An upper limb rehabilitation training robot with neuroelectrical stimulation function

Abstract

The present invention discloses an upper limb rehabilitation training robot with a nerve electrostimulation function, which relates to the technical field of upper limb rehabilitation training. It is to solve the problems that the existing upper limb rehabilitation training device cannot perform nerve electrostimulation during training, and the overall upper limb detection range and adjustability are poor, and accurate positioning cannot be achieved after adjustment. A console is arranged below the upper limb rehabilitation training mechanism body, and a display control end is arranged at one end of the console; it further includes: a movable mounting table, which is arranged above the console, front and rear sliders are arranged below both sides of the movable mounting table, a left and right slider is arranged above the movable mounting table, a grasping handle is arranged above the left and right slider, and a lower rotation mechanism is arranged at the lower end of the grasping handle; an arm placement mechanism, which is arranged on one side of the grasping handle, and a weight sensing groove is arranged at the middle position of the arm placement mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of upper limb rehabilitation training, and particularly to an upper limb rehabilitation training robot with a nerve electrical stimulation function. Background Technique

[0002] An upper limb rehabilitation training robot is a device used for rehabilitative training and detection of a patient's upper limb.

[0003] For example, the application number: CN201920814530.8, titled "An Upper Limb Rehabilitation Training Device" includes: a support platform; a track, the track is arranged on the top surface of the support platform; an upper limb pulley, the upper limb pulley is used to fix the affected part of the patient's upper limb and can slide along the track; a lifting device, the lifting device is used to realize the lifting of the support platform. The structural principle of the present invention is simple. By setting a track used in cooperation with the upper limb pulley, when the patient performs upper limb rehabilitation training, the upper limb pulley can be used to slide on the track to realize rehabilitation training, greatly reducing the difficulty of the patient's rehabilitation training. And the patient can follow the track for targeted training, greatly improving the effect of rehabilitation training; at the same time, with the cooperation of the liftable support platform, it can be adapted to different patients, has strong applicability and is easy to promote.

[0004] However, the existing upper limb rehabilitation training devices cannot perform nerve electrical stimulation during training, and the overall upper limb detection range and adjustability are relatively poor, and accurate positioning cannot be achieved after adjustment; therefore, they do not meet the existing requirements. For this reason, we propose an upper limb rehabilitation training robot with a nerve electrical stimulation function. Summary of the Invention

[0005] The purpose of the present invention is to provide an upper limb rehabilitation training robot with a nerve electrical stimulation function to solve the problems in the above background technique that the existing upper limb rehabilitation training devices cannot perform nerve electrical stimulation during training, and the overall upper limb detection range and adjustability are relatively poor, and accurate positioning cannot be achieved after adjustment.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An upper limb rehabilitation training robot with a nerve electrical stimulation function, including: the main body of the upper limb rehabilitation training mechanism, a control console is arranged below the main body of the upper limb rehabilitation training mechanism, and a display control terminal is arranged at one end of the control console.

[0007] It further includes:

[0008] A movable mounting platform is arranged above the control console. Front and rear sliders are arranged below both sides of the movable mounting platform. A left and right slider is arranged above the movable mounting platform. A grasping handle is arranged above the left and right slider. A lower rotation mechanism is arranged at the lower end of the grasping handle.

[0009] An arm placement mechanism is provided on one side of the gripping handle. A weight sensing groove is provided at the middle position of the arm placement mechanism. A neuroelectrical stimulation electrode patch is provided inside the weight sensing groove. An internal controller is provided below the arm placement mechanism, and the input end of the internal controller is electrically connected to the output end of the weight sensing groove. One end of the internal controller is provided with a plug interface, and the internal controller is electrically connected to a neuroelectrical stimulator through the plug interface;

[0010] A rotating ball is provided at the middle position inside the lower rotating mechanism. A driven rod is provided on the outer wall of the rotating ball, and multiple driven rods are provided. A detection channel is provided inside the lower rotating mechanism, and eight detection channels are provided. A channel infrared detection end is provided inside the detection channel, and multiple channel infrared detection ends are provided. An annular detection end is provided at a position of the detection channel close to the rotating ball, and the output ends of the annular detection end and the channel infrared detection end are both electrically connected to the input end of the display control end.

[0011] Preferably, a front-back slide rail is provided below the front-back slider, and the front-back slide rail is slidably connected to the moving mounting table through the front-back slider.

[0012] Preferably, a left-right slide rail is provided below the left-right slider, and the left-right slider is slidably connected to the gripping handle through the left-right slide rail.

[0013] Preferably, light plates are provided inside both the left-right slide rail and the front-back slide rail. Infrared displacement sensors are provided inside the light plates, and multiple infrared displacement sensors are provided. The output ends of the multiple infrared displacement sensors are all electrically connected to the input end of the display control end.

[0014] Preferably, acceleration sensors are provided on the outer walls of both the left-right slider and the front-back slider, and the output ends of the acceleration sensors are electrically connected to the input end of the display control end.

[0015] Preferably, a mounting ring is provided at the middle position of the outer wall of the gripping handle. A connecting piece is provided at one end of the mounting ring, and the connecting piece is fixedly connected to the arm placement mechanism.

[0016] Preferably, a connecting end is provided on the outer wall of the upper surface of the rotating ball, and the connecting end is connected to the gripping handle. Connecting jacks are provided on the outer walls of both ends of the arm placement mechanism. A connecting plug rod is provided between adjacent arm placement mechanisms, and the connecting plug rod is plugged and unplugged with the connecting jack.

[0017] Preferably, a neuroelectrical stimulation layer is provided on the outer wall of the gripping handle near the upper part, and a plurality of neuroelectrical stimulation layers are provided. Neuroelectrical stimulation points are provided on the outer wall of the neuroelectrical stimulation layer, and a plurality of neuroelectrical stimulation points are provided. An annular pressure sensing member is provided between adjacent neuroelectrical stimulation layers.

[0018] Preferably, an internal control mechanism is provided at the middle position inside the gripping handle. An internal electrode sheet is provided on one side of the neuroelectrical stimulation layer close to the gripping handle. Connecting wire bodies are provided at one end of the internal electrode sheet and the annular pressure sensing member. The output end of the annular pressure sensing member is electrically connected to the input end of the display control end through the internal control mechanism, and the input end of the internal electrode sheet is electrically connected to the output end of the neuroelectrical stimulator through the internal control mechanism.

[0019] Preferably, an upper groove is provided at the middle position of the upper end of the gripping handle. A push button is provided inside the upper groove. A button pressure sensing sheet is provided on the upper surface of the push button, and the button pressure sensing sheet and the output end of the push button are both electrically connected to the input end of the internal control mechanism.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The present invention achieves the effect of moving back and forth, left and right at the mobile mounting platform, enabling users to perform movement training during upper limb rehabilitation. The gripping handle facilitates the gripping training of users. The lower rotating mechanism facilitates the wrist rotation and pushing training of users. The rotating ball enhances the rotation range, making the rotation process more flexible. The detection channel and the channel infrared detection end can detect the rotational force after the patient's wrist is pushed forcefully. When pushing and pressing forcefully in one direction, the driven rod is driven to block more channel infrared detection ends. The annular detection end detects the annular range of the driven rod. The data detected by the two detection ends are both fed back to the display control end, facilitating the nursing staff to observe the distance between the blocked point and the sphere to know the force range after the user pushes forcefully, improving the adjustability and detection accuracy of the upper limb rehabilitation training robot. The arm placement mechanism places and supports the front end of the arm. The weight sensing groove senses whether the arm is placed above. After detecting a change in weight, the feedback data is sent to the internal controller. The internal controller is pre-connected to the neuroelectrical stimulator, energizing the neuroelectrical stimulation electrode sheet in the groove, stimulating specific muscle groups through the electrodes to cause twitching or contraction, maintaining muscle mass, maintaining and increasing joint range of motion, promoting autonomous muscle control, and reducing spasm, playing an inhibitory role in some disuse muscle atrophy caused by non-neurological diseases, and improving the rehabilitation training effect of the entire upper limb rehabilitation training robot.

[0022] 2. The infrared displacement sensor can detect the moving position at the slider, and the obtained data can be fed back to the display control terminal for the nursing staff and patients to know and display on the screen. The acceleration sensor can sense the sliding speed and feed the data back to the display control terminal, enabling the nursing staff and patients to know the speed changes during the upper limb rehabilitation process, thus improving the detection effect during the rehabilitation training process.

[0023] 3. The connecting plug rod and the connecting jack play a combined role, enabling the arm placement mechanism to be extended according to user needs and increasing the stimulation range of the upper limb. The annular pressure sensing element can detect the force used after the user grasps and feed the data back to the display control terminal for the nursing staff to know. Moreover, it can detect the duration of a single grasp through the grasp detection, providing a data basis for subsequent diagnosis and rehabilitation training. The nerve electrostimulation layer and the nerve electrostimulation points can stimulate the user's palm, enabling the patient to be stimulated not only in the arm but also in the palm, further increasing the stimulation range of the upper limb. The inner electrode sheet plays an effect of electric stimulation, the inner control mechanism controls the on-off state of the inner electrode sheet, and the push button can turn on the power supply of the inner electrode sheet when pressed, allowing the user to turn it on and off according to needs. During the pressing process, the user presses the push button with the thumb downward, and the button pressure sensing sheet can detect the applied pressure data and feed it back to the display control terminal, enabling the nursing staff to know the thumb downward pressure of the patient, thus improving the detection range and detection accuracy of the entire upper limb. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the overall structural schematic diagram of the present invention;

[0025] Figure 2 is the partial structural schematic diagram of the arm placement mechanism of the present invention;

[0026] Figure 3 is the partial structural schematic diagram of the infrared displacement sensor of the present invention;

[0027] Figure 4 is the partial structural schematic diagram of the lower rotating mechanism of the present invention;

[0028] Figure 5 is the external structural schematic diagram of the grasping handle of the present invention;

[0029] Figure 6 is the internal structural schematic diagram of the grasping handle of the present invention; 6

[0030] In the figure: 1. Upper limb rehabilitation training mechanism body; 2. Control console; 3. Front and rear slide rails; 4. Front and rear sliders; 5. Mobile mounting platform; 6. Left and right slide rails; 7. Left and right sliders; 8. Grasping handle; 9. Lower rotation mechanism; 10. Mounting ring; 11. Connecting piece; 12. Arm placement mechanism; 13. Display control end; 14. Weight sensing groove; 15. Nerve electrostimulation electrode patch; 16. Inner controller; 17. Plug interface; 18. Light plate; 19. Infrared displacement sensor; 20. Acceleration sensor; 21. Connection jack; 22. Connection plug rod; 23. Connection end; 24. Rotating ball; 25. Driven rod; 26. Detection channel; 27. Channel infrared detection end; 28. Ring-shaped detection end; 29. Nerve electrostimulation layer; 30. Nerve electrostimulation point; 31. Ring-shaped pressure sensing part; 32. Upper groove; 33. Lower pressing button; 34. Button pressure sensing piece; 35. Inner control mechanism; 36. Inner electrode patch; 37. Connection line body. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Please refer to Figures 1-6 , an embodiment provided by the present invention: An upper limb rehabilitation training robot with a nerve electrostimulation function, including: an upper limb rehabilitation training mechanism body 1, a control console 2 is arranged below the upper limb rehabilitation training mechanism body 1, and a display control end 13 is arranged at one end of the control console 2;

[0033] It further includes:

[0034] A mobile mounting platform 5, which is arranged above the control console 2, front and rear sliders 4 are arranged below both sides of the mobile mounting platform 5, left and right sliders 7 are arranged above the mobile mounting platform 5, a grasping handle 8 is arranged above the left and right sliders 7, and a lower rotation mechanism 9 is arranged at the lower end of the grasping handle 8;

[0035] An arm placement mechanism 12, which is arranged on one side of the grasping handle 8, a weight sensing groove 14 is arranged at the middle position of the arm placement mechanism 12, a nerve electrostimulation electrode patch 15 is arranged inside the weight sensing groove 14, an inner controller 16 is arranged below the arm placement mechanism 12, and the input end of the inner controller 16 is electrically connected to the output end of the weight sensing groove 14. One end of the inner controller 16 is provided with a plug interface 17, and the inner controller 16 is electrically connected to a nerve electrostimulator through the plug interface 17;

[0036] The rotating ball 24 is arranged at the middle position inside the lower rotating mechanism 9. The outer wall of the rotating ball 24 is provided with driven rods 25, and there are multiple driven rods 25. The inside of the lower rotating mechanism 9 is provided with detection channels 26, and there are eight detection channels 26. The inside of the detection channels 26 is provided with channel infrared detection ends 27, and there are multiple channel infrared detection ends 27. At the position of the detection channels 26 close to the rotating ball 24, there are annular detection ends 28, and the outputs of both the annular detection ends 28 and the channel infrared detection ends 27 are electrically connected to the input end of the display control end 13.

[0037] Please refer to Figure 1 , a front and rear slide rail 3 is arranged below the front and rear slider 4, and the front and rear slide rail 3 is slidably connected to the moving mounting table 5 through the front and rear slider 4. The combination of the front and rear slide rail 3 and the front and rear slider 4 is used to improve the smoothness during the sliding process.

[0038] Please refer to Figure 1 , a left and right slide rail 6 is arranged below the left and right slider 7, and the left and right slider 7 is slidably connected to the grasping handle 8 through the left and right slide rail 6. The combination of the left and right slide rail 6 and the left and right slider 7 is used to improve the smoothness during the sliding process.

[0039] Please refer to Figure 3 , light plates 18 are arranged inside both the left and right slide rail 6 and the front and rear slide rail 3. Infrared displacement sensors 19 are arranged inside the light plates 18, and there are multiple infrared displacement sensors 19. The outputs of the multiple infrared displacement sensors 19 are electrically connected to the input end of the display control end 13. The infrared displacement sensors 19 can detect the moving positions at the sliders, and the obtained data can be fed back to the display control end 13 for the nursing staff and patients to know and display on the screen.

[0040] Please refer to Figure 1 , acceleration sensors 20 are arranged on the outer walls of both the left and right slider 7 and the front and rear slider 4, and the outputs of the acceleration sensors 20 are electrically connected to the input end of the display control end 13. The acceleration sensors 20 can sense the sliding speed and feed the data back to the display control end 13, enabling the nursing staff and patients to know the speed changes during the upper limb rehabilitation process.

[0041] Please refer to Figure 1 , at the middle position of the outer wall of the grasping handle 8, there is a mounting ring 10. One end of the mounting ring 10 is provided with a connecting piece 11, and the connecting piece 11 is fixedly connected to the arm placing mechanism 12. The mounting ring 10 and the connecting piece 11 are used to strengthen the connection.

[0042] Please refer to Figure 2 , Figure 4, a connection end 23 is provided on the outer wall of the upper surface of the rotating ball 24, and the connection end 23 is connected to the grasping handle 8. Connection jacks 21 are provided on the outer walls at both ends of the arm placement mechanism 12. A connection plug rod 22 is provided between adjacent arm placement mechanisms 12, and the connection plug rod 22 is inserted and removed from the connection jack 21. The connection end 23 is used to achieve the effect of combining with the grasping handle 8, and the connection plug rod 22 and the connection jack 21 achieve the combination effect, enabling the arm placement mechanism 12 to be extended according to user needs and improving the stimulation range of the upper limb.

[0043] Please refer to Figure 5 , a neuroelectrical stimulation layer 29 is provided on the outer wall of the grasping handle 8 near the upper part, and a plurality of neuroelectrical stimulation layers 29 are provided. Neuroelectrical stimulation points 30 are provided on the outer wall of the neuroelectrical stimulation layer 29, and a plurality of neuroelectrical stimulation points 30 are provided. An annular pressure sensing element 31 is provided between adjacent neuroelectrical stimulation layers 29. The annular pressure sensing element 31 is used to detect the force used by the user after grasping and feedback the data to the display control terminal 13 for the caregiver to know. Moreover, it can detect the duration of a single grasp through grasping, providing a data basis for subsequent diagnosis and rehabilitation training. The neuroelectrical stimulation layer 29 and the neuroelectrical stimulation points 30 achieve the effect of stimulating the user's palm, enabling the patient to be stimulated not only in the arm but also in the palm, further improving the stimulation range of the upper limb.

[0044] Please refer to Figure 6 , an internal control mechanism 35 is provided at the middle position inside the grasping handle 8. An internal electrode sheet 36 is provided on one side of the neuroelectrical stimulation layer 29 close to the grasping handle 8. Connecting wire bodies 37 are provided on one end of both the internal electrode sheet 36 and the annular pressure sensing element 31. The output end of the annular pressure sensing element 31 is electrically connected to the input end of the display control terminal 13 through the internal control mechanism 35, and the input end of the internal electrode sheet 36 is electrically connected to the output end of the neuroelectrical stimulator through the internal control mechanism 35. The internal electrode sheet 36 achieves the effect of electric stimulation, and the internal control mechanism 35 achieves the effect of controlling the opening and closing state of the internal electrode sheet 36.

[0045] Please refer to Figure 5 、 Figure 6, a upper groove 32 is provided at the middle position of the upper end of the grasping handle 8. An upper pressing button 33 is arranged inside the upper groove 32. A button pressure sensing sheet 34 is arranged on the upper surface of the upper pressing button 33. Both the button pressure sensing sheet 34 and the output end of the upper pressing button 33 are electrically connected to the input end of the internal control mechanism 35. The upper pressing button 33 has the effect of pressing to turn on the power supply of the internal electrode sheet 36, enabling the user to turn it on and off according to needs. During the pressing process, the user's thumb presses down on the upper pressing button 33 to apply a downward pressure. The button pressure sensing sheet 34 can detect the pressure application data and feedback it to the display control end 13, enabling the nursing staff to know the downward pressure of the patient's thumb, and improving the detection range and detection accuracy of the entire upper limb.

[0046] Working principle: When in use, by setting the mobile installation platform 5, it can achieve the effect of moving back and forth, left and right, enabling users to perform movement training during upper limb rehabilitation. The grasping handle 8 facilitates grasping training for users. The lower rotation mechanism 9 facilitates wrist rotation and pushing training for users. The rotating ball 24 enhances the rotation range, making the rotation process more flexible. The detection channel 26 and the channel infrared detection end 27 can detect the rotational force after the patient's wrist pushes forcefully. When pushing and pressing forcefully in one direction, the driven rod 25 is driven to block more of the channel infrared detection ends 27. The annular detection end 28 detects the annular range of the driven rod 25. The data detected by the two detection ends are both fed back to the display control end 13, facilitating the nursing staff to observe the distance between the blocked point and the sphere to know the force range after the user pushes forcefully, thereby improving the adjustability and detection accuracy of the upper limb rehabilitation training robot. The arm placement mechanism 12 places and supports the front end of the arm. The weight sensing groove 14 senses whether the arm is placed above. After detecting a change in weight, it feeds back the data to the internal controller 16. The internal controller 16 is pre-connected to the neuromuscular electrical stimulator, enabling the neuromuscular electrical stimulation electrode patches 15 in the groove to be energized, stimulating specific muscle groups through the electrodes to cause them to twitch or contract, maintaining muscle mass, maintaining and increasing joint range of motion, promoting autonomous muscle control, and reducing spasm, playing an inhibitory role in some disuse muscle atrophy caused by non-neuropathic lesions, and improving the rehabilitation training effect of the entire upper limb rehabilitation training robot. The infrared displacement sensor 19 can detect the moving position of the slider, and the obtained data can be fed back to the display control end 13 for the nursing staff and patients to know and display on the screen. The acceleration sensor 20 senses the sliding speed and feeds the data back to the display control end 13, enabling the nursing staff and patients to know the speed changes during upper limb rehabilitation. The connecting plug rod 22 and the connecting socket 21 play a combined role, enabling the arm placement mechanism 12 to be extended according to user needs and increasing the stimulation range of the upper limb. The annular pressure sensing part 31 detects the force used by the user after grasping and feeds the data back to the display control end 13 for the nursing staff to know, and can detect the duration of a single grasp through grasping, providing a data basis for subsequent diagnosis and rehabilitation training. The neuromuscular electrical stimulation layer 29 and the neuromuscular electrical stimulation points 30 stimulate the user's palm, enabling the patient to be stimulated not only in the arm but also in the palm, further increasing the stimulation range of the upper limb. The internal electrode plate 36 plays an effect of energized stimulation, and the internal control mechanism 35 controls the on-off state of the internal electrode plate 36. The pressing button 33 presses to turn on the energization of the internal electrode plate 36, enabling the user to turn it on and off according to needs. During the pressing process, the user presses down on the pressing button 33 with the thumb, and the button pressure sensing piece 34 can detect the applied pressure data and feed it back to the display control end 13.The nursing staff is made aware of the pressure under the patient's thumb, improving the detection range and accuracy for the entire upper limb.

[0047] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. An upper limb rehabilitation training robot with neuroelectrical stimulation function, including the main body (1) of the upper limb rehabilitation training mechanism. A console (2) is arranged below the main body (1) of the upper limb rehabilitation training mechanism, and a display control terminal (13) is arranged at one end of the console (2). It is characterized in that: It further includes: A mobile mounting platform (5) is arranged above the console (2). Front and rear sliders (4) are arranged below both sides of the mobile mounting platform (5). A left and right slider (7) is arranged above the mobile mounting platform (5). A grasping handle (8) is arranged above the left and right slider (7). A lower rotating mechanism (9) is arranged at the lower end of the grasping handle (8). An arm placement mechanism (12) is arranged on one side of the grasping handle (8). A weight sensing groove (14) is arranged at the middle position of the arm placement mechanism (12). A neuroelectrical stimulation electrode patch (15) is arranged inside the weight sensing groove (14). An internal controller (16) is arranged below the arm placement mechanism (12), and the input end of the internal controller (16) is electrically connected to the output end of the weight sensing groove (14). An insertion interface (17) is arranged at one end of the internal controller (16), and the internal controller (16) is electrically connected to a neuroelectrical stimulator through the insertion interface (17). A rotating ball (24) is arranged at the middle position inside the lower rotating mechanism (9). Driven rods (25) are arranged on the outer wall of the rotating ball (24), and a plurality of driven rods (25) are provided. Detection channels (26) are arranged inside the lower rotating mechanism (9), and eight detection channels (26) are provided. Channel infrared detection ends (27) are arranged inside the detection channels (26), and a plurality of channel infrared detection ends (27) are provided. An annular detection end (28) is arranged at a position of the detection channel (26) close to the rotating ball (24). The output ends of the annular detection end (28) and the channel infrared detection ends (27) are both electrically connected to the input end of the display control terminal (13). A connection end (23) is arranged on the outer wall of the upper surface of the rotating ball (24), and the connection end (23) is connected to the grasping handle (8). Connection jacks (21) are arranged on the outer walls at both ends of the arm placement mechanism (12). A connection plug rod (22) is arranged between adjacent arm placement mechanisms (12), and the connection plug rod (22) is inserted and removed from the connection jack (21).

2. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 1, wherein: Below the front and rear sliders (4), there are front and rear slide rails (3), and the front and rear slide rails (3) are slidably connected to the mobile mounting platform (5) through the front and rear sliders (4).

3. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 2, characterized in that: Below the left and right sliders (7), there are left and right slide rails (6), and the left and right sliders (7) are slidably connected to the grasping handle (8) through the left and right slide rails (6).

4. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 3, wherein: Light plates (18) are provided inside both the left and right sliding rails (6) and the front and back sliding rails (3). Infrared displacement sensors (19) are provided inside the light plates (18), and a plurality of the infrared displacement sensors (19) are provided. Output ends of the plurality of infrared displacement sensors (19) are electrically connected to an input end of a display control end (13).

5. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 1, characterized in that: Acceleration sensors (20) are provided on outer walls of both the left and right sliders (7) and the front and back sliders (4), and an output end of the acceleration sensor (20) is electrically connected to an input end of the display control end (13).

6. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 1, characterized in that: An installation ring (10) is provided at a middle position on an outer wall of the grasping handle (8). One end of the installation ring (10) is provided with a connecting member (11), and the connecting member (11) is fixedly connected to an arm placing mechanism (12).

7. An upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 1, characterized in that: A nerve electrical stimulation layer (29) is provided on an outer wall of the grasping handle (8) near the upper part, and a plurality of the nerve electrical stimulation layers (29) are provided. Nerve electrical stimulation points (30) are provided on an outer wall of the nerve electrical stimulation layer (29), and a plurality of the nerve electrical stimulation points (30) are provided. An annular pressure sensing member (31) is provided between adjacent nerve electrical stimulation layers (29).

8. An upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 7, characterized in that: An internal control mechanism (35) is provided at a middle position inside the grasping handle (8). An internal electrode plate (36) is provided on a side of the nerve electrical stimulation layer (29) close to the grasping handle (8). Connecting wire bodies (37) are provided at one end of both the internal electrode plate (36) and the annular pressure sensing member (31). An output end of the annular pressure sensing member (31) is electrically connected to an input end of the display control end (13) through the internal control mechanism (35), and an input end of the internal electrode plate (36) is electrically connected to an output end of a nerve electrical stimulator through the internal control mechanism (35).

9. The upper limb rehabilitation training robot with a nerve electrical stimulation function according to claim 8, characterized in that: An upper groove (32) is provided at a middle position at an upper end of the grasping handle (8). A pressing button (33) is provided inside the upper groove (32). A button pressure sensing piece (34) is provided on an upper surface of the pressing button (33), and both an output end of the button pressure sensing piece (34) and the pressing button (33) are electrically connected to an input end of the internal control mechanism (35).

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