Wrist rehabilitation device and upper limb rehabilitation robot

Abstract

The present invention belongs to the technical field of medical rehabilitation equipment, and specifically relates to a wrist rehabilitation device and an upper limb rehabilitation robot. The wrist rehabilitation device of the present invention only needs to control the rotation direction of two wrist motors to realize both palmar flexion / dorsiflexion of the wrist and ulnar deviation / radial deviation of the wrist for rehabilitation training, which solves the defects that each degree of freedom of movement in the existing rehabilitation device needs to be driven by a separate power source, and the overall device is relatively bulky and cannot be installed at the end of the robot. At the same time, the power source and transmission mechanism of the present invention are both arranged on the bracket on the arm side, which effectively reduces the weight borne by the human wrist. The wrist rehabilitation mechanism of the invention can realize that the palmar flexion and dorsiflexion of the wrist can both reach a maximum upward and downward turning angle of 90°, and the ulnar deviation and radial deviation of the wrist can both reach a maximum deflection angle of 70.2°, which can completely cover the physiological space of palmar flexion, dorsiflexion, ulnar deviation and radial deviation of the human wrist, and can perform rehabilitation training at precise angles according to the needs of patients.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical rehabilitation equipment, and in particular relates to a wrist rehabilitation device and an upper limb rehabilitation robot. Background Art

[0002] The hand is an important organ of the human body, and the fine manipulation ability of the hand is an important sign of human evolution. However, the function of the human hand is very easy to be damaged. Not only hand trauma, but also nerve damage can have a great impact on the function of the hand. The research and development of intelligent hand function rehabilitation robot system has become a research hotspot in the field of rehabilitation engineering and robotics at home and abroad, and has achieved encouraging results. However, the existing hand rehabilitation robots mostly use separate training mechanisms for fingers and wrists, which cannot achieve the mutual coordination of wrist palmar flexion / dorsiflexion and wrist ulnar / radial deviation and arm internal rotation / external rotation. It is difficult to achieve unified coordination of fingers and wrists according to the natural laws of human fingers and wrists, that is, it is impossible to achieve joint rehabilitation training of fingers and wrists.

[0003] At the same time, in order to achieve the training of multiple degrees of freedom of movement of the hand, the existing hand rehabilitation robot requires a separate power source for each degree of freedom of movement. The structure is relatively complex and the overall robot is relatively bulky. It can only be placed on a rehabilitation platform for rehabilitation training, which has limitations in use. Furthermore, the workspace of the existing hand rehabilitation robot for rehabilitation training does not reach the physiological space of the human hand, the training effect is not high, and the adaptability of large and small hands is poor. The left and right hands cannot be interchanged, and it cannot meet the needs of rehabilitation training for the main movements of fingers and wrists in daily life. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art that the combined rehabilitation training of fingers and wrists cannot be realized, the working space does not reach the physiological space of human hands, and the adaptability is poor, and provide a wrist rehabilitation device and an upper limb rehabilitation robot.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a wrist rehabilitation device, comprising a mounting frame, an arm rotation mechanism and a wrist rehabilitation mechanism mounted on the mounting frame;

[0006] The wrist rehabilitation mechanism includes a wrist support frame, two wrist motors installed on the two side plates of the wrist support frame, a connecting rod mechanism driven by the two wrist motors to rotate, and a hand grip assembly installed at the output end of the connecting rod mechanism; when the two wrist motors drive the two sides of the connecting rod mechanism to rotate in the same direction, the palmar flexion / dorsiflexion movement of the wrist held on the hand grip assembly is driven; when the two wrist motors drive the two sides of the connecting rod mechanism to rotate in different directions, the ulnar deviation / radial deviation movement of the wrist held on the hand grip assembly is driven.

[0007] Furthermore, the connecting rod mechanism includes transmission connecting rods symmetrically arranged on the two side plates of the wrist support frame and transmission connected to the output end of the wrist motor, a first connecting rod rotationally connected to the two transmission connecting rods respectively, and a second connecting rod rotationally connected to the two first connecting rods; the hand grip assembly is fixedly mounted on the second connecting rod, and a special-shaped rod is rotatably mounted on the second connecting rod, and both ends of the special-shaped rod are connected to the two side plates of the wrist support frame through a longitudinal connecting rod.

[0008] Furthermore, the wrist motor is connected to the connecting rod mechanism through a transmission assembly; the transmission assembly includes a driving pulley coaxially arranged with the output shaft of the wrist motor, a driven pulley connected to the driving pulley through a belt drive and installed on the support frame, and the driven pulley is fixedly connected to the connecting rod mechanism.

[0009] Furthermore, the arm rotation mechanism includes an arm support installed on the mounting frame, an arm rotation motor installed on the arm support, a large annular gear rotatably installed on the arm support, and a small gear coaxially arranged with the output shaft of the arm rotation motor, the small gear being meshed and connected with the outer teeth of the large annular gear; a receiving cavity for placing the human forearm is provided in the middle position of the arm support and the large annular gear.

[0010] Furthermore, the hand grip assembly includes an execution mounting seat fixedly mounted on the output end of the connecting rod mechanism, a grip connection frame fixedly mounted on the execution mounting seat, and a grip rotatably mounted on the grip connection frame.

[0011] Furthermore, the wrist support frame is fixedly connected to the large annular gear via a plurality of transverse plate frames, and when the arm rotating motor drives the large annular gear to rotate, the wrist support frame rotates along with the large annular gear.

[0012] Furthermore, a human forearm is placed in the accommodating cavity, and the hand holds the handle. When the two wrist motors rotate clockwise, the connecting rod mechanism drives the wrist holding the handle to perform a palmar flexion movement; when the two wrist motors rotate counterclockwise, the connecting rod mechanism drives the wrist holding the handle to perform a wrist dorsiflexion movement; when one of the two wrist motors rotates clockwise and the other rotates counterclockwise, the connecting rod mechanism drives the wrist holding the handle to perform an ulnar deviation or radial deviation movement.

[0013] Furthermore, a wrist support and a large bearing fixedly mounted on the wrist support are installed on the mounting frame; and the longitudinal connecting rod is fixedly connected to the inner sliding ring of the large bearing via an inner ring connecting plate.

[0014] Furthermore, the transmission connecting rod and the first connecting rod, and the first connecting rod and the second connecting rod are rotatably connected via fisheye rod end bearings.

[0015] An upper limb rehabilitation robot comprises a shoulder rehabilitation device for shoulder rehabilitation, an arm rehabilitation device for arm rehabilitation training and the wrist rehabilitation device mentioned above.

[0016] The beneficial effects of the wrist rehabilitation device and upper limb rehabilitation robot of the present invention are:

[0017] 1. The wrist rehabilitation device of the present invention adopts two wrist motors and is combined with the connecting rod mechanism of the present invention. It only needs to control the rotation direction of the two wrist motors to realize the rehabilitation training of the wrist palmar flexion / dorsiflexion and ulnar deviation / radial deviation. It solves the defects of the existing rehabilitation device that each degree of freedom of movement requires a separate power source to drive, the structure is relatively complex, and the overall device is relatively bulky and cannot be installed on the end of the robot. At the same time, the power source and transmission mechanism of the present invention are both arranged on the bracket on the arm side, which effectively reduces the weight borne by the human wrist and ensures the rehabilitation efficiency of the wrist rehabilitation.

[0018] 2. The arm rotation mechanism and wrist rehabilitation mechanism of the wrist rehabilitation device of the present invention are connected by a horizontal plate frame. The wrist rehabilitation mechanism follows the arm rotation mechanism to perform follow-up rotation movement. At the same time, two wrist motors, a transmission mechanism and a connecting rod mechanism are used to jointly realize flexible rehabilitation training of three degrees of freedom of wrist palmar flexion / dorsiflexion, wrist ulnar deviation / radial deviation, and arm internal rotation / external rotation, which is more in line with the natural movement of the human wrist, ensuring the patient's comfort and the rehabilitation effect of the wrist rehabilitation device.

[0019] 3. The connecting rod mechanism adopted by the wrist rehabilitation mechanism of the present invention uses a transmission connecting rod, a first connecting rod, a second connecting rod and a special-shaped rod to rotate and connect in a way that the palmar flexion and dorsiflexion of the wrist can both reach a maximum upward and downward turning angle of 90°, and the ulnar deviation and radial deviation of the wrist can both reach a maximum deflection angle of 70.2°, which can completely cover the physiological space of palmar flexion, dorsiflexion, ulnar deviation and radial deviation of the human wrist, and can perform rehabilitation training with precise angles according to the needs of the patient.

[0020] 4. The wrist rehabilitation device of the present invention can realize rehabilitation training for the left and right hands of the human body, and the device has a wide range of applicability. At the same time, the first connecting rod in the connecting rod mechanism can be set as a telescopic rod with length adjustment, which can be suitable for rehabilitation training of patients with different arm lengths, further increasing the wide applicability of the wrist rehabilitation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 is a three-dimensional diagram of the wrist rehabilitation device in this embodiment;

[0023] Figure 2 is a front view of the wrist rehabilitation device in this embodiment;

[0024] Figure 3 yes Figure 2 Left view of

[0025] Figure 4 is a schematic structural diagram of the wrist rehabilitation mechanism in this embodiment;

[0026] Figure 5 is a schematic structural diagram of the arm rotation mechanism in this embodiment;

[0027] Figure 6 is a structural schematic diagram of the wrist rehabilitation device in this embodiment in a left wrist dorsiflexion training state;

[0028] Figure 7 is a structural schematic diagram of the wrist rehabilitation device in this embodiment in a left wrist palmar flexion training state;

[0029] Figure 8 is a structural schematic diagram of the wrist rehabilitation device in this embodiment in a left wrist radial deviation training state;

[0030] Fig. 9 is the relationship between the length of the first link and the ulnar and radial deviation angles of the wrist;

[0031] Fig.10 3 is a diagram showing changes in wrist palmar flexion / dorsiflexion and wrist ulnar deviation / radial deviation in this embodiment.

[0032] In the figure: 1. mounting frame, 2. arm rotating mechanism, 21. arm supporting member, 22. arm rotating motor, 23. large annular gear, 24. accommodating chamber, 25. small gear, 3. wrist rehabilitation mechanism, 31. wrist supporting frame, 32. wrist motor, 33. connecting rod mechanism, 331. transmission connecting rod, 332. first connecting rod, 333. second connecting rod, 334. special-shaped rod, 335. longitudinal connecting rod, 336. fisheye rod end bearing, 34. hand grip assembly, 341. execution mounting seat, 342. grip connecting frame, 343. grip, 35. transmission mechanism, 351. driving pulley, 352. driven pulley, 37. cross plate frame, 38. wrist supporting member, 39. large bearing. DETAILED DESCRIPTION

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0034] like Figure 1-Figure 10 A specific embodiment of a wrist rehabilitation device of the present invention shown in the figure comprises a mounting frame 1, an arm rotation mechanism 2 and a wrist rehabilitation mechanism 3 mounted on the mounting frame 1; the wrist rehabilitation mechanism 3 comprises a wrist support frame 31, two wrist motors 32 mounted on the two side plates of the wrist support frame 31, the two wrist motors 32 drive the connecting rod mechanism 33 to rotate, and a hand grip assembly 34 mounted on the output end of the connecting rod mechanism 33; when the two wrist motors 32 drive the two sides of the connecting rod mechanism 33 to rotate in the same direction, the palmar flexion / dorsiflexion movement of the wrist held on the hand grip assembly 34 is driven; when the two wrist motors 32 drive the two sides of the connecting rod mechanism 33 to rotate in different directions, the ulnar deviation / radial deviation movement of the wrist held on the hand grip assembly 34 is driven.

[0035] In this embodiment, Figure 3 The wrist motor 32 shown is connected to the connecting rod mechanism 33 through a transmission mechanism 35; the transmission mechanism 35 includes a driving pulley 351 coaxially arranged with the output shaft of the wrist motor 32, and a driven pulley 352 connected to the driving pulley 351 through a belt drive and installed on the wrist support frame 31, and the driven pulley 352 is fixedly connected to the connecting rod mechanism 33.

[0036] like Figure 6 As shown, the arm rotation mechanism 2 includes an arm support 21 mounted on the mounting frame 1, an arm rotation motor 22 mounted on the arm support 21, a large annular gear 23 rotatably mounted on the arm support 21, and a small gear 25 coaxially arranged with the output shaft of the arm rotation motor 22, the small gear 25 is meshed with the outer teeth of the large annular gear 23; the middle position of the arm support 21 and the large annular gear 23 is provided with a receiving cavity 24 for placing the human body's forearm. When training the wrist, the patient's hand passes through the receiving cavity 24 and the forearm is placed on the inner arm of the large annular gear 23 corresponding to the receiving cavity 24.

[0037] It should be noted that the wrist support frame 31 is fixedly connected to the large ring gear 23 through a plurality of horizontal plate frames 37. When the arm rotation motor 22 drives the large ring gear 23 to rotate, the wrist support frame 31 rotates following the large ring gear 23. When the patient's hand holds the handle 343, the arm rotation motor 22 is started to drive the arm to rotate so as to achieve a ±180° rotational movement of the arm. The arm rotation mechanism 2 and the wrist rehabilitation mechanism 3 of the wrist rehabilitation device of the present invention are connected through a horizontal plate frame 37. The wrist rehabilitation mechanism 3 follows the arm rotation mechanism 2 to perform a following rotational movement. It should be further noted that the mounting frame 1 is equipped with a wrist support 38 and a large bearing 39 fixedly mounted on the wrist support 38; the longitudinal connecting rod 335 is fixedly connected to the inner sliding ring of the large bearing 39 through an inner ring connecting plate. That is, the connecting rod mechanism 33 is fixedly connected to the inner sliding ring of the large bearing 39. When the wrist rehabilitation mechanism 3 follows the arm rotation mechanism 2 to perform a following rotational movement, the connecting rod mechanism 33 slides with the outer fixed ring of the large bearing 39 through the inner sliding ring of the large bearing 39.

[0038] The human forearm is placed in the accommodating cavity 24, and the hand holds the handle 343. When the two wrist motors 32 rotate clockwise, the connecting rod mechanism 33 drives the wrist holding the handle 343 to perform a wrist palmar flexion movement; when the two wrist motors 32 rotate counterclockwise, the connecting rod mechanism 33 drives the wrist holding the handle 343 to perform a wrist dorsal extension movement; when one of the two wrist motors 32 rotates clockwise and the other rotates counterclockwise, the connecting rod mechanism 33 drives the wrist holding the handle 343 to perform a wrist ulnar deviation or radial deviation movement. Figure 5 The direction in which the middle wrist motor 32 rotates is used as a reference direction.

[0039] The connecting rod mechanism 33 in this embodiment includes a transmission connecting rod 331 symmetrically arranged on the two side plates of the wrist support frame 31 and drivingly connected to the output end of the wrist motor 32, a first connecting rod 332 rotatably connected to the two transmission connecting rods 331 respectively, and a second connecting rod 333 rotatably connected to the two first connecting rods 332; the hand grip assembly 34 is fixedly mounted on the second connecting rod 333, and a special-shaped rod 334 is rotatably mounted on the second connecting rod 333, and the two ends of the special-shaped rod 334 are connected to the two side plates of the wrist support frame 31 through a longitudinal connecting rod 335. The first connecting rod 332 is a connecting rod of a certain length or a telescopic rod with adjustable length. When the sizes of other parts are fixed, the different lengths of the first connecting rod 332 have an effect on the ulnar deviation and radial deviation angles of the human wrist, and the relationship between the two is as shown in FIG. Fig. 9 As shown, Fig. 9The horizontal axis in the figure represents the length of the first connecting rod 332, and the vertical axis represents the corresponding ulnar and radial deviation angles of the wrist. It can be seen from the figure that the longer the length of the first connecting rod 332, the larger the corresponding ulnar and radial deviation angles of the wrist. The specific length is adjusted according to the needs of the patient. In this embodiment, the maximum ulnar and radial deviation angles of the wrist can reach 70.2°. Fig.10 Changes in wrist palmar flexion / dorsiflexion and wrist ulnar deviation / radial deviation, where Fig.10 The ordinate in represents the palmar flexion / dorsiflexion angle of the wrist, and the abscissa represents the ulnar deviation / radial deviation angle of the wrist. The wrist rehabilitation device of the present invention can realize the rehabilitation training of the left and right hands of the human body, and the device has a wide range of applicability. At the same time, the first connecting rod 332 in the connecting rod mechanism 33 can be set as a telescopic rod with adjustable length, which can be suitable for patients with different arm lengths to perform rehabilitation training, further increasing the wide applicability of the wrist rehabilitation device.

[0040] The connecting rod mechanism 33 adopted by the wrist rehabilitation mechanism 3 of the present invention uses a transmission connecting rod 331, a first connecting rod 332, a second connecting rod 333 and a special-shaped rod 334 to rotate and connect, so that the palmar flexion and dorsiflexion of the wrist can reach a maximum upward and downward turning angle of 90°, and the ulnar deviation and radial deviation of the wrist can reach a maximum deflection angle of 70.2°, which can completely cover the physiological palmar flexion, dorsiflexion, ulnar deviation and radial deviation of the human wrist, and can perform rehabilitation training at precise angles according to the needs of patients. The angles of ulnar deviation and radial deviation of the wrist in the existing rehabilitation mechanism are between 30° and 45°, which has a significant optimization effect compared with the rehabilitation mechanism in the prior art.

[0041] The arm rotating motor 22 is directly fixed to the small gear 25 through a top screw, and the large annular gear 23 is rotatably connected to the arm support 21 through a bearing. The outer ring of the bearing and the large annular gear 23 are interference fit, and the inner ring of the bearing and the bushing are interference fit, and the arm support 21 is fixed on the bushing.

[0042] The two transmission links 331 are respectively connected to the wrist motor 32-1 and the wrist motor 32-2 through the transmission mechanism 35, the wrist motor 32-1 and the wrist motor 32-2 are connected to their corresponding driving pulleys 351, the transmission link 331 is connected to the driven pulley 352 through a top screw, the transmission link 331 is rotatably connected to the wrist rehabilitation support frame 31 through a bearing, and a groove is left on the transmission link 331 for positioning the upper end cover and the lower end cover of the bearing seat; the upper end cover and the lower end cover of the bearing seat are used to limit the lateral displacement of the positioning shaft.

[0043] One end of the transmission link 331 away from the wrist motor 32 is fixed on the inner ball of the fisheye rod end bearing 336, and fisheye rod end bearings 336 are fixed at both ends of the second link 333. The two fisheye rod end bearings 336 at the ends of the two transmission links 331 are rotatably connected to the corresponding language rod end bearings at both ends of the second link 333 through the first link 332 respectively, and the middle position of the second link 333 is rotatably connected to the special-shaped rod 334 through a bearing, and the end cover fixed to the middle position of the second link 333 is used to limit the up and down movement of the special-shaped rod 334.

[0044] The actuator mounting seat 341 is fixed on the second connecting rod 333, and a three-dimensional force sensor is installed between the actuator mounting seat 341 and the handle 343 connecting frame 342 to detect the force condition of the wrist. The handle 343 is rotatably connected to the handle 343 connecting frame 342. This embodiment adopts a cleverly designed connecting rod mechanism 33, and only two wrist motors 32 installed on the wrist support frame are needed to realize the rehabilitation training of wrist palmar flexion / dorsiflexion and wrist ulnar deviation / radial deviation. There are fewer driving sources, and the connecting rod mechanism 33 of the present invention is combined to realize multiple rehabilitation movements of the wrist. Compared with the prior art, the structure is simpler and lighter, and the human wrist corresponding to the device does not need to bear weight, and only needs to hold the handle 343 to do follow-up movements, which greatly reduces the problem of excessive wrist weight bearing caused by wrist rehabilitation and affecting the wrist rehabilitation effect.

[0045] The wrist rehabilitation device of the present invention can realize the rehabilitation training movement of the left and right hands of the patient. This embodiment only takes the rehabilitation training of the left hand as an example. The patient's left hand passes through the accommodating cavity 2424 and holds the handle 343. The wrist motor 32-1 and the wrist motor 32-2 are started to rotate clockwise. The rotation of the two wrist motors 32 drives the connecting rod mechanism 33 to rotate, thereby driving the left hand holding the hand handle assembly 34 to move obliquely downward in the positive direction of the X-axis, thereby realizing the palmar flexion movement of the left wrist on the end handle 343. For details, refer to Figure 7 .

[0046] The wrist motor 32-1 and the wrist motor 32-2 are both started to rotate counterclockwise, and the two wrist motors 32 drive the connecting rod mechanism 33 to rotate, thereby driving the left hand holding the hand grip 343 assembly 34 to move obliquely upward in the negative direction of the X-axis, thereby realizing the left wrist on the end grip 343 of the hand grip assembly 34 to perform a wrist back extension movement, as shown in FIG. Figure 6 .

[0047] The wrist motor 32-1 is started to rotate clockwise, and the wrist motor 32-2 is started to rotate counterclockwise, wherein the transmission connecting rod 331 on one side of the wrist motor 32-1 moves in the positive direction of the X-axis under the drive of the wrist motor 32-1, and at the same time drives the first connecting rod 332 on one side of the wrist motor 32-1 to move in the positive direction of the X-axis, and the transmission connecting rod 331 on one side of the wrist motor 32-1 moves in the negative direction of the X-axis under the drive of the wrist motor 32-2, thereby driving the left wrist on the end handle 343 of the hand grip assembly 34 to perform radial deviation movement, such as Figure 8 The radial deviation movement of the right wrist is similar to the ulnar deviation movement, which can be achieved by changing the rotation direction of the two wrist motors 32, and will not be elaborated here.

[0048] The overall structure of the wrist rehabilitation device based on the present invention is relatively light, and the above-mentioned wrist rehabilitation device can be installed on an upper limb rehabilitation robot to realize multi-degree-of-freedom rehabilitation training of the upper limb rehabilitation robot. The upper limb rehabilitation robot includes a shoulder rehabilitation device for shoulder rehabilitation, an arm rehabilitation device for arm rehabilitation training, and the above-mentioned wrist rehabilitation device.

[0049] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A wrist rehabilitation device, characterized in that: It comprises a mounting frame (1), an arm rotation mechanism (2) and a wrist rehabilitation mechanism (3) mounted on the mounting frame (1); The wrist rehabilitation mechanism (3) comprises a wrist support frame (31), two wrist motors (32) mounted on two side plates of the wrist support frame (31), and a hand grip assembly (34) mounted on the output end of the connecting rod mechanism (33) and driven by the two wrist motors (32) to rotate. When the two wrist motors (32) drive the two sides of the connecting rod mechanism (33) to rotate in the same direction, the wrist held on the hand grip assembly (34) is driven to perform palmar flexion / dorsiflexion movement, and the angle range of palmar flexion and dorsiflexion of the wrist is [-90°, +90°]; when the two wrist motors (32) drive the two sides of the connecting rod mechanism (33) to rotate in different directions, the wrist held on the hand grip assembly (34) is driven to perform ulnar deviation / radial deviation movement; the angle range of the ulnar deviation and radial deviation of the wrist is [-70.2°, +70.2°]; The wrist motor (32) is transmission-connected to the connecting rod mechanism (33) via a transmission assembly; the connecting rod mechanism (33) comprises a transmission connecting rod (331) symmetrically arranged on two side plates of the wrist support frame (31) and transmission-connected to the output end of the wrist motor (32), a first connecting rod (332) rotationally connected to the two transmission connecting rods (331) respectively, and a second connecting rod (333) rotationally connected to the two first connecting rods (332); the hand grip assembly (34) is fixedly mounted on the second connecting rod (333), a special-shaped rod (334) is rotationally mounted on the second connecting rod (333), and both ends of the special-shaped rod (334) are connected to the two side plates of the wrist support frame (31) via longitudinal connecting rods (335); The first connecting rod (332) is a telescopic rod with adjustable length. The length of the first connecting rod (332) corresponds to the angle of ulnar deviation / radial deviation of the patient's wrist. The longer the length of the first connecting rod (332), the greater the angle of ulnar deviation / radial deviation of the patient's wrist.

2. A wrist rehabilitation device according to claim 1, characterized in that: The transmission assembly comprises a driving pulley (351) coaxially arranged with the output shaft of the wrist motor (32), and a driven pulley (352) connected to the driving pulley (351) via a belt transmission and mounted on the support frame, wherein the driven pulley (352) is fixedly connected to the connecting rod mechanism (33).

3. A wrist rehabilitation device according to claim 1, characterized in that: The arm rotating mechanism (2) comprises an arm support (21) mounted on the mounting frame (1), an arm rotating motor (22) mounted on the arm support (21), a large annular gear (23) rotatably mounted on the arm support (21), and a small gear (25) coaxially arranged with the output shaft of the arm rotating motor (22), wherein the small gear (25) is meshedly connected with the external teeth of the large annular gear (23); and a receiving cavity (24) for accommodating a small arm of a human body is provided in the middle of the arm support (21) and the large annular gear (23).

4. A wrist rehabilitation device according to claim 3, characterized in that: The hand grip assembly (34) comprises an execution mounting seat (341) fixedly mounted to the output end of the connecting rod mechanism (33), a grip connection frame (342) fixedly mounted to the execution mounting seat (341), and a grip (343) rotatably mounted on the grip connection frame (342).

5. The wrist rehabilitation device according to claim 3, characterized in that: The wrist support frame (31) is fixedly connected to the large circular gear (23) via a plurality of transverse plate frames (37); when the arm rotating motor drives the large circular gear (23) to rotate, the wrist support frame (31) rotates along with the large circular gear (23).

6. The wrist rehabilitation device according to claim 4, characterized in that: The human forearm is placed in the accommodating cavity (24), and the hand holds the handle (343). When the two wrist motors (32) rotate clockwise, the connecting rod mechanism (33) drives the wrist holding the handle (343) to perform a wrist palmar flexion movement; when the two wrist motors (32) rotate counterclockwise, the connecting rod mechanism (33) drives the wrist holding the handle (343) to perform a wrist dorsal extension movement; when one of the two wrist motors (32) rotates clockwise and the other rotates counterclockwise, the connecting rod mechanism (33) drives the wrist holding the handle (343) to perform a wrist ulnar deviation or radial deviation movement.

7. The wrist rehabilitation device according to claim 1, characterized in that: The mounting frame (1) is mounted with a wrist support member (38) and a large bearing (39) fixedly mounted on the wrist support member (38); the longitudinal connecting rod (335) is fixedly connected to the inner sliding ring of the large bearing (39) via an inner ring connecting plate.

8. The wrist rehabilitation device according to claim 1, characterized in that: The transmission connecting rod (331) and the first connecting rod (332), as well as the first connecting rod (332) and the second connecting rod (333) are rotatably connected via fisheye rod end bearings (336).

9. An upper limb rehabilitation robot, characterized in that: It comprises a shoulder rehabilitation device for shoulder rehabilitation, an arm rehabilitation device for arm rehabilitation training and the wrist rehabilitation device as described in any one of claims 1 to 8.

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