Upper limb rehabilitation robot

Abstract

The invention discloses an upper limb rehabilitation robot which comprises a shoulder joint movement module, a large arm linear length adjusting module, a double-arm width adjusting module, an arm restraining assembly, a wrist joint movement module, a rope driving module, a Bowden rope, a robot supporting frame, an elbow joint movement module and a bamboo joint lifting mechanism. The double-arm width adjusting module is installed at the upper end of the robot supporting frame. The shoulder joint movement module is fixed on the double-arm width adjusting module; the large arm linear length adjusting module is connected with the shoulder joint movement module and the elbow joint movement module; the elbow joint movement module is connected with the wrist joint movement module; the arm restraining assembly is installed on the large arm linear length adjusting module. The rope driving module is fixed to the back face of the robot supporting frame and connected with the elbow joint movement module and the wrist joint movement module. The bamboo joint lifting mechanism is installed at the front end of the robot supporting frame. The robot has driving efficiency, movement flexibility, adaptation diversity and training collaboration, and the rehabilitation effect can be improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an upper limb rehabilitation robot. Background Technology

[0002] Stroke has become one of the leading causes of limb dysfunction in adults, with upper limb motor dysfunction accounting for as high as 70%-80%, severely impacting patients' daily living abilities and quality of life. Upper limb rehabilitation training is a key means to improve motor function in stroke patients. Through scientific repetitive training, it can promote neural function remodeling and improve limb muscle strength and coordination. Traditional upper limb rehabilitation training often relies on manual assistance from rehabilitation physicians, which suffers from problems such as insufficient training intensity, poor repetition, high labor costs, and difficulty in achieving personalized training. Therefore, upper limb exoskeleton rehabilitation robots have emerged as an important assistive rehabilitation device, providing patients with structured and quantifiable training, effectively compensating for the shortcomings of traditional rehabilitation methods. Currently, existing upper limb exoskeleton rehabilitation robots have many shortcomings in structural design and drive methods: 1. Some robots only cover major joints such as the shoulder and elbow joints, neglecting the training needs of fine motor joints such as the wrist joint, failing to reproduce the natural movement trajectory of the human upper limb, and limiting the comprehensiveness of rehabilitation training. 2. Patients have individual differences in body shape and limb size, but the adjustment mechanisms of existing robots are rudimentary, making it difficult to achieve precise adaptation of parameters such as shoulder width and upper arm length. This leads to misalignment between the exoskeleton and the human joint axis, which can easily cause additional movement resistance or secondary injury. 3. Most robots only support passive training and lack active (assisted) and resistance training modes. They cannot dynamically adjust the assistance force according to the patient's real-time movement intentions (such as electromyographic signals), making it difficult to achieve a gradual training from passive rehabilitation to active movement. Summary of the Invention

[0003] The purpose of this invention is to provide an upper limb rehabilitation robot. This invention combines high-efficiency drive, flexible movement, adaptability, and training synergy, thereby improving rehabilitation outcomes.

[0004] The technical solution of this invention: An upper limb rehabilitation robot, comprising a shoulder joint motion module, an upper arm linear length adjustment module, a double arm width adjustment module, an arm restraint assembly, a wrist joint motion module, a rope drive module, a Bowden rope, a robot support frame, an elbow joint motion module, and a bamboo-joint lifting mechanism; the double arm width adjustment module is bolted to the upper end of the robot support frame; the shoulder joint motion module is fixed to the double arm width adjustment module via a connector; one end of the upper arm linear length adjustment module is connected to the shoulder joint motion module, and the other end is connected to the elbow joint motion module; the elbow joint motion module is connected to the wrist joint motion module via a connecting rod; the arm restraint assembly is mounted on the upper arm linear length adjustment module; the rope drive module is fixed to the back of the robot support frame and is connected to the elbow joint motion module and the wrist joint motion module via Bowden ropes respectively; the bamboo-joint lifting mechanism is mounted at the front end of the robot support frame for lifting the seat.

[0005] The aforementioned upper limb rehabilitation robot features a shoulder joint motion module with a series rigid transmission structure, comprising a shoulder motor drive module, a shoulder joint fixed shaft, a shoulder joint output shaft, a middle joint connector, an intermediate motor drive module, an intermediate joint output shaft, a lower joint connector, and a lower joint motor drive module. The shoulder motor drive module is connected to the dual-arm width adjustment module via the shoulder joint fixed shaft, which uses bolts and tapered locating pins for axial constraint. The shoulder joint output shaft is mounted on the shoulder joint fixed shaft and driven by the shoulder motor drive module. The intermediate motor drive module is connected to the shoulder joint output shaft via the middle joint connector. The output end of the intermediate motor drive module is connected to the intermediate joint output shaft. The lower joint motor drive module is located at the end of the lower joint connector, which is connected to the intermediate joint output shaft.

[0006] The aforementioned upper limb rehabilitation robot has identical motor drive module structures for the shoulder motor drive module, intermediate motor drive module, and lower joint motor drive module. Each module includes a first motor, a motor mounting sleeve, a non-excitation brake, a harmonic reducer mounting sleeve, a motor output shaft sleeve, a motor output shaft, an angle sensor, an output flange shaft, a harmonic reducer, a large synchronous pulley, a small synchronous pulley, a synchronous belt, a joint mounting shaft, a joint output shaft, a mounting cover plate, and a motor joint cover plate. The first motor and the non-excitation brake are fixedly connected to the motor mounting sleeve by bolts. The first motor is connected to the motor output shaft via the motor output shaft sleeve and outputs power to the harmonic reducer; the harmonic reducer is fixed to the harmonic reducer fixing sleeve and the joint fixing shaft by bolts and is sealed by the fixing cover plate; the output end of the harmonic reducer is fixed to the output flange shaft and drives the large synchronous pulley, the large synchronous pulley drives the small synchronous pulley through the synchronous belt, and the angle sensor is fastened to the small synchronous pulley by screws; the output end of the harmonic reducer is also fixed to the joint output shaft by bolts to output the joint torque, and the motor joint cover plate covers the entire joint.

[0007] The aforementioned upper limb rehabilitation robot includes an upper arm linear length adjustment module comprising a linear length adjustment mechanism and a connector; an arm restraint assembly comprising an arm fixing ring, a first flexible strap, a ball bearing, and a rotating wheel; one end of the connector is rigidly connected to the support platform of the linear length adjustment mechanism by bolts, and the other end is bolted to the arm fixing ring; the arm fixing ring is made of nylon, with a first flexible strap fitted on its outer side, and an array of ventilation holes on the inner layer of the first flexible strap; a stainless steel rotating shaft is fitted at a radially symmetrical position on the arm fixing ring, and the stainless steel rotating shaft is axially positioned by two nylon bushing bearings, with both ends of the stainless steel rotating shaft fixed to the inner ring of the ball bearing; the outer ring of the ball bearing and the rotating wheel form a passive rotating pair.

[0008] The aforementioned upper limb rehabilitation robot includes a linear length adjustment mechanism comprising a motor mounting base, a lead screw motor, a coupling, a push rod mounting plate, a push rod fixing component, an adjusting push rod, a push rod linear bearing, a connecting component, an optical axis, a fixed base plate, an optical axis linear bearing, a lead screw, a sliding platform, a lead screw nut pair, an optical axis mounting base, and a lead screw support. The lead screw motor is bolted to the motor mounting base and connected to the lead screw via a coupling. The distal end of the lead screw is supported on the lead screw support via a roller bearing. Both the lead screw support and the motor mounting base are mounted on the fixed base plate. The sliding platform houses the lead screw nut pair and two optical axis linear bearings. The optical axis passes through the optical axis linear bearings and is positioned by the optical axis mounting base to form a double guide rail constraint. The push rod mounting plate is bolted to the push rod fixing component, which is bolted to the sliding platform. A connecting component is installed at the end of the adjusting push rod and passes through the push rod linear bearing. The push rod linear bearing is fixed to the upper end of the lead screw support.

[0009] The aforementioned upper limb rehabilitation robot includes a cable drive module comprising a cable drive fixing plate, a cable drive device, a Bowden cable guide buckle, a Bowden cable housing, and a cable drive pretensioning block. The cable drive device is mounted on the cable drive fixing plate, and its output Bowden cable engages with the Bowden cable housing through the Bowden cable guide buckle and passes through the cable drive pretensioning block for cable drive.

[0010] The aforementioned upper limb rehabilitation robot includes a rope drive device comprising a reel, a set bolt, a rope drive guide block, a Bowden wire rope, a first spring, a connecting bolt, a rope drive preload block, a Bowden wire housing, a rope drive support plate, a reducer, and a rope drive motor. The output end of the rope drive motor is connected to the input end of the reducer, and the output end of the reducer is coaxially fixed to the reel to transmit power to the reel. A V-shaped groove is provided on the end face of the reel, and one end of the Bowden wire rope is connected to a wave spring washer via a set bolt. The Bowden wire is clamped in the slot; the other end of the Bowden wire is inserted through a slot at the same level in the wire drive guide block; the wire drive preload block and the wire drive guide block are arranged opposite each other, with a first spring clamped between them and fastened through by connecting bolts; one end of the Bowden wire housing is locked to the wire drive preload block by a clamp-type connector, and the Bowden wire is inserted into the Bowden wire housing; both the wire drive guide block and the wire drive preload block are fixed to the wire drive support plate by bolts, and the wire drive support plate is fixedly connected to the wire drive fixing plate.

[0011] The aforementioned upper limb rehabilitation robot includes an elbow joint motion module comprising a bevel gear fixing component, an upper bevel gear flange, an expansion sleeve, an upper deep groove ball bearing, an upper bevel gear, a lower deep groove ball bearing, a drive shaft, a roller bearing, a left flexible washer, a joint fixing seat, a rotating shaft, a rotating bushing, a middle roller bearing, a washer, a lower bevel gear, a lower bevel gear flange, a right flexible washer, bolts, and a joint fixing plate. The upper bevel gear flange is aligned and connected to the bevel gear fixing component. The upper and lower deep groove ball bearings are arranged in a double row within the inner hole of the upper bevel gear flange. Their outer rings are press-fitted with tolerance fit, and their inner rings are fitted with the upper bevel gear. The components are combined to form a radial support; the drive shaft and the upper bevel gear are connected by a rectangular spline, and an expansion sleeve is fitted onto the connection to eliminate transmission clearance; the rotating shaft is radially positioned within the joint fixing seat by a roller bearing, and a left flexible washer is provided between the shoulder end face of the rotating shaft and the joint fixing seat; the rotating shaft passes through the rotating shaft sleeve, and a middle roller bearing and a right flexible washer are installed inside the rotating shaft sleeve, and it is fixed to the lower bevel gear via the lower bevel gear flange, with the lower bevel gear meshing with the upper bevel gear; the joint fixing plate is bolted to the far end of the rotating shaft, and a washer is placed between the lower bevel gear and the lower bevel gear flange.

[0012] The aforementioned upper limb rehabilitation robot includes a wrist joint motion module comprising a wrist fixation plate, a second flexible strap, a wrist fixation ring, a rope restraint device, a second spring, a wrist motion ring, a hand fixation frame, and a wrist handle. The wrist fixation plate is rigidly connected to the wrist fixation ring by bolts, and the second flexible strap is fixed to the wrist fixation plate to restrain the patient's wrist. The rope restraint device is installed on the wrist fixation ring and consists of a U-shaped support and rollers. Both the inner ring walls of the wrist fixation ring and the wrist motion ring have T-shaped grooves, and the end of the second spring has a hook-shaped structure. The connection between the wrist fixation ring and the wrist motion ring is achieved through the mechanical interlocking of the T-shaped grooves and the hook-shaped structure. One end of the hand fixation frame is fixed to the wrist motion ring, and the other end has a circular hole through which the wrist handle passes and can be adjusted axially.

[0013] The aforementioned upper limb rehabilitation robot includes a bamboo-joint lifting mechanism comprising an upper lifting shaft, a lifting fixed end cap, a deep groove ball bearing, a lifting fixed support frame, a lead screw and nut pair, a lead screw, a bearing end cap, a cylindrical bearing, a bearing seat, a gearbox housing, a worm, a worm wheel, and a lower lifting shaft. The gearbox housing is fixedly installed inside the lower lifting shaft. The gearbox housing contains a worm and a worm wheel, which mesh with each other. The inner hole of the worm wheel is coupled to the lower end of the lead screw via a spline. The lower end of the lead screw is radially positioned by a cylindrical bearing, which is installed in a bearing seat. The lower end of the lead screw is axially constrained by the bearing end cap. The upper end of the lead screw forms a floating support within the lifting fixed support frame via a deep groove ball bearing. The lifting fixed end cap covers the top of the lifting fixed support frame. The lead screw and nut pair is fitted onto the lead screw and rigidly connected to the upper lifting shaft via bolts. The upper and lower lifting shafts achieve relative lifting motion through the cooperation of the lead screw and the lead screw and nut pair.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention integrates shoulder, elbow, and wrist joint motion modules, accurately replicating the natural movement trajectory of the human upper limbs and overcoming the deficiency of existing equipment in neglecting wrist joint training. Through a dual-arm width adjustment module, a linear upper arm length adjustment module, and a bamboo-joint lifting mechanism, this invention achieves multi-dimensional adjustment of shoulder width, upper arm length, and seat height. Combined with error compensation from ball bearings and flexible washers, it ensures precise alignment between the exoskeleton and the human joint axis, reducing movement resistance and the risk of secondary injury.

[0015] 2. This invention adopts a hybrid drive architecture, in which the motor drives the shoulder to provide stable high torque, and the rope drives the elbow and wrist to achieve flexible transmission. Combined with the angle sensor, it can realize three modes: passive training (robot-led movement), active assistance (providing auxiliary force according to the patient's intention), and resistance training (setting resistance load), which can meet the progressive training needs from passive rehabilitation to active movement.

[0016] 3. The arm restraint assembly of this invention uses a nylon fixing ring combined with a flexible and breathable strap to reduce the pressure caused by long-term wear; the hollow design of the rotating wheel and the automatic centering function of the ball bearing can compensate for wear misalignment and reduce additional shear force; the bevel gear transmission combined with the expansion sleeve eliminates gaps, and the synchronous belt transmission reduces impact and improves the stability of movement. The overall structure takes into account both safety and comfort, reducing patient resistance during training. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the shoulder joint motion module; Figure 3 This is a schematic diagram of the motor drive module. Figure 4 This is a structural schematic diagram of the boom linear length adjustment module; Figure 5 This is a schematic diagram of the linear length adjustment mechanism; Figure 6 A schematic diagram of the overall structure of the rope drive module; Figure 7 This is a schematic diagram of the internal structure of a rope drive device. Figure 8 This is a schematic diagram of the elbow joint motion module. Figure 9 This is a schematic diagram of the wrist joint motion module; Figure 10 This is a schematic diagram of the bamboo-joint lifting mechanism; Figure 11 This is a schematic diagram of the dual-arm width adjustment module.

[0018] Figure Labels 1. Shoulder joint motion module; 101. First motor; 102. Motor mounting sleeve; 103. Non-excitation brake; 104. Harmonic reducer mounting sleeve; 105. Motor output shaft sleeve; 106. Motor output shaft; 107. Angle sensor; 108. Output flange shaft; 109. Harmonic reducer; 110. Large synchronous pulley; 111. Small synchronous pulley; 112. Synchronous belt; 113. Joint fixing shaft; 114. Joint output shaft; 115. Fixing cover plate; 116. Motor joint cover plate; 121. Shoulder motor drive module; 122. Shoulder joint fixing shaft; 123. Shoulder joint output shaft; 124. Middle joint connector; 125. Middle motor drive module; 126. Middle joint output shaft; 127. 1. Lower joint connector; 128. Lower joint motor drive module; 2. Boom linear length adjustment module; 201. Linear length adjustment mechanism; 202. Connector; 203. Arm fixing ring; 204. First flexible strap; 205. Ball bearing; 206. Rotary wheel; 211. Motor mounting base; 212. Screw motor; 213. Coupling; 214. Push rod fixing plate; 215. Push rod fixing component; 216. Length adjustment push rod; 217. Push rod linear bearing; 218. Connector; 219. Optical shaft; 220. Fixed base plate; 221. Optical shaft linear bearing; 222. Screw; 223. Sliding platform; 224. Screw nut pair; 225. Optical shaft fixing base; 226. Screw support; 3. Double arm width adjustment module; 301. Adjustment... 302. Width adjustment screw; 303. Width adjustment guide rail; 304. Width adjustment slider; 305. Shoulder joint mounting plate; 4. Arm restraint assembly; 5. Wrist joint motion module; 501. Wrist fixation plate; 502. Second flexible strap; 503. Wrist fixation ring; 504. Rope restraint device; 505. Second spring; 507. Wrist motion ring; 508. Hand fixation frame; 509. Wrist handle; 6. Rope drive module; 601. Wire drive fixing plate; 602. Rope drive device; 603. Bowden wire guide buckle; 604. Bowden wire housing; 605. Wire drive preload block; 611. Wire reel; 612. Set bolt; 613. Wire drive guide block; 614. Bowden wire steel rope; 615. First 616. Spring; 617. Connecting bolt; 618. Wire drive preload block; 619. Bowden wire housing; 620. Wire drive support plate; 621. Reducer; 622. Rope drive motor; 7. Bowden rope; 8. Robot support frame; 9. Elbow joint motion module; 901. Bevel gear fixing component; 902. Upper bevel gear flange; 903. Expansion sleeve; 904. Upper deep groove ball bearing; 905. Upper bevel gear; 906. Lower deep groove ball bearing; 907. Drive shaft; 908. Roller bearing; 909. Left flexible washer; 910. Joint fixing seat; 913. Rotating shaft; 914. Rotating bushing; 915. Middle roller bearing; 916. Washer; 917. Lower bevel gear; 918. Lower bevel gear flange; 919. Right flexible washer;920. Bolt; 921. Joint fixing plate; 10. Bamboo-joint lifting mechanism; 1001. Upper lifting shaft; 1002. Lifting and fixing end cover; 1003. Deep groove ball bearing; 1004. Lifting and fixing support frame; 1005. Screw and nut pair; 1006. Screw; 1007. Bearing end cover; 1008. Cylindrical bearing; 1009. Bearing seat; 1010. Gearbox housing; 1011. Worm gear; 1012. Worm wheel; 1013. Lower lifting shaft. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0020] Example: An upper limb rehabilitation robot, such as Figure 1 As shown, the system includes a shoulder joint motion module 1, an upper arm linear length adjustment module 2, a double arm width adjustment module 3, an arm constraint assembly 4, a wrist joint motion module 5, a rope drive module 6, a Bowden rope 7, a robot support frame 8, an elbow joint motion module 9, and a bamboo-joint lifting mechanism 10. The double arm width adjustment module 3 is bolted to the upper end of the robot support frame 8 and is used to adjust the distance between the two shoulder joint motion modules. The shoulder joint motion module 1 is fixed to the double arm width adjustment module 3 via a connector, providing shoulder drive for upper limb movement. One end of the upper arm linear length adjustment module 2 is connected to the shoulder joint motion module 1, and the other end is connected to the elbow joint. The joint motion module 9 is connected to achieve adaptive adjustment of the upper arm length; the elbow joint motion module 9 is connected to the wrist joint motion module 5 via connecting rods, transmitting elbow movement and driving the wrist; the arm restraint component 4 is installed on the upper arm linear length adjustment module 2 to fix the patient's upper arm; the rope drive module 6 is fixed to the back of the robot support frame 8 and is connected to the elbow joint motion module 9 and the wrist joint motion module 5 via Bowden rope 7, providing flexible drive for the elbow and wrist joints; the bamboo joint lifting mechanism 10 is installed at the front end of the robot support frame 8 to adjust the height of the patient seat to suit patients of different body types. When the patient is undergoing rehabilitation training, the seat is first adjusted to a position that matches the shoulder and joint module via the bamboo joint lifting mechanism 10. The dual arm width adjustment module 3 automatically adapts according to the patient's shoulder width, and in conjunction with the extension and retraction adjustment of the upper arm length adjustment module 2, ensures that the exoskeleton joint axis is precisely aligned with the patient's limb rotation center. After training begins, the rope drive module provides flexible drive for the elbow and wrist joints.

[0021] Preferably, such as Figure 2As shown, the shoulder joint motion module 1 is a series rigid transmission structure, including a shoulder motor drive module 121, a shoulder joint fixing shaft 122, a shoulder joint output shaft 123, a middle joint connector 124, an intermediate motor drive module 125, an intermediate joint output shaft 126, a lower joint connector 127, and a lower joint motor drive module 128. The shoulder motor drive module 121 is connected to the dual-arm width adjustment module 3 through the shoulder joint fixing shaft 122. The shoulder joint fixing shaft 122 uses bolts and tapered positioning pins to achieve the shaft... The shoulder joint output shaft 123 is mounted on the shoulder joint fixed shaft 122 and driven by the shoulder motor drive module 121; the intermediate motor drive module 125 is connected to the shoulder joint output shaft 123 via the intermediate joint connector 124, receiving shoulder motion transmission; the output end of the intermediate motor drive module 125 is connected to the intermediate joint output shaft 126, and the lower joint motor drive module 128 is mounted at the end of the lower joint connector 127, which is connected to the intermediate joint output shaft 126. The motor drive module structures of the shoulder motor drive module 121, the intermediate motor drive module 125, and the lower joint motor drive module 128 are the same, such as... Figure 3As shown, each component includes a first motor 101, a motor mounting sleeve 102, a non-excitation brake 103, a harmonic reducer mounting sleeve 104, a motor output shaft sleeve 105, a motor output shaft 106, an angle sensor 107, an output flange shaft 108, a harmonic reducer 109, a large synchronous pulley 110, a small synchronous pulley 111, a synchronous belt 112, a joint mounting shaft 113, a joint output shaft 114, a mounting cover plate 115, and a motor joint cover plate 116. The first motor 101 and the non-excitation brake 103 are fixedly connected to the motor mounting sleeve 102 by bolts. The first motor 101 is connected to the motor output shaft via the motor output shaft sleeve 105. 106 connects and outputs power to harmonic reducer 109; the harmonic reducer 109 is fixed to harmonic reducer fixing sleeve 104 and joint fixing shaft 113 by bolts, and is sealed by fixing cover plate 115; the output end of the harmonic reducer 109 is fixed to output flange shaft 108 and drives large synchronous pulley 110, large synchronous pulley 110 drives small synchronous pulley 111 through synchronous belt 112, and angle sensor 107 is fastened to small synchronous pulley 111 by screws; the output end of the harmonic reducer 109 is also fixed to joint output shaft 114 by bolts to output joint torque, and motor joint cover plate 116 covers the entire joint. The shoulder joint motion module adopts a drive architecture of motor, harmonic reducer and rigid series, the core of which is to realize multi-degree-of-freedom movement of the shoulder through multi-stage motor drive. The power output from the first motor 101 is transmitted to the harmonic reducer 109 via the motor output shaft sleeve 105 and the motor output shaft 106. Through the reduction and torque amplification effect of the harmonic reducer 109 (1:100 reduction ratio), the high-speed, low-torque motor is converted into low-speed, high-torque, which is ultimately output through the joint output shaft 114 to drive the shoulder to perform flexion, extension, abduction, adduction, and rotation movements. Simultaneously, the output of the harmonic reducer 109 drives the large synchronous pulley 110, which in turn drives the small synchronous pulley 111 to rotate via the synchronous belt 112. The angle sensor 107 is rigidly connected to the small synchronous pulley 111, collecting the joint rotation angle in real time with an accuracy of ±0.5°, providing position feedback for closed-loop control. The non-excitation brake 103 automatically brakes in the event of a power outage or malfunction, locking the joint output shaft 114 within 0.5 seconds to prevent secondary injury to the patient due to a fall. The shoulder motor drive module 121, the intermediate motor drive module 125, and the lower joint motor drive module 128 are connected in series with the connector through the joint output shaft to form a three-level drive chain, which controls the movement of different degrees of freedom of the shoulder and realizes the reproduction of the complex trajectory of the upper limb shoulder.

[0022] Preferably, such as Figure 4As shown, the boom linear length adjustment module 2 includes a linear length adjustment mechanism 201 and a connector 202; the boom restraint assembly 4 includes a boom fixing ring 203, a first flexible strap 204, a ball bearing 205, and a rotating wheel 206; one end of the connector 202 is rigidly connected to the support platform of the linear length adjustment mechanism 201 by bolts, and the other end is bolted to the boom fixing ring 203; the boom fixing ring 203 is made of nylon, and the first flexible strap 204 is fitted on its outer side, with an array of ventilation holes in the inner layer of the first flexible strap 204; a stainless steel rotating shaft is fitted at a radially symmetrical position on the boom fixing ring 203, and the stainless steel rotating shaft is axially positioned by two nylon bushing bearings, with both ends of the stainless steel rotating shaft fixed to the inner ring of the ball bearing 205 respectively; the outer ring of the ball bearing 205 and the rotating wheel 206 form a passive rotating pair. Figure 5As shown, the linear length adjustment mechanism 201 includes a motor mounting base 211, a lead screw motor 212, a coupling 213, a push rod fixing plate 214, a push rod fixing component 215, an adjusting push rod 216, a push rod linear bearing 217, a connecting component 218, an optical shaft 219, a fixed base plate 220, an optical shaft linear bearing 221, a lead screw 222, a sliding platform 223, a lead screw nut pair 224, an optical shaft mounting base 225, and a lead screw support 226. The lead screw motor 212 is fixed to the motor mounting base 211 by bolts and connected to the lead screw 222 by the coupling 213. The distal end of the lead screw 222 is supported on the lead screw support by a roller bearing. On the 226, both the lead screw support 226 and the motor mounting base 211 are mounted on the fixed base plate 220. The sliding platform 223 houses the lead screw nut pair 224 and two linear bearings 221. The linear bearing 219 passes through the linear bearing 221 and is positioned by the linear bearing mounting base 225 to form a double-guide rail constraint. The push rod fixing plate 214 is bolted to the push rod fixing component 215, which is bolted to the sliding platform 223. The end of the length-adjusting push rod 216 is fitted with a connector 218, which passes through the push rod linear bearing 217. The push rod linear bearing 217 is fixed to the upper end of the lead screw support 226. This module achieves adaptive adjustment of the upper arm length through lead screw transmission and stabilizes the patient's upper arm through the arm constraint assembly. In the linear length adjustment mechanism 201, the lead screw motor 212 drives the lead screw 222 to rotate via the coupling 213. The lead screw nut pair 224 converts the rotational motion of the lead screw 222 into the linear motion of the sliding platform 223. The sliding platform 223 moves smoothly along the optical axis 219 under the constraint of the double guide rails, driving the length adjustment push rod 216 to extend and retract, achieving a length adjustment of 0-400mm to adapt to different patients' upper arm sizes. The arm fixation ring 203 fixes the patient's upper arm via the first flexible strap 204. The ventilation hole array in the inner layer of the flexible strap reduces the stuffiness caused by prolonged wear. The radial stainless steel rotating shaft of the arm fixation ring 203 forms a passive rotating pair with the rotating wheel 206 via the ball bearing 205, allowing the rotating wheel 206 to adjust its pitch by ±15°, which can compensate for slight misalignment when the patient wears the device and avoid movement resistance caused by rigid constraints.

[0023] Preferably, such as Figure 6 As shown, the rope drive module 6 includes a line drive fixing plate 601, a rope drive device 602, a Bowden line guide buckle 603, a Bowden line housing 604, and a line drive pretensioning block 605. The rope drive device 602 is mounted on the line drive fixing plate 601, and its output Bowden rope 7 cooperates with the Bowden line housing 604 through the Bowden line guide buckle 603 and passes through the line drive pretensioning block 605 for rope drive. Figure 7As shown, the rope drive device 602 includes a reel 611, a set bolt 612, a line drive guide block 613, a Bowden wire rope 614, a first spring 615, a connecting bolt 616, a line drive preload block 617, a Bowden wire housing 618, a line drive support plate 619, a reducer 620, and a rope drive motor 621. The output end of the rope drive motor 621 is connected to the input end of the reducer 620, and the output end of the reducer 620 is coaxially fixed to the reel 611 to transmit power to the reel 611. The end face of the reel 611 has a V-shaped groove, and one end of the Bowden wire rope 614 is connected to the wave spring via the set bolt 612. The spring washer is radially clamped in the slot; the other end of the Bowden wire 614 passes through a slot on the same horizontal plane in the wire drive guide block 613, the wire drive preload block 617 is arranged opposite to the wire drive guide block 613, a first spring 615 is clamped between them, and is fastened through by connecting bolts 616; one end of the Bowden wire housing 618 is locked to the wire drive preload block 617 by a clamp-type connector, and the Bowden wire 614 passes through the Bowden wire housing 618; both the wire drive guide block 613 and the wire drive preload block 617 are fixed to the wire drive support plate 619 by bolts, and the wire drive support plate 619 is fixedly connected to the wire drive fixing plate 601. The rope drive module 6 serves as the power source for the elbow and wrist joints, and this module achieves precise tension output through flexible rope transmission. The power output from the rope drive motor 621 is reduced by the reducer 620 and drives the reel 611 to rotate. The V-shaped groove on the end face of the reel 611 clamps the Bowden wire rope 614 with the wave spring washer through the set bolt 612. The rope is wound up and unwound as the reel 611 rotates. The first spring 615 between the wire drive guide block 613 and the wire drive pretension block 617 is always in a compressed state. The pretension force of the Bowden wire rope 614 is adjusted by the connecting bolt 616 to maintain the tension of the Bowden wire rope 614 at 5-10N, avoiding transmission lag caused by rope slack and ensuring the accuracy of elbow and wrist joint movement response. The Bowden wire outer shell 618 encloses the Bowden wire rope 614 and fixes its direction through the Bowden wire guide buckle 603, reducing friction and wear between the rope and the outside world, and preventing the rope from wrapping around the patient's limbs during movement.

[0024] Preferably, such as Figure 8As shown, the elbow joint motion module 9 includes a bevel gear fixing component 901, an upper bevel gear flange 902, an expansion sleeve 903, an upper deep groove ball bearing 904, an upper bevel gear 905, a lower deep groove ball bearing 906, a drive shaft 907, a roller bearing 908, a left flexible washer 909, a joint fixing seat 910, a rotating shaft 913, a rotating bushing 914, a middle roller bearing 915, a washer 916, a lower bevel gear 917, a lower bevel gear flange 918, a right flexible washer 919, a bolt 920, and a joint fixing plate 921. The upper bevel gear flange 902 is aligned and connected to the bevel gear fixing component 901. The upper deep groove ball bearing 904 and the lower deep groove ball bearing 906 are arranged in a double row in the inner hole of the upper bevel gear flange 902. Their outer rings are press-fitted with tolerance fit, and their inner rings are fitted with the upper bevel gear 905. The drive shaft 907 and the upper bevel gear 905 are connected by a rectangular spline, and an expansion sleeve 903 is fitted onto the connection to eliminate transmission clearance. The joint fixing seat 910 uses a roller bearing 908 to radially position the rotating shaft 913. A left flexible washer 909 is provided between the shoulder end face of the rotating shaft 913 and the joint fixing seat 910. The rotating shaft 913 passes through a rotating bushing 914, which houses a middle roller bearing 915 and a right flexible washer 919. It is fixed to the lower bevel gear 917 via a lower bevel gear flange 918, and the lower bevel gear 917 meshes with the upper bevel gear 905. The joint fixing plate 921 is installed at the distal end of the rotating shaft 913 with bolts 920, and a washer 916 is positioned between the lower bevel gear 917 and the lower bevel gear flange 918. This module converts the rope tension into flexion, extension, pronation, and supination movements of the elbow joint through orthogonal transmission of bevel gears. The Bowden wire steel rope 614 output by the rope drive module 6 pulls the drive shaft 907 to rotate. The drive shaft 907 is connected to the upper bevel gear 905 via a rectangular spline, driving the upper bevel gear 905 to rotate. The upper bevel gear 905 and the lower bevel gear 917 are orthogonally meshed with a transmission ratio of 1:1, converting the horizontal rotational motion into the vertical rotational motion, which ultimately drives the elbow joint movement through the rotating shaft 913 and the joint fixing plate 921. The connection between the drive shaft 907 and the upper bevel gear 905 is fitted with an expansion sleeve 903. The radial expansion of the expansion sleeve 903 eliminates the spline fit clearance, avoiding impact and abnormal noise during transmission. The upper deep groove ball bearing 904 and the lower deep groove ball bearing 906 form a double-row radial support for the upper bevel gear 905, the roller bearing 908 provides radial positioning for the rotating shaft 913, and the left flexible washer 909 and the right flexible washer 919 compensate for axial clearance caused by assembly tolerances, ensuring smooth and jam-free transmission.

[0025] Preferably, such as Figure 9As shown, the wrist joint motion module 5 includes a wrist fixation plate 501, a second flexible strap 502, a wrist fixation ring 503, a rope restraint device 504, a second spring 505, a wrist motion ring 507, a hand fixation frame 508, and a wrist handle 509. The wrist fixation plate 501 is rigidly connected to the wrist fixation ring 503 by bolts. The second flexible strap 502 is fixed to the wrist fixation plate 501 to restrain the patient's wrist. The rope restraint device 504 is installed on the wrist fixation ring 503. 03, composed of a U-shaped support and rollers; the inner ring walls of both the wrist fixing ring 503 and the wrist movement ring 507 are provided with T-shaped cross-section grooves, and the end of the second spring 505 is provided with a hook-shaped structure. The connection between the wrist fixing ring 503 and the wrist movement ring 507 is achieved through the mechanical interlocking of the T-shaped cross-section groove and the hook-shaped structure; one end of the hand fixing bracket 508 is fixedly connected to the wrist movement ring 507, and the other end is provided with a round hole. The wrist handle 509 passes through the round hole and can be adjusted in length axially. This module achieves flexible movement and constraint of the wrist through the synergistic effect of rope pulling and spring return. The Bowden rope 7 of the rope drive module 6 passes through the roller of the rope restraint device 504, pulling the wrist motion ring 507 to rotate, realizing wrist flexion, extension, and other movements. The second spring 505 between the wrist fixation ring 503 and the wrist motion ring 507 is mechanically interlocked with the hook structure through a T-shaped slot, providing a restoring force when the rope is slack, driving the wrist motion ring 507 to return to its original position. The wrist handle 509 at the end of the hand fixation frame 508 can be adjusted axially by 100-150mm to accommodate different hand sizes of patients; the silicone-coated wrist handle 509 increases friction and prevents hand slippage during training.

[0026] Preferably, such as Figure 10As shown, the bamboo-joint lifting mechanism 10 includes an upper lifting shaft 1001, a lifting fixed end cover 1002, a deep groove ball bearing 1003, a lifting fixed support frame 1004, a lead screw and nut pair 1005, a lead screw 1006, a bearing end cover 1007, a cylindrical bearing 1008, a bearing seat 1009, a gearbox housing 1010, a worm gear 1011, a worm wheel 1012, and a lower lifting shaft 1013. The gearbox housing 1010 is fixedly installed inside the lower lifting shaft 1013. The gearbox housing 1010 contains a worm gear 1011 and a worm wheel 1012. The worm gear 1011 meshes with the worm wheel 1012, and the inner hole of the worm wheel 1012 is coupled to the lower end of the lead screw 1006 via a spline. The lower end of the lead screw 1006 is radially positioned by a cylindrical bearing 1008, which is installed in a bearing housing 1009. The lower end of the lead screw 1006 is axially constrained by a bearing end cap 1007. The upper end of the lead screw 1006 forms a floating support within a lifting and fixing support frame 1004 via a deep groove ball bearing 1003. A lifting and fixing end cap 1002 covers the top of the lifting and fixing support frame 1004. The lead screw nut assembly 1005 is fitted onto the lead screw 1006 and rigidly connected to the upper lifting shaft 1001 by bolts. The upper lifting shaft 1001 and the lower lifting shaft 1013 achieve relative lifting movement through the cooperation of the lead screw 1006 and the lead screw nut assembly 1005. This module uses a worm gear transmission to achieve seat height adjustment, adapting to patients of different heights. A servo motor inside the gearbox housing 1010 drives the worm gear 1011 to rotate. The worm gear 1011 meshes with the worm wheel 1012 with a lead angle of 10°, converting the horizontal rotational motion into the vertical rotation of the worm wheel 1012. The worm wheel 1012 is coupled to the lead screw 1006 via a spline, causing the lead screw 1006 to rotate. The lead screw nut pair 1005 converts the rotational motion of the lead screw 1006 into the linear motion of the upper lifting shaft 1001, achieving a height adjustment of 0-300mm. The lower end of the lead screw 1006 is radially positioned by a cylindrical bearing 1008, and the upper end is formed by a deep groove ball bearing 1003 within the lifting fixed support frame 1004 to form a floating support, reducing the radial runout of the lead screw 1006 during rotation. The bearing end cap 1007 and the lifting fixed end cap 1002 respectively provide axial constraints to both ends of the lead screw 1006, ensuring a smooth and wobbly lifting process.

[0027] In this embodiment, as Figure 11As shown, the dual-arm width adjustment module 3 includes a width adjustment drive motor 301, a width adjustment lead screw 302, a width adjustment guide rail 303, a width adjustment slider 304, and a shoulder joint mounting plate 305. The width adjustment drive motor 301 is fixed to the upper crossbeam of the robot support frame 8 via a motor mount, and its output end is connected to the width adjustment lead screw 302 via a coupling. Both ends of the width adjustment lead screw 302 are supported on the crossbeam via lead screw supports. The width adjustment slider 304 cooperates with the width adjustment lead screw 302, and the width adjustment slider 305 is slidably mounted on the width adjustment guide rail 303. The width adjustment guide rail 303 is parallel to the width adjustment lead screw 302 and fixed to the crossbeam. The shoulder joint mounting plate 305 is rigidly connected to the width adjustment slider 304 and is used to install the shoulder joint motion module 1. When the width adjustment drive motor 301 drives the width adjustment lead screw 302 to rotate, it drives the two shoulder joint mounting plates 305 to move relative to each other along the width adjustment guide rail 303, thereby achieving shoulder width adjustment within the range of 300-500mm.

[0028] Working principle Shoulder joint drive: The motor-harmonic reducer series transmission is adopted. The power output of the first motor 101 is transmitted to the harmonic reducer 109 through the motor output shaft 106. After reduction and torque increase, the torque is output through the joint output shaft 114 to drive the shoulder movement. The synchronous belt pulley group drives the angle sensor 107 to monitor the joint position in real time and realize closed-loop control.

[0029] Elbow and wrist joint drive: The rope drive motor 621 drives the reel 611 to rotate via the reducer 620, and winds up and unwinds the Bowden steel rope 614. The tension is transmitted to the elbow joint motion module 9 and the wrist joint motion module 5 through the Bowden rope 7. The elbow joint achieves orthogonal motion through bevel gear meshing, and the wrist joint achieves flexible rotation by pulling the wrist motion ring 507 through the Bowden rope 7.

[0030] Shoulder width adjustment: The dual-arm width adjustment module 3 drives the two shoulder joint motion modules 1 to move relative to each other via a lead screw, adapting to different patients' shoulder widths; Boom length adjustment: In the linear length adjustment mechanism 201, the lead screw motor 212 drives the lead screw 222 to rotate, which in turn drives the sliding platform 223 to move along the optical axis 219. The boom support length is adjusted by the length adjustment push rod 216. Height adjustment: In the bamboo-joint lifting mechanism 10, the worm gear 1011 drives the worm wheel 1012 to rotate, which in turn drives the lead screw 1006 to rotate. The lead screw nut pair 1005 drives the upper lifting shaft 1001 to move up and down, thereby adjusting the seat height.

[0031] Passive training: The robot drives the shoulder, elbow, and wrist joints to move according to a preset trajectory, and the angle sensor 107 provides real-time position feedback to ensure motion accuracy; Active Assisted Training: Sensors detect the patient's active movement intentions, and the cable drive module 6 and shoulder joint motor drive module provide assistive force as needed to help the patient complete the movement; Resistance training: Controllable resistance is applied through the harmonic reducer 109 and the rope pretensioning mechanism 615 to enhance the patient's muscle strength. The resistance can be dynamically adjusted by the control system.

[0032] The degrees of freedom configuration of this invention is as follows: I. Active Degrees of Freedom (7): Active degrees of freedom are actively controlled by a drive mechanism to achieve precise joint movement. Their specific distribution is as follows: Shoulder joints (3): The motion is achieved through a series rigid transmission structure of shoulder joint motion module 1, including a shoulder motor drive module 121, an intermediate motor drive module 125, and a lower joint motor drive module 128, each controlled separately. The corresponding movements are: Degrees of freedom of flexion and extension: forward and backward rotation about the coronal axis; Abduction and adduction degrees of freedom: left and right rotation about the sagittal axis; Rotational degree of freedom: internal / external rotation about the vertical axis.

[0033] Elbow joints (2): The motion is achieved by a bevel gear transmission mechanism of elbow joint motion module 9, driven by rope drive module 6. The corresponding motion is as follows: Flexion-extension degrees of freedom: flexion / extension movements about the coronal axis; Pronation and supination degrees of freedom: rotational motion about the forearm axis (achieved through the orthogonal meshing of the upper bevel gear 905 and the lower bevel gear 917).

[0034] Wrist joints (2): Driven by the wrist joint motion module 5 via cables, the corresponding movements are: Palmar flexion-dorsiflexion freedom: palm rotates upward / downward around the coronal axis; Radial / ulnar deviation degrees of freedom: the palm rotates radially / ulnarly about the sagittal axis.

[0035] II. Passive Degrees of Freedom (3) Passive degrees of freedom are adaptive adjustments to accommodate differences in human movement, requiring no active actuation. Specifically: The degree of freedom for adjusting the upper arm length is achieved by the linear length adjustment mechanism 201 of the upper arm linear length adjustment module 2. Through the relative movement of the lead screw 222 and the sliding platform 223, the upper arm support length is passively adjusted within the range of 0-400mm to adapt to different patients' upper arm sizes.

[0036] Arm restraint pitch freedom: This is achieved by the passive rotational pair formed by the ball bearing 205 and the wheel 206 of the arm restraint assembly 4, which allows the wheel 206 to adjust pitch by ±15°, compensating for limb alignment deviations when the patient wears the restraint and avoiding motion resistance caused by rigid restraint.

[0037] Wrist adaptive rotational freedom: This is achieved by connecting the wrist fixation ring 503 and the wrist motion ring 507 in the wrist joint motion module 5 through the second spring 505. Under the active movement of the patient or the action of external force, the wrist motion ring 507 can generate a small passive rotation relative to the wrist fixation ring 503, thereby improving wearing comfort and movement coordination.

[0038] The configuration of the above 7 active degrees of freedom and 3 passive degrees of freedom comprehensively covers the movement needs of key joints of the human upper limb, such as the shoulder, elbow, and wrist. It can accurately reproduce the natural movement trajectory of the human upper limb and meet the comprehensive requirements for limb movement in rehabilitation training.

[0039] In summary, this invention, through modular design and hybrid drive architecture, achieves comprehensiveness, adaptability, and safety in upper limb rehabilitation training, and can meet the rehabilitation needs of patients at different stages.

Claims

1. An upper limb rehabilitation robot, characterized in that, The system includes a shoulder joint motion module (1), an upper arm linear length adjustment module (2), a double arm width adjustment module (3), an arm restraint assembly (4), a wrist joint motion module (5), a rope drive module (6), a Bowden rope (7), a robot support frame (8), an elbow joint motion module (9), and a bamboo-joint lifting mechanism (10). The double arm width adjustment module (3) is bolted to the upper end of the robot support frame (8). The shoulder joint motion module (1) is fixed to the double arm width adjustment module (3) via a connector. One end of the upper arm linear length adjustment module (2) is connected to the shoulder joint. The first end is connected to the joint motion module (1), and the other end is connected to the elbow joint motion module (9); the elbow joint motion module (9) is connected to the wrist joint motion module (5) through the connecting rod; the arm restraint assembly (4) is installed on the upper arm linear length adjustment module (2); the rope drive module (6) is fixed to the back of the robot support frame (8), and is connected to the elbow joint motion module (9) and the wrist joint motion module (5) respectively through the Bowden rope (7); the bamboo joint lifting mechanism (10) is installed at the front end of the robot support frame (8) for lifting the seat.

2. The upper limb rehabilitation robot according to claim 1, characterized in that, The shoulder joint motion module (1) is a series rigid transmission structure, including a shoulder motor drive module (121), a shoulder joint fixed shaft (122), a shoulder joint output shaft (123), a middle joint connector (124), an intermediate motor drive module (125), an intermediate joint output shaft (126), a lower joint connector (127), and a lower joint motor drive module (128). The shoulder motor drive module (121) is connected to the double arm width adjustment module (3) through the shoulder joint fixed shaft (122). The shoulder joint fixed shaft (122) is bolted and tapered. The pin provides axial constraint; the shoulder joint output shaft (123) is mounted on the shoulder joint fixed shaft (122) and driven by the shoulder motor drive module (121); the intermediate motor drive module (125) is connected to the shoulder joint output shaft (123) via the intermediate joint connector (124); the output end of the intermediate motor drive module (125) is connected to the intermediate joint output shaft (126); the lower joint motor drive module (128) is mounted at the end of the lower joint connector (127), and the lower joint connector (127) is connected to the intermediate joint output shaft (126).

3. The upper limb rehabilitation robot according to claim 2, characterized in that, The shoulder motor drive module (121), intermediate motor drive module (125), and lower joint motor drive module (128) have the same motor drive module structure, each including a first motor (101), a motor fixing sleeve (102), a non-excitation type brake (103), a harmonic reducer fixing sleeve (104), a motor output shaft sleeve (105), a motor output shaft (106), an angle sensor (107), an output flange shaft (108), a harmonic reducer (109), a large synchronous pulley (110), a small synchronous pulley (111), a synchronous belt (112), a joint fixing shaft (113), a joint output shaft (114), a fixing cover plate (115), and a motor joint cover plate (116). The first motor (101) and the non-excitation type brake (103) are connected to the motor fixing sleeve (102) by bolts. The first motor (101) is connected to the motor output shaft (106) through the motor output shaft sleeve (105) and outputs power to the harmonic reducer (109); the harmonic reducer (109) is fixed to the harmonic reducer fixing sleeve (104) and the joint fixing shaft (113) by bolts and is sealed by the fixing cover plate (115); the output end of the harmonic reducer (109) is fixed to the output flange shaft (108) and drives the large synchronous pulley (110), the large synchronous pulley (110) drives the small synchronous pulley (111) through the synchronous belt (112), and the angle sensor (107) is fastened to the small synchronous pulley (111) by screws; the output end of the harmonic reducer (109) is also fixed to the joint output shaft (114) by bolts to output joint torque, and the motor joint cover plate (116) covers the entire joint.

4. The upper limb rehabilitation robot according to claim 1, characterized in that, The boom linear length adjustment module (2) includes a linear length adjustment mechanism (201) and a connector (202); the boom restraint assembly (4) includes a boom fixing ring (203), a first flexible strap (204), a ball bearing (205), and a wheel (206); one end of the connector (202) is rigidly connected to the support platform of the linear length adjustment mechanism (201) by bolts, and the other end is bolted to the boom fixing ring (203); the boom fixing ring (203) is made of nylon, and the first flexible strap (204) is fitted on its outer side, and the inner layer of the first flexible strap (204) is provided with an array of ventilation holes; a stainless steel rotating shaft is fitted at a radially symmetrical position on the boom fixing ring (203), and the stainless steel rotating shaft is axially positioned by two nylon bushing bearings, and both ends of the stainless steel rotating shaft are fixed to the inner ring of the ball bearing (205); the outer ring of the ball bearing (205) and the wheel (206) form a passive rotating pair.

5. The upper limb rehabilitation robot according to claim 4, characterized in that, The linear length adjustment mechanism (201) includes a motor mounting base (211), a lead screw motor (212), a coupling (213), a push rod fixing plate (214), a push rod fixing component (215), an adjusting push rod (216), a push rod linear bearing (217), a connecting component (218), an optical axis (219), a fixed base plate (220), an optical axis linear bearing (221), a lead screw (222), a sliding platform (223), a lead screw nut pair (224), an optical axis mounting base (225), and a lead screw support (226). The lead screw motor (212) is fixed to the motor mounting base (211) by bolts and connected to the lead screw (222) by the coupling (213). The distal end of the lead screw (222) is supported by a roller bearing on the lead screw. On the support (226), the lead screw support (226) and the motor mounting base (211) are both mounted on the fixed base plate (220); the sliding platform (223) is equipped with a lead screw nut pair (224) and two optical axis linear bearings (221), the optical axis (219) passes through the optical axis linear bearing (221) and is positioned by the optical axis mounting base (225) to form a double guide rail constraint; the push rod fixing plate (214) is bolted to the push rod fixing piece (215), and the push rod fixing piece (215) is bolted to the sliding platform (223); the end of the length-adjusting push rod (216) is equipped with a connector (218) and passes through the push rod linear bearing (217); the push rod linear bearing (217) is fixed to the upper end of the lead screw support (226).

6. The upper limb rehabilitation robot according to claim 1, characterized in that, The rope drive module (6) includes a line drive fixing plate (601), a rope drive device (602), a Bowden line guide buckle (603), a Bowden line housing (604), and a line drive pretensioning block (605). The rope drive device (602) is mounted on the line drive fixing plate (601), and the Bowden rope (7) it outputs cooperates with the Bowden line housing (604) through the Bowden line guide buckle (603) and passes through the line drive pretensioning block (605) for rope drive.

7. The upper limb rehabilitation robot according to claim 6, characterized in that, The rope drive device (602) includes a reel (611), a set bolt (612), a line drive guide block (613), a Bowden wire rope (614), a first spring (615), a connecting bolt (616), a line drive preload block (617), a Bowden wire housing (618), a line drive support plate (619), a reducer (620), and a rope drive motor (621). The output end of the rope drive motor (621) is connected to the input end of the reducer (620), and the output end of the reducer (620) is coaxially fixed with the reel (611) to transmit power to the reel (611). A V-shaped opening is provided on the end face of the reel (611). The Bowden wire steel rope (614) is radially clamped in the slot by a set bolt (612) and a wave spring washer. The other end of the Bowden wire steel rope (614) passes through a slot in the same horizontal plane in the wire drive guide block (613). The wire drive preload block (617) is arranged opposite to the wire drive guide block (613), and a first spring (615) is clamped between them and fastened through by a connecting bolt (616). One end of the Bowden wire housing (618) is locked to the wire drive preload block (617) by a clamp-type connector, and the Bowden wire steel rope (614) passes through the Bowden wire housing (618). The wire drive guide block (613) and the wire drive preload block (617) are both fixed to the wire drive support plate (619) by bolts. The wire drive support plate (619) is fixed to the wire drive fixing plate (601).

8. The upper limb rehabilitation robot according to claim 1, characterized in that, The elbow joint motion module (9) includes a bevel gear fixing component (901), an upper bevel gear flange (902), an expansion sleeve (903), an upper deep groove ball bearing (904), an upper bevel gear (905), a lower deep groove ball bearing (906), a drive shaft (907), a roller bearing (908), a left flexible washer (909), a joint fixing seat (910), a rotating shaft (913), a rotating bushing (914), a middle roller bearing (915), and a washer (906). 16) Lower bevel gear (917), lower bevel gear flange (918), right flexible washer (919), bolt (920), and joint fixing plate (921); the upper bevel gear flange (902) is aligned and connected with the bevel gear fixing part (901), and the upper deep groove ball bearing (904) and the lower deep groove ball bearing (906) are arranged in double rows in the inner hole of the upper bevel gear flange (902). Their outer rings are fixed by tolerance fit press fitting, and their inner rings are fitted with the upper bevel gear (905). A radial support is formed; the drive shaft (907) and the upper bevel gear (905) are connected by a rectangular spline, and an expansion sleeve (903) is fitted onto the connection between the two to eliminate transmission clearance; the joint fixing seat (910) uses a roller bearing (908) to radially position the rotating shaft (913), and a left flexible washer (909) is provided between the shoulder end face of the rotating shaft (913) and the joint fixing seat (910); the rotating shaft (913) passes through the rotating shaft sleeve ( 914), a middle roller bearing (915) and a right flexible washer (919) are installed in the rotating bushing (914), and are fixed to the lower bevel gear (917) through the lower bevel gear flange (918). The lower bevel gear (917) meshes with the upper bevel gear (905); the joint fixing plate (921) is installed at the far end of the rotating shaft (913) by bolts (920), and the washer (916) is set between the lower bevel gear (917) and the lower bevel gear flange (918).

9. The upper limb rehabilitation robot according to claim 1, characterized in that, The wrist joint motion module (5) includes a wrist fixation plate (501), a second flexible strap (502), a wrist fixation ring (503), a rope restraint device (504), a second spring (505), a wrist motion ring (507), a hand fixation frame (508), and a wrist handle (509). The wrist fixation plate (501) is rigidly connected to the wrist fixation ring (503) by bolts. The second flexible strap (502) is fixed to the wrist fixation plate (501) to restrain the patient's wrist. The rope restraint device (504) is installed on the wrist fixation ring (503) and consists of a U-shaped support and rollers. The inner ring walls of the wrist fixation ring (503) and the wrist motion ring (507) are provided with T-shaped cross-section slots. The end of the second spring (505) is provided with a hook-shaped structure. The mechanical interlock between the cross-section slot and the hook structure realizes the connection between the wrist fixing ring (503) and the wrist movement ring (507); one end of the hand fixing bracket (508) is fixedly connected to the wrist movement ring (507), and the other end is provided with a round hole, and the wrist handle (509) passes through the round hole and can be adjusted in length along the axis.

10. The upper limb rehabilitation robot according to claim 1, characterized in that, The bamboo-joint lifting mechanism (10) includes an upper lifting shaft (1001), a lifting fixed end cap (1002), a deep groove ball bearing (1003), a lifting fixed support frame (1004), a lead screw and nut pair (1005), a lead screw (1006), a bearing end cap (1007), a cylindrical bearing (1008), a bearing seat (1009), a gearbox housing (1010), a worm (1011), a worm wheel (1012), and a lower lifting shaft (1013). The gearbox housing (1010) is fixedly installed inside the lower lifting shaft (1013). The gearbox housing (1010) is provided with a worm (1011) and a worm wheel (1012) inside the gearbox housing (1010). The worm (1011) meshes with the worm wheel (1012), and the inner hole of the worm wheel (1012) is connected to the lead screw (1006) through a spline. The lower end is coupled; the lower end of the lead screw (1006) is radially positioned by a cylindrical bearing (1008), the cylindrical bearing (1008) is installed in the bearing seat (1009), and the lower end of the lead screw (1006) is axially constrained by the bearing end cover (1007); the upper end of the lead screw (1006) forms a floating support in the lifting and fixing support frame (1004) by a deep groove ball bearing (1003), and the lifting and fixing end cover (1002) covers the top of the lifting and fixing support frame (1004); the lead screw nut pair (1005) is fitted on the lead screw (1006) and is rigidly connected to the upper lifting shaft (1001) by bolts, and the upper lifting shaft (1001) and the lower lifting shaft (1013) achieve relative lifting and lowering movement through the cooperation of the lead screw (1006) and the lead screw nut pair (1005).

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