Upper limb rehabilitation training device

Abstract

The invention discloses an upper limb rehabilitation training device, comprising a mechanical arm training module, a central processing unit, a display and at least one angle sensor. The user's arm is supported on the mechanical arm training module for rehabilitation training, and the angle of each joint activity of the mechanical arm training module is detected by the angle sensor. The mechanical arm training module comprises a mechanical arm upper arm component, a mechanical arm forearm component and a mechanical arm ulna and radius component, wherein the mechanical arm upper arm component supports the user's upper arm, the mechanical arm forearm component supports the user's forearm, the user's palm grasps the grip force detector of the mechanical arm ulna and radius components, and the user's grip force is detected by the grip force detector. The data detected by the angle sensor and the grip force detector are sent to the central processing unit for analysis and processing to obtain the user's upper limb dysfunction level, and the upper limb dysfunction level assessment data is fed back through the display for the user to view, thereby realizing intelligent feedback. This invention is used in the field of rehabilitation training robots.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation training robots, in particular to an upper limb rehabilitation training device. Background Art

[0002] At present, the phenomenon of population aging is becoming increasingly serious, and the number of users suffering from stroke symptoms is increasing year by year, and the main manifestation of users is upper limb dysfunction. In the field of upper limb rehabilitation training, the current upper limb rehabilitation equipment structure and training system are relatively simple and lack complete functional modules; users need to frequently replace accessory modules during use, lack interactive intelligent feedback, and users do not know the effect of training during the training process. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide an upper limb rehabilitation training device with intelligent feedback.

[0004] According to an embodiment of the present invention, there is provided an upper limb rehabilitation training device, comprising: a robotic arm training module, the robotic arm training module comprising a robotic arm upper arm component, a robotic arm forearm component and a robotic arm ulna and radius component connected in sequence, the robotic arm upper arm component comprising an upper arm arm support for supporting a user's upper arm, the robotic arm forearm component comprising a forearm arm support for supporting a user's forearm, the robotic arm ulna and radius components comprising a grip force detector, the grip force detector being used for the user's palm to grasp and detect grip force; at least one angle sensor for detecting the movable angle of each joint of the robotic arm training module; a central processing unit, respectively communicatively connected to the grip force detector and the angle sensor, for receiving grip force data detected by the grip force detector and angle data detected by the angle sensor, and assessing the user's upper limb dysfunction level based on the grip force data and the angle data; and a display, communicatively connected to the central processing unit, for displaying the assessment data of the upper limb dysfunction level.

[0005] The above-mentioned upper limb rehabilitation training device has at least the following beneficial effects: the user's arm is supported on the robotic arm training module for rehabilitation training, and the angle of movement of each joint of the robotic arm training module is detected by the angle sensor. The robotic arm training module includes a robotic arm upper arm component, a robotic arm forearm component and a robotic arm ulna and radius component, wherein the robotic arm upper arm component supports the user's upper arm, the robotic arm forearm component supports the user's forearm, the user's palm grasps the grip strength detector of the robotic arm ulna and radius components, and the user's grip strength is detected by the grip strength detector. The data detected by the angle sensor and the grip strength detector are sent to the central processing unit for analysis and processing to obtain the user's upper limb dysfunction level, and the assessment data of the upper limb dysfunction level is fed back through the display for the user to view, thereby realizing intelligent feedback, and the user can decide whether to perform rehabilitation training again according to the prompt of the display.

[0006] According to the upper limb rehabilitation training device described in the embodiment of the present invention, the grip force detector is equipped with a built-in vibrator, and the vibrator is used to give vibration feedback to the user's palm when the grip force detected by the grip force detector reaches a predetermined value.

[0007] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the ulna and radius components of the robotic arm include a support plate, a rotating frame and a detector mounting plate, the support plate is connected to the forearm component of the robotic arm, the rotating frame is rotatably mounted on the support plate, the grip force detector is mounted on the detector mounting plate, the detector mounting plate is rotatably mounted on the rotating frame, the angle sensor includes a first angle sensor and a second angle sensor, the first angle sensor is used to detect the rotation angle of the detector mounting plate, and the second angle sensor is used to detect the rotation angle of the rotating frame.

[0008] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the ulna and radius components of the robotic arm include a first slider, the grip force detector is fixedly connected to the first slider, and the first slider is slidably connected to the detector mounting plate to adjust the position of the grip force detector on the detector mounting plate.

[0009] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the upper arm component of the mechanical arm includes a first support arm and a mounting positioning rod, the mounting positioning rod is arranged on the first support arm, and the upper arm arm support is detachably connected to the left side or right side of the mounting positioning rod to switch between supporting the user's left arm or right arm.

[0010] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the forearm component of the robotic arm includes a second supporting arm and a second slider, the second supporting arm is movably connected to the upper arm component of the robotic arm, the forearm support is fixedly connected to the second slider, and the second slider is slidably connected to the second supporting arm to adjust the position of the forearm support on the second supporting arm.

[0011] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the second slider can be slidably removed or installed along the second support arm so that the forearm arm rest can be installed on the left or right side of the second support arm to switch between supporting the user's left arm or right arm.

[0012] According to the upper limb rehabilitation training device described in the embodiment of the present invention, the ulna and radius components of the mechanical arm include a support plate, and a mounting hole is provided on the second sliding block, and the support plate is detachably plugged into and matched with the mounting hole.

[0013] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the upper arm component of the robotic arm includes a first weight adjuster, and the forearm component of the robotic arm includes a second weight adjuster. The first weight adjuster is used to adjust the weight of the first support arm, and the second weight adjuster is used to adjust the weight of the second support arm.

[0014] According to the upper limb rehabilitation training device described in an embodiment of the present invention, the upper limb rehabilitation training device also includes a main support, and the robotic arm training module also includes a robotic arm suspension and a connecting frame, one end of the connecting frame is connected to the robotic arm upper arm component, and the other end of the connecting frame is movably connected to the robotic arm suspension, and the robotic arm suspension is slidably connected to the main support to adjust the left and right position of the robotic arm training module on the main support.

[0015] According to the upper limb rehabilitation training device described in an embodiment of the present invention, a connecting rod is provided between the robotic arm suspension and the connecting frame, one end of the connecting rod is rotatably connected to the connecting frame, and the other end of the connecting rod is rotatably connected to the robotic arm suspension, so as to adjust the robotic arm upper arm component, the robotic arm forearm component and the robotic arm ulna and radius component to the left or right side of the robotic arm suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings:

[0017] Figure 1 is a schematic diagram of the overall structure of the upper limb rehabilitation training device according to an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of the structure of a robotic arm training module according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a partial structure of a robotic arm training module according to an embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of a forearm component of a mechanical arm according to an embodiment of the present invention;

[0021] Figure 5 2 is a schematic diagram of the structure of the ulna and radius components of the mechanical arm according to an embodiment of the present invention;

[0022] Figure 6 is a system block diagram of an upper limb rehabilitation training device according to an embodiment of the present invention;

[0023] Figure numerals: seat 100, robot arm training module 200, robot arm suspension 210, connecting frame 220, connecting rod 230, first positioning pin 231, second positioning pin 232, robot arm upper arm component 240, upper arm arm support 241, first support arm 242, installation positioning rod 243, first load adjuster 244, robot arm forearm component 250, forearm arm support 251, second support arm 252, second slider 253, third positioning pin 254, second load adjuster 255, robotic arm ulna component 260, grip detector 261, support plate 262, seventh positioning pin 2621, rotating frame 263, detector mounting plate 264, first angle sensor 265, second angle sensor 266, fourth positioning pin 267, fifth positioning pin 268, first slider 269, sixth positioning pin 2691, display 300, logic processing computer 400, support frame 500, main bracket 600, base 700, lifting column 800. DETAILED DESCRIPTION

[0024] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0028] Reference Figures 1 to 6The embodiment of the present invention provides an upper limb rehabilitation training device, including a seat 100, a mechanical arm training module 200, a central processing unit, a display 300 and at least one angle sensor, wherein the angle sensor is used to detect the activity angle of each joint of the mechanical arm training module 200, the mechanical arm training module 200 includes a mechanical arm upper arm component 240, a mechanical arm forearm component 250 and a mechanical arm ulna component 260 connected in sequence, the mechanical arm upper arm component 240 includes an upper arm arm support 241 for supporting the upper arm of the user, the mechanical arm forearm component 250 includes a forearm arm support 251 for supporting the forearm of the user, and straps are respectively provided on the upper arm arm support 241 and the forearm arm support 251, the mechanical arm The ulna-radius component 260 includes a grip force detector 261, which is used for the user's palm to grasp and detect the grip force, and a pressure sensor is provided in the grip force detector 261; the central processing unit is respectively communicated with the grip force detector 261 and the angle sensor, and is used to receive the grip force data detected by the grip force detector 261 and the angle data detected by the angle sensor, and assess the user's upper limb dysfunction level based on the grip force data and the angle data; the display 300 is communicated with the central processing unit, and is used to display the assessment data of the upper limb dysfunction level, and the central processing unit is set on the logic processing computer 400, and the display 300 and the logic processing computer 400 are installed on the support frame 500.

[0029] In the upper limb rehabilitation training device of this embodiment, the user sits on the chair 100 with his arm supported on the mechanical arm training module 200 for rehabilitation training. The angle sensor is used to detect the movable angles of each joint of the mechanical arm training module 200. The mechanical arm training module 200 includes a mechanical arm upper arm component 240, a mechanical arm forearm component 250 and a mechanical arm ulna-radial component 260, wherein the mechanical arm upper arm component 240 supports the user's upper arm, the mechanical arm forearm component 250 supports the user's forearm, and the user's palm grasps the grip detector 261 of the mechanical arm ulna-radial component 260. The user's grip is detected by the grip detector 261. The data detected by the angle sensor and the grip detector 261 are sent to the central processing unit for analysis and processing to obtain the user's upper limb dysfunction level. The upper limb dysfunction level assessment data is fed back through the display 300 for the user to view, thereby realizing intelligent feedback. The user can understand the specific situation of the upper limb training based on this and decide whether to perform rehabilitation training again according to the prompt of the display 300.

[0030] In some embodiments, the grip strength detector 261 has a built-in vibrator, and the user can pre-set the palm grip test rehabilitation training goal. When the grip strength detected by the grip strength detector 261 reaches a predetermined value, the central processor feeds back an electrical signal to the grip strength detector 261, causing the vibrator to vibrate, thereby giving the user's palm instant feedback vibration.

[0031] In some embodiments, the upper limb rehabilitation training device also includes a main support 600, a base 700 and a lifting column 800, and the robotic arm training module 200 also includes a robotic arm suspension 210, wherein the lower end of the lifting column 800 is connected to the base 700, and the base 700 has multiple walking wheels for easy movement. The main support 600 is connected to the upper end of the lifting column 800, and the lifting column 800 can be raised and lowered to adjust the height of the main support 600 so that the robotic arm training module 200 adapts to the height of the human body; the robotic arm suspension 210 is slidably connected to the main support 600 to adjust the left and right positions of the robotic arm training module 200 on the main support 600 (the "left" and "right" refer to the left and right sides of the user sitting on the seat 100), so that the robotic arm training module 200 can be moved to the left or right side of the user to perform rehabilitation training for the left arm or right arm. The sliding of the robotic arm suspension 210 on the main support 600 can be locked and released by a positioning pin. The positioning pin is released when the position needs to be adjusted, and locked after the adjustment is completed.

[0032] In some embodiments, the robot arm training module 200 further includes a connecting frame 220, one end of the connecting frame 220 is connected to the robot arm upper arm component 240, and the other end of the connecting frame 220 is movably connected to the robot arm suspension 210. Specifically, a connecting rod 230 is provided between the robot arm suspension 210 and the connecting frame 220, one end of the connecting rod 230 is rotatably connected to the connecting frame 220, and the other end of the connecting rod 230 is rotatably connected to the robot arm suspension 210, so as to adjust the robot arm upper arm component 240, the robot arm forearm component 250 and the robot arm ulna component 260 to the left or right side of the robot arm suspension 210, so that the user can perform rehabilitation training for the left arm or the right arm. The rotational connection between the connecting rod 230 and the connecting frame 220 can be locked and released by a first positioning pin 231, and the rotational connection between the connecting rod 230 and the robot arm suspension 210 can be locked and released by a second positioning pin 232.

[0033] In some embodiments, the robotic arm upper arm component 240 includes a first support arm 242 and an installation positioning rod 243. The first support arm 242 is connected to the connecting frame 220. The installation positioning rod 243 is arranged on the first support arm 242. The upper arm arm support 241 is detachably connected to the left or right side of the installation positioning rod 243 to switch between supporting the user's left arm or right arm.

[0034] Furthermore, the first support arm 242 adopts a parallelogram connecting rod structure, and the first support arm 242 is telescopically adjustable, so that the length of the first support arm 242 and the position of the upper arm support 241 are adapted to the length of the user's upper arm.

[0035] In some embodiments, the robotic arm forearm component 250 includes a second support arm 252 and a second slider 253. The second support arm 252 is movably connected to the first support arm 242. The forearm arm support 251 is fixedly connected to the second slider 253. The second slider 253 is slidably connected to the bottom of the second support arm 252 to adjust the position of the forearm arm support 251 on the second support arm 252 so that the position of the forearm arm support 251 is adapted to the length of the user's forearm. The sliding of the second slider 253 on the second support arm 252 can be locked and released by a third positioning pin 254.

[0036] Furthermore, the second slider 253 can be slid along the second support arm 252 and removed or installed from the front end, so that the forearm arm support 251 can be installed on the left or right side of the second support arm 252 to switch between supporting the user's left arm or right arm.

[0037] In some embodiments, the robotic arm upper arm component 240 also includes a first weight adjuster 244, and the robotic arm forearm component 250 also includes a second weight adjuster 255. The first weight adjuster 244 is used to adjust the weight of the first support arm 242, and the second weight adjuster 255 is used to adjust the weight of the second support arm 252. Specifically, the first weight adjuster 244 and the second weight adjuster 255 are both equipped with spring devices, so that the first support arm 242 and the second support arm 252 can reach a horizontal position without applying any external force, and the weight can be adjusted to increase or reduce the burden on the arms, thereby increasing or reducing the intensity of training.

[0038] In some embodiments, the ulna-radial component 260 of the robotic arm includes a support plate 262, a rotating frame 263 and a detector mounting plate 264, the support plate 262 is connected to the forearm component 250 of the robotic arm, the support plate 262 is concave-shaped, the rotating frame 263 is rotatably mounted on the support plate 262, the grip detector 261 is mounted on the detector mounting plate 264, the detector mounting plate 264 is rotatably mounted on the rotating frame 263, and the angle sensor includes a first angle sensor 265 and a second angle sensor 266, the first angle sensor 265 is used to detect the rotation angle of the detector mounting plate 264, and the second angle sensor 266 is used to detect the rotation angle of the rotating frame 263. The rotation of the detector mounting plate 264 on the rotating frame 263 can be locked and released by the fourth positioning pin 267, and the rotation of the rotating frame 263 on the supporting plate 262 can be locked and released by the fifth positioning pin 268, wherein the rotation of the rotating frame 263 is a rotation around the axis in the length direction of the forearm, and the rotation of the detector mounting plate 264 is a left and right swinging rotation of the wrist joint, and the first angle sensor 265 and the second angle sensor 266 can detect the active angle of the wrist joint.

[0039] The training of the wrist and palm is achieved through the ulna and radius component 260 of the robotic arm to train the flexibility of the wrist and the strength of the palm. The first way to train the flexibility of the wrist is to loosen the fourth positioning pin 267, grasp the grip force detector 261 with the palm, keep the palm and the grip force detector 261 relatively still, and rotate left and right around the first angle sensor 265. This way of movement can train the wrist to swing left and right in the horizontal direction. The second way to train the flexibility of the wrist is to lock the fourth positioning pin 267, loosen the fifth positioning pin 268, grasp the grip force detector 261 with the palm, keep the palm and the grip force detector 261 relatively still, and rotate around the second angle sensor 266. This way of movement can train the wrist to rotate around the axis of the length direction of the forearm.

[0040] Furthermore, the ulnar-radial component 260 of the robotic arm includes a first slider 269, the grip force detector 261 is fixedly connected to the first slider 269, and the first slider 269 is slidably connected to the detector mounting plate 264 to adjust the position of the grip force detector 261 on the detector mounting plate 264 so that the position of the grip force detector 261 is adapted to the length of the user's palm. The sliding of the first slider 269 on the detector mounting plate 264 can be locked and released by a sixth positioning pin 2691.

[0041] In some embodiments, a mounting hole is provided on the second slider 253 of the forearm component 250 of the robotic arm, and the rear end of the support plate 262 is detachably plugged into the mounting hole and locked and released by the seventh positioning pin 2621, thereby realizing the overall disassembly and installation of the ulna and radius component 260 of the robotic arm.

[0042] The working process of the upper limb rehabilitation training device of this embodiment is as follows:

[0043] (1) Adjust the positions of the components of the robot arm training module 200 so that the robot arm training module 200 is suitable for the training of the user's left arm or right arm. Here, the mode suitable for the user's right arm training is converted to the mode suitable for the left arm training as an example: remove the upper arm support 241 and install the upper arm support 241 on the left side of the first support arm 242; loosen the seventh positioning pin 2621, remove the robot arm ulna component 260 in the horizontal direction, then loosen the third positioning pin 254, remove the second slider 253 and the forearm support 251 from the second support arm 252, rotate the forearm support 251 horizontally 180 degrees to change direction, and then insert the second slider 253 into the second support arm 252 to lock the third positioning pin. The positioning pin 254 is released, and the ulnar-radial component 260 of the robotic arm is inserted into the second slider 253, and the seventh positioning pin 2621 is locked to complete the switching of the forearm arm support 251 and the ulnar-radial component 260 of the robotic arm from the right side to the left side; the first positioning pin 231 and the second positioning pin 232 are released, and the connecting rod 230 is rotated horizontally with the robotic arm suspension 210 as a fulcrum, so that the connecting frame 220, the robotic arm upper arm component 240, the robotic arm forearm component 250 and the robotic arm ulnar-radial component 260 are rotated as a whole from the right side to the left side; finally, the positioning pin on the robotic arm suspension 210 is released, and the robotic arm suspension 210 is moved from the right side to the left side; in this way, the user's switching between the left and right hands in upper limb rehabilitation training is completed, and the operation is simple.

[0044] (2) Adjust the height of the lifting column 800 so that the height of the robot arm training module 200 is adapted to the user's body shape.

[0045] (3) The user sits upright on the seat 100 and adjusts the length of the three sections of the robot arm training module 200 according to the length of the user's arm: adjust the first support arm 242 to extend or shorten so that its length is adapted to the length of the user's upper arm; loosen the third positioning pin 254, and slide and adjust the position of the second slider 253 and the forearm arm support 251 on the second support arm 252 so that the position of the forearm arm support 251 is adapted to the length of the user's forearm; loosen the sixth positioning pin 2691, and slide and adjust the position of the grip force detector 261 and the first slider 269 on the detector mounting plate 264 so that the position of the grip force detector 261 is adapted to the length of the user's palm.

[0046] (4) Adjust the loads of the first load adjuster 244 and the second load adjuster 255.

[0047] (5) The user's arm performs exercise training. The angle sensors at each joint detect the arm's movement angle, and the grip strength of the user is detected by the grip strength detector 261. The relevant detection data is transmitted to the central processing unit in real time. After analysis and calculation, the central processing unit transmits the analog signal to the display 300. The display 300 displays the assessment data of the upper limb dysfunction level, and the user performs adaptive training based on the assessment data.

[0048] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. An upper limb rehabilitation training device, characterized in that: include: A robotic arm training module, the robotic arm training module comprising a robotic arm upper arm component, a robotic arm forearm component and a robotic arm ulna and radius component connected in sequence, the robotic arm upper arm component comprising an upper arm arm support for supporting a user's upper arm, the robotic arm forearm component comprising a forearm arm support for supporting a user's forearm, the robotic arm ulna and radius component comprising a grip force detector, the grip force detector being used for the user's palm to grasp and detect grip force; At least one angle sensor, used to detect the activity angle of each joint of the robotic arm training module; a central processing unit, which is respectively connected to the grip force detector and the angle sensor for receiving grip force data detected by the grip force detector and angle data detected by the angle sensor, and assessing the user's upper limb dysfunction level according to the grip force data and the angle data; as well as A display, connected to the central processing unit for displaying the assessment data of the upper limb dysfunction level; The ulna-radial component of the mechanical arm comprises a support plate, a rotating frame and a detector mounting plate, wherein the support plate is connected to the forearm component of the mechanical arm, the rotating frame is rotatably mounted on the support plate, the grip force detector is mounted on the detector mounting plate, the detector mounting plate is rotatably mounted on the rotating frame, the angle sensor comprises a first angle sensor and a second angle sensor, the first angle sensor is used to detect the rotation angle of the detector mounting plate, and the second angle sensor is used to detect the rotation angle of the rotating frame; The rotation of the detector mounting plate on the rotating frame can be locked and released by the fourth positioning pin, and the rotation of the rotating frame on the supporting plate can be locked and released by the fifth positioning pin. The training method of wrist flexibility is switched by switching the locking and releasing of the fourth positioning pin and the fifth positioning pin.

2. The upper limb rehabilitation training device according to claim 1, characterized in that: The grip force detector is equipped with a vibrator, which is used to give vibration feedback to the user's palm when the grip force detected by the grip force detector reaches a predetermined value.

3. The upper limb rehabilitation training device according to claim 1, characterized in that: The ulna and radius component of the robotic arm includes a first slider, the grip force detector is fixedly connected to the first slider, and the first slider is slidably connected to the detector mounting plate to adjust the position of the grip force detector on the detector mounting plate.

4. The upper limb rehabilitation training device according to claim 1, characterized in that: The upper arm component of the robotic arm includes a first support arm and a mounting positioning rod, the mounting positioning rod is arranged on the first support arm, and the upper arm support is detachably connected to the left side or right side of the mounting positioning rod to switch between supporting the user's left arm or right arm.

5. The upper limb rehabilitation training device according to claim 4, characterized in that: The forearm component of the robotic arm includes a second supporting arm and a second slider, the second supporting arm is movably connected to the upper arm component of the robotic arm, the forearm arm support is fixedly connected to the second slider, and the second slider is slidably connected to the second supporting arm to adjust the position of the forearm arm support on the second supporting arm.

6. The upper limb rehabilitation training device according to claim 5, characterized in that: The second sliding block can be removed or installed by sliding along the second supporting arm, so that the forearm arm rest can be installed on the left side or the right side of the second supporting arm to switch between supporting the left arm or the right arm of the user.

7. The upper limb rehabilitation training device according to claim 6, characterized in that: The ulna-radial component of the mechanical arm comprises a support plate, and a mounting hole is provided on the second sliding block, and the support plate is detachably plugged into and matched with the mounting hole.

8. The upper limb rehabilitation training device according to claim 5, characterized in that: The upper arm component of the robotic arm includes a first weight adjuster, and the forearm component of the robotic arm includes a second weight adjuster. The first weight adjuster is used to adjust the weight of the first support arm, and the second weight adjuster is used to adjust the weight of the second support arm.

9. The upper limb rehabilitation training device according to claim 1, characterized in that: The upper limb rehabilitation training device also includes a main support, and the robotic arm training module also includes a robotic arm suspension and a connecting frame, one end of the connecting frame is connected to the robotic arm upper arm component, and the other end of the connecting frame is movably connected to the robotic arm suspension, and the robotic arm suspension is slidably connected to the main support to adjust the left and right position of the robotic arm training module on the main support.

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