Elbow and wrist rehabilitation device based on rope driving

Abstract

The invention relates to an elbow and wrist rehabilitation device based on rope driving. The rehabilitation device comprises an elbow rotating unit, a wrist rotating unit and a rope driving unit. The elbow rotating unit is composed of a big arm supporting plate, a rotating assembly and a springback torsional spring. The wrist rotating unit is composed of a forearm supporting plate, a wrist outer ring, a wrist inner ring, a rotating rail assembly and a passive moving unit. The rope driving unit is composed of a pulley block, a flexible rope and a rope sleeve. The upper arm of a subject can be worn in the upper arm supporting plate through a bandage, the front arm and the wrist of the subject can be worn in the front arm supporting plate and the wrist inner ring through bandages respectively, and under the action of the rope driving unit, the elbow and wrist rehabilitation device can assist the subject in bending / stretching the elbow and pronation / supination of the wrist. The two-degree-of-freedom rotation motion of the elbow and the wrist can be achieved at the same time, auxiliary support can be provided for postoperative rehabilitation training of the ulnar-flex bone fusion patient, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, and in particular to a rope-driven elbow and wrist rehabilitation device. Background Art

[0002] Congenital fusion of the radius and ulna is a relatively rare congenital bone malformation, characterized by the fusion of the proximal or distal ends of the ulna and radius. Functionally, it manifests as limited wrist pronation / supination and partial obstruction of elbow flexion and extension. For this type of disease, retrograde Saulve-Kapandji osteotomy is usually used to correct the ulna, combined with postoperative functional rehabilitation training, to restore the wrist and elbow movement function to a certain extent.

[0003] The current rehabilitation equipment for elbow flexion and extension and wrist pronation / supination rehabilitation training needs mainly includes static rehabilitation braces, upper limb rehabilitation robots and wrist rehabilitation robots. Among them, static rehabilitation braces can effectively fix the forearm, with a simple structure, easy and convenient, but they rely on the auxiliary training of rehabilitation therapists, which requires high workload, takes a long time, and has low efficiency. In addition, the rehabilitation training method is single and cannot achieve passive or active training functions for the forearm.

[0004] Upper limb rehabilitation robots and wrist rehabilitation robots can replace clinical physicians to perform passive and active-passive rehabilitation training on the upper limbs, greatly reducing the workload of physicians, and have the advantages of good motion repeatability and consistency, and can provide scientific and effective rehabilitation training. Upper limb rehabilitation robots perform rehabilitation training on the patient's entire upper limb, but for the elbow and wrist rehabilitation training needs of patients with ulna and radius fusion, this type of rehabilitation robot has redundant degrees of freedom, complex structure and bulky.

[0005] Wrist rehabilitation robots have three degrees of freedom, but they cannot meet the rehabilitation training requirements of elbow flexion and extension. In addition, since the elbow and wrist joints are not ideal fixed-axis rotations, their rotation axes are time-varying. Therefore, joint dislocations between traditional rigid rehabilitation robots and humans are inevitable, which in turn generates undesirable forces / torques, resulting in poor wearing comfort and even secondary injuries.

[0006] The rope-driven rehabilitation robot uses lightweight flexible ropes instead of rigid connecting rods to transmit auxiliary motion and force, so that the driver can be far away from the robot body. The inherent compliance of the flexible rope can play a damping role in the event of an accidental collision, reducing the possibility of additional damage to the subject. Therefore, the rope-driven mechanism has the advantages of light mass, small inertia, and good human-machine compliance, which can better meet the training needs of human elbow and wrist rehabilitation.

[0007] Therefore, the present application invents a rope-driven elbow and wrist rehabilitation device to achieve the rehabilitation training requirements for the two rotational degrees of freedom of the elbow and wrist. Summary of the invention

[0008] The purpose of the present invention is to provide a rope-driven elbow and wrist rehabilitation device, which aims to overcome the defects of the prior art. Aiming at the rehabilitation training needs of the two rotational degrees of freedom of the human elbow and wrist, a rope-driven remote drive form is adopted, the driver is placed on the distal side, and auxiliary movement and force are transmitted through the rope to reduce the movement inertia of the upper limb joints during rehabilitation training. It has the advantages of light weight, small inertia, and good human-machine compliance.

[0009] To this end, the present invention proposes a rope-driven elbow and wrist rehabilitation device, comprising:

[0010] The elbow rotation unit comprises: a big arm support plate connected to a big arm fixed chuck through a big arm connecting plate; a forearm rotating chuck rotatably connected to a big arm fixed chuck through a first bearing, and a rebound torsion spring is installed inside the forearm rotating chuck; and is used to realize the flexion / extension movement of the elbow joint;

[0011] The wrist rotation unit comprises: a wrist outer ring cooperates with a rotation pair of a rotation track assembly, and a wrist inner ring is axially floatingly connected to the wrist outer ring through a passive moving unit; it is used to realize the pronation / supination movement of the wrist joint; at the same time, the elbow rotation unit is connected to the forearm support plate of the wrist rotation unit through a forearm connecting plate;

[0012] The rope drive unit comprises a first rope drive unit arranged on the side of the elbow rotation unit and a second rope drive unit arranged on the bottom of the wrist rotation unit; the two drive units are respectively controlled by motors to realize the coordinated movement of the elbow and wrist double joints.

[0013] As a preferred technical solution of the present application, the passive moving unit includes: a moving slider fixed to the inner ring of the wrist, and a cylindrical shaft fixed to the opening position of the outer ring of the wrist; the cylindrical shaft and the moving slider form a sliding pair; and springs are arranged on both sides of the cylindrical shaft to provide axial buffering.

[0014] As a preferred technical solution of the present application, the second rope driving unit includes: one end of the second rope and the third rope is reversely wound on the second drum, and the other end is respectively connected to the upper part of both sides of the outer ring of the wrist; the second pulley group on the forearm support plate and the eye bolt at the bottom of the rotating track assembly constitute a guide mechanism; the second motor drives the second drum to realize bidirectional rotation of the wrist.

[0015] As a preferred technical solution of the present application, the rotating track assembly includes: four rolling shafts symmetrically distributed on the inner and outer sides of the wrist outer ring, and the two ends of the rolling shafts are respectively installed with side plates, arc plates and L-shaped connecting plates to form a stable support structure.

[0016] As a preferred technical solution of the present application, a bearing is arranged at each end of the rolling shaft, and track grooves are provided on the inner and outer cylindrical surfaces of the wrist outer ring.

[0017] As a preferred technical solution of the present application, the first bearing adopts a double-end clamping structure, and axial positioning is achieved through a shaft clamping bolt and a shaft end cover.

[0018] As a preferred technical solution of the present application, the elbow rotation unit has a rotation limiting mechanism, which includes a rotation limiting groove with a central angle of 150° and 15 evenly distributed rotation positioning holes.

[0019] As a preferred technical solution of the present application, a rotation limiting bolt and a rotation fixing bolt are connected to the forearm rotation chuck, and respectively cooperate with the rotation limiting groove and the rotation positioning hole.

[0020] As a preferred technical solution of the present application, the first rope driving unit includes: the two ends of the first rope are respectively connected to the forearm connecting plate and the first drum; the first pulley group is arranged on the upper arm connecting plate through the pulley group support; the first motor drives the first drum and cooperates with the rebound torsion spring to realize elbow movement.

[0021] As a preferred technical solution of the present application, the first rope passes through the first pulley block and is connected to the first rope sleeve, and the first rope sleeve is fixed to the side of the boom connecting plate.

[0022] The rope-driven elbow and wrist rehabilitation device provided by the present invention is

[0023] 1. The present invention adopts a driving method based on rope + motor, transmits auxiliary movement and force by driving the rope, arranges the motor on the outside of the upper limb, reduces the load-bearing inertia of the subject's upper limb, and has the advantages of light weight, simple structure, and good human-machine compliance.

[0024] 2. The present invention arranges a passive rebound torsion spring inside the elbow rotation unit, which can realize the elbow joint extension movement function and solve the problem that the first rope driving unit cannot reset when driving the forearm to the flexion position.

[0025] 3. The present invention designs a passive movement unit for the wrist, which is fixed together with the wrist rotation unit, allowing the wrist to produce local forward and backward movement, thereby playing a certain passive compliance role and improving the comfort of wrist rehabilitation training.

[0026] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0028] Figure 1 It is an overall view of a rope-driven elbow and wrist rehabilitation device of the present invention;

[0029] Figure 2 is an overall view of the elbow rotation unit;

[0030] Figure 3 It is a structural diagram of the rotating assembly;

[0031] Figure 4 This is the structural diagram of the big arm fixed chuck;

[0032] Figure 5 It is an overall view of the wrist rotation unit;

[0033] Figure 6 It is a partial view of wrist rotation;

[0034] Figure 7 It is a diagram of the passive mobile unit structure;

[0035] Figure 8 is a structural diagram of the rope drive unit;

[0036] 1. Elbow rotation unit; 2. Wrist rotation unit; 3. Rope drive unit; 4. Upper arm support plate; 5. Rotation assembly; 6. Rebound torsion spring; 7. Upper arm connecting plate; 8. Upper arm fixing chuck; 9. Elbow joint shaft; 10. Shaft end cover; 11. Shaft clamping bolt; 12. First bearing; 13. Rotation fixing bolt; 14. Rotation limit bolt; 15. Forearm rotation chuck; 16. Forearm connecting plate; 17. Strap; 18. Torsion spring installation slot; 19. Rotation positioning hole; 20. Rotation limit slot; 21. Forearm support plate; 22. Strap; 23. Wrist outer ring; 24. Wrist inner ring; 25. Rotation track Component; 26, passive moving unit; 27, L-shaped connecting plate; 28, moving slider; 29, cylindrical shaft; 30, spring; 31, first rope driving unit; 32, second rope driving unit; 33, first rope; 34, first positioning screw; 35, screw support; 36, first pulley block; 37, first rope sleeve; 38, pulley block support; 39, first drum; 40, first motor; 41, second rope; 42, third rope; 43, lifting eye bolt; 44, second pulley block; 45, second rope sleeve; 46, third rope sleeve; 47, second drum; 48, second motor. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] Ginseng Figures 1 to 7As shown, this embodiment provides an elbow and wrist rehabilitation device based on rope drive, which includes an elbow rotation unit 1, a wrist rotation unit 2 and a rope drive unit 3; the rope drive unit 3 includes a first rope drive unit 31 (upper arm) and a second rope drive unit 32 (forearm), both of which are composed of a pulley set, a flexible rope, and a rope sleeve.

[0039] Reference Figure 2 and Figure 3 As shown, the elbow rotation unit 1 is composed of a boom support plate 4, a rotation assembly 5 and a rebound torsion spring 6; the rotation assembly 5 includes a boom connecting plate 7, a boom fixing chuck 8, an elbow joint shaft 9, a shaft end cover 10, a shaft clamping bolt 11, a first bearing 12, a rotation fixing bolt 13, a rotation limit bolt 14, a forearm rotating chuck 15, a forearm connecting plate 16, and a strap 17; the boom support plate 4 is fixed to the boom connecting plate 7 by bolts, the boom connecting plate 7 is fixed to the boom fixing chuck 8 by bolts, and the forearm rotating chuck 15 is fixed to the forearm connecting plate 16 by bolts.

[0040] The first bearing 12 adopts a double-end clamping structure, and axial positioning is achieved through the shaft clamping bolt 11 and the shaft end cover 10. The specific method is: the first bearing 12 is assembled in the mounting hole of the upper arm fixed chuck 8, the shaft end cover 10 is fixed to one axial end of the upper arm fixed chuck 8 by bolts, and presses the outer ring of the first bearing 12, the elbow joint shaft 9 is fixedly matched with the forearm rotating chuck 15, the forearm rotating chuck 15 cooperates with the upper arm fixed chuck 8 and presses one end of the inner ring of the first bearing 12, and the shaft clamping bolt 11 cooperates with the elbow joint shaft 9 and presses the other end of the inner ring of the first bearing 12; the forearm rotating chuck 15 and the upper arm fixed chuck 8 are rotatably connected through the first bearing 12, while maintaining axial positioning.

[0041] Reference Figure 3 and Figure 4 As shown, the rebound torsion spring 6 is installed in the torsion spring installation groove 18 of the upper arm fixed chuck 8 and the forearm rotating chuck 15, and the two ends of the rebound torsion spring 6 are respectively fixed in the torsion spring installation groove 18 of the upper arm fixed chuck 8 and the forearm rotating chuck 15.

[0042] A rotation limit groove 20 with a central angle of 150° is set on the upper arm fixed chuck 8, and the rotation limit bolt 14 is installed on the forearm rotating chuck 15 and threadedly connected to the rotation limit groove 20, so as to realize circumferential limitation between the upper arm fixed chuck 8 and the forearm rotating chuck 15 and limit the maximum rotation angle between the two.

[0043] Fifteen rotation positioning holes 19 are evenly distributed on the upper arm fixing chuck 8 at positions symmetrical to the rotation limiting groove 20, and the 15 rotation positioning holes 19 are distributed within the range of a central angle of 150°. The rotation fixing bolt 13 is installed on the forearm rotation chuck 15 and is threadedly connected to the rotation positioning hole 19, so as to realize the circumferential positioning between the upper arm fixing chuck 8 and the forearm rotation chuck 15; the upper arm fixing chuck 8 and the forearm rotation chuck 15 are limited to a certain specific angle state, so as to maintain the angle between the forearm and the upper arm at a specific angle, so as to facilitate the rehabilitation of the elbow and wrist.

[0044] Reference Figure 1 , Figure 5 as well as Figure 6 As shown, the wrist rotation unit 2 consists of a forearm support plate 21, a strap 22, a wrist outer ring 23, a wrist inner ring 24, a rotating track assembly 25 and a passive moving unit 26; the forearm connecting plate 16 of the elbow rotation unit 1 is fixed to the rear side of the forearm support plate 21 by bolts, the front side of the forearm support plate 21 is fixed to the rotating track assembly 25 by an L-shaped connecting plate 27, the wrist outer ring 23 and the rotating track assembly 25 are rotationally matched, and the wrist inner ring 24 is axially floatingly connected to the wrist outer ring 23 by the passive moving unit 26, and the wrist inner ring 24 is adapted to the wrist of the subject by the strap 22.

[0045] Among them, the rotating track assembly 25 includes four rolling shafts, which are distributed on the inner and outer sides of the wrist outer ring 23 and rollingly cooperate with it. One end of the rolling shaft is provided with a mounting side plate rotatably connected to it, and the other end is rotatably connected to the L-shaped connecting plate 27. The mounting side plate and the L-shaped connecting plate 27 are fixedly connected by an arc plate to form a U-shaped supporting structure, so that the wrist outer ring 23 and the rotating track assembly 25 cooperate to form a rotating motion pair with a rotating function.

[0046] A bearing is arranged at both ends of each rolling shaft, and a track groove is provided on the wrist outer ring 23. The track grooves on the inner and outer cylindrical surfaces of the wrist outer ring 23 cooperate with the bearings on the rolling shaft to form a rotating motion pair with a rotating function, thereby reducing the friction generated during the rotational motion.

[0047] Reference Figure 7 As shown, two identical passive moving units 26 are respectively fixed on both sides of the opening position of the wrist outer ring 23, the wrist inner ring 24 is fixed to the moving slider 28, the moving slider 28 cooperates with the cylindrical shaft 29 to form a sliding pair, and a spring 30 is arranged on both sides of the moving slider 28, and the spring 30 cooperates with the cylindrical shaft 29; the wrist inner ring 24 is axially floatingly connected relative to the wrist outer ring 23.

[0048] When the forearm and wrist are bound by the straps, the inner wrist ring 24 is floatingly connected to the outer wrist ring 23, allowing the wrist to move partially forward and backward, which has a certain passive compliance effect, thereby improving the comfort of elbow rehabilitation training.

[0049] Ginseng Figure 1 and Figure 8 The rope driving unit 3 includes a first rope driving unit 31 and a second rope driving unit 32, both of which are composed of a pulley block, a flexible rope, and a rope sleeve.

[0050] The first rope driving unit 31 is arranged on the side of the elbow rotation unit 1, one end of the first rope 33 is fixed on the first positioning screw 34 of the forearm connecting plate 16, the first positioning screw 34 is fixed to the screw support 35, the first rope 33 passes through the first pulley group 36 and is connected with the first rope sleeve 37, the first rope sleeve 37 is fixed to the side of the upper arm connecting plate 7, the first pulley group 36 is fixed to the upper arm connecting plate 7 through the pulley group support 38, the other end of the first rope 33 is connected to the first drum 39, the first drum 39 is connected with the first motor 40, and then by driving the first motor 40 to rotate and cooperating with the rebound torsion spring 6, the rotation function of the elbow rotation unit 1 can be realized.

[0051] Reference Figure 1 and Figure 8 The second rope drive unit 32 is arranged at the bottom of the wrist rotation unit 2, one end of the second rope 41 and the third rope 42 are respectively fixed at the upper position of the left and right sides of the wrist outer ring 23, and the other ends pass through the eye bolts 43 at the bottom of the rotating track assembly 25 and the second pulley set 44 on the forearm support plate 21, and are respectively connected to the second rope sleeve 45 and the third rope sleeve 46, the second rope sleeve 45 and the third rope sleeve 46 are respectively fixed to the bottom of the forearm support plate 21, the second rope 41 and the third rope 42 are reversely wound on the second reel 47, the second reel 47 is connected with the second motor 48, and then the rotation function of the wrist rotation unit 2 can be realized by driving the second motor 48 to rotate.

[0052] Through the action of the first rope driving unit 31 and the second rope driving unit 32, the elbow-wrist rehabilitation device can simultaneously assist the subject in performing rotational movements with two degrees of freedom, namely, flexion / extension of the elbow and pronation / supination of the wrist.

[0053] The working principle and working process of the rope-driven elbow-wrist rehabilitation device of the present invention are briefly described below.

[0054] During the rehabilitation device test, the upper arm support plate 4 is firstly put on the upper arm of the experimenter and fixed by the strap 17, and at the same time, the forearm support plate 21 is put on the forearm, and the wrist inner ring is put on the wrist and fixed by the strap 22.

[0055] When elbow rehabilitation training is required, the first motor 40 drives the first rope 33 to rotate around the first drum 39, and the first rope 33 passes through the first pulley set 36 and is connected to the first rope sleeve 37. By pulling the first positioning screw 34 fixed to the forearm connecting plate 16, the forearm rotating chuck 15 is rotated relative to the upper arm fixed chuck 8, and then the forearm rotating chuck 15 is rotated around the elbow joint shaft 9, driving the forearm support plate 21 to move, and realizing elbow flexion or extension. In this process, under the action of the rebound torsion spring 6, the forearm rotating chuck 15 rotates relative to the upper arm fixed chuck 8 to restore to the original state.

[0056] At the same time, the maximum rotation angle between the two is limited by the rotation limit slot 20 and the rotation limit bolt 14 to prevent excessive stretching. The upper arm fixed chuck 8 and the forearm rotating chuck 15 are limited to a certain angle state by the rotation positioning hole 19 and the rotation fixing bolt 13, so that the angle between the forearm and the upper arm is maintained at a specific angle for staged rehabilitation training, so as to facilitate elbow and wrist rehabilitation.

[0057] When elbow rehabilitation training is required, the second motor 48 drives the second reel 47 to rotate → one of the reversely wound ropes is tightened (such as the second rope 41), and the other is loosened (such as the third rope 42) → the tightened rope pulls the wrist outer ring 23 to rotate to one side through the eye bolt 43 → the wrist outer ring 23 drives the passive moving unit 26 and the wrist inner ring 24 to rotate around the rotating track assembly 25 → the wrist pronation or supination movement is realized. Among them, the moving slider 28 and the spring 30 allow the wrist inner ring 24 to float axially along the cylindrical shaft 29 to adapt to the local movement of the wrist and avoid rigid constraints. The spring 30 provides buffering, enhances flexibility, and reduces training discomfort.

[0058] The elbow and wrist drive units of the device are independently controlled, and can perform flexion / extension and pronation / supination movements simultaneously to simulate natural limb movements. In passive training mode, the motor actively pulls the rope to drive joint movement, helping patients complete rehabilitation movements with specific trajectories. In active training mode, when the patient exerts force autonomously, the rebound torsion spring provides progressive resistance, and the rope drive unit adjusts the tension through motor feedback to achieve resistance training.

[0059] The device's mechanical limit (150° rotation range) prevents excessive movement; spring buffer and floating connection reduce joint load. Passive mobile unit and rebound torsion spring enhance the device's compliance with the human body and improve comfort. Precise control: Rope drive combined with motor can accurately adjust the range of motion and strength to meet the needs of different rehabilitation stages.

[0060] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rope-driven elbow and wrist rehabilitation device, characterized in that: include: The elbow rotation unit (1) comprises: a large arm support plate (4) connected to a large arm fixed chuck (8) via a large arm connecting plate (7); a forearm rotation chuck (15) rotatably connected to the large arm fixed chuck (8) via a first bearing (12), and a rebound torsion spring (6) is installed inside the forearm rotation chuck; and is used to realize flexion / extension movement of the elbow joint; The wrist rotation unit (2) comprises: a wrist outer ring (23) and a rotation track assembly (25) in rotational pair, and a wrist inner ring (24) axially floatingly connected to the wrist outer ring (23) via a passive moving unit (26); used to realize the pronation / supination movement of the wrist joint; at the same time, the elbow rotation unit (1) is connected to the forearm support plate (21) of the wrist rotation unit (2) via a forearm connecting plate (16); The rope drive unit (3) comprises a first rope drive unit (31) arranged on the side of the elbow rotation unit and a second rope drive unit (32) arranged on the bottom of the wrist rotation unit; the two drive units are respectively controlled by motors to realize coordinated movement of the elbow and wrist double joints.

2. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The passive moving unit (26) comprises: a moving slider (28) fixed to the wrist inner ring (24), and a cylindrical shaft (29) fixed to the opening position of the wrist outer ring (23); the cylindrical shaft (29) and the moving slider (28) form a sliding pair; and springs (30) for providing axial buffering are arranged on both sides of the cylindrical shaft (29).

3. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The second rope driving unit (32) comprises: One end of the second rope (41) and the third rope (42) is reversely wound around the second drum (47), and the other end is respectively connected to the upper parts of both sides of the wrist outer ring (23); The second pulley block (44) on the forearm support plate (21) and the eye bolt (43) at the bottom of the rotating track assembly (25) constitute a guide mechanism; The second motor (48) drives the second reel (47) to realize bidirectional rotation of the wrist.

4. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The rotating track assembly (25) comprises: four rolling shafts symmetrically distributed on the inner and outer sides of the wrist outer ring (23); both ends of the rolling shafts are respectively provided with side plates, arc plates and L-shaped connecting plates (27) to form a stable support structure.

5. The rope-driven elbow-wrist rehabilitation device according to claim 4, characterized in that: A bearing is arranged at each end of the rolling shaft, and track grooves are arranged on the inner and outer cylindrical surfaces of the wrist outer ring (23).

6. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The first bearing (12) adopts a double-end clamping structure, and axial positioning is achieved through the rotating shaft clamping bolt (11) and the rotating shaft end cover (10).

7. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The elbow rotation unit (1) has a rotation limiting mechanism, which comprises a rotation limiting groove (20) with a central angle of 150° and 15 evenly distributed rotation positioning holes (19).

8. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: A rotation limiting bolt (14) and a rotation fixing bolt (13) are connected to the forearm rotation chuck (15) and are matched with the rotation limiting groove (20) and the rotation positioning hole (19) respectively.

9. The rope-driven elbow-wrist rehabilitation device according to claim 1, characterized in that: The first rope driving unit (31) comprises: Two ends of the first rope (33) are respectively connected to the forearm connecting plate (16) and the first drum (39); The first pulley block (36) is arranged on the upper arm connecting plate (7) via a pulley block support member (38); The first motor (40) drives the first reel (39) and cooperates with the rebound torsion spring (6) to realize the elbow movement.

10. The rope-driven elbow-wrist rehabilitation device according to claim 9, characterized in that: The first rope (33) passes through the first pulley block (36) and is connected to the first rope sleeve (37), and the first rope sleeve (37) is fixed to the side of the boom connecting plate (7).

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