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

Abstract

The present invention discloses a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot. During rehabilitation training, the patient's upper limb forearm and hand are fixed on the robot's armrest and end handle. The robot arm drives the end of the human upper limb to drive the upper limb to complete various rehabilitation training modes in the horizontal plane and sagittal plane of the human body. The device is driven by three motors. The first joint motor drives the upper arm to swing relative to the column, the second joint motor drives the forearm to swing relative to the upper arm, and the third joint motor drives the lead screw to drive the robot end to perform vertical linear motion. A servo closed-loop control system is used to accurately control the posture, range of motion and training intensity of the human upper limb. The human-machine interface consists of a touch screen and a switch button. The rehabilitation training mode can be selected through the touch screen. Each rehabilitation mode training has a corresponding dynamic schematic diagram display, which is convenient and easy to understand. The speed, time and range of motion of each joint of each rehabilitation training mode can also be adjusted according to the patient's condition.

Description

Technical Field

[0001] The invention belongs to the technical field of medical care equipment, in particular to a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot. Background Art

[0002] Using upper limb rehabilitation robots to conduct upper limb rehabilitation training is a way of upper limb rehabilitation. It is very suitable for rehabilitation training of patients with upper limb motor loss caused by upper limb cranial nerve damage and muscle damage, such as hemiplegic patients with cerebral stroke. Most of them will lose the motor ability of one side of the body partially or completely. If there is a lack of scientific and effective rehabilitation training or activities for a long time, the patient's limbs will have varying degrees of muscle atrophy and joint adhesion, and eventually the upper limbs will lose their mobility. Upper limb rehabilitation training robots can provide targeted training for such patients, so that the upper limbs can be fully active, thereby achieving the purpose of nerve remodeling and limb recovery of motor ability.

[0003] In the past, most of the upper limb rehabilitation devices on the market were CPM machines (joint restorers). Such devices have simple structures, fixed training modes, and can only perform passive joint training. In recent years, most of the exoskeleton robots that have appeared on the market use 6 degrees of freedom. They are large in size and bind the human upper limbs to the exoskeleton rods, so that the upper limb joints follow the joint movement of the exoskeleton robot. The arm length of the 6-degree-of-freedom exoskeleton robot is inconvenient or cannot be adjusted to match the upper limbs of different patients. The structure is complex. In addition, the entire upper limb is fixed by binding. Once the robot fails or the patient's muscle spasms, it is easy to cause secondary damage to the patient. In addition, there are 2-degree-of-freedom rectangular coordinate upper limb rehabilitation robots on the market. The rectangular coordinate method is used to synthesize the curved trajectory through linear motion, which makes the overall size of the robot very large and inconvenient to move. In addition, the 2-degree-of-freedom upper limb rehabilitation robot can only realize the movement of the upper limb in the horizontal plane. There are problems such as incomplete training of the human upper limb joints, a single mode, the upper limb ligaments cannot be stretched in all directions, and the training effect is limited. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot. The device has a large operating space but a small overall size, and has various training modes and convenient training parameter adjustment.

[0005] The present invention is achieved through the following technical solutions:

[0006] A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot, comprising a robot body, a robot support mechanism and a control drive unit, wherein the robot body comprises a large arm, a small arm connected to one end of the large arm and a terminal assembly to form three degrees of freedom, the robot support mechanism comprises a support column, the control drive unit comprises a controller and a motor driver, and the motor driver is arranged in the support column;

[0007] One end of the upper arm is horizontally connected to the top end surface of the supporting column to form a first horizontal joint, the lower arm is horizontally connected to the other end plane of the upper arm to form a second horizontal joint, and the inner cavity of the other end of the lower arm is connected to a lead screw nut and a lead screw through a lead screw reducer to form a third horizontal joint, the first horizontal joint is driven to rotate by the driving transmission mechanism I to achieve horizontal swing of the upper arm relative to the supporting column, the second horizontal joint is driven to rotate by the driving transmission mechanism II to achieve horizontal swing of the lower arm relative to the upper arm, and the third horizontal joint is driven by the driving transmission mechanism III to drive the lead screw nut to rotate to achieve vertical movement of the lead screw up and down;

[0008] The driving transmission mechanism III includes a third joint motor, the third joint motor is arranged in the inner cavity of one end where the forearm and the upper arm are connected, and the driving pulley III arranged on the output shaft of the third joint motor is connected to the driven pulley III arranged at one end of the screw reducer through the synchronous belt III, one end of the screw reducer is arranged in the inner cavity of the other end of the forearm, the other end of the screw reducer is connected with a screw nut, the screw nut is connected to a vertically arranged screw, one end of the screw extends to the upper part of the outside of the forearm, and the screw nut is driven to rotate by the third joint motor to drive the screw to move up and down;

[0009] The end component includes a coupling, a three-dimensional force sensor, a hand rest and an arm rest. The top of the screw is connected to the three-dimensional force sensor through a coupling. The top of the three-dimensional force sensor is connected to a horizontally arranged hand rest through a wrist joint flange. A handle is provided at one end of the hand rest. The other end of the hand rest is rotatably connected to the top of the three-dimensional force sensor. The arm rest is fixedly connected to one side of the top of the three-dimensional force sensor.

[0010] Furthermore, the support column is a rectangular frame structure, a first mounting plate is provided on the top of the support column, and a second mounting plate and a third mounting plate are horizontally arranged in sequence below the first mounting plate, the boom is horizontally arranged on the end face of the first mounting plate, the bottom of one end of the boom is fixed to the first mounting plate through a boom reducer, the boom reducer runs through the first mounting plate, the drive transmission mechanism I is arranged between the first mounting plate and the second mounting plate, the drive transmission mechanism I includes a first joint motor, one end of the first joint motor is vertically arranged between the second mounting plate and the third mounting plate, and the other end of the first joint motor passes through the active pulley I arranged on the second mounting plate and is connected to the driven pulley I arranged at the input end of the boom reducer through a horizontally arranged synchronous belt I, thereby controlling the swing of the boom relative to the support column through the first joint motor.

[0011] Furthermore, a motor flange is fixedly provided at one end of the boom located at the boom reducer, and the drive transmission mechanism II includes a second joint motor vertically arranged on the motor flange, the output shaft of the second joint motor is connected to a driving pulley II located in the inner cavity of the boom, and a driven pulley II is arranged at the other end of the inner cavity of the boom, a synchronous belt II is arranged between the driving pulley II and the driven pulley II, the driven pulley II is connected to the forearm reducer, and the output end of the forearm reducer is connected to the forearm, so that the second joint motor controls the forearm to swing relative to the boom.

[0012] Furthermore, a tensioning pulley II is provided in the synchronous belt II between the driving pulley II and the driven pulley II, and the tension of the synchronous belt II is adjusted by adjusting the position of the tensioning pulley.

[0013] Furthermore, a tensioning wheel III is arranged between the synchronous belt III, and the tensioning wheel III is connected to a tensioning wheel bracket, and the tensioning wheel bracket is connected to an adjusting screw, and the tensioning wheel bracket drives the tensioning wheel III to move through the adjusting screw, thereby tightening the synchronous belt III.

[0014] Furthermore, the coupling securely connects the end of the lead screw and a lower flange of the sensor below the three-dimensional force sensor, and the lower flange of the sensor is connected to the three-dimensional force sensor via screws.

[0015] Furthermore, the top of the three-dimensional force sensor is connected to the sensor upper flange and the wrist joint flange in sequence by screws.

[0016] Furthermore, the third joint motor is fixed on the forearm through a motor bracket, and the third joint motor is coaxial with the rotation center of the forearm, and the third joint motor is provided with a photoelectric encoder detection mechanism.

[0017] Furthermore, the upper arm and the lower arm can be folded.

[0018] Furthermore, the controller includes a control interface, which includes a touch screen and a switch button, and the rehabilitation training mode is selected through the touch screen.

[0019] The beneficial effects of the present invention are:

[0020] (1) This device adopts the structure of a horizontal multi-joint serial robot. During rehabilitation training, there is a large operating space at the end to facilitate all-round stretching of the upper limb muscles. When not doing rehabilitation training, the robot's horizontal multi-joint serial structure can be freely folded and extended, realizing rehabilitation training in three-dimensional space with a small volume. The robot's upper and lower arms can be folded to occupy a small space for easy movement and other operations, reducing space occupancy, making it easy to move in the hospital and even use at home. In addition, the rehabilitation mode can be selected according to the patient's specific situation to achieve the adduction and abduction mode of the shoulder joint in the horizontal plane, the flexion and extension mode in the sagittal plane, and the flexion and extension mode of the elbow joint in the horizontal plane. At the same time, according to the three-dimensional force sensor and the photoelectric encoder detection mechanism, the force signal of the robot end and the angle signal of each rotating joint are respectively collected in real time to achieve precise control of the upper limbs, so as to obtain good rehabilitation training effects without harming the patient. In addition, the range of motion of each joint can be adjusted as needed to meet the rehabilitation training needs of different patients.

[0021] (2) In the present device, the first joint motor and the second joint motor are centrally arranged on the supporting column, thereby reducing the gravity of the motor on the robot arm to a certain extent, reducing the influence of inertia force on the mechanical system, and improving the control performance of the mechanical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the positions of three joints of the present invention;

[0023] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 3 is a diagram of the idle folding state of the robot of the present invention;

[0025] Figure 4 It is a partial schematic diagram of the supporting column of the robot of the present invention;

[0026] Figure 5 It is a partial schematic diagram of the inner cavity of the upper arm and the inner cavity of the lower arm of the robot of the present invention;

[0027] Figure 6 It is a partial schematic diagram of the end assembly of the robot of the present invention;

[0028] Figure numerals: 1, first mounting plate, 2, second mounting plate, 3, third mounting plate, 4, support column, 5, motor driver, 6, first joint motor, 7, driving pulley Ⅰ, 8, driven pulley Ⅰ, 9, big arm reducer, 10, big arm, 11, second joint motor, 12, driving pulley Ⅱ, 13, synchronous belt Ⅱ, 14, tensioning pulley Ⅱ, 15, tensioning pulley bracket, 16, driven pulley Ⅱ, 17, small arm reducer, 18, motor bracket, 19, first Three-joint motor, 20. Forearm, 21. Driving pulley III, 22. Synchronous belt III, 23. Adjusting screw, 24. Screw fixing bracket, 25. Tensioning pulley bracket, 26. Tensioning pulley III, 27. Driven pulley III, 28. Screw reducer, 29. Screw nut, 30. Screw, 31. Coupling, 32. Sensor lower flange, 33. Three-dimensional force sensor, 34. Sensor upper method, 35. Wrist joint flange, 36. Arm support, 37. Hand support, 38. Handle. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings.

[0030] Example 1

[0031] like Figure 1 , Figure 2 As shown, a three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot includes a robot body, a robot support mechanism and a control drive unit. The robot body includes three degrees of freedom consisting of a large arm 10, a small arm 20 and an end assembly. The robot support mechanism includes a support column 4. The bottom of the support column can be provided with a chassis, and sliding wheels are provided around the chassis. The control drive unit includes a controller and a motor driver 5, and the motor driver 5 is arranged in the support column 4;

[0032] One end of the upper arm 10 is horizontally connected to the top end surface of the supporting column to form a first horizontal joint 39 (shoulder joint), one end of the forearm 20 is horizontally connected to the plane above the other end of the upper arm to form a second horizontal joint 40 (elbow joint), and the inner cavity of the other end of the forearm 20 is connected to the screw nut 29 and the screw 30 through the screw reducer 28 to form a third horizontal joint 41. The first horizontal joint is driven to rotate by the drive transmission mechanism I to achieve horizontal swing of the upper arm 10 relative to the supporting column, the second horizontal joint is driven to rotate by the drive transmission mechanism II to achieve horizontal swing of the forearm 20 relative to the upper arm, and the third horizontal joint is driven by the drive transmission mechanism III to drive the screw nut 29 to rotate to achieve the up and down vertical movement of the screw 30. The three joints drive the end to move in three-dimensional space.

[0033] The drive transmission mechanism III includes a third joint motor 19, which is arranged in the inner cavity at one end where the forearm is connected to the upper arm, and the third joint motor 19 is fixed to the forearm 20 through a motor bracket 18, and the third joint motor 19 is coaxial with the rotation center of the forearm 20, and the driving pulley III 21 arranged on the output shaft of the third joint motor 19 is connected to the driven pulley III 27 arranged at one end of the screw reducer 28 through a synchronous belt III 22, and the steel wheel of the screw reducer 28 is fixed on the forearm, and the output wheel of the screw reducer 28 is connected to the driven pulley III 27 arranged at one end of the screw reducer 28. (i.e., flexible wheel) is connected with a screw nut 29, and the screw nut 29 is connected to a vertically arranged screw 30, one end of which extends to the upper part of the outside of the forearm, and the screw nut 29 is driven to rotate by the third joint motor 19, thereby driving the screw 30 to move up and down, and a tensioning wheel III 26 is arranged between the synchronous belt III 22, and the tensioning wheel III 26 is connected to a tensioning wheel bracket 25, and the tensioning wheel bracket 25 is connected to an adjusting screw 23, and the tensioning wheel bracket 25 drives the tensioning wheel III 26 to move through the adjusting screw 23, thereby tightening the synchronous belt III 22.

[0034] The end assembly includes a coupling 31, a three-dimensional force sensor 33, a hand support 37 and an arm support 36. The top of the lead screw 30 is connected to the three-dimensional force sensor 33 through the coupling 31. The top of the three-dimensional force sensor 33 is connected to a horizontally arranged hand support 37 through a wrist joint flange 35. One end of the hand support 37 is provided with a handle 38, and the other end of the hand support 37 is rotatably connected to the top of the three-dimensional force sensor 33. The arm support 12 is fixedly connected to one side of the top of the three-dimensional force sensor 33. By installing the three-dimensional force sensor 33, the magnitude and direction of the force applied by the trainee to the handle 38 at the end of the robot can be detected in real time, and the measured active movement intention of the trainee is more accurate, which can be used for active rehabilitation training based on impedance control. The coupling 31 fixes the end of the lead screw 30 and the sensor lower flange 32 below the three-dimensional force sensor 33 together. The sensor lower flange 32 is connected to the three-dimensional force sensor 33 by screws. The top of the three-dimensional force sensor 33 is connected to the sensor upper flange 34 and the wrist joint flange 35 in turn by screws.

[0035] Furthermore, the support column 4 is a rectangular frame structure, the top of the support column 4 is provided with a first mounting plate 1, and the second mounting plate 2 and the third mounting plate 3 are horizontally arranged in sequence below the first mounting plate 1, the upper arm 10 is horizontally arranged on the end surface of the first mounting plate 1, and the bottom of the upper arm 10 is fixed to the first mounting plate 1 through the upper arm reducer 9, and the upper arm reducer 9 is arranged through the first mounting plate 1, and the drive transmission mechanism I is arranged between the first mounting plate 1 and the second mounting plate 2, and the drive transmission mechanism I includes a first joint motor 6, and the first joint motor 6 One end is vertically arranged between the second mounting plate 2 and the third mounting plate 3, and the other end of the first joint motor 6 passes through the driving pulley Ⅰ7 arranged on the second mounting plate 2 and is connected to the driven pulley Ⅰ8 arranged on the input end of the boom reducer through the horizontally arranged synchronous belt Ⅰ, so that the boom 10 is controlled to swing relative to the supporting column through the first joint motor 6. The boom reducer 9 adopts a harmonic reducer, and the rotation center of the boom reducer 9 coincides with the central axis of the supporting column, that is, the input end of the boom reducer 9 is connected to the driving pulley Ⅰ through the driven pulley Ⅰ and the synchronous belt Ⅰ, and its output end, that is, the flexible pulley, is connected to the boom through screws;

[0036] Furthermore, a side plate is fixedly provided on one side between the first mounting plate and the second mounting plate, and a movable plate is connected to an end face of the second mounting plate close to the side plate by bolts, and the first joint motor is fixedly connected to the movable plate by screws, and the movable plate is L-shaped, and the vertical section of the movable plate is connected to the side plate by bolt columns, and the distance between the movable plate and the side plate is adjusted by pulling the bolt columns to adjust the movement of the first joint motor, thereby adjusting the tension of the synchronous belt I, and the connecting hole on the horizontal section of the movable plate and the second mounting plate is an elongated elliptical hole, so that the movable plate moves with the first joint motor relative to the second mounting plate.

[0037] Furthermore, a motor flange is fixedly provided in the inner cavity of one end of the boom 10 located at the boom reducer, and the drive transmission mechanism II includes a second joint motor 11 vertically arranged on the motor flange, and the rotation center of the second joint motor coincides with the central axis of the supporting column, and the output shaft of the second joint motor 11 is connected to a driving pulley II12 located in the inner cavity of the boom, and a driven pulley II16 is provided at the other end of the inner cavity of the boom, and a synchronous belt II13 is provided between the driving pulley II12 and the driven pulley II16, and the driven pulley II16 is connected to a forearm reducer 17, that is, the steel wheel of the forearm reducer 17 is fixed on the boom, and the output end (that is, the flexible pulley) of the forearm reducer 17 is connected to the forearm, and the forearm reducer is a harmonic reducer, so that the second joint motor 11 controls the forearm 20 to swing relative to the boom 10, and a tensioning pulley II14 is provided in the synchronous belt II between the driving pulley II12 and the driven pulley II16, and the tension of the synchronous belt II13 is adjusted by adjusting the position of the tensioning pulley 14.

[0038] Furthermore, the first joint motor 6, the second joint motor 11 and the third joint motor 19 have a power-off brake function so that the upper arm 10 and the lower arm 20 can be folded and placed. When not doing rehabilitation training, the upper arm and the lower arm are folded to reduce space occupation, with high mobility flexibility, and each motor is equipped with overload safety protection. Once an accident occurs, the robot will stop working in time to prevent injury to the patient. The first joint motor 6, the second joint motor 11 and the third joint motor 19 are provided with a photoelectric encoder detection mechanism to collect the angle signals of each rotating joint of the robot to achieve precise control of the upper limbs;

[0039] Furthermore, the control drive unit includes components such as a computer, a simulator, a motion controller, and a motor driver, which are the control core of the rehabilitation training device, and also includes a control interface, which includes a touch screen and a switch button. The rehabilitation training mode can be selected through the touch screen, and different rehabilitation training modes and the amplitude, speed, and intensity of rehabilitation movements can be selected according to the specific conditions of the patient. The rehabilitation training parameters are fed back to the control panel of the control interface in real time, which is convenient for doctors to understand the patient's rehabilitation status.

[0040] Working process: The robot's status when not undergoing rehabilitation training is as follows: Figure 3As shown, the upper arm and the lower arm are folded and stationary. The power-off brake function of the corresponding servo motor enables the robot to maintain this state to reduce space occupation and will not stretch out. When in use, the robot is turned on to stretch the upper arm and the lower arm to a certain angle in the initial working position (while ensuring that the patient is not harmed). According to the pre-measured basic size of the patient's upper limbs and the patient's sitting shoulder height, the height of the seat and the position relative to the robot are adjusted. After the adjustment is completed, the patient's hand holds the handle 38, and the forearm is placed on the arm rest 12. The wrist is properly fixed with a bandage, and the tightness is appropriate so as not to affect the rotation of the wrist and not to cause the hand to fall off the handle 38. The range of movement allowed for each joint of the patient is input into the device through the touch screen, a suitable rehabilitation training mode is selected, the rehabilitation training time is set, and then the rehabilitation training device is started. According to the set rehabilitation training mode, the vertical movement distance of the end of the three-degree-of-freedom robot is determined by the pulse number sent by the control system to the third joint motor 19, the reduction ratio of the screw reducer 28, and the lead of the ball screw 30, or a displacement sensor is added at the end for real-time monitoring and feedback. The upper arm 10 and the lower arm 20 are driven by the corresponding first joint motor 6 and the second joint motor 11 to drive the corresponding synchronous belt and reducer, and then complete the coordinated action. The motion angle and speed of each joint are detected by the photoelectric encoder of each first joint motor 6, the second joint motor 11 and the third joint motor 19, and fed back to the controller in real time, and the next motor action instruction is issued by the operation controller. The three joints are controlled by the closed-loop servo of drive-detection-feedback-processing-drive to make the movement of each joint accurate and stable. During the training process, different action times, speeds and training intensities can be set by key operations according to the specific conditions of the patient's upper limb rehabilitation.

[0041] In summary: The servo control system of the robot of this device is composed of joint motors, motion controllers, angle encoders, and three-dimensional force sensors, forming a closed-loop servo system that can accurately control the range of motion and training intensity of the upper limbs. The coordinated motion of three degrees of freedom can drive the robot end to perform three-dimensional compound motion in space, driving the patient's upper limbs to achieve all-round rehabilitation training.

[0042] The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention shall be defined by the attached claims and their equivalents.

Claims

1. A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot, characterized in that: The robot comprises a robot body, a robot support mechanism and a control drive unit, wherein the robot body comprises a large arm (10), a small arm (20) connected to one end of the large arm and a terminal assembly forming three degrees of freedom, the robot support mechanism comprises a support column (4), and the control drive unit comprises a controller and a motor driver (5), wherein the motor driver (5) is arranged in the support column (4); One end of the upper arm (10) is horizontally connected to the top end surface of the supporting column to form a first horizontal joint (39), the lower arm (20) is horizontally connected to the other end plane of the upper arm to form a second horizontal joint (40), and the inner cavity of the other end of the lower arm (20) is connected to a lead screw nut (29) and a lead screw (30) through a lead screw reducer (28) to form a third horizontal joint (41), the first horizontal joint is driven to rotate by the driving transmission mechanism I to achieve horizontal swing of the upper arm (10) relative to the supporting column, the second horizontal joint is driven to rotate by the driving transmission mechanism II to achieve horizontal swing of the lower arm (20) relative to the upper arm, and the third horizontal joint is driven by the driving transmission mechanism III to drive the lead screw nut (29) to rotate to achieve vertical movement of the lead screw (30) up and down; The driving transmission mechanism III comprises a third joint motor (19), the third joint motor (19) is arranged in an inner cavity at one end of the forearm and the upper arm, and the driving pulley III (21) arranged on the output shaft of the third joint motor (19) is connected to the driven pulley III (27) arranged at one end of the lead screw reducer (28) through a synchronous belt III (22), one end of the lead screw reducer (28) is arranged in the inner cavity at the other end of the forearm, and the other end of the lead screw reducer (28) is connected to a lead screw nut (29), and the lead screw nut (29) is connected to a vertically arranged lead screw (30), one end of the lead screw (30) extends to the upper part of the outer part of the forearm, and the third joint motor (19) drives the lead screw nut (29) to rotate, thereby driving the lead screw (30) to move up and down; The end assembly comprises a coupling (31), a three-dimensional force sensor (33), a hand support (37) and an arm support (36); the top of the lead screw (30) is connected to the three-dimensional force sensor (33) via the coupling (31); the top of the three-dimensional force sensor (33) is connected to a horizontally arranged hand support (37) via a wrist joint flange (35); a handle (38) is provided at one end of the hand support (37); the other end of the hand support (37) is rotatably connected to the top of the three-dimensional force sensor (33); and the arm support (12) is fixedly connected to one side of the top of the three-dimensional force sensor (33).

2. A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1, characterized in that: The support column (4) is a rectangular frame structure. A first mounting plate (1) is arranged on the top of the support column (4). A second mounting plate (2) and a third mounting plate (3) are arranged horizontally in sequence below the first mounting plate (1). The boom (10) is arranged horizontally on the end surface of the first mounting plate (1). The bottom of one end of the boom (10) is fixed to the first mounting plate (1) via a boom reducer (9). The boom reducer (9) is arranged through the first mounting plate (1). The drive transmission mechanism I is arranged on the first mounting plate (1). The driving transmission mechanism I comprises a first joint motor (6) between a first mounting plate (1) and a second mounting plate (2), one end of the first joint motor (6) being vertically arranged between the second mounting plate (2) and the third mounting plate (3), and the other end of the first joint motor (6) passing through a driving pulley I (7) arranged on the second mounting plate (2) and connected to a driven pulley I (8) arranged at the input end of a boom reducer via a horizontally arranged synchronous belt I, thereby controlling the swing of the boom (10) relative to the supporting column via the first joint motor (6).

3. A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1 or 2, characterized in that: A motor flange is fixedly arranged at one end of the boom (10) located at the boom reducer, the drive transmission mechanism II comprises a second joint motor (11) vertically arranged on the motor flange, the output shaft of the second joint motor (11) is connected to a driving pulley II (12) located in the inner cavity of the boom, a driven pulley II (16) is arranged at the other end of the inner cavity of the boom, a synchronous belt II (13) is arranged between the driving pulley II (12) and the driven pulley II (16), the driven pulley II (16) is connected to a forearm reducer (17), and the output end of the forearm reducer (17) is connected to the forearm, so that the second joint motor (11) controls the forearm (20) to swing relative to the boom (10).

4. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 3, characterized in that: A tensioning wheel II (14) is provided in the synchronous belt II between the driving pulley II (12) and the driven pulley II (16), and the tension of the synchronous belt II (13) is adjusted by adjusting the position of the tensioning wheel (14).

5. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1, characterized in that: A tension wheel III (26) is arranged between the synchronous belt III (22), and the tension wheel III (26) is connected to a tension wheel bracket (25), and the tension wheel bracket (25) is connected to an adjusting screw (23), and the tension wheel bracket (25) drives the tension wheel III (26) to move through the adjusting screw (23), thereby tightening the synchronous belt III (22).

6. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1, characterized in that: The coupling (31) securely connects the end of the lead screw (30) and a sensor lower flange (32) below the three-dimensional force sensor (33), and the sensor lower flange (32) is connected to the three-dimensional force sensor (33) via screws.

7. A three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1 or 6, characterized in that: The top of the three-dimensional force sensor (33) is connected in sequence to a sensor upper flange (34) and a wrist joint flange (35) via screws.

8. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1, characterized in that: The third joint motor (19) is fixed to the forearm (20) via a motor bracket (18), and the third joint motor (19) is coaxial with the rotation center of the forearm (20). The third joint motor (19) is provided with a photoelectric encoder detection mechanism.

9. The three-degree-of-freedom horizontal multi-joint upper limb rehabilitation training robot according to claim 1, characterized in that: The upper arm (10) and the lower arm (20) can be folded and placed.

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

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