A static progressive stretch-based robot for post-operative rehabilitation of elbow fractures

Abstract

The application discloses a kind of elbow joint fracture postoperative rehabilitation robot based on static progressive stretching, including large arm part, the large arm part is provided with driving structure, the large arm part is movably connected with small arm part by driving structure, boss connecting rod device is connected with the large arm part, the small arm part.The application improves control precision by electric control, realizes positive and negative stroke movement, real-time display current angle and record historical angle data, and is convenient for observation, record rehabilitation progress.The application adopts symmetrical structure as a whole, with universality.The application adopts arc-shaped chute to adapt to the change of arm movement force line in rehabilitation movement process, and adaptively carries angle.The application realizes static progressive stretching by crank slider mechanism, and elbow joint obtains double rehabilitation effects of rotation and stretching in rehabilitation movement process.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a rehabilitation robot for elbow joint fractures based on static progressive stretching. Background Technology

[0002] With the combined effects of economic and social development and an aging population, elbow joint diseases are occurring frequently and are increasingly becoming a prominent issue affecting human life and health. As a common and frequently occurring disease, the treatment and rehabilitation of elbow joints directly impact the recovery of limb function. Currently, the mainstream approach to elbow joint rehabilitation involves professional caregivers performing repetitive flexion and extension exercises on the patient's upper limb, while simultaneously supplementing with elbow joint functional rehabilitation training. This method is time-consuming, labor-intensive, and extremely inconvenient.

[0003] In addition to manual rehabilitation, rehabilitation training can also be assisted by equipment, such as elbow joint rehabilitation robots. There are two main types of elbow joint rehabilitation robots: one is a mechanical device that achieves static progressive stretching through a four-bar linkage, but this type of device is mostly imported and expensive; the other is a device that relies on motor rotation to achieve repetitive extension, but this type of device does not take into account the problem of narrowing of the joint space after elbow fracture, and only assists in flexion and extension training, resulting in poor rehabilitation effects.

[0004] Currently available elbow joint rehabilitation robots have the following main shortcomings: 1. It only achieves passive rotation of the elbow joint and cannot achieve static stretching. For example, the elbow joint rehabilitation trainer described in patent CN116327552A can achieve elbow flexion and forearm pronation and supination, but it lacks the effect of static stretching. It does not take into account the problem of decreased joint mobility caused by narrowing of the joint space, and the rehabilitation effect is greatly reduced. 2. Static elbow joint stretching equipment has a low level of intelligence and low control precision. For example, patents CN115089933A and CN104274300A, although they achieve stretching to a certain extent, have low accuracy in controlling the stretching force and poor stability. 3. Lack of adaptive function for the lifting angle of the human arm. For example, patent CN113648187A can realize arm bending movement and a certain stretching effect, but it ignores the lifting angle of the arm to a certain extent; or patent CN113768740A adopts a biomimetic structure, which realizes the adaptive lifting angle, but the structure is complex and inconvenient to use.

[0005] To address the shortcomings of the aforementioned elbow joint rehabilitation robots and better meet the needs of postoperative rehabilitation treatment after elbow fractures, there is an urgent need to design an elbow joint rehabilitation robot that is electrically controlled, has high control precision, can adapt to the human body's lifting angle, and can perform static progressive stretching to help patients train their elbow joint range of motion. Summary of the Invention

[0006] This invention addresses the problems existing in the prior art, and its purpose is to provide a rehabilitation robot for elbow joint fractures based on static progressive stretching.

[0007] The technical solution of the present invention is: a rehabilitation robot for elbow joint fracture surgery based on static progressive stretching, including an upper arm part, the upper arm part being provided with a drive structure, the upper arm part being movably connected to the forearm part through the drive structure, and a boss linkage device being connected to the upper arm part and the forearm part.

[0008] Furthermore, the upper arm portion includes an outer upper arm layer that provides an assembly base, and an inner upper arm layer that is worn on the upper arm of the human body is disposed on the inner side of the outer upper arm layer.

[0009] Furthermore, a middle layer of the boom is provided on the inner side of the outer layer of the boom, and the drive structure is arranged in the middle layer of the boom.

[0010] Furthermore, the forearm portion includes a forearm middle plate, which provides an assembly base. Forearm connecting rods are provided on both sides of the forearm middle plate, and the forearm connecting rods are connected to a connecting rod boss device.

[0011] Furthermore, the forearm portion includes a forearm support plate, one side of which is connected to the middle layer of the forearm plate, and the other side of which supports the human forearm and bends towards the forearm.

[0012] Furthermore, the forearm portion includes a wrist clamp, one side of which is connected to the forearm mid-layer plate, and the wrist clamp is connected to the human wrist.

[0013] Furthermore, the wrist clip is symmetrically connected to the human wrist in a rotating and opening manner, allowing the wrist clip to be opened and closed to allow it to be worn on the human wrist.

[0014] Furthermore, the wrist clamp and the forearm mid-section plate are slidably adjustable, and the wrist clamp can be adjusted laterally between the two forearm connecting rods.

[0015] Furthermore, the connecting rod boss device includes a boss connected to the forearm connecting rod and a connecting rod connected to the inner layer of the upper arm, with one end of the connecting rod connected to the boss.

[0016] Furthermore, the boss and connecting rod are externally connected.

[0017] The beneficial effects of this invention are as follows: This invention improves control precision through electric control, realizes forward and reverse stroke movement, displays the current angle in real time and records historical angle data, which facilitates observation and recording of rehabilitation progress.

[0018] The invention adopts a symmetrical structure and has versatility.

[0019] This invention uses an arc-shaped groove to adapt to changes in the arm's movement force line during rehabilitation exercises, and adaptively adjusts the lifting angle.

[0020] This invention achieves static progressive stretching through a crank-slider mechanism, providing a dual rehabilitation effect of rotation and stretching to the elbow joint during rehabilitation exercises. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the upper arm portion of the present invention; Figure 4 This is a schematic diagram of the forearm portion in this invention; Figure 5 This is a schematic diagram of the wrist clamp in the forearm part of the present invention; Figure 6 This is a schematic diagram of the installation state of the forearm middle layer plate in the forearm part of the present invention; Figure 7 This is a schematic diagram of the structure of the present invention in the first gear mode; Figure 8 This is a schematic diagram of the structure of the present invention in the 2-speed mode; in: 1. Outer layer of upper arm 2. Inner layer of upper arm 3. Upper arm mid-layer; 4. Forearm support plate. 5. Wrist clamp 6. Middle layer connecting block 7. Forearm middle layer plate; 8. Arc-shaped groove. 9. Forearm connecting rod 11. Slotted shaft cylindrical screw 13 Nuts 14 Short Shaft 15 Rolling bearings 101 Outer bottom plate of boom 102 Outer plate of boom 201 Right support plate 202 Left support plate 203 boom support plate 301 Standard Flange, 302 Motor Pressure Plate 303 L-shaped motor bracket 304 motor 305 U-shaped motor bracket 306 motor flange 307 motor slider, 308 upper arm middle layer plate 501 Left Block, 502 Right Block 503 rotating shaft, 504 rotating platform 505 sliding platform, 506 slide rail 507 slider 1001 Right boss 1002 Left boss 1201 Right connecting rod of the boom; 1202 Left connecting rod of the boom. Detailed Implementation

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 8 As shown, a rehabilitation robot for elbow fracture surgery based on static progressive stretching includes an upper arm portion, which is provided with a drive structure. The upper arm portion is movably connected to the forearm portion through the drive structure. The boss linkage device is connected to the upper arm portion and the forearm portion.

[0023] The upper arm portion includes an outer upper arm layer 1 that provides an assembly base, and an inner upper arm layer 2 that is worn on the upper arm of the human body is provided on the inner side of the outer upper arm layer 1.

[0024] The outer layer 1 of the boom is also provided with a middle layer 3 of the boom, and the drive structure is arranged in the middle layer 3 of the boom.

[0025] The forearm portion includes a forearm middle plate 7, which provides an assembly base. Forearm connecting rods 9 are provided on both sides of the forearm middle plate 7, and the forearm connecting rods 9 are connected to a connecting rod boss device.

[0026] The forearm portion includes a forearm support plate 4, one side of which is connected to the forearm middle layer plate 7, and the other side of the forearm support plate 4 supports the human forearm and bends towards the forearm.

[0027] The forearm portion includes a wrist clamp 5, one side of which is connected to the forearm mid-layer plate 7, and the wrist clamp 5 is connected to the human wrist.

[0028] The wrist clip 5 is symmetrically connected to the human wrist, allowing it to be opened and closed to create a wearing space, thus allowing it to be worn on the human wrist.

[0029] The wrist clamp 5 and the forearm mid-layer plate 7 are slidably adjustable, and the wrist clamp 5 can be adjusted laterally between the two forearm connecting rods 9.

[0030] The connecting rod boss device includes a boss connected to the forearm connecting rod 9 and a connecting rod connected to the inner layer 2 of the upper arm, with one end of the connecting rod connected to the boss.

[0031] The boss and connecting rod are externally connected.

[0032] Specifically, such as Figures 1 to 3As shown, the outer layer 1 of the upper arm consists of an outer layer plate 102 and an outer layer bottom plate 101. The outer layer 1 of the upper arm is mainly used for bearing and arranging electronic components.

[0033] Among them, a straight groove is added to the upper surface of the rear end of the outer plate 102 of the boom; narrow rectangular grooves are opened on the left and right sides of the outer plate 102 of the boom; a sinking platform is machined on the upper surface of the front end of the outer plate 102 of the boom, and grooves are opened on both sides of the sinking platform.

[0034] The outer boom plate 102 has a set of through holes on its left and right rear surfaces, and a set of threaded holes at each of its four bottom vertices. The outer boom base plate 101 is L-shaped, with a set of through holes around its perimeter and multiple sets of through holes in its center. The threaded holes in the outer boom plate 102 are connected to the through holes in the outer boom base plate 101 by screws. Electronic components of the electrical control system are mounted on the outer boom base plate 101 by screws.

[0035] Specifically, the inner layer 2 of the upper arm includes an upper arm support plate 203, a left support plate 202, and a right support plate 201, and the inner layer 2 of the upper arm is fixed to the upper arm of the human body.

[0036] The upper arm support plate 203 has a U-shaped symmetrical structure. The U-shaped opening of the upper arm support plate 203 is away from the outer layer 1 of the upper arm. The upper arm support plate 203 has narrow rectangular grooves on the left and right sides near the upper edge. The narrow rectangular grooves are used to fix the Velcro straps, thereby fixing the upper arm. There are through holes below the rectangular grooves on the left and right sides of the upper arm support plate 203.

[0037] The left support plate 202 is a rectangular plate with a through hole at the top. The through hole on the left side of the boom support plate 203 is connected to the through hole at the top of the left support plate 202 by screws to transfer load. The left support plate 202 has a set of through holes at the bottom. The left support plate 202 is connected to the through hole on the left side of the rear end of the outer boom plate 102 via a narrow rectangular groove at the rear end, and the through hole at the bottom of the left support plate 202 is connected to the through hole on the left surface of the rear end of the outer boom plate 102 by screws to transfer load. A through hole is located in the middle of the left support plate 202, and the connecting rod boss device is connected to the through hole in the middle of the left support plate 202 by a slotted axial cylindrical screw 11.

[0038] Similarly, the right support plate 201 and the left support plate 202 are structurally symmetrical. The right support plate 201 and the left support plate 202 are installed symmetrically.

[0039] Specifically, the upper arm middle layer 3 includes an upper arm middle layer plate 308, a motor 304, an L-shaped motor bracket 303, a U-shaped motor bracket 305, a motor pressure plate 302, a motor slider 307, a common flange 301, and a motor flange 306.

[0040] The upper arm middle layer plate 308 has a platform machined from the bottom surface upward at its rear end. The platform is provided with a slider boss. The slider boss cooperates with the straight groove at the rear end of the upper arm outer layer plate 102 to realize the translational movement of the upper arm middle layer plate 308.

[0041] The upper arm middle layer plate 308 has a hollowed-out front center, and circular annular bosses extend obliquely upward from the left and right sides of the front end of the upper arm middle layer plate 308. Threaded holes are provided on the inner side of each circular annular boss, and the circular annular boss on the right side is connected to the center of the circular annular boss from the top downward.

[0042] The L-shaped motor bracket 303 has a circular hole machined on one side, with through holes evenly distributed around the hole, and through holes provided on the front and rear side bosses. The L-shaped motor bracket 303 is fixed to the motor 304 by screws.

[0043] The U-shaped motor bracket 305 has circular holes machined on both its left and right sides, with through holes around the circular holes. The right side of the U-shaped motor bracket 305 extends from the top downwards through the circular holes. The U-shaped motor bracket 305 is fixed to the left and right side bosses at the front end of the upper arm middle layer plate 308 by screws.

[0044] The motor pressure plate 302 is used to protect the motor 304, and its front and rear side bosses are provided with through holes.

[0045] The motor slider 307 has a symmetrical structure with a recessed platform machined from its upper surface, and threaded holes are provided on the upper surface. The U-shaped motor bracket 305 cooperates with the recessed platform of the motor slider 307. The L-shaped motor bracket 303 and the motor pressure plate 302 are fixed to the motor slider 307 by screws.

[0046] The ordinary flange 301 has a set of through holes distributed around its circumference. The ordinary flange 301 is used to connect the forearm section and the middle layer 3 of the upper arm.

[0047] The motor flange 306 has a set of through holes distributed around its circumference, and a keyway is provided on the boss. The motor flange 306 and the output shaft of the motor 304 are connected by a key to transmit rotation to the forearm part.

[0048] Specifically, such as Figures 4 to 6 As shown, the forearm part has a symmetrical structure and includes a forearm connecting rod 9, a forearm middle plate 7, an arc-shaped slide groove 8, a forearm support plate 4, a wrist clamp 5, and a middle connecting block 6.

[0049] The forearm link 9 consists of a left link, a right link, and a bottom arc-shaped connecting surface connecting the two. The left and right links are symmetrically shaped. The upper half of both the left and right links has a straight sliding groove. The lower half of both the left and right links has a circular hole in the middle, with through holes evenly distributed around the circular hole, and threaded holes at the four vertices of the lower half. A boss is provided at the bend of the right link of the forearm link 9 for mounting a gyroscope.

[0050] The forearm middle layer plate 7 has a set of through holes at its front and rear ends, and a boss near the left and right sides at its front end. The arc-shaped slide groove 8 has two bosses on each of its left and right sides, each with a through hole. The through holes on the bosses of the arc-shaped slide groove 8 are connected to the through holes at the rear end of the forearm middle layer plate 7 by screws. The middle sections of the left and right sides of the forearm middle layer plate 7 each have through holes. The middle layer connecting block 6 has a through hole in its center.

[0051] As attached Figure 6 As shown, the through holes in the middle of the left and right sides of the forearm middle plate 7 are connected to the through holes in the middle of the middle connecting block 6 by a short shaft 14. A rolling bearing 15 is installed on the short shaft 14. The rolling bearing 15 is located in the straight groove of the upper part of the forearm connecting rod 9, so that the forearm middle plate 7 can slide in the straight groove of the forearm connecting rod 9.

[0052] The forearm support plate 4 is U-shaped, with narrow rectangular grooves on both sides to secure Velcro straps for fixing the forearm. An arc-shaped block is located at the bottom. The arc-shaped block at the bottom of the forearm support plate 4 is inserted into an arc-shaped sliding groove 8, allowing the forearm support plate 4 to slide within the groove 8 to meet carrying angle requirements.

[0053] As attached Figure 5 As shown, the wrist clamp 5 is composed of a left clamping block 501, a right clamping block 502, a rotating shaft 503, a rotating platform 504, a sliding platform 505, a slide rail 506, and a slider 507.

[0054] The left and right locking blocks 501 and 502 are symmetrical in structure and are arc-shaped to fit the human wrist. The front curved surface has a larger curvature and the rear curved surface has a smaller curvature. The upper part of the rear curved surface has a narrow rectangular groove to fix the Velcro strap, and the lower part has a hollow cylindrical boss.

[0055] The rotating platform 504 has a circular base plate added to its bottom end via a boss, and hollow cylindrical bosses at its four vertices at its top. The left locking block 501 and the right locking block 502 are fixed to the rotating platform 504 at the hollow cylindrical bosses via a rotating shaft 503, and the left locking block 501 and the right locking block 502 can rotate around the rotating shaft 503.

[0056] The sliding platform 505 has a threaded hole at its bottom, and a groove of a certain depth is cut inward from its middle, with a cut thickness the same as the thickness of the circular base of the rotating platform 504 and a cut width the same as the diameter of the circular base of the rotating platform 504. A groove is also cut inward from the top of the sliding platform 505, with a cut width the same as the diameter of the bottom boss of the rotating platform 504. The circular base of the rotating platform 504 is fitted into the middle groove of the sliding platform 505, while the bottom boss of the rotating platform 504 is located in the top groove of the sliding platform 505. The rotating platform 504 can rotate on the sliding platform 505.

[0057] The wrist grip slider 507 has a through hole. The through hole of the wrist grip slider 507 is connected to the threaded hole at the bottom of the sliding platform 505 by a screw.

[0058] The wrist clamp's slide rail 506 is linear and has a through hole. The through hole in the wrist clamp's slide rail 506 is connected to the through hole at the front end of the forearm mid-section plate 7 by screws. The wrist clamp's slider 507 can slide on the wrist clamp's slide rail 506.

[0059] Specifically, the wrist clamp 5 is located at the front end of the forearm mid-layer plate 7, and in conjunction with the movement of the forearm support plate 4, it enables the rotation and translation of the wrist.

[0060] Specifically, the connecting rod boss device is symmetrically arranged and includes a boss and a connecting rod. The connecting rod includes a left connecting rod 1202 and a right connecting rod 1201 of the main arm. The boss includes a left boss 1002 and a right boss 1001.

[0061] Both the left boss 1002 and the right boss 1001 are U-shaped, with through holes on their bottom edges. The through holes on the bottom edges of the left boss 1002 and the right boss 1001 are connected and fixed to the threaded holes at the four vertices of the lower half of the left and right connecting rods of the forearm connecting rod 9 by screws. The tops of the left boss 1002 and the right boss 1001 also have through holes.

[0062] The left and right connecting rods of the boom are arc-shaped and stepped, with through holes at both ends. One through hole of each connecting rod is connected to a through hole in the middle of the left and right support plates 202 and 201 via slotted cylindrical shaft screws. The other through hole of each connecting rod is connected to a through hole at the top of the left and right bosses 1002 and 1001 via slotted cylindrical shaft screws. The two through holes at the top of the left and right bosses 1002 and 1001 allow for switching between static progressive extension positions.

[0063] Specifically, the electronic components of the electronic control unit are mounted on the outer base plate 101 of the upper arm via screws. The gyroscope of the electronic control unit is mounted on the protrusion at the bend of the right link of the forearm link 9 via screws. The electronic control unit can control the robot via touch screen and Bluetooth. The electronic control unit can move according to the given angle input by the patient. During rehabilitation exercises, the electronic control unit can display the angle of rehabilitation training in real time and record the data.

[0064] The elbow joint rehabilitation robot of the present invention can be divided into two gears to meet static progressive stretching. The forearm link 9, left boss 1002, right boss 1001, upper arm middle layer 3, upper arm left link 1202, and upper arm right link 1201 can be equivalent to a concentric crank-slider mechanism.

[0065] The left connecting rod 1202 and the right connecting rod 1201 of the upper arm are fixed to the left support plate 202 and the right support plate 201, and are also connected to the left boss 1002 and the right boss 1001 fixed on the forearm connecting rod 9. The forearm connecting rod 9 is connected to the motor 304 through the motor flange 306.

[0066] Therefore, the left support plate 202 and the right support plate 201 are equivalent to a frame, the middle layer 3 of the upper arm is equivalent to a slider, the distance between the output shaft of the motor 304 on the middle layer 3 of the upper arm and the boss stop in the vertical plane is equivalent to a crank, and the left connecting rod 1202 and the right connecting rod 1201 of the upper arm are equivalent to connecting rods.

[0067] When the motor 304 on the upper arm middle layer 3 drives the forearm connecting rod 9 and the left boss 1002 and right boss 1001 to rotate, the angles between the upper arm left connecting rod 1202, upper arm right connecting rod 1201 and the left boss 1002 and right boss 1001 change. According to the cosine theorem of triangles, the distance from the center of the output shaft of the motor 304 on the upper arm middle layer 3 to the through hole in the middle of the left support plate 202 and right support plate 201 in the vertical plane will change accordingly, so that the upper arm middle layer 3 can slide on the upper arm outer layer plate 102.

[0068] As attached Figure 7 Appendix Figure 8 As shown, the switching of the tensile force setting is achieved through the position of the slotted cylindrical shaft screw at the connection between the left boss 1002, the right boss 1001 and the left connecting rod 1202 and the right connecting rod 1201 of the main boom. Unscrewing the nut 13, switching the slotted cylindrical shaft screw to another setting, and then screwing the nut 13 back on completes the setting switch. (See attached image) Figure 8 The arrow in the image indicates the shifting process from 1st gear to 2nd gear.

[0069] The elbow joint rehabilitation robot of this invention is electrically driven. The arm is fixed in place when the angle between the forearm and upper arm is small. When the motor 304 drives the forearm link 9 to rotate during its forward stroke, i.e., when the angle between the forearm and upper arm increases, the upper arm middle layer 3 drives the forearm link 9 to move outward along the upper arm axis, gradually increasing the stretching distance, while the forearm link 9 rotates simultaneously. Because the upper arm is fixed to the upper arm support plate 203 with Velcro straps, the upper arm portion does not move linearly with the upper arm middle layer 3. The forearm is fixed to the forearm support plate 4 with Velcro straps and rotates with the forearm link 9. However, because the upper arm is fixed, the forearm cannot maintain a tight fit with the forearm support plate 4 during rotation with the forearm link 9, instead exhibiting movement perpendicular to the forearm direction and movement along the forearm direction. The movement perpendicular to the forearm direction causes the forearm to be subjected to pressure along the radial direction of the forearm and opposite to the direction of relative movement by the Velcro on the forearm support plate 4. The movement along the forearm direction causes the forearm to be subjected to frictional force by the Velcro on the forearm support plate 4 and opposite to the direction of relative movement. The force obtained by the combination of radial pressure and axial friction is the tensile force on the forearm during the positive stroke rotation of the forearm link 9.

[0070] During the forward stroke, the stretching force on the forearm continuously increases; during the reverse stroke, the stretching force on the forearm continuously decreases. Because the rotational angular velocity of the forearm link 9 is relatively slow, the entire rehabilitation exercise can be regarded as a static process, ultimately achieving static progressive stretching.

[0071] This invention improves control precision through electric control, realizes forward and reverse stroke movement, displays the current angle in real time and records historical angle data, which facilitates observation and recording of rehabilitation progress.

[0072] The invention adopts a symmetrical structure and has versatility.

[0073] This invention uses an arc-shaped groove to adapt to changes in the arm's movement force line during rehabilitation exercises, and adaptively adjusts the lifting angle.

[0074] This invention achieves static progressive stretching through a crank-slider mechanism, providing a dual rehabilitation effect of rotation and stretching to the elbow joint during rehabilitation exercises.

Claims

1. A rehabilitation robot for elbow fracture surgery based on static progressive stretching, comprising an upper arm portion, characterized in that: The upper arm is provided with a drive structure, and the upper arm is movably connected to the lower arm through the drive structure. The boss connecting rod device is connected to the upper arm and the lower arm. The upper arm portion includes an outer upper arm layer (1) that provides an assembly base, and an inner upper arm layer (2) that is worn on the upper arm of the human body is provided on the inner side of the outer upper arm layer (1). The outer layer (1) of the boom is also provided with a middle layer (3) of the boom, and the drive structure is arranged in the middle layer (3) of the boom; The forearm part includes a forearm middle plate (7), which provides an assembly base. Forearm connecting rods (9) are provided on both sides of the forearm middle plate (7), and the forearm connecting rods (9) are connected to the connecting rod boss device. The forearm part includes a forearm support plate (4), one side of which is connected to the forearm middle layer plate (7), and the other side of the forearm support plate (4) supports the human forearm and bends towards the forearm. The connecting rod boss device includes a boss connected to the forearm connecting rod (9) and a connecting rod connected to the inner layer (2) of the upper arm, with one end of the connecting rod connected to the boss; The boss and connecting rod are externally connected; The upper arm middle layer (3) includes an upper arm middle layer plate (308), a motor (304), an L-shaped motor bracket (303), a U-shaped motor bracket (305), a motor pressure plate (302), a motor slider (307), a common flange (301), and a motor flange (306). The rear end of the upper arm middle layer plate (308) is machined from the lower surface upward to form a platform. The platform is provided with a slider boss. The slider boss cooperates with the straight groove at the rear end of the upper arm outer layer plate (102) to realize the translational movement of the upper arm middle layer plate (308). The through holes in the middle of the left and right sides of the forearm middle plate (7) are connected to the through holes in the middle of the middle connecting block (6) by a short shaft (14). A rolling bearing (15) is installed on the short shaft (14). The rolling bearing (15) is located in the straight groove of the upper part of the forearm connecting rod (9), so that the forearm middle plate (7) can slide in the straight groove of the forearm connecting rod (9). The forearm support plate (4) is U-shaped, with narrow rectangular grooves on the left and right sides for fixing Velcro straps to secure the forearm. The bottom is provided with an arc-shaped block, which is inserted into the arc-shaped groove (8). The forearm support plate (4) can slide within the arc-shaped groove (8).

2. The postoperative rehabilitation robot for elbow joint fractures based on static progressive stretching as described in claim 1, characterized in that: The forearm portion includes a wrist clamp (5), one side of which is connected to the forearm mid-layer plate (7), and the wrist clamp (5) is connected to the human wrist.

3. The postoperative rehabilitation robot for elbow joint fractures based on static progressive stretching according to claim 2, characterized in that: The wrist clip (5) is symmetrically connected to the human wrist and can be opened and closed to create a wearing space for the wrist clip (5) so that it can be worn on the human wrist.

4. The postoperative rehabilitation robot for elbow joint fractures based on static progressive stretching according to claim 3, characterized in that: The wrist clamp (5) and the forearm mid-layer plate (7) are slidably adjustable, and the wrist clamp (5) can be adjusted laterally between the two forearm connecting rods (9).

Images