Upper limb rehabilitation robot

Abstract

The application provides an upper limb rehabilitation robot, and relates to the technical field of rehabilitation robots.The upper limb rehabilitation robot comprises a support suspension beam, a cantilever, a rope driving part and a transmission part.The support suspension beam is connected with one end of the cantilever to drive the cantilever to rotate around a first axis, the first axis is used for vertical alignment of a human shoulder joint, and the bottom of the other end of the cantilever is connected with the rope driving part.The rope driving part is provided with a first power output end and a second power output end, and the transmission part is provided with an adapter block.The first power output end is connected with the transmission part to drive the adapter block to rotate around a second axis through the transmission part.The second power output end is connected with the transmission part to drive the adapter block to rotate around a third axis through the transmission part, the second axis is perpendicular to the first axis and parallel to the third axis, and the second axis is horizontally aligned with the human shoulder joint.The upper limb rehabilitation robot has the advantages of multiple activities, large joint activity range and the like.

Description

Technical Field

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

[0002] Currently, the upper limb rehabilitation training devices sold on the market fall into two categories. One type is the exoskeleton-style rehabilitation training device, which has the advantage of enabling a wider range of joint movements and providing accurate assessment of upper limb joint mobility. However, its disadvantages include a smaller range of joint movements during rehabilitation training, which cannot meet the patient's daily joint mobility needs, and it is more complex to wear and more expensive. The other type is a simple upper limb distal rehabilitation training device, which enables a larger range of joint movements, is easier to wear, and has a lower cost. However, it enables fewer joint movements and takes up more space.

[0003] Therefore, how to provide an upper limb rehabilitation robot that can achieve both a large range of motion in the joints and a wide range of joint functions is one of the technical problems that those skilled in the art need to solve. Summary of the Invention

[0004] The purpose of this invention is to provide an upper limb rehabilitation robot with advantages such as multiple functions, large range of motion of joints, and easy spatial arrangement.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention provides an upper limb rehabilitation robot, including a support beam, a cantilever, a rope-driven component, and a transmission component;

[0007] The supporting beam is connected to one end of the cantilever to drive the cantilever to rotate around the first axis, which is used to vertically align with the human shoulder joint. The bottom of the other end of the cantilever is connected to the rope drive component.

[0008] The rope-driven component has an independently configured first power output end and a second power output end, and the transmission component has an adapter block; the first power output end is connected to the transmission component to drive the adapter block to rotate around a second axis through the transmission component; the second power output end is connected to the transmission component to drive the adapter block to rotate around a third axis through the transmission component, the second axis being perpendicular to the first axis and parallel to the third axis, and the second axis being horizontally aligned with the human shoulder joint.

[0009] Furthermore, the supporting cantilever beam includes a supporting component and a cantilever beam. One end of the cantilever beam is rotatably connected to the supporting component, and the axis of rotation is parallel to the first axis. A first locking member for locking the rotational position of the cantilever beam relative to the supporting component is connected between the cantilever beam and the supporting component. The other end of the cantilever beam is connected to the cantilever arm.

[0010] The rotatable connection between the cantilever beam and the support component allows adjustment of the position of the end of the cantilever beam that connects to the cantilever, thereby enabling the rotation axis of the cantilever (i.e., the first axis) to be vertically aligned with the shoulder joint of different patients. This makes the robot suitable for patients with different shoulder widths and ensures that it fits the human body more closely.

[0011] Furthermore, a laser light is installed at the bottom of the cantilever, the laser light is located at the end where the cantilever connects to the supporting cantilever beam, and the light from the laser light extends along the first axis.

[0012] When in use, the laser can emit a beam of light, which makes it easier to vertically locate the center of the patient's shoulder joint, making it easier for the operator to use and allowing the robot to fit more closely to the human body, making it more suitable for the user's rehabilitation environment.

[0013] Furthermore, the bottom of the cantilever is rotatably connected to the rope drive component, the rotation axis of the rope drive component is parallel to the first axis, and a second locking member for locking the rotation position of the rope drive component relative to the cantilever is connected between the cantilever and the rope drive component.

[0014] The beginning and end of the rotation path of the rope-driven component correspond to the left limb rehabilitation training and the right limb rehabilitation training, respectively. The cantilever is provided with a third proximity switch corresponding to the left limb rehabilitation training and a fourth proximity switch corresponding to the right limb rehabilitation training.

[0015] The rope drive component is provided with a second protrusion, which is used to trigger the third proximity switch and emit a left limb rehabilitation training identification signal or trigger the fourth proximity switch and emit a right limb rehabilitation training identification signal.

[0016] The third and fourth proximity switches can identify the left and right limb status of the upper limb rehabilitation robot, ensuring that the robot's status corresponds to the patient's affected limb and preventing excessive movement from causing secondary injury to the patient.

[0017] Furthermore, the rope drive component includes a support frame and rope drive mechanisms disposed opposite to each other on both sides of the support frame. The rope drive mechanism includes a power source, a rope winding roller, a first rope winding, a second rope winding, and a rope drive ring.

[0018] The power source is mounted on the support frame and is connected to the rope winding roller to drive the rope winding roller to rotate.

[0019] The two rope drive mechanisms have rope drive rings that are the first power output end and the second power output end of the rope drive component, respectively. The rope drive rings are rotatably connected to the support frame, and the outer circumferential surface of the rope drive rings is recessed with two annular rope grooves.

[0020] One end of the first winding rope and one end of the second winding rope are wound on the winding roller. The first winding rope and the second winding rope are wound in opposite directions on the winding roller. The other ends of the first winding rope and the second winding rope are respectively wound in the two rope grooves and connected to the rope drive ring. The first winding rope and the second winding rope are wound in opposite directions in the two rope grooves so as to drive the rope drive ring to rotate when the winding roller rotates.

[0021] Rope-driven mechanisms can transmit power from a power source to transmission components by winding ropes. Compared with drive structures such as rotary motors, this can solve the problem of robot shaking during movement, making the movement smoother and more comfortable for patients in the rehabilitation environment.

[0022] The rope drive ring adopts a double-groove structure, so that the two ropes for tension and relaxation are in separate grooves, saving space. At the same time, it can cover a 360-degree range of motion, thus achieving a large range of flexion and extension movements.

[0023] Furthermore, the rope drive ring is provided with two mounting slots, each of which penetrates the two end faces of the rope drive ring, and a first rope bundler is slidably connected in the mounting slot in a direction parallel to the end face of the rope drive ring;

[0024] An adjusting element for adjusting the position of the first rope tieper relative to the rope drive ring is connected between the first rope tieper and the rope drive ring;

[0025] The ends of the first and second ropes pass through the rope drive loop and are respectively connected to the two first rope binders.

[0026] The mounting slots penetrate both end faces of the rope drive ring, allowing the two first rope bundlers to be fixed from the "inside" of the rope drive ring without taking up extra space. The tensioning mechanism of the rope winding is integrated into the rope drive ring, making the structure more compact and saving the rotation space of the rope drive ring.

[0027] To reduce the load on the supporting beam and cantilever, the rope drive ring is often made lighter. The above-mentioned mounting slot provides installation and sliding space for the first rope bundler, while also reducing weight, making reasonable use of the space on the rope drive ring and reducing the space occupied by the upper limb rehabilitation robot.

[0028] Furthermore, the support frame is provided with a set of directional wheels and a set of tensioning wheels, the position of which is adjustable relative to the support frame;

[0029] Before entering their respective rope grooves, the first and second winding ropes both pass through the directional pulley group and the tensioning pulley group. The directional pulley group is used to change the extension direction of the first and second winding ropes, and the tensioning pulley group is used to tension the first and second winding ropes.

[0030] Furthermore, the transmission component includes a first active rocker arm, a second active rocker arm, a first passive rocker arm, and a second passive rocker arm;

[0031] The first power output end is fixedly connected to one end of the first active swing rod to drive the first active swing rod to rotate around the second axis, and the other end of the first active swing rod is rotatably connected to one end of the second passive swing rod around the third axis;

[0032] The second power output end is fixedly connected to one end of the second active swing rod to drive the second active swing rod to rotate around the second axis. The other end of the second active swing rod is rotatably connected to one end of the first passive swing rod, and the other end of the first passive swing rod is rotatably connected to the other end of the second passive swing rod.

[0033] The adapter block is fixed to the second passive pendulum rod, and the adapter block is located at the end of the second passive pendulum rod that is rotatably connected to the first active pendulum rod.

[0034] The aforementioned transmission component has a simple structure and stable operation, enabling flexion and extension movements of the shoulder joint without requiring a long extension distance. During movement, it can occupy part of the space between the two side supports in the support frame to achieve a series of movements. The support frame will not interfere with the transmission component. The structure is compact and occupies little space.

[0035] Traditional transmission structures such as belt drives and gear drives require support frames at the far end. The aforementioned transmission components can use parallel swing arms to provide support for themselves, thereby eliminating the need for support frames at the far end and saving design space at the far end.

[0036] Furthermore, the first active swing arm is provided with a first limiting structure, and the second active swing arm is provided with a second limiting structure. The first limiting structure is used to limit the rotation angle of the second limiting structure.

[0037] The first active swing arm is provided with a limiting groove, and the rope drive component is provided with a limiting member that extends into the limiting groove. The limiting member is used to limit the angle at which the first power output end drives the first active swing arm to rotate.

[0038] The first and second limiting structures form a mechanical limit. When the first and second active swing rods exceed their movement limits, the first and second limiting structures abut against each other, thereby preventing further relative movement and protecting the patient from secondary injury. The limiting component limits the angle at which the first power output end drives the first active swing rod to rotate, forming a mechanical limit to prevent the first active swing rod from exceeding its movement limits, thus protecting the patient from secondary injury.

[0039] Furthermore, it also includes a display component and a hand support component connected to the adapter block. The display component includes a display bracket, a display, and a 3D camera. The display and the 3D camera are both mounted on the display bracket. The 3D camera is used to identify the movement state of the patient's healthy limb and transmit the information to the controller. The controller is used to control the movement of the support beam and the rope drive component.

[0040] The upper limb rehabilitation robot provided by this invention can produce the following beneficial effects:

[0041] In the upper limb rehabilitation robot provided by the present invention, the supporting beam can drive the cantilever to rotate around the first axis, which is vertically aligned with the human shoulder joint, thus realizing the horizontal abduction and adduction function of the human shoulder joint; the first power output end of the rope drive component is connected to the transmission component, which can drive the adapter block to rotate around the second axis through the transmission component, and at the same time, the second power output end of the rope drive component is connected to the transmission component, which can drive the adapter block to rotate around the third axis through the transmission component. The first power output end and the second power output end work together to realize the flexion and extension function of the shoulder joint.

[0042] Compared to existing technologies, the upper limb rehabilitation robot provided by this invention adopts a method where the first axis is vertically aligned with the shoulder joint and the second axis is horizontally aligned with the human shoulder joint, ensuring complete alignment between the shoulder joint and the robot's joint. Through a series of movements of the cantilever, cable-driven components, and transmission components, it achieves full coverage of horizontal abduction, adduction, flexion, and extension movements of the shoulder joint, offering a wide range of functions. Furthermore, because the cantilever extends from above the cable-driven components, there is ample space for movement below the cantilever, preventing interference when the patient performs extension movements and allowing for a large range of joint motion. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a three-dimensional structural diagram of an upper limb rehabilitation robot provided in an embodiment of the present invention;

[0045] Figure 2 This is a partial three-dimensional structural diagram of an upper limb rehabilitation robot provided in an embodiment of the present invention;

[0046] Figure 3 This is a structural schematic diagram of the connection between the support component and the cantilever beam provided in an embodiment of the present invention;

[0047] Figure 4 This is a partial three-dimensional structural diagram of a cantilever beam provided in an embodiment of the present invention;

[0048] Figure 5 A partial three-dimensional structural diagram of a cantilever provided in an embodiment of the present invention;

[0049] Figure 6 A partial three-dimensional structural schematic diagram of a rope-driven component provided in an embodiment of the present invention;

[0050] Figure 7 for Figure 6 A magnified view of part A;

[0051] Figure 8 This is a three-dimensional structural diagram of a transmission component and a portion of a rope drive component in cooperation, provided by an embodiment of the present invention.

[0052] Figure 9 This is a three-dimensional structural diagram of a display component provided in an embodiment of the present invention.

[0053] Icons: 1 - Support beam; 11 - Support component; 111 - First proximity switch; 112 - Second proximity switch; 113 - Support base; 12 - Cantilever beam; 121 - First protrusion; 122 - First rotating base; 123 - First motor; 124 - Driving synchronous pulley; 125 - Second bearing; 126 - First drive shaft; 127 - Driven synchronous pulley; 128 - Synchronous belt; 13 - First locking element; 2 - Cantilever; 21 - Laser light; 22 – Fourth proximity switch; 3 – Rope drive component; 31 – Support frame; 311 – Second protrusion; 312 – Limiting component; 313 – Second rotating seat; 314 – Side bracket; 32 – Power source; 33 – Rope winding roller; 331 – Roller body; 332 – Second rope tieer; 333 – Third rope tieer; 34 – First rope winding; 35 – Second rope winding; 36 – Rope drive ring; 361 – Rope groove; 362 – Mounting through groove; 363 - First rope tie; 364 - Adjusting component; 365 - Fixed base; 37 - Directional wheel assembly; 371 - First directional wheel; 372 - Second directional wheel; 373 - Third directional wheel; 38 - Tensioning wheel assembly; 381 - First tensioning wheel; 382 - Second tensioning wheel; 39 - First adjusting component; 391 - Fixed block; 392 - Screw; 4 - Transmission component; 41 - Adapter block; 42 - First active swing arm; 421 - First limiting structure; 422 - First rotating connector; 43 - Second active swing arm; 431 - Second limiting structure; 432 - Second rotating connector; 44 - First passive swing arm; 45 - Second passive swing arm; 46 - Third passive swing arm; 5 - First axis; 6 - Second axis; 7 - Third axis; 8 - Second locking component; 9 - Display component; 91 - Display bracket; 92 - Display; 93 - 3D camera; 10 - Hand support component. Detailed Implementation

[0054] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0058] A first aspect of the present invention provides an upper limb rehabilitation robot, such as... Figure 1 and Figure 2 As shown, it includes a supporting cantilever beam 1, a cantilever 2, a rope drive component 3, and a transmission component 4;

[0059] The support beam 1 is connected to one end of the cantilever 2 to drive the cantilever 2 to rotate around the first axis 5. The first axis 5 is used to vertically align with the human shoulder joint. The bottom of the other end of the cantilever 2 is connected to the rope drive component 3.

[0060] The rope drive component 3 has an independently set first power output end and a second power output end, and the transmission component 4 has an adapter block 41; the first power output end is connected to the transmission component 4 so as to drive the adapter block 41 to rotate around the second axis 6 through the transmission component 4; the second power output end is connected to the transmission component 4 so as to drive the adapter block 41 to rotate around the third axis 7 through the transmission component 4, the second axis 6 is perpendicular to the first axis 5 and parallel to the third axis 7, and the second axis 6 is horizontally aligned with the human shoulder joint.

[0061] like Figure 2 As shown in the above embodiment, when using the upper limb rehabilitation robot, the human body sits below the suspension beam 12 in the supporting suspension beam 1. The first axis 5 is vertically aligned with the human shoulder joint, and the second axis 6 is horizontally aligned with the human shoulder joint, so that the human shoulder joint can be completely aligned with the robot's joint. The supporting suspension beam 1 can drive the cantilever 2 to rotate around the first axis 5, thereby realizing the horizontal abduction and adduction function of the human shoulder joint; the first power output end of the rope drive component 3 can drive the adapter block 41 to rotate around the second axis 6 through the transmission component 4, and at the same time, the second power output end of the rope drive component 3 can drive the adapter block 41 to rotate around the third axis 7 through the transmission component 4, thereby realizing the flexion and extension function of the shoulder joint, and providing multiple functions.

[0062] Because the cantilever 2 extends from above the rope-driven component 3, there is ample space for movement below the cantilever 2, allowing the patient's arm to perform rehabilitation exercises within this space. In particular, there is no interference when performing extension movements, and the range of motion of the joint is large.

[0063] In some embodiments, such as Figure 2 As shown, in the usage state, the first axis 5 is perpendicular to the horizontal plane, and the second axis 6 and the third axis 7 are parallel to the horizontal plane.

[0064] The following is a detailed description of the structure supporting the cantilever beam 1:

[0065] In some embodiments, such as Figure 2 As shown, the supporting cantilever beam 1 includes a supporting component 11 and a cantilever beam 12. One end of the cantilever beam 12 is rotatably connected to the supporting component 11, and the axis of rotation is parallel to the first axis 5. The other end of the cantilever beam 12 is connected to the cantilever arm 2. Because patients have different body sizes and shoulder widths, when a patient sits under the cantilever beam 12, there will be a certain deviation between the shoulder joint and the first axis 5. The rotatable connection between the cantilever beam 12 and the supporting component 11 can adjust the position of the end of the cantilever beam 12 that is connected to the cantilever arm 2, so that the axis of rotation of the cantilever arm 2 (i.e., the first axis 5) can be vertically aligned with the shoulder joint of different patients, making it suitable for patients of different body sizes and ensuring that the robot can fit the human body more closely.

[0066] Meanwhile, the rotatable connection between the suspension beam 12 and the support component 11 allows the upper limb rehabilitation robot to switch between performing rehabilitation training on the left limb and the right limb. When the suspension beam 12 rotates to the first extreme position, rehabilitation training can be performed on the patient's left limb; when the suspension beam 12 rotates to the second extreme position, rehabilitation training can be performed on the patient's right limb.

[0067] To facilitate locking the position of the cantilever beam 12, such as Figure 3 As shown, a first locking member 13 for locking the rotational position of the suspension beam 12 relative to the support member 11 is connected between the suspension beam 12 and the support member 11.

[0068] The first locking element 13 can be a threaded post with a handle, such as... Figure 3 As shown, the top of the support component 11 is provided with a support seat 113, and the bottom of the cantilever beam 12 has a first rotating seat 122 extending into the support seat 113. The first rotating seat 122 is rotatably connected to the support seat 113 through a first bearing. The support seat 113 is provided with a threaded hole, and a threaded post is threaded into the threaded hole. The end of the threaded post abuts against the outer wall of the first rotating seat 122 inside the support seat 113. The rotation of the first rotating seat 122 is limited by the friction between the threaded post and the first rotating seat 122.

[0069] The handle is connected to the end of the threaded post that is away from the first rotating seat 122. The purpose of the handle is to facilitate the rotation of the threaded post and to save time and effort in the adjustment process.

[0070] In some embodiments, the beginning and end of the rotation path of the cantilever beam 12 correspond to left limb rehabilitation training and right limb rehabilitation training, respectively, such as... Figure 3 As shown, the support component 11 is provided with a first proximity switch 111 corresponding to left limb rehabilitation training and a second proximity switch 112 corresponding to right limb rehabilitation training; the first rotating seat 122 on the suspension beam 12 is provided with a first protrusion 121, which is located between the first proximity switch 111 and the second proximity switch 112.

[0071] When the suspension beam 12 rotates, when the suspension beam 12 rotates to the first limit position, the first protrusion 121 can trigger the first proximity switch 111, and the first proximity switch 111 sends out a left limb rehabilitation training identification signal; when the suspension beam 12 rotates to the second limit position, the first protrusion 121 can trigger the second proximity switch 112, and the second proximity switch 112 sends out a right limb rehabilitation training identification signal.

[0072] The first proximity switch 111 and the second proximity switch 112 are designed to identify the left and right limb states of the upper limb rehabilitation robot. This prevents the robot from performing rehabilitation on the patient's right limb when it is in a left-limb state, or vice versa. Without the first proximity switch 111, the second proximity switch 112, and the first protrusion 121, there is a high possibility that the robot's state may not correspond to the patient's affected limb, causing the rehabilitation exercises to exceed the patient's tolerable range and potentially resulting in secondary injury.

[0073] The above settings enable the robot to recognize different states while the user changes the state of the robot's left and right limbs, thereby ensuring that the robot can perform the correct rehabilitation movements during use and ensuring the safety of rehabilitation training.

[0074] It should be noted that the triggering of the first proximity switch 111 and the second proximity switch 112 can be achieved through pressure detection, and the first proximity switch 111 and the second proximity switch 112 can be purchased externally.

[0075] In some embodiments, such as Figure 4As shown, one end of the cantilever beam 12 has a first motor 123, and the power output end of the first motor 123 is fixedly mounted with an active synchronous pulley 124; the other end of the cantilever beam 12 is mounted with a second bearing 125, and a first drive shaft 126 passes through the second bearing 125 and is mounted on the second bearing 125, the second bearing 125 supports the smooth rotation of the first drive shaft 126; a passive synchronous pulley 127 is mounted on the top of the first drive shaft 126, and the active synchronous pulley 124 and the passive synchronous pulley 127 are connected by a synchronous belt 128; the first motor 123 drives the active synchronous pulley 124 to rotate, the active synchronous pulley 124 drives the passive synchronous pulley 127 to rotate through the synchronous belt 128, the passive synchronous pulley 127 drives the first drive shaft 126 to rotate, the first drive shaft 126 is connected to the cantilever 2, thereby driving the cantilever 2 to rotate.

[0076] The structure of cantilever 2 is described in detail below:

[0077] In some embodiments, such as Figure 5 As shown, a laser light 21 is installed at the bottom of the cantilever 2. The laser light 21 is located at the end where the cantilever 2 is connected to the supporting cantilever beam 1, and the light from the laser light 21 extends along the first axis 5.

[0078] When in use, the laser lamp 21 can emit a beam of light, which makes it easier to vertically position the center of the patient's shoulder joint, making it easier for the operator to use and allowing the robot to fit more closely to the human body, making it more suitable for the user's rehabilitation environment.

[0079] Compared to using the naked eye to align the end of the cantilever 2 with the patient's shoulder joint, the laser lamp 21 can directly display the position of the vertical projection of the end of the cantilever 2 onto the patient's shoulder joint, improving the accuracy of adjustment, increasing the efficiency of adjustment, and avoiding positional deviations caused by visual observation.

[0080] In some embodiments, such as Figure 5 As shown, the bottom of the cantilever 2 is rotatably connected to the rope drive component 3. The rotation axis of the rope drive component 3 relative to the cantilever 2 is parallel to the first axis 5. Thus, when the upper limb rehabilitation robot performs rehabilitation training on the patient's left limb, the rope drive component 3 can rotate to the first limit position; when the upper limb rehabilitation robot performs rehabilitation training on the patient's right limb, the rope drive component 3 can rotate to the second limit position.

[0081] To facilitate locking the position of the rope drive component 3, a second locking member 8 is connected between the cantilever 2 and the rope drive component 3 to lock the rotational position of the rope drive component 3 relative to the cantilever 2.

[0082] The structure of the second locking member 8 can be similar to that of the first locking member 13. One end of the cantilever 2 is fixedly connected to the first drive shaft 126, and the other end is rotatably engaged with the second rotating seat 313 provided on the top of the rope drive component 3. The second locking member 8 is threadedly connected to the cantilever 2 and its end abuts against the outer wall of the second rotating seat 313. The rotation of the second rotating seat 313 is limited by the friction between the second locking member 8 and the second rotating seat 313.

[0083] In some embodiments, the beginning and end of the rotation path of the rope drive component 3 correspond to the left limb rehabilitation training and the right limb rehabilitation training, respectively. The cantilever 2 is provided with a third proximity switch corresponding to the left limb rehabilitation training and a fourth proximity switch 22 corresponding to the right limb rehabilitation training. The second rotating seat 313 of the rope drive component 3 is provided with a second protrusion 311, which is located between the third proximity switch and the fourth proximity switch 22.

[0084] When the rope drive component 3 rotates to the first limit position, the second protrusion 311 can trigger the third proximity switch, which sends out a left limb rehabilitation training recognition signal; when the rope drive component 3 rotates to the second limit position, the second protrusion 311 can trigger the fourth proximity switch 22, which sends out a right limb rehabilitation training recognition signal.

[0085] The third and fourth proximity switches 22 can work in conjunction with the first proximity switch 111 and the second proximity switch 112 to identify the left and right limb status of the upper limb rehabilitation robot, ensuring that the robot's status corresponds to the patient's affected limb and avoiding excessive movement that could cause secondary injury to the patient.

[0086] The triggering of the third proximity switch and the fourth proximity switch 22 can also be achieved through pressure detection. The third proximity switch and the fourth proximity switch 22 can be purchased externally.

[0087] The structure of the rope drive component 3 is described in detail below:

[0088] In some embodiments, such as Figure 6 As shown, the rope drive component 3 includes a support frame 31 and rope drive mechanisms disposed opposite each other on both sides of the support frame 31. One rope drive mechanism has a first power output end, and the other rope drive mechanism has a second power output end, which together drive the transmission component 4 to move. This allows the two rope drive mechanisms to be placed independently at different positions on the support frame 31 without affecting each other, saving the rotation space of the transmission component 4, allowing for more rational space arrangement and avoiding space waste.

[0089] In addition, the rope-driven mechanism can transmit the power of the power source to the transmission component 4 through the rope. Compared with drive structures such as rotary motors, it can solve the problem of robot shaking during movement, making the movement smoother and more comfortable for patients in the rehabilitation environment.

[0090] In some embodiments, such as Figure 6 As shown, taking the rope drive mechanism on the right as an example, the specific structure of the rope drive mechanism is explained. The rope drive mechanism includes:

[0091] A power source 32 and a winding roller 33 are provided. The power source 32 is mounted on a support frame 31 and connected to the winding roller 33 to drive the winding roller 33 to rotate. The power source 32 may include a rotary motor, which is fixedly mounted on the support frame 31 via a mounting bracket. The power output shaft of the rotary motor is connected to the winding roller 33, driving the winding roller 33 to rotate about an axis parallel to the first axis 5.

[0092] The rope drive ring 36 serves as the first power output end of the rope drive component 3 in one rope drive mechanism and as the second power output end in another. The rope drive ring 36 is rotatably connected to the bottom of the support frame 31. Two annular rope grooves 361 are recessed on the outer circumference of the rope drive ring 36, spaced apart along its axial direction. The double-groove structure of the rope drive ring 36 allows the tensioning and untensioning ropes to reside in separate grooves 361, saving space and enabling the rope drive ring 36 to cover a 360-degree range of motion, thus achieving a large range of flexion and extension movements.

[0093] The first winding rope 34 and the second winding rope 35 are wound on the winding roller 33 at one end. The first winding rope 34 and the second winding rope 35 are wound in opposite directions on the winding roller 33. The other ends of the first winding rope 34 and the second winding rope 35 are wound in two rope grooves 361 and connected to the rope drive ring 36. The first winding rope 34 and the second winding rope 35 are wound in opposite directions in the two rope grooves 361 so as to drive the rope drive ring 36 to rotate when the winding roller 33 rotates.

[0094] When using the above-mentioned rope drive mechanism, such as Figure 6 As shown, when the power source 32 drives the winding roller 33 to rotate clockwise, the second winding rope 35 is wound onto the winding roller 33, pulling the rope drive ring 36 to move counterclockwise, and the first winding rope 34 is released from the winding roller 33. When the winding roller 33 rotates counterclockwise, the first winding rope 34 is wound onto the winding roller 33, pulling the rope drive ring 36 to move clockwise, and the second winding rope 35 is released from the winding roller 33. The rope drive mechanism on the left side of the support frame 31 operates on the same principle and will not be described further here.

[0095] The top of the support frame 31 is fixedly connected to a second rotating seat 313, such as... Figure 2 As shown, the support frame 31 has a rectangular frame structure, with two power sources 32 installed on the upper part and two rope drive rings 36 installed on the bottom.

[0096] Specifically, such as Figure 6 As shown, the support frame 31 includes a top support and side supports 314 connected to both sides of the top support. A second rotating seat 313 is fixedly connected to the top of the top support. Two rope drive rings 36 are respectively installed on the opposite sides of the two side supports 314. The space between the two side supports 314 allows the transmission component 4 to perform a series of actions, making the robot structure more compact and avoiding space waste.

[0097] Among them, such as Figure 6 As shown, the rope winding roller 33 includes a roller body 331, a second rope tier 332, and a third rope tier 333; the roller body 331 is fixedly connected to the power output shaft of the power source 32, and the roller body 331 has an upper fixed plate and a lower fixed plate; the second rope tier 332 is installed on the upper surface of the upper fixed plate, and the end of the first winding rope 34 can be fixed on the second rope tier 332; the third rope tier 333 is installed on the upper surface of the lower fixed plate, and the end of the second winding rope 35 can be fixed on the third rope tier 333.

[0098] In some embodiments, such as Figure 6 As shown, the rope drive ring 36 is provided with two mounting slots 362 that correspond one-to-one with the two rope grooves 361. Each mounting slot 362 passes through the two end faces of the rope drive ring 36. A first rope bundler 363 is slidably connected in the mounting slot 362 in a direction parallel to the end face of the rope drive ring 36. The ends of the first winding rope 34 and the second winding rope 35 pass through the rope drive ring 36 and are respectively connected to the two first rope bundlers 363.

[0099] In the aforementioned rope drive ring 36, two first rope tie-down devices 363 are used to fix the first winding rope 34 and the second winding rope 35, respectively, to ensure the firmness of the positions of the ends of the first winding rope 34 and the second winding rope 35 relative to the rope drive ring 36. Simultaneously, since the two first rope tie-down devices 363 are installed one-to-one in the two mounting slots 362, which penetrate the two end faces of the rope drive ring 36, the two first rope tie-down devices 363 do not occupy additional space. The fixing of the ends of the first winding rope 34 and the second winding rope 35 is achieved from within the rope drive ring 36 (the rope tensioning mechanism is integrated inside the rope drive ring 36), resulting in a more compact structure and saving rotation space for the rope drive ring 36.

[0100] It should be noted that in order to reduce the load on the supporting cantilever beam 1 and cantilever 2, the rope drive ring 36 is often made lighter. The above-mentioned mounting slot 362 provides installation space and sliding space for the first rope bundler 363, while also reducing weight, realizing the rational use of space on the rope drive ring 36 and reducing the space occupied by the upper limb rehabilitation robot.

[0101] Since the first rope tieer 363 is slidably connected in the two mounting slots 362 in a direction parallel to the end face of the rope drive ring 36, the first winding rope 34 and the second winding rope 35 can be tensioned by changing the position of the first rope tieer 363.

[0102] Specifically, the two mounting slots 362 are located on both sides of the axis of the rope drive ring 36, and are symmetrically distributed about a longitudinal section of the rope drive ring 36 (the section passing through the axis of the rope drive ring 36). The included angle between the sliding directions of the two first rope bundlers 363 is an acute angle. The above arrangement can make full use of the space of the rope drive ring 36, so that the first rope bundlers 363 have sufficient sliding space and installation space.

[0103] Of course, the distribution of the two mounting slots 362 is not limited to the above embodiments. Any distribution that can penetrate the two end faces of the rope drive ring 36 and can slide the first rope bundler 363 in a direction parallel to the end face of the rope drive ring 36 is acceptable.

[0104] To facilitate fixing the first rope bundler at position 363, such as Figure 6 and Figure 7 As shown, an adjusting member 364 for adjusting the position of the first rope tieper 363 relative to the rope drive ring 36 is connected between the first rope tieper 363 and the rope drive ring 36.

[0105] by Figure 7 Taking an example, the adjusting component 364 may include a threaded rod. One end of the threaded rod is rotatably engaged with the rope drive ring 36 and its axial position is defined by the rope drive ring 36. The other end is threadedly connected to the first rope tier 363. When the first rope tier 363 is rotated, the threaded rod can be gradually screwed into the first rope tier 363. Since the first rope tier 363 is in sliding engagement with the rope drive ring 36, the first rope tier 363 can move upward, thereby pulling the first winding rope 34 to tension. When the first rope tier 363 is rotated in the opposite direction, the threaded rod can be gradually screwed out of the first rope tier 363, and the first rope tier 363 moves downward, thereby releasing the first winding rope 34.

[0106] Specifically, the rope drive ring 36 includes two U-shaped fixing seats 365 that are fixedly installed by screws or other connectors. Each fixing seat 365 forms an installation through groove 362. That is, a first rope bundler 363 is slidably connected within the space surrounded by each fixing seat 365. The first rope bundler 363 and the fixing seat 365 can achieve sliding engagement through a sliding groove and slider structure.

[0107] One end of the adjusting member 364 can pass through the fixed seat 365 and rotate with the fixed seat 365 and limit the axial position through the fixed seat 365, and the other end is threadedly connected to the first rope tieer 363.

[0108] The rope groove 361 and its corresponding mounting through groove 362 can be connected by a connecting hole. The rope can enter the connecting hole from the rope groove 361, extend out from the connecting hole and enter the mounting through groove 362, and connect with the first rope bundler 363 in the mounting through groove 362.

[0109] In some embodiments, such as Figure 6 As shown, the support frame 31 is provided with a directional wheel set 37. The first winding rope 34 and the second winding rope 35 both pass through the directional wheel set 37 before entering their respective rope grooves 361. The directional wheel set 37 is used to change the extension direction of the first winding rope 34 and the second winding rope 35, so that the first winding rope 34 and the second winding rope 35 can smoothly enter their respective rope grooves 361.

[0110] by Figure 6 Taking this as an example, the directional wheel assembly 37 includes a first directional wheel 371, a second directional wheel 372, and a third directional wheel 373. These wheels can be mounted on the support frame 31 via their own connecting seats, or on the robot's outer shell via their own connecting seats. The axis of the first directional wheel 371 is parallel to the first axis 5, while the axes of the second and third directional wheels 372 are perpendicular to the first axis 5. The first winding rope 34 enters the rope drive ring 36 after changing direction via the first and second directional wheels 371 and 372; the second winding rope 35 enters the rope drive ring 36 after changing direction via the third directional wheel 373.

[0111] The outer circumferential surfaces of the first directional wheel 371, the second directional wheel 372, and the third directional wheel 373 are all recessed with grooves for the rope to pass through.

[0112] In some embodiments, the support frame 31 is provided with a tensioning wheel assembly 38, the position of the tensioning wheel assembly 38 relative to the support frame 31 is adjustable, the first winding rope 34 and the second winding rope 35 both pass through the tensioning wheel assembly 38 before entering their respective corresponding rope grooves 361, and the tensioning wheel assembly 38 is used to tension the first winding rope 34 and the second winding rope 35.

[0113] by Figure 6 Taking this as an example, the tensioning wheel assembly 38 includes a first tensioning wheel 381 and a second tensioning wheel 382, ​​which are movably mounted on the support frame 31. The axial directions of the first tensioning wheel 381 and the second tensioning wheel 382 are perpendicular to the first axis 5.

[0114] Specifically, such as Figure 7As shown, the support frame is provided with a first adjusting component 39 for limiting the position of the first tensioning wheel 381, and the support frame 31 is provided with a second adjusting component for limiting the position of the second tensioning wheel 382. Taking the first adjusting component 39 as an example, the connecting seat on the first tensioning wheel 381 is slidably engaged with the support frame 31. The first adjusting component 39 includes a fixing block 391 and a screw 392. The fixing block is fixed to the support frame 31, and the screw 392 passes through the fixing block 391 and is threadedly connected to the fixing block 391. The end of the screw 392 abuts against the connecting seat on the first tensioning wheel 381. By rotating the screw 392, the connecting seat is pushed, thereby adjusting the tension of the first winding rope 34.

[0115] When the support frame 31 is equipped with a set of directional pulleys 37, the first winding rope 34 enters the first tensioning pulley 381 after changing direction through the first directional pulley 371 and the second directional pulley 372, and then winds around the rope drive ring 36; the second winding rope 35 enters the second tensioning pulley 382 after changing direction through the third directional pulley 373, and then winds around the rope drive ring 36.

[0116] The structure of transmission component 4 is described in detail below:

[0117] In some embodiments, such as Figure 8 As shown, the transmission component 4 includes a first active rocker arm 42, a second active rocker arm 43, a first passive rocker arm 44, and a second passive rocker arm 45, wherein:

[0118] First power output end ( Figure 8 The rope drive ring 36 located on the left side is fixedly connected to one end of the first active swing rod 42 so as to drive the first active swing rod 42 to rotate around the second axis 6. The other end of the first active swing rod 42 is connected to one end of the second passive swing rod 45 to rotate around the third axis 7.

[0119] Second power output end ( Figure 8 The rope drive ring 36 located on the right side is fixedly connected to one end of the second active swing rod 43 so as to drive the second active swing rod 43 to rotate around the second axis 6. The other end of the second active swing rod 43 is rotatably connected to one end of the first passive swing rod 44, and the other end of the first passive swing rod 44 is rotatably connected to the other end of the second passive swing rod 45.

[0120] The adapter block 41 is fixedly connected to the second passive rocker arm 45. The adapter block 41 is located at the end where the second passive rocker arm 45 is rotatably connected to the first active rocker arm 42. The adapter block 41 can be L-shaped, with one side wall fixedly connected to the second passive rocker arm 45 and the other side wall used to connect to the hand support component 10.

[0121] Among them, the first active pendulum 42, the second active pendulum 43, the first passive pendulum 44, and the second passive pendulum 45 can be regarded as an approximately parallelogram structure. The extension direction of the first active pendulum 42 is parallel to the extension direction of the first passive pendulum 44, and the extension direction of the second active pendulum 43 is parallel to the extension direction of the second passive pendulum 45. At the corner of the parallelogram structure, the two adjacent pendulums rotate in coordination.

[0122] In use, when the first power output end and the second power output end rotate in the same direction and at the same speed, the transmission component 4 rotates as a whole around the second axis 6, and there is no relative movement between the first active rocker arm 42 and the second active rocker arm 43, so that the adapter block 41 rotates simply around the second axis 6; when the first power output end is not in motion and the second power output end is in motion, the second active rocker arm 43 drives the second passive rocker arm 45 to rotate relative to the first active rocker arm 42 through the first passive rocker arm 44, so that the adapter block 41 rotates simply around the third axis 7; when the first power output end and the second power output end rotate in the same direction but at different speeds or in different directions within the stroke range, there is relative movement between the first active rocker arm 42 and the second active rocker arm 43, and the adapter block 41 rotates around the second axis 6 while simultaneously rotating around the third axis 7.

[0123] The aforementioned transmission component 4 has a simple structure and stable operation. It can realize the forward flexion and backward extension movements of the shoulder joint without extending a long distance. During the movement, it can occupy part of the space between the two side supports 314 in the support frame 31 to realize a series of movements. The support frame 31 will not interfere with the transmission component 4. It has a compact structure and occupies little space.

[0124] Traditional transmission structures such as belt drives and gear drives require support frames at the far end. The four-bar linkage mechanism used in the above embodiment can use parallel swing arms to provide support for itself, thereby eliminating the need for a support frame at the far end and saving design space at the far end.

[0125] Specifically, such as Figure 8 As shown, the first power output end is fixedly connected to the first rotating connector 422 in the first active rocker arm 42, and the first rotating connector 422 is rotatably engaged with one of the side brackets 314 in the support frame 31; the second power output end is fixedly connected to the second rotating connector 432 in the second active rocker arm 43, and the second rotating connector 432 is rotatably engaged with the other side bracket 314 in the support frame 31.

[0126] In some embodiments, such as Figure 8As shown, to make the structure of the transmission component 4 more stable, the transmission component 4 also includes a third passive rocker arm 46. The two ends of the third passive rocker arm 46 are rotatably connected to the middle of the first active rocker arm 42 and the first passive rocker arm 44, respectively. The third passive rocker arm 46 can enhance the stability of the transmission component 4 and ensure stable power transmission.

[0127] The third passive pendulum 46 is parallel to the second active pendulum 43 and the second passive pendulum 45.

[0128] In some embodiments, in order to limit the rotation angle of the second limiting structure 431 and prevent the second limiting structure 431 from moving beyond its limit, the first active swing arm 42 is provided with a first limiting structure 421 and the second active swing arm 43 is provided with a second limiting structure 431. The first limiting structure 421 is used to limit the rotation angle of the second limiting structure 431.

[0129] The first limiting structure 421 and the second limiting structure 431 form a mechanical limit. When the first active swing arm 42 and the second active swing arm 43 move beyond their limits, the first limiting structure 421 abuts against the second limiting structure 431, thereby preventing the first limiting structure 421 and the second limiting structure 431 from continuing to move relative to each other, thus protecting the patient and avoiding secondary injury to the patient.

[0130] Specifically, the first limiting structure 421 may include two spaced-apart first limiting blocks, and the second limiting structure 431 may include a second limiting block located between the two first limiting blocks. When the second limiting block abuts against one of the first limiting blocks, the second active swing rod 43 rotates to a first limit position; when the second limiting block abuts against the other first limiting block, the second active swing rod 43 rotates to a second limit position.

[0131] Of course, the second limiting structure 431 may include two spaced second limiting blocks, and the first limiting structure 421 may include a first limiting block located between the two second limiting blocks.

[0132] Specifically, such as Figure 8 As shown, the first limiting structure 421 and the second limiting structure 431 are located between the two side supports 314.

[0133] In some embodiments, the first active rocker arm 42 is provided with a limiting groove, such as Figure 7 As shown, the rope drive component 3 is provided with a limiting member 312 that extends into the limiting groove. The limiting member 312 is used to limit the angle at which the first power output end drives the first active swing rod 42 to rotate, forming a mechanical limit, thereby preventing the movement of the first active swing rod 42 from exceeding the limit, protecting the patient and preventing secondary injury to the patient.

[0134] A limiting groove is formed on the first rotating connector 422 in the first active rocker arm 42. Specifically, an arc-shaped limiting groove is formed on the first rotating connector 422 around the second axis 6. The limiting member 312 can be a screw, which is threaded onto the side bracket 314, and the end of the screw extends into the limiting groove. When the screw abuts against both ends of the arc-shaped limiting groove, the first active rocker arm 42 rotates to its limit position.

[0135] In some embodiments, the upper limb rehabilitation robot further includes a display component 9, such as... Figure 9 As shown, the display component 9 includes a display bracket 91, a display 92, and a 3D camera 93. Both the display 92 and the 3D camera 93 are mounted on the display bracket 91. The 3D camera 93 is used to identify the movement state of the patient's healthy limb and transmit the information to the controller. The controller is used to control the movement of the first motor 123 in the support beam 1 and the two power sources 32 in the rope drive component 3, driving the affected limb to make the same movements as the healthy limb, so as to play the function of the healthy limb leading the affected limb and the affected limb learning the movement of the healthy limb.

[0136] In some embodiments, the upper limb rehabilitation robot also includes a hand support component 10 connected to the adapter block 41, which can be used to support the affected arm.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An upper limb rehabilitation robot, characterized in that, It includes a supporting cantilever beam (1), a cantilever (2), a rope drive component (3), and a transmission component (4). The supporting beam (1) is connected to one end of the cantilever (2) to drive the cantilever (2) to rotate around the first axis (5), the first axis (5) is used to vertically align with the human shoulder joint, and the bottom of the other end of the cantilever (2) is connected to the rope drive component (3). The rope drive component (3) has an independently set first power output end and a second power output end, and the transmission component (4) has a transition block (41); the first power output end is connected to the transmission component (4) so ​​as to drive the transition block (41) to rotate around the second axis (6) through the transmission component (4); the second power output end is connected to the transmission component (4) so ​​as to drive the transition block (41) to rotate around the third axis (7) through the transmission component (4), the second axis (6) is perpendicular to the first axis (5) and parallel to the third axis (7), and the second axis (6) is horizontally aligned with the human shoulder joint; The transmission component (4) includes a first active rocker arm (42), a second active rocker arm (43), a first passive rocker arm (44), and a second passive rocker arm (45). The first active swing arm (42) includes a first rotating connector (422) at one end, which is rotatably engaged with a side bracket (314) in the rope drive component (3). The first power output end is fixedly connected to the first rotating connector (422) to drive the first active swing arm (42) to rotate around the second axis (6). The other end of the first active swing arm (42) is rotatably connected to one end of the second passive swing arm (45) around the third axis (7). The second active swing arm (43) includes a second rotating connector (432) at one end, which is rotatably engaged with the other side bracket (314) in the rope drive component (3). The second power output end is fixedly connected to the second rotating connector (432) to drive the second active swing arm (43) to rotate around the second axis (6). The other end of the second active swing arm (43) is rotatably connected to one end of the first passive swing arm (44), and the other end of the first passive swing arm (44) is rotatably connected to the other end of the second passive swing arm (45). The adapter block (41) is fixed to the second passive swing rod (45), and the adapter block (41) is located at the end where the second passive swing rod (45) is rotatably connected to the first active swing rod (42).

2. The upper limb rehabilitation robot according to claim 1, characterized in that, The supporting cantilever beam (1) includes a supporting component (11) and a cantilever beam (12). One end of the cantilever beam (12) is rotatably connected to the supporting component (11), and the rotation axis is parallel to the first axis (5). A first locking member (13) for locking the rotation position of the cantilever beam (12) relative to the supporting component (11) is connected between the cantilever beam (12) and the supporting component (11). The other end of the cantilever beam (12) is connected to the cantilever arm (2).

3. The upper limb rehabilitation robot according to claim 1, characterized in that, A laser lamp (21) is installed at the bottom of the cantilever (2). The laser lamp (21) is located at the end where the cantilever (2) is connected to the supporting cantilever beam (1). The light of the laser lamp (21) extends along the first axis (5).

4. The upper limb rehabilitation robot according to claim 1, characterized in that, The bottom of the cantilever (2) is rotatably connected to the rope drive component (3), the rotation axis of the rope drive component (3) is parallel to the first axis (5), and a second locking member (8) is connected between the cantilever (2) and the rope drive component (3) for locking the rotation position of the rope drive component (3) relative to the cantilever (2). The beginning and end of the rotation path of the rope drive component (3) correspond to the left limb rehabilitation training and the right limb rehabilitation training, respectively. The cantilever (2) is provided with a third proximity switch corresponding to the left limb rehabilitation training and a fourth proximity switch (22) corresponding to the right limb rehabilitation training. The rope drive component (3) is provided with a second protrusion (311), which is used to trigger the third proximity switch and send out a left limb rehabilitation training identification signal or trigger the fourth proximity switch (22) and send out a right limb rehabilitation training identification signal.

5. The upper limb rehabilitation robot according to claim 1, characterized in that, The rope drive component (3) includes a support frame (31) and rope drive mechanisms disposed on opposite sides of the support frame (31). The rope drive mechanism includes a power source (32), a rope winding roller (33), a first winding rope (34), a second winding rope (35), and a rope drive ring (36). The power source (32) is mounted on the support frame (31), and the power source (32) is connected to the winding roller (33) to drive the winding roller (33) to rotate; The two rope drive rings (36) in the rope drive mechanism are respectively the first power output end and the second power output end of the rope drive component (3). The rope drive ring (36) is rotatably connected to the support frame (31). The outer circumferential surface of the rope drive ring (36) is recessed with two annular rope grooves (361). One end of the first winding rope (34) and one end of the second winding rope (35) are wound on the winding roller (33). The winding directions of the first winding rope (34) and the second winding rope (35) on the winding roller (33) are opposite. The other ends of the first winding rope (34) and the second winding rope (35) are respectively wound in the two rope grooves (361) and connected to the rope drive ring (36). The winding directions of the first winding rope (34) and the second winding rope (35) in the two rope grooves (361) are opposite, so as to drive the rope drive ring (36) to rotate when the winding roller (33) rotates.

6. The upper limb rehabilitation robot according to claim 5, characterized in that, The rope drive ring (36) is provided with two mounting slots (362), each of the mounting slots (362) passing through the two end faces of the rope drive ring (36), and a first rope bundler (363) is slidably connected in the mounting slot (362) in a direction parallel to the end face of the rope drive ring (36). An adjusting member (364) for adjusting the position of the first rope tieper (363) relative to the rope drive ring (36) is connected between the first rope tieper (363) and the rope drive ring (36). The ends of the first winding rope (34) and the second winding rope (35) pass through the rope drive ring (36) and are respectively connected to the two first rope tieers (363).

7. The upper limb rehabilitation robot according to claim 5, characterized in that, The support frame (31) is provided with a directional wheel assembly (37) and a tension wheel assembly (38), the position of the tension wheel assembly (38) relative to the support frame (31) is adjustable; Before entering their respective rope grooves (361), the first winding rope (34) and the second winding rope (35) both pass through the directional wheel group (37) and the tensioning wheel group (38). The directional wheel group (37) is used to change the extension direction of the first winding rope (34) and the second winding rope (35), and the tensioning wheel group (38) is used to tension the first winding rope (34) and the second winding rope (35).

8. The upper limb rehabilitation robot according to claim 7, characterized in that, The first active swing arm (42) is provided with a first limiting structure (421), and the second active swing arm (43) is provided with a second limiting structure (431). The first limiting structure (421) is used to limit the rotation angle of the second limiting structure (431). The first active swing arm (42) is provided with a limiting groove, and the rope drive component (3) is provided with a limiting member (312) extending into the limiting groove. The limiting member (312) is used to limit the angle at which the first power output end drives the first active swing arm (42) to rotate.

9. The upper limb rehabilitation robot according to claim 1, characterized in that, It also includes a display component (9) and a hand support component (10) connected to the adapter block (41). The display component (9) includes a display bracket (91), a display (92) and a three-dimensional camera (93). The display (92) and the three-dimensional camera (93) are both mounted on the display bracket (91). The three-dimensional camera (93) is used to identify the movement status of the patient's healthy limb and transmit the information to the controller. The controller is used to control the movement of the support beam (1) and the rope drive component (3).

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