of the fixing hole is located in the annular groove, so that the pressing sheet metal 60 prevents the quick-insertion assembly 20 from moving axially relative to the output shaft 5. By pressing the pressing block 61, the pressing sheet metal 60 moves and moves out of the annular groove, and the quick-insertion assembly 20 can be moved axially along the output shaft 5, thereby replacing the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 or the palmar flexion and dorsiextension accessory assembly 7. In this embodiment, two waist-shaped grooves are symmetrically provided on one side of the insulating block 57 close to the fixed mounting seat 58, and a circular through hole is provided at each end of the waist-shaped groove, and an embedded sheet metal 62 matching therewith is provided in each waist-shaped groove, and a cylinder matching the circular through hole is fixed at each end of the embedded sheet metal 62, and a threaded hole is provided on the end of the cylinder away from the embedded sheet metal, which is used to be detachably installed with the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 and the palmar flexion and dorsiextension accessory assembly 7 by bolts when in use, and an insulating plate 63 is provided on the side of the embedded sheet metal 62 away from the cylinder, which is used for insulation between the embedded sheet metal 62 and the pressing sheet metal 60.

[0050] like Figure 3 and Figure 4 As shown in Figure 4 , the box body assembly 1 in this embodiment includes a main body frame 21, a box body outer shell assembly 22, a box body bottom plate, and an upper plate assembly 23. The main body frame 21 includes four columns, four lower connecting rods, and an upper connecting rod. The four lower connecting rods are connected end to end to form a rectangular frame structure. The bottom ends of the four columns are fixedly connected to the connection parts of the lower connecting rods. Among them, the left and right upper connecting rods are respectively fixedly connected to the top ends of the left and right columns, and the front ends of the two upper connecting rods extend forward. The rear ends of the two upper connecting rods are bent and connected towards each other to form a box body handle 47. The box body bottom plate is fixed to the bottom of the main body frame 21. The control box assembly 2 is arranged in the main body frame 21 and supported by the box body bottom plate. The box body outer shell assembly 22 is fixed on the main body frame 21 for enclosing the main body frame 21 therein. The box body outer shell assembly 22 in this embodiment includes a left outer shell unit with a "C" - shaped cross - section and a plate - shaped right outer shell unit. The upper plate assembly 23 is arranged on the top of the box body outer shell assembly 22 for enclosing the main body frame 21 from the bottom. Support seats A24, support seats B25, and support seats C26 for placing the elbow pronation / supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6, and the palmar flexion / dorsiflexion accessory assembly 7 removed from the host assembly 3 are respectively arranged on the upper plate assembly 23. The structures of the support seats A24 and support seats B25 in this embodiment are the same, both being protrusions A arranged on the upper plate assembly 23, and a groove A is opened on the protrusion A. The groove A is used to cooperate with the quick - insertion components 20 on the elbow pronation / supination accessory assembly 4 and the wrist ulnar deviation / radial deviation accessory assembly 6 in the use state. During use, the quick - insertion components 20 on the elbow pronation / supination accessory assembly 4 and the wrist ulnar deviation / radial deviation accessory assembly 6 are respectively inserted into the groove A, and then the elbow pronation / supination accessory assembly 4 and the wrist ulnar deviation / radial deviation accessory assembly 6 can be supported on the upper plate assembly 23. The support seat C26 in this embodiment includes two protrusions B, each of the two protrusions B is provided with a horizontal groove B, and the length directions of the two grooves B are the same. The grooves B on the two protrusions B respectively cooperate with the palmar flexion / dorsiflexion accessory assembly 7 and its quick - insertion component 20.

[0051] As Figure 1 、 Figures 12 to 15As shown, the present embodiment is provided with a rocker arm 27 and a touch display 28, the rocker arm 27 is rotatably arranged on the box assembly 1, the upper plate assembly 23 of the present embodiment also includes an upper mounting plate 48, the upper mounting plate 48 is located at the lower part of the upper connecting rod of the main frame 21, and is fixedly connected to the upper connecting rod, a display bracket 49 is fixed on the upper mounting plate 48, the display bracket 49 passes upward through the upper plate assembly 23, the rocker arm 27 is rotatably connected to the display bracket 49, the touch display 28 in the present embodiment is rotatably installed on one end of the rocker arm 27 away from the box assembly 1, and is electrically connected to the control box assembly 2 in the box assembly 1, the structure of the rocker arm 27 itself in the present embodiment and its rotatable connection structure with the display bracket 49 and the touch display 28 are both prior art.

[0052] like Figure 5 and Figure 6As shown, the main engine assembly 3 in this embodiment includes a power head base plate 29 and a power head housing assembly 31. The bracket support arm A9 in this embodiment is fixedly connected to the power head base plate 29. A drive motor 30 and an output shaft 5 are installed on the power head base plate 29. A motor bracket 50 is fixed on the power head base plate 29 in this embodiment. The drive motor 30 is installed on the motor bracket 50. In this embodiment, two parallel shaft support plates 51 are installed on the power head base plate 29. The output shaft 5 passes through the two shaft support plates 51 and is connected to the two shaft support plates. The plate 51 is rotatably connected, and an output wheel 52 is fixed at one end of the output shaft 5, and the output wheel 52 is connected to the motor shaft of the driving motor 30. In this embodiment, the output shaft of the driving motor 30 and the output wheel 52 are connected by two steel ropes, one end of the two steel ropes is wound around the output shaft of the driving motor 30, and the winding directions of the two steel ropes on the output shaft of the driving motor 30 are opposite, and the other ends of the two steel ropes are wound around the output wheel 52, and the winding directions of the two steel ropes on the output wheel 52 are opposite. Therefore, in this embodiment, when one steel rope is wound, the other steel rope is wound. The steel rope is unwound, wherein the diameter of the output wheel 52 is larger than the diameter of the output shaft of the drive motor 30, so as to achieve the effect of deceleration. The present embodiment does not use a reducer, and the output wheel 52 can rotate forward and reverse. The drive motor 30 drives the output shaft 5 to rotate by driving the output wheel 52. In the present embodiment, a U-shaped photoelectric fixing bracket 53 is fixed with a plurality of connecting short rods on the rotating shaft support plate 51 on the side away from the output wheel 52, and a U-shaped photoelectric fixing bracket 53 is fixed with a U-shaped photoelectric sensor 54, which is used to identify whether the motion accessory component is installed on the main body component 3 or whether it has been removed from the main body component 3. The power head housing component 31 in the present embodiment is installed on the power head bottom plate 29 and covers the drive motor 30 and the output shaft 5. A through hole running through the inside and outside of the power head housing component 31 is opened. The through hole is used for the quick-insertion component 20 on the elbow pronation and supination accessory component 4, the wrist ulnar deviation / radial deviation accessory component 6 or the palmar flexion and dorsiextension accessory component 7 to be connected with the output shaft 5 in the use state. The two sides of the power head housing component 31 in the present embodiment are rotatably connected with the box component 1. In this embodiment, an annular baffle is formed on the side of the fixed mounting seat 58 away from the insulating block 57 and protrudes in the direction away from the insulating block 57. When the U-shaped photoelectric sensor 54 detects the annular baffle, it indicates that the motion accessory assembly is installed on the main host assembly 3. When the U-shaped photoelectric sensor 54 cannot detect the annular baffle, it indicates that the motion accessory assembly is removed from the main host assembly 3.

[0053] like Figure 5As shown, the power head housing assembly 31 in this embodiment also includes a left inner support plate 32 and a right inner support plate 33. The left inner support plate 32 is fixed to the left end of the power head housing assembly 31, and the right inner support plate 33 is fixed to the right end of the power head housing assembly 31. In this embodiment, mounting grooves are provided on the left and right surfaces of the power head housing assembly 31. The left inner support plate 32 and the right inner support plate 33 are respectively clamped in the left and right mounting grooves. In this embodiment, a mounting groove is provided on the top of the box assembly 1. The left outer support plate 34 and the right outer support plate 35, the bottom of the left outer support plate 34 and the right outer support plate 35 are respectively fixed on the left and right upper connecting rods, the left inner support plate 32 and the left outer support plate 34 are rotatably connected by a hollow damping shaft 66, the right inner support plate 33 and the right outer support plate 35 are also rotatably connected by a hollow damping shaft 66, and the rotation center line of the left inner support plate 32 and the right inner support plate 33 coincides. The hollow damping shaft in this embodiment is a prior art and will not be described in detail in this embodiment. This embodiment is provided with two side housing components 36, the two side housing components 36 are respectively arranged on the left outer support plate 34 and the right outer support plate 35, and the bottom of the two side housing components 36 is fixedly connected to the power head housing component 31.

[0054] like Figure 5 As shown, in this embodiment, a limit pin B37 is provided to prevent the main unit assembly 3 from rotating relative to the box assembly 1 when in use. In this embodiment, corresponding limit holes A38 are provided on the side housing assembly 36, the left outer support plate 34 and the right outer support plate 35, and more than two limit holes B39 are provided on the left inner support plate 32 and the right inner support plate 33. The limit pin B37 is inserted into the limit hole A38 and the limit hole B39 to prevent the main unit assembly 3 from rotating relative to the box assembly 1 when in use. In order to facilitate the main unit assembly 3 to rotate as needed when in use, a rotating handle 40 is provided in this embodiment. The rotating handle 40 is provided on the power head housing assembly 31 and is used to rotate the main unit assembly 3 when in use. The rotating handle is provided in this embodiment to facilitate the rotation and adjustment of the main unit assembly as needed.

[0055] like Figure 1 and Figure 2As shown, in order to facilitate the present embodiment to move as needed in the use state, a mobile chassis assembly 41 is provided. In the present embodiment, more than three universal wheels 42 are provided at the bottom of the mobile chassis assembly 41, and the three universal wheels 42 are arranged in a non-straight line, and the bottom of the box assembly 1 is fixed on the mobile chassis assembly 41. The mobile chassis assembly 41 in the present embodiment includes a welded chassis 55 and a chassis shell 56, and the chassis shell 56 is covered on the welded chassis 55. In the present embodiment, four universal wheels 42 are provided on the welded chassis 55, and a rectangular through hole 65 with the same shape as the box assembly 1 is opened on the chassis shell 56. The bottom end of the box assembly 1 is fixedly connected to the welded chassis 55 through the rectangular through hole. The mobile chassis assembly 41 is provided in the present embodiment, and the universal wheels 42 on the mobile chassis assembly 41 are rotated, so that the present embodiment can be moved as needed when in use.

[0056] like Figure 1 As shown, this embodiment is provided with a printer assembly 43, which is arranged on the box assembly 1 and is electrically connected to the control box assembly 2 in the box assembly 1. The printer assembly 43 in this embodiment is located below the host assembly 3. This embodiment is also provided with an emergency stop and a power button, which is a prior art and will not be described in detail in this embodiment. Example 2

[0057] This embodiment is a further improvement on the basis of the embodiment 1. Compared with the embodiment 1, the annular baffle of this embodiment is provided with a notch, wherein the positions of the notches of the quick-insertion assembly 20 installed on the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 and the palmar flexion and dorsiextension accessory assembly 7 are different, such as Fig.11 As shown, the position of the notch on the elbow pronation and supination accessory assembly 4 is located on the same side as the pressing block 61, while the positions of the notches on the wrist ulnar deviation / radial deviation accessory assembly 6 and the palmar flexion and dorsiextension accessory assembly 7 are respectively located on both sides of the pressing block 61. When the motion accessory assembly is inserted into the output shaft 5 during use, the type of the motion accessory assembly is identified by rotating the motion accessory assembly to the zero position, that is, it is identified whether the elbow pronation and supination accessory assembly 4, the wrist ulnar deviation / radial deviation accessory assembly 6 or the palmar flexion and dorsiextension accessory assembly 7 is inserted into the output shaft 5. The zero position in this embodiment refers to the position where the motion accessory assembly does not deflect, specifically, the hand support plate of the wrist ulnar deviation / radial deviation accessory assembly 6 is in a horizontal state, the hand support plate of the palmar flexion and dorsiextension accessory assembly 7 is in a horizontal state, and the handle of the elbow pronation and supination accessory assembly 4 is in a vertical state. The structure of the rest of this embodiment is the same as that of embodiment 1, and specific reference may be made to embodiment 1, which will not be repeated in this embodiment.

[0058] The steps of the present invention for patient rehabilitation training include: S1 (patient in position): The patient sits in front of the device and fixes the patient's forearm on the armrest with the handrest strap.

[0059] S2 (Training range calibration): The patient rotates to the limit according to his / her motor ability, and the control box component 2 maps the patient's activity range coordinate system to the game scene coordinate system according to the transposed matrix.

[0060] S3 (Set training parameters): The therapist selects the training mode and training parameters according to the patient's rehabilitation progress and exercise ability. The training modes include resistance, assisted, passive, stretching, isokinetic, isotonic, isometric, and relaxation modes. The training parameters include the output of the equipment and the speed of movement.

[0061] S4 (rehabilitation training): Rehabilitation training is performed according to the parameters set in S3. During the training, the present invention can also display the patient's wrist joint movement speed, movement mileage, output size, and participation. During the rehabilitation training process, the device protects the patient by limiting the training range, limiting the maximum torque, and detecting spasms to avoid sports injuries.

[0062] S4.1 (resistance mode): The present invention provides resistance, and the limbs resist this force to move, so as to restore and exercise active muscle endurance training. The present invention provides three resistance training methods: constant force, elasticity and inertia. Constant force resistance will always provide a constant resistance when the user moves, elastic resistance simulates the resistance of a spring, and inertia resistance simulates the movement scene of lifting heavy objects through pulleys and ropes.

[0063] S4.2 (Assistance Mode): The present invention provides auxiliary force to cooperate with and help the limbs to move, so that the limbs can perform continuous active training.

[0064] S4.3 (passive mode): The present invention assists the patient in completing rehabilitation training. In this mode, the device drives the patient to move toward the target position through trajectory planning, and the patient cannot drive the device to move toward a non-target point.

[0065] S4.4 (stretching mode): The present invention provides power, stops the movement at the boundary position and maintains it for a period of time to achieve passive training with stretching effect.

[0066] S4.5 (constant speed mode): The trainee actively exercises. When the exercise speed is greater than the set speed, the present invention provides resistance to ensure that the muscles contract at a constant speed.

[0067] S4.6 (isometric mode): The passive training of the present invention provides a holding force to stop the movement at the boundary position and maintain it for a period of time to achieve a stretching effect.

[0068] S4.7 (Isotonic mode): The present invention provides a constant tension to ensure that the muscle length changes while the muscle tension remains unchanged. Teaching mode: After the medical staff guides the operator to set a custom trajectory, the present invention will drive the patient's limbs to reproduce the trajectory.

[0069] S4.8 (relaxation mode): This is a training mode in which the present invention drives the limb joints to exercise. The power comes from the present invention. This mode moves at a low speed within a smaller range of motion.

[0070] S5: (Training ends, patient leaves): After the training ends, the present invention generates a training report according to the patient's movement during the training process, and the printer component prints the training report, and the therapist helps the patient leave the present invention.

[0071] The parts not specifically described in the above description are all prior art, or can be implemented by prior art. Moreover, the specific implementation cases described in the present invention are only preferred implementation cases of the present invention, and are not used to limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made according to the content of the patent application scope of the present invention should be regarded as the technical scope of the present invention.

Claims

1. A wrist joint rehabilitation training device, characterized in that: include A box assembly (1), wherein a control box assembly (2) is arranged inside the box assembly (1); A mainframe component (3), the mainframe component (3) being rotatably disposed on the box component (1); A sports accessory assembly, the sports accessory assembly comprising at least one of an elbow pronation and supination accessory assembly (4), a wrist ulnar deviation / radial deviation accessory assembly (6), and a palmar flexion and dorsiextension accessory assembly (7); A quick-insert component (20), wherein the sports accessory component is installed on the box component (1) via the quick-insert component (20).

2. The wrist joint rehabilitation training device according to claim 1, characterized in that: The elbow pronation and supination accessory component (4) can be detachably connected to the output shaft (5) of the main component (3) when the output shaft (5) of the main component (3) is in a horizontal state, and is driven to rotate by the main component (3) so as to be used for the patient to perform pronation and supination movements on the elbow joint when grasping; The wrist ulnar deviation / radial deviation accessory component (6) can be detachably connected to the output shaft (5) of the main component (3) when the output shaft (5) of the main component (3) is in a vertical state, and is driven to rotate by the main component (3) to perform ulnar deviation and radial deviation movements on the patient's wrist when the patient's hand is placed thereon; The palmar flexion and dorsiflexion accessory component (7) can be detachably connected to the output shaft (5) of the main component (3) when the output shaft (5) of the main component (3) is in a horizontal state, and is driven to rotate by the main component (3) so as to perform palmar flexion and dorsiflexion movements on the patient's wrist joint when the patient's hand is placed thereon.

3. The wrist joint rehabilitation training device according to claim 2, characterized in that: It also includes an arm support assembly (8), which includes A support arm A (9), the support arm A (9) being fixed on the mainframe assembly (3); A support arm B (10), one end of which is rotatably connected to the support arm A (9), and in a use state, the support arm B (10) is fixed relative to the support arm A (9); A support arm C (11), one end of the support arm C (11) is rotatably connected to an end of the support arm B (10) away from the support arm A (9), and the support arm C (11) is fixed relative to the support arm B (10) in a use state; The forearm support plate (12) can slide on the support arm C (11) or on the support arm C (11) and the support arm B (10) to support the patient's forearm when in use.

4. The wrist joint rehabilitation training device according to claim 3, characterized in that: The support arm B (10) is provided with a sliding groove B (13), and the sliding groove B (13) passes through one end of the support arm B (10) for connecting with the support arm C (11); The support arm C (11) is provided with a sliding groove C (14), the sliding groove C (14) passes through one end of the support arm C (11) for connecting with the support arm B (10), and when the support arm C (11) is rotated to be in line with the support arm B (10), the end of the sliding groove C (14) is communicated with the end of the sliding groove C (14), and the sliding groove B (13) is in line with the sliding groove C (14); A sliding block (15) is provided at the bottom of the forearm support plate (12). The sliding block (15) can slide in the sliding groove C (14) and the sliding groove B (13) to adjust the position of the forearm support plate (12).

5. The wrist joint rehabilitation training device according to claim 4, characterized in that: Also includes A bracket support arm vertical plate (16), the top end of which is fixedly connected to the small arm support plate (12), and a sliding block (15) is fixedly fixed to the lower end of the bracket support arm vertical plate (16); The support arm slider side plate (17) is fixed to the support arm vertical plate (16), and a plurality of limit holes (18) are provided at intervals on the support arm B (10) and the support arm C (11). The support arm slider side plate (17) is provided with a limit pin (19), and the limit pin (19) is inserted into the limit hole (18) for fixing the small arm support plate (12) on the support arm B (10) or the support arm C (11) in a use state.

6. The wrist joint rehabilitation training device according to claim 1, characterized in that: The elbow pronation and supination accessory assembly (4), the wrist ulnar deviation / radial deviation accessory assembly (6), and the palmar flexion and dorsiextension accessory assembly (7) are all fixedly mounted with a quick-insertion assembly (20). The quick-insertion assembly (20) is used to be detachably connected to the output shaft (5) of the main assembly (3) when in use. The quick-insertion assembly (20) includes An insulating block (57) is used for mounting on the elbow pronation and supination accessory assembly (4), the wrist ulnar deviation / radial deviation accessory assembly (6) and the palmar flexion and dorsiextension accessory assembly (7); A fixed mounting seat (58), the fixed mounting seat (58) being detachably mounted on the insulating block (57), a central through hole being provided on the fixed mounting seat (58) along the axial direction, and a slide groove being provided on one end of the fixed mounting seat (58) close to the insulating block (57); A pressing sheet metal (60) is arranged in the slide groove and can move in the slide groove. A fixing hole for the output shaft (5) to pass through is provided on the pressing sheet metal (60). An annular groove is provided near the end of the output shaft (5) along the circumferential direction. When the output shaft (5) passes through the fixing hole, the pressing sheet metal (60) moves in the direction of the annular groove, and the edge of the fixing hole is located in the annular groove. The pressing sheet metal (60) prevents the quick-insertion assembly (20) from moving axially relative to the output shaft (5). The pressing sheet metal (60) moves in the opposite direction and moves out of the annular groove, so that the quick-insertion assembly (20) can be moved axially along the output shaft (5). A transmission flange (59) is fixed to an end of the fixed mounting seat (58) away from the insulating block (57). The transmission flange (59) is provided with connecting through holes extending through both ends thereof in a radial direction. The output shaft (5) passes through the connecting holes and does not rotate relative to the transmission flange (59).

7. The wrist joint rehabilitation training device according to claim 1, characterized in that: Also includes A rocker arm (27), the rocker arm (27) being rotatably disposed on the box assembly (1); A touch display (28), the touch display (28) being rotatably mounted on an end of the rocker arm (27) away from the box assembly (1), and being electrically connected to the control box assembly (2) in the box assembly (1); A printer assembly (43) is arranged on the box assembly (1) and is electrically connected to the control box assembly (2) in the box assembly (1).

8. The wrist joint rehabilitation training device according to claim 1, characterized in that: The host components (3) include A power head bottom plate (29), a driving motor (30) and an output shaft (5) are mounted on the power head bottom plate (29), the output shaft (5) is rotatably mounted on the power head bottom plate (29), and an output wheel (52) is mounted on the output shaft (5), the output shaft of the driving motor (30) and the output wheel (52) are connected by two steel ropes, one end of the two steel ropes is wound around the output shaft of the driving motor (30), and the winding directions of the two steel ropes on the output shaft of the driving motor (30) are opposite, and the other ends of the two steel ropes are both wound around the output wheel (52), and the winding directions of the two steel ropes on the output wheel (52) are opposite; A power head housing assembly (31) is mounted on the power head bottom plate (29) and covers a driving motor (30) and an output shaft (5). A through hole is provided on the power head housing assembly (31) and penetrates the inside and outside of the power head housing assembly (31). The through hole is used for connecting the elbow pronation and supination accessory assembly (4), the wrist ulnar deviation / radial deviation accessory assembly (6) or the palmar flexion and dorsiextension accessory assembly (7) with the output shaft (5) in a state of use. Both sides of the power head housing assembly (31) are rotatably connected to the box assembly (1).

9. The wrist joint rehabilitation training device according to claim 8, characterized in that: The host component (3) also includes A sports accessory component identification component is arranged on a power head bottom plate (29), an annular baffle is arranged on the quick-connect component (20), and the sports accessory component identification component is used to identify whether the sports accessory component is installed and to identify the type of the sports accessory component by detecting the annular baffle.

10. The wrist joint rehabilitation training device according to claim 8, characterized in that: The power head housing assembly (31) includes A left inner support plate (32), the left inner support plate (32) being fixed to the left end of the power head housing assembly (31), a left outer support plate (34) being arranged on the top of the box assembly (1), the left inner support plate (32) being rotatably connected to the left outer support plate (34); A right inner support plate (33), the right inner support plate (33) is fixed to the right end of the power head housing assembly (31), a right outer support plate (35) is arranged on the top of the box assembly (1), the right inner support plate (33) is rotatably connected to the right outer support plate (35), and the rotation center lines of the left inner support plate (32) and the right inner support plate (33) coincide with each other; Two side housing components (36), the two side housing components (36) being respectively arranged on the left outer support plate (34) and the right outer support plate (35); A limit pin B (37) is provided with corresponding limit holes A (38) on the side housing assembly (36), the left outer support plate (34) and the right outer support plate (35); two or more limit holes B (39) are provided on the left inner support plate (32) and the right inner support plate (33); the limit pin B (37) is inserted into the limit hole A (38) and the limit hole B (39) to prevent the main assembly (3) from rotating relative to the box assembly (1) when in use.

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