Upper limb forearm and wrist rehabilitation mechanism based on double-layer four-rod tensioning structure

Abstract

According to the upper limb forearm and wrist rehabilitation mechanism based on the double-layer four-rod tensioning structure, the overall tensioning structure is combined with the mechanism design, and the rigid-flexible mixed characteristic of the overall tensioning structure composed of the four-rod flexible stretching unit and the four-rod rigid compression unit is utilized; the problems that a traditional rehabilitation mechanism is too complex, a driving device is huge, and equipment light weight is insufficient are solved. A wrist support seat in the wrist rehabilitation mechanism is connected with an upper fixing ring in the forearm tensioning integral mechanism through a bolt. Compared with the prior art, the invention has the following technical effects: the rigid-flexible mixed characteristic of the tensegrity structure is utilized to meet the requirements of motion of each degree of freedom, meanwhile, the structure of the exoskeleton is simplified, the lightweight design is realized, and the torsion angle can be increased and the flexibility can be improved through the mutual compensation of the internal length in the motion process. And the overall height of the mechanism can be kept unchanged.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tensioning structure. Background Art

[0002] As one of the important components of the human motor system, the flexibility of joints plays a very important role in people's daily lives, especially the flexibility of the upper limb forearm and wrist. With the aging of the population, the number of stroke patients is also increasing. In terms of rehabilitation treatment, there are problems such as insufficient number of rehabilitation therapists and high labor costs. Rehabilitation robots have the advantages of accuracy, efficiency and controllability to solve such problems, and can accurately obtain the data of patients during rehabilitation treatment, which is convenient for evaluating rehabilitation treatment. Therefore, rehabilitation robots have great potential in rehabilitation treatment. The mechanical structure of traditional upper limb exoskeleton equipment is too complicated, and the lightweight factor is not considered in the design process. As a result, the designed exoskeleton structure is not only bulky and heavy, but also the mechanical structure may be too rigid, which limits the comfort and functionality of the equipment to a certain extent, increases the burden on the wearer, and also has problems such as relatively large energy consumption. Therefore, it is urgent to design an upper limb forearm and wrist rehabilitation mechanism that can simultaneously have the characteristics of lightweight, stability, and drive compliance. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned technical problems and provide an upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tensioned structure. By combining the tensioned integral structure with the mechanical design and utilizing the rigid-flexible hybrid characteristics of the tensioned integral structure composed of a four-bar flexible tensioning unit and a four-bar rigid compression unit, the problems of traditional rehabilitation mechanisms being too complicated, the driving devices being bulky, and the equipment being insufficiently lightweight can be solved.

[0004] To achieve the above object, the present invention provides the following solutions: An upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure, which comprises: a forearm tension mechanism and a wrist rehabilitation mechanism, wherein the wrist support seat in the wrist rehabilitation mechanism is connected to the upper fixing ring in the forearm tension mechanism by bolts. When performing forearm training, the palm is opened and passes through the forearm inner tube in the forearm tension mechanism, so that the palm rests at position A (such as Figure 6As shown); when performing forearm pronation training (i.e., the forearm rotates clockwise), the wrist rehabilitation mechanism, the upper fixing ring, the upper support frame, the upper tension spring and the upper tension wire ring rotate clockwise under the drive of the palm, and transmit power to the upper tension wire ring, so that the upper tension spring is stretched under the action of the upper tension wire ring, and the middle support frame and the middle inner ring move downward, and compress the lower tension spring and the lower tension wire ring (as shown Figure 8 is a state diagram of forearm pronation training); during forearm supination training (i.e., the forearm rotates counterclockwise), the wrist rehabilitation mechanism, the upper fixing ring, the upper support frame, the upper tension spring and the upper tension wire ring rotate counterclockwise under the drive of the palm, and transmit power to the upper tension wire ring, so that the lower tension spring is stretched under the action of the lower tension wire ring, and the middle support frame and the middle inner ring move upward, and compress the upper tension wire ring and the upper tension spring (such as Fig. 9 (Figure 1) is the state diagram for forearm supination training.

[0005] The forearm tensioning mechanism is composed of an upper fixing ring, an upper support frame, an upper stretching wire ring, an upper stretching spring, a lower support frame, a lower fixing ring, a lower stretching spring, a lower stretching wire ring, a middle support frame, a middle inner ring, a forearm inner tube, a forearm outer tube and a hairpin. The upper fixing ring is fixedly connected to the forearm inner tube; the upper ends of the four upper stretching wire rings are rotatably connected to the upper support frame and the upper fixing ring, and the lower ends of the four upper stretching wire rings are rotatably connected to the middle support frame and the middle inner ring; the two ends of the upper stretching spring are respectively fixedly connected to the upper support frame and the middle support frame. When the forearm rotates clockwise (such as Figure 6 As an example of placement), the upper tension spring is stretched (such as Figure 8 As shown in the figure, when the forearm is reset counterclockwise, the restoring force of the upper tension spring resets its structure (as shown in the figure). Figure 6 The two ends of the lower tension spring are respectively fixedly connected to the lower support frame and the middle support frame, and when the forearm rotates counterclockwise (such as Figure 6 As an example of placement), the lower tension spring is stretched (such as Fig. 9 As shown in the figure, when the forearm is reset clockwise, the restoring force of the lower tension spring is used to reset its structure (as shown in the figure). Figure 6The figure shows the initial position of the structure); the lower fixing ring is fixedly connected to the forearm outer tube; the lower ends of the four lower stretching wire rings are rotatably connected to the lower support frame and the lower fixing ring respectively, and the upper ends of the four lower stretching wire rings are rotatably connected to the middle support frame and the middle inner ring respectively; the forearm inner tube and the forearm outer tube are clearance-matched, and the central axes of the two coincide; the hairpin is integrally formed with the upper fixing ring; the hairpin and the card slot B on the upper fixing ring are clearance-matched with the forearm inner tube and the forearm outer tube, and the central axes of the two coincide after the two are clamped and connected, so as to prevent the movement along the axis under the action of the stretching spring and the stretching wire ring when the forearm is pronated or supinated, thereby affecting the overall height of the mechanism; a card slot B is provided at the upper end of the forearm outer tube for clamping with the hairpin.

[0006] The middle support frame and the middle inner ring form a sliding mechanism. When the rehabilitation mechanism performs pronation and supination movements, the middle inner ring in the sliding mechanism is in clearance with the outer tube of the forearm, and moves downward with the pronation movement and upward with the supination movement (with Figure 6 Placement as an example).

[0007] Two upper stretching springs, an upper support frame and a sliding mechanism constitute a pronation four-bar flexible stretching unit; two lower stretching springs, a lower support frame and a sliding mechanism constitute a supination four-bar flexible stretching unit; two upper stretching wire rings, an upper support frame and a sliding mechanism constitute a pronation four-bar rigid stretching unit; two lower stretching wire rings, a lower support frame and a sliding mechanism constitute a supination four-bar rigid stretching unit; the pronation four-bar flexible stretching unit, the supination four-bar flexible stretching unit, the pronation four-bar rigid stretching unit and the supination four-bar rigid stretching unit each have two groups.

[0008] When this structure is in a stable state (such as Figure 6 As shown in the figure, when movement occurs, when the two groups of four-rod flexible stretching units and two groups of four-rod rigid stretching units formed by the lower support frame, the lower fixed ring and the sliding mechanism are stretched and twisted, the upper fixed ring and the upper support frame rotate counterclockwise. Since the overall height of the mechanism remains unchanged, the sliding mechanism performs an upward translation movement (as shown in the figure). Fig. 9 As shown in the figure, the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units formed by the sliding mechanism, the upper fixing ring and the upper support frame will perform compression movement, that is, the forearm supination movement; similarly, when the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units formed by the upper fixing ring and the upper support frame and the sliding mechanism are stretched and twisted, the sliding mechanism performs a downward translation movement (as shown in the figure). Figure 8As shown in the figure, the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units composed of the sliding mechanism, the lower support frame and the lower fixed ring will perform compression movement, that is, forearm pronation movement; utilizing the rigid-flexible hybrid characteristics of the four-bar tensegrity structure composed of the four-bar flexible stretching unit and the four-bar rigid stretching unit, through the four-bar tensioning platform, one compression and one pull, not only can the length be compensated for each other, thereby maintaining the overall height of the mechanism unchanged, but also the corresponding four-bar tensegrity structure can be driven to rotate when the middle plane moves up and down, thereby realizing the conversion from linear motion to torsional motion.

[0009] The wrist rehabilitation mechanism is composed of an upper wrist frame, a lower wrist frame, a wrist spring, a wrist support seat, a wrist swing arc and a wrist arc boss; the upper wrist frame is rotatably connected to the lower wrist frame; the two ends of the wrist spring are respectively fixedly connected to the upper wrist frame and the wrist support seat; the wrist arc boss is matched with the wrist swing arc gap, and the two can rotate with each other in the arc to achieve wrist rehabilitation training. The wrist rehabilitation mechanism 2 can complete the movements of abduction, adduction, extension and flexion rehabilitation training.

[0010] Compared with the prior art, the present invention has achieved the following technical effects: based on the human forearm as a bionic model, the present invention combines the tensegrity structure with the mechanism design, and utilizes the rigid-flexible hybrid characteristics of the tensegrity structure, which not only matches the characteristics of human bones and muscles and meets the requirements of movement in various degrees of freedom, but also simplifies the structure of the exoskeleton and realizes a lightweight design. During the movement, the mutual compensation of internal lengths can increase the torsion angle and keep the overall height of the mechanism unchanged. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a structural schematic diagram of an upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure; Figure 2 yes Figure 1 Structural diagram of the tensegrity mechanism of the middle forearm; Figure 3 It is a structural schematic diagram of the forearm tensegrity mechanism for installing the forearm inner cylinder and the forearm outer cylinder; Figure 4 It is a schematic diagram of the assembly of the upper fixing ring, the lower fixing ring, the forearm inner tube and the forearm outer tube; Figure 5 yes Figure 1 Schematic diagram of the structure of the mid-wrist rehabilitation mechanism; Figure 6 yes Figure 1 Schematic diagram of the state when not in use; Figure 7 yes Figure 1 Side view of Figure 8 It is a state diagram of pronation rehabilitation training; Fig. 9 It is a state diagram of supination rehabilitation training; DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] See also Figure 1-Figure 9 The present embodiment is an upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure, which comprises: a forearm tension mechanism 1 and a wrist rehabilitation mechanism 2, wherein the wrist support seat 204 in the wrist rehabilitation mechanism 2 is connected to the upper fixing ring 101 in the forearm tension mechanism 1 by bolts. When performing forearm training, the palm is opened and passed through the forearm inner tube 111 in the forearm tension mechanism 1, so that the palm rests at position A (such as Figure 6 As shown); when performing forearm pronation training (i.e., the forearm rotates clockwise), the wrist rehabilitation mechanism 2, the upper fixing ring 101, the upper support frame 102, the upper tension spring 104 and the upper tension wire ring 103 rotate clockwise under the drive of the palm, and transmit power to the upper tension wire ring 103, so that the upper tension spring 104 is stretched under the action of the upper tension wire ring 103, and the middle support frame 109 and the middle inner ring 110 move downward, and compress the lower tension spring 107 and the lower tension wire ring 108 (as shown Figure 8 108 is a state diagram of forearm pronation training); during forearm supination training (i.e., the forearm rotates counterclockwise), the wrist rehabilitation mechanism 2, the upper fixing ring 101, the upper support frame 102, the upper tension spring 104 and the upper tension wire ring 103 rotate counterclockwise under the drive of the palm, and transmit power to the upper tension wire ring 103, so that the lower tension spring 107 is stretched under the action of the lower tension wire ring 108, and the middle support frame 109 and the middle inner ring 110 move upward, and compress the upper tension wire ring 103 and the upper tension spring 104 (such as Fig. 9(Figure 1) is the state diagram for forearm supination training.

[0015] The forearm tensioning mechanism 1 is composed of an upper fixing ring 101, an upper support frame 102, an upper tensioning wire ring 103, an upper tensioning spring 104, a lower support frame 105, a lower fixing ring 106, a lower tensioning spring 107, a lower tensioning wire ring 108, a middle support frame 109, a middle inner ring 110, a forearm inner tube 111, a forearm outer tube 112 and a hairpin 113. The upper fixing ring 101 is fixedly connected to the forearm inner tube 111; the upper ends of the four upper tensioning wire rings 103 are rotatably connected to the upper support frame 102 and the upper fixing ring 101, and the lower ends of the four upper tensioning wire rings 103 are rotatably connected to the middle support frame 109 and the middle inner ring 110; the two ends of the upper tensioning spring 104 are respectively fixedly connected to the upper support frame 102 and the middle support frame 109, and when the forearm rotates clockwise (such as Figure 6 As an example of placement position), the upper tension spring 104 is stretched (such as Figure 8 As shown in FIG. 1 ), when the forearm is reset counterclockwise, the restoring force of the upper tension spring 104 is used to reset the structure (as shown in FIG. 1 ). Figure 6 The two ends of the lower tension spring 107 are respectively fixedly connected to the lower support frame 105 and the middle support frame 109, and when the forearm rotates counterclockwise (such as Figure 6 As an example of placement position), the lower tension spring 107 is stretched (such as Fig. 9 As shown in FIG. 1 ), when the forearm is reset clockwise, the restoring force of the lower tension spring 107 is used to reset the structure (as shown in FIG. 1 ). Figure 6 The lower fixing ring 106 is fixedly connected to the forearm outer tube 112; the lower ends of the four lower stretching wire rings 108 are rotatably connected to the lower support frame 105 and the lower fixing ring 106 respectively, and the upper ends of the four lower stretching wire rings 108 are rotatably connected to the middle support frame 109 and the middle inner ring 110 respectively; the forearm inner tube 111 and the forearm outer tube 112 are clearance-matched, and the central axes of the two coincide; the hairpin 113 is integrally formed with the upper fixing ring 101; the hairpin 113 and the card slot B on the upper fixing ring 101 are clearance-matched with the forearm inner tube 111 and the forearm outer tube 112, and the central axes of the two coincide with each other, so as to prevent the forearm from moving along the axis under the action of the stretch spring and the stretching wire ring when the forearm is pronated or supinated, thereby affecting the overall height of the mechanism; a card slot B is provided at the upper end of the forearm outer tube 112 for carding with the hairpin 113.

[0016] The middle support frame 109 and the middle inner ring 110 form a sliding mechanism. When the rehabilitation mechanism performs pronation and supination movements, the middle inner ring 110 in the sliding mechanism is in clearance with the forearm outer tube 112, and moves downward with the pronation movement and upward with the supination movement (with Figure 6 Placement as an example).

[0017] The two upper stretching springs 104, the upper support frame 102 and the sliding mechanism constitute a pronation four-bar flexible stretching unit; the two lower stretching springs 107, the lower support frame 105 and the sliding mechanism constitute a supination four-bar flexible stretching unit; the two upper stretching wire rings 103, the upper support frame 102 and the sliding mechanism constitute a pronation four-bar rigid stretching unit; the two lower stretching wire rings 108, the lower support frame 105 and the sliding mechanism constitute a supination four-bar rigid stretching unit; the pronation four-bar flexible stretching unit, the supination four-bar flexible stretching unit, the pronation four-bar rigid stretching unit and the supination four-bar rigid stretching unit each have two groups.

[0018] When this structure is in a stable state (such as Figure 6 As shown in FIG. 1 ), when movement occurs, when the two groups of four-rod flexible stretching units and two groups of four-rod rigid stretching units formed by the lower support frame 105, the lower fixed ring 106 and the sliding mechanism are stretched and twisted, the upper fixed ring 101 and the upper support frame 102 rotate counterclockwise. Since the overall height of the mechanism remains unchanged, the sliding mechanism performs an upward translation movement (as shown in FIG. 1 ). Fig. 9 As shown in the figure, the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units formed by the sliding mechanism, the upper fixing ring 101 and the upper support frame 102 will perform a compression movement, that is, a forearm supination movement; similarly, when the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units formed by the upper fixing ring 101 and the upper support frame 102 and the sliding mechanism are stretched and twisted, the sliding mechanism performs a downward translation movement (as shown in the figure). Figure 8 As shown in the figure, the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units composed of the sliding mechanism, the lower support frame 105 and the lower fixed ring 106 will perform compression movement, that is, forearm pronation movement; utilizing the rigid-flexible hybrid characteristics of the four-bar tensegrity structure composed of the four-bar flexible stretching unit and the four-bar rigid stretching unit, through the four-bar tensioning platform, one compression and one pull, not only can the length be compensated for each other, thereby maintaining the overall height of the mechanism unchanged, but also the corresponding four-bar tensegrity structure can be driven to rotate when the middle plane moves up and down, thereby realizing the conversion from linear motion to torsional motion.

[0019] The wrist rehabilitation mechanism 2 is composed of an upper wrist frame 201, a lower wrist frame 202, a wrist spring 203, a wrist support seat 204, a wrist swing arc 205 and a wrist arc boss 206; the upper wrist frame 201 is rotatably connected to the lower wrist frame 202; the two ends of the wrist spring 203 are respectively fixedly connected to the upper wrist frame 201 and the wrist support seat 204; the wrist arc boss 206 is clearance-matched with the wrist swing arc 205, and the two can rotate with each other in the arc to achieve wrist rehabilitation training. The wrist rehabilitation mechanism 2 can complete the movements of abduction, adduction, extension and flexion rehabilitation training.

[0020] Embodiment 1:

[0021] When performing forearm training, the palm is opened and passes through the forearm inner tube 111 in the forearm tensegrity mechanism 1, so that the palm stays at position A (such as Figure 6 As shown); when performing forearm pronation training (i.e., the forearm rotates clockwise), the wrist rehabilitation mechanism 2, the upper fixing ring 101, the upper support frame 102, the upper tension spring 104 and the upper tension wire ring 103 rotate clockwise under the drive of the palm, and transmit power to the upper tension wire ring 103, so that the upper tension spring 104 is stretched under the action of the upper tension wire ring 103, and the middle support frame 109 and the middle inner ring 110 move downward, and compress the lower tension spring 107 and the lower tension wire ring 108 (as shown Figure 8 (Figure 1) is the state diagram for forearm pronation training.

[0022] Embodiment 2:

[0023] During forearm supination training (i.e., the forearm rotates counterclockwise), the wrist rehabilitation mechanism 2, the upper fixing ring 101, the upper support frame 102, the upper tension spring 104 and the upper tension wire ring 103 rotate counterclockwise under the drive of the palm, and transmit power to the upper tension wire ring 103, so that the lower tension spring 107 is stretched under the action of the lower tension wire ring 108, and the middle support frame 109 and the middle inner ring 110 move upward, and compress the upper tension wire ring 103 and the upper tension spring 104 (such as Fig. 9 (Figure 1) is the state diagram for forearm supination training.

[0024] Embodiment three:

[0025] When the wrist is abducted (initial position as shown in the figure) Figure 6 As shown in FIG. 1 ), the palm is opened and passes through the upper wrist frame 201, and the palm corresponds to point A; the wrist arc boss 206 on the upper wrist frame 201 and the lower wrist frame 202 moves along the wrist swing arc 205 as a whole, and the two wrist springs 203 on the right side of the wrist rehabilitation mechanism 2 are compressed (to Figure 6Taking the placement position as an example), the two wrist springs 203 on the left side are stretched, and the abduction movement is reset by the restoring force of the two wrist springs 203 on the left and right sides; when the wrist performs adduction movement, the wrist arc boss 206 on the upper wrist frame 201 and the lower wrist frame 202 moves along the wrist swing arc 205 as a whole, and the two wrist springs 203 on the left side of the wrist rehabilitation mechanism 2 are compressed (to Figure 6 Taking the placement position as an example), the two wrist springs 203 on the right side are stretched, and the resetting of the adduction movement relies on the restoring force of the two wrist springs 203 on the left and right sides to reset.

[0026] Embodiment 4:

[0027] When the wrist is extended (the initial position is shown in the figure Figure 7 As shown), the upper wrist frame 201 rotates to the right around the rotation connection between the upper wrist frame 201 and the lower wrist frame 202, the lower wrist frame 202 remains stationary, the two wrist springs 203 on the right side of the wrist rehabilitation mechanism 2 are compressed, and the two wrist springs 203 on the left side are stretched, and the resetting of the extension movement relies on the restoring force of the two wrist springs 203 on the left and right sides; when the wrist performs flexion movement, the upper wrist frame 201 rotates to the left around the rotation connection between the upper wrist frame 201 and the lower wrist frame 202, the lower wrist frame 202 remains stationary, the two wrist springs 203 on the left side of the wrist rehabilitation mechanism 2 are compressed, and the two wrist springs 203 on the right side are stretched, and the resetting of the flexion movement relies on the restoring force of the two wrist springs 203 on the left and right sides.

[0028] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure, characterized in that: It consists of a forearm tensegrity mechanism (1) and a wrist rehabilitation mechanism (2), wherein a wrist support seat (204) in the wrist rehabilitation mechanism (2) is connected to an upper fixing ring (101) in the forearm tensegrity mechanism (1) via bolts.

2. The upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure according to claim 1, characterized in that: The forearm tensioning integral mechanism (1) comprises an upper fixing ring (101), an upper supporting frame (102), an upper tensioning steel wire ring (103), an upper tensioning spring (104), a lower supporting frame (105), a lower fixing ring (106), a lower tensioning spring (107), a lower tensioning steel wire ring (108), a middle supporting frame (109), a middle inner ring (110), a forearm inner tube (111), a forearm outer tube (112) and a hairpin (113); the upper fixing ring (101) is fixedly connected to the forearm inner tube (111); the upper ends of the four upper tensioning steel wire rings (103) are The upper support frame (102) and the upper fixed ring (101) are rotatably connected, and the lower ends of the four upper tension wire rings (103) are rotatably connected to the middle support frame (109) and the middle inner ring (110); the two ends of the upper tension spring (104) are respectively fixedly connected to the upper support frame (102) and the middle support frame (109); when the forearm rotates clockwise, the upper tension spring (104) is stretched; when the forearm is reset counterclockwise, the restoring force of the upper tension spring (104) resets its structure; the two ends of the lower tension spring (107) are respectively connected to the lower support frame (10 5) is fixedly connected to the middle support frame (109); when the forearm rotates counterclockwise, the lower tension spring (107) is stretched; when the forearm is reset clockwise, the structure is reset by the restoring force of the lower tension spring (107); the lower fixing ring (106) is fixedly connected to the forearm outer tube (112); the lower ends of the four lower tension steel wire rings (108) are respectively rotatably connected to the lower support frame (105) and the lower fixing ring (106); the upper ends of the four lower tension steel wire rings (108) are respectively rotatably connected to the middle support frame (109) and the middle inner ring (110); the forearm inner tube (1 11) is loosely matched with the forearm outer tube (112), and the central axes of the two coincide with each other; the hairpin (113) is integrally formed with the upper fixing ring (101); the hairpin (113) is loosely matched with the card slot B on the upper fixing ring (101) in the forearm inner tube (111) and the forearm outer tube (112), and the central axes of the two coincide with each other, and are connected by card slots, so as to prevent the hairpin (113) from moving along the axis under the action of the tension spring and the tension wire ring when the forearm is pronated or supinated, thereby affecting the overall height of the mechanism; a card slot B is provided at the upper end of the forearm outer tube (112) for being connected by card slots with the hairpin (113).

3. The upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure according to claim 2, characterized in that: The middle support frame (109) and the middle inner ring (110) form a sliding mechanism. When the rehabilitation mechanism performs pronation and supination movements, the middle inner ring (110) in the sliding mechanism is clearance-matched with the forearm outer tube (112), and moves downward with the pronation movement and upward with the supination movement.

4. The upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure according to claim 2, characterized in that: Two upper stretch springs (104), an upper support frame (102) and a sliding mechanism form a pronation four-bar flexible stretch unit; two lower stretch springs (107), a lower support frame (105) and a sliding mechanism form a supination four-bar flexible stretch unit; two upper stretch wire rings (103), an upper support frame (102) and a sliding mechanism form a pronation four-bar rigid stretch unit; two lower stretch wire rings (108), a lower support frame (105) and a sliding mechanism form a supination four-bar rigid stretch unit; the There are two groups of pronation four-bar flexible stretching units, supination four-bar flexible stretching units, pronation four-bar rigid stretching units and supination four-bar rigid stretching units; when the two groups of four-bar flexible stretching units and two groups of four-bar rigid stretching units formed by the lower support frame (105) and the lower fixed ring (106) and the sliding mechanism are stretched and twisted, the upper fixed ring (101) and the upper support frame (102) rotate counterclockwise, and since the overall height of the mechanism remains unchanged, the sliding mechanism performs an upward translation movement, and the sliding mechanism and the upper fixed ring (106) are connected. The two groups of four-bar flexible stretching units and the two groups of four-bar rigid stretching units formed by the fixed ring (101) and the upper support frame (102) will perform a compression movement, that is, a forearm supination movement; similarly, when the two groups of four-bar flexible stretching units and the two groups of four-bar rigid stretching units formed by the upper fixed ring (101), the upper support frame (102) and the sliding mechanism perform a stretching and twisting movement, the sliding mechanism performs a downward translation movement, and the two groups of four-bar flexible stretching units and the two groups of four-bar rigid stretching units formed by the sliding mechanism, the lower support frame (105) and the lower fixed ring (106) will perform a compression movement, that is, a forearm pronation movement; utilizing the rigid-flexible hybrid characteristics of the four-bar tensegrity structure formed by the four-bar flexible stretching units and the four-bar rigid stretching units, by pressing and pulling the four-bar tensioning platform, not only can mutual compensation in length be performed, thereby maintaining the overall height of the mechanism unchanged, but also the conversion from linear motion to torsion motion can be achieved by driving the corresponding four-bar tensegrity structure to perform a rotational motion when the middle plane moves up and down.

5. The upper limb forearm and wrist rehabilitation mechanism based on a double-layer four-bar tension structure according to claim 1, characterized in that: The wrist rehabilitation mechanism (2) comprises an upper wrist frame (201), a lower wrist frame (202), a wrist spring (203), a wrist support seat (204), a wrist swing arc (205) and a wrist arc boss (206); the upper wrist frame (201) is rotatably connected to the lower wrist frame (202); the two ends of the wrist spring (203) are respectively fixedly connected to the upper wrist frame (201) and the wrist support seat (204); the wrist arc boss (206) and the wrist swing arc (205) are clearance-matched, and the two can rotate relative to each other within the arc to achieve wrist rehabilitation training; the wrist rehabilitation mechanism (2) can complete the movements of abduction, adduction, extension and flexion rehabilitation training.

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