An upper limb exercise rehabilitation robot

Abstract

The present invention discloses an upper limb exercise rehabilitation robot, comprising a base support mechanism, on which are provided a lifting mechanism, a shoulder horizontal training mechanism, an upper arm movement training mechanism, an elbow training mechanism, a forearm flexion and extension mechanism, and a wrist movement training mechanism; the shoulder horizontal training mechanism includes two groups of shoulder horizontal training components, each group of shoulder horizontal training components including a first shoulder connecting rod and a second shoulder connecting rod that are rotatably connected to each other; the upper arm movement training mechanism includes two variable stiffness upper arms, each upper end of which is rotatably mounted on the end of the second shoulder connecting rod of the corresponding shoulder horizontal training component, and the variable stiffness upper arms include two variable stiffness elastic arms arranged in an upper and lower relative manner, each variable stiffness elastic arm being able to achieve different deformation and stiffness adjustments through pneumatic control. Compared with the existing technology, the present invention has the following advantages: it realizes a variety of flexible movements and meets the various rehabilitation exercise needs of the upper limbs of different patients.

Description

Technical Field

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

[0002] In recent years, the number of stroke patients has increased due to an aging population. The number of patients suffering from upper and lower limb injuries and spinal cord injuries caused by traffic accidents and high-intensity work environments has also remained high. To help patients regain a high level of independence, post-treatment rehabilitation training is essential. The existing number of rehabilitation physicians is insufficient to cope with the growing number of stroke patients. Traditional rehabilitation treatment, which typically involves one-on-one manual training, is costly, time-consuming, and ineffective in restoring and assessing motor function, thus compromising rehabilitation effectiveness.

[0003] Upper limb motor dysfunction is a common sequelae of stroke, traumatic brain injury, spinal cord injury, and multiple sclerosis. In recent years, medical assistive equipment researchers at home and abroad have conducted extensive research on rehabilitation robots. Rehabilitation robots have replaced rehabilitation physicians to assist patients in more effective and reasonable rehabilitation training, which has become a cutting-edge research hotspot in the field of rehabilitation.

[0004] Upper limb rehabilitation robots utilize a robotic arm to guide the patient's arm through a space, performing rehabilitation exercises that simulate everyday arm movements. However, existing upper limb rehabilitation robots suffer from inflexible joint movement, making them unable to meet the diverse rehabilitation exercise needs of different patients. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an upper limb exercise rehabilitation robot to achieve a variety of flexible movements and meet the various rehabilitation exercise needs of the upper limbs of different patients.

[0006] The present invention is achieved through the following technical solutions:

[0007] An upper limb exercise rehabilitation robot comprises a base support mechanism, on which are provided a lifting mechanism, a shoulder leveling training mechanism, an upper arm movement training mechanism, an elbow training mechanism, a forearm flexion and extension mechanism, and a wrist movement training mechanism;

[0008] The lifting mechanism is installed on the base support mechanism;

[0009] The shoulder horizontal training mechanism includes two groups of shoulder horizontal training components arranged opposite to each other on the left and right sides. Each group of shoulder horizontal training components includes a first shoulder connecting rod and a second shoulder connecting rod that are rotatably connected to each other. The second shoulder connecting rod rotates in a horizontal plane relative to the first shoulder connecting rod. The head end of the first shoulder connecting rod is connected to the output end of the lifting mechanism through a support rod. The lifting mechanism drives the support rod to rise and fall, thereby driving the first shoulder connecting rod to rise and fall.

[0010] The upper arm activity training mechanism includes two variable stiffness upper arms arranged opposite to each other on the left and right sides. The upper end of each variable stiffness upper arm is rotatably mounted on the end of the second shoulder connecting rod of the corresponding shoulder horizontal training assembly. The variable stiffness upper arm includes two variable stiffness elastic arms arranged opposite to each other on the upper and lower sides. The opposite side of the two variable stiffness elastic arms is the inner side. The inner sides of the two variable stiffness elastic arms are connected by a vertical telescopic component, so that the two variable stiffness elastic arms can be vertically telescoped. Each variable stiffness elastic arm can achieve different deformation and stiffness adjustment through pneumatic control.

[0011] The elbow training mechanism includes two sets of elbow training components arranged opposite to each other on the left and right sides. Each set of elbow training components includes a horizontally extending transmission rod. The head end of the transmission rod is fixedly connected to the bottom end of the variable stiffness arm on the corresponding side. The end of the transmission rod is movably provided with a rotating elbow. The rotating elbow is semi-circular in shape. The outer circumference of the rotating elbow is provided with an arc-shaped slide extending along the circumference of the rotating elbow. The end of the transmission rod is provided with a slider that slidably cooperates with the arc-shaped slide. The rotating elbow is driven to rotate around its own axis through a transmission mechanism provided on the transmission rod.

[0012] The forearm flexion and extension mechanism includes two sets of forearm flexion and extension components arranged opposite to each other on the left and right sides, and the head ends of the two sets of forearm flexion and extension components are respectively connected to the rotating elbow side of the two elbow training components;

[0013] The wrist movement training mechanism includes two groups of wrist movement training components arranged opposite to each other on the left and right. Each group of wrist movement training components includes a variable stiffness wrist and a handle. The head end of the variable stiffness wrist is connected to the end of the forearm flexion and extension component on the corresponding side, and the end of the variable stiffness wrist is connected to the handle. The variable stiffness wrist can achieve different deformation and stiffness adjustments through pneumatic control.

[0014] As a preferred embodiment of the above-mentioned rehabilitation robot, in the upper arm activity training mechanism, each variable-rigidity elastic arm includes a soft spinal tube with an internal cavity, a spiral protrusion is provided on the outer wall of the soft spinal tube, and a plurality of soft tracheas are provided in the cavity of the soft spinal tube. A plurality of independent air cavities are formed inside the plurality of soft tracheas, and the cavity of the soft spinal tube is filled with lightweight particles at the periphery of the soft trachea. By controlling the gas pressure and gas flow of the plurality of air cavities, different deformations of the variable-rigidity elastic arm can be achieved; by controlling the air pressure in the cavity of the soft spinal tube, the stiffness of the variable-rigidity elastic arm can be adjusted.

[0015] As a preferred solution of the above-mentioned rehabilitation robot, the inner side of the variable stiffness elastic arm is closed by an inner end plate, and a plurality of tracheal interfaces and an air extraction interface are provided on the inner end plate of the variable stiffness elastic arm. The plurality of tracheal interfaces are connected one-to-one with the plurality of air cavities of the variable stiffness elastic arm, and the air extraction interface is connected with the soft spinal canal cavity; the vertical telescopic component includes cylinder push rods respectively arranged on the upper and lower inner end plates of the variable stiffness elastic arm, and the movable ends of the upper and lower cylinder push rods are coaxially fixedly connected.

[0016] As a preferred solution for the above-mentioned rehabilitation robot, the upper and lower variable stiffness elastic arms of the variable stiffness arm are also connected by multiple flexible support rods. The multiple flexible support rods are located on the periphery of the cylinder push rod, and the upper and lower ends of each flexible support rod are respectively fixedly connected to the inner end plates of the upper and lower variable stiffness elastic arms.

[0017] As a preferred solution of the above-mentioned rehabilitation robot, the structure of the variable stiffness wrist is the same as that of the variable stiffness elastic arm.

[0018] As a preferred embodiment of the above-mentioned rehabilitation robot, each group of the wrist movement training components also includes a wrist joint bracket, the wrist joint bracket includes a first wrist link and a second wrist link that are rotationally connected to each other, the second wrist link can rotate in a horizontal plane relative to the first wrist link, the head end of the first wrist link is fixedly connected to the head end of the variable stiffness wrist, and the end end of the second wrist link is fixedly connected to the end end of the variable stiffness wrist.

[0019] As a preferred solution of the above-mentioned rehabilitation robot, in each set of the wrist movement training components, a grip force sensor is provided at the end of the handle.

[0020] As a preferred embodiment of the above-mentioned rehabilitation robot, in each group of the elbow training components, the transmission mechanism includes an elbow motor, a driving wheel, a driven wheel, a transmission belt, and a friction wheel. The elbow motor is installed on the transmission rod, the driving wheel is coaxially fixedly connected to the output shaft of the elbow motor, the driven wheel is coaxially fixedly connected to the friction wheel and is rotatably installed on the transmission rod, the driving wheel and the driven wheel are connected by a transmission belt, and the outer circumferential surface of the rotating elbow and the friction wheel are connected by friction force.

[0021] As a preferred embodiment of the above-mentioned rehabilitation robot, the forearm flexion and extension assembly includes a semi-circular arm support, two forearm connecting rods are respectively provided at both ends of the semi-circular arm support, the two forearm connecting rods are parallel and extend along the axial direction of the semi-circular arm support, the other ends of the two forearm connecting rods are respectively rotatably connected to one end of the forearm rotating rod, and the other ends of the two forearm rotating rods are fixedly connected to the two ends of the rotating elbow. When the two forearm connecting rods are respectively parallel to the two forearm rotating rods, the semi-circular arm support and the rotating elbow are coaxially arranged; the middle section of the semi-circular arm support is provided with a forearm support rod, which extends along the axial direction of the semi-circular arm support and is opposite to the extension direction of the forearm connecting rod.

[0022] As a preferred solution for the above-mentioned rehabilitation robot, the lifting mechanism includes two groups of lifting components arranged on the columns of the base support mechanism, and the two groups of lifting components correspond to the two groups of shoulder horizontal training components respectively. Each group of lifting components adopts a screw-nut mechanism, and the screw-nut mechanism includes a screw and a sleeve that are threaded together. The screw of the screw-nut mechanism is driven to rotate by a lifting motor, and the sleeve of the screw-nut mechanism is connected to the support rod of the corresponding shoulder horizontal training component.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The present invention provides an upper limb movement rehabilitation robot, which is equipped with movement structures on the shoulder, upper arm, elbow, forearm and wrist, thereby realizing flexible movement of multiple parts of the human upper limbs, and its variable stiffness upper arm includes two variable stiffness elastic arms arranged relatively upper and lower. In each variable stiffness elastic arm, by controlling the gas pressure and gas flow of its multiple air cavities, the variable stiffness elastic arm can achieve various deformations including stretching, bending and twisting, making the rehabilitation movement mode flexible and diverse; by controlling the air pressure in the soft spinal canal cavity, the stiffness of the variable stiffness elastic arm can be adjusted, thereby meeting the needs of different patients for upper limb rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention.

[0026] Figure 2 It is a top view of the overall structure of the present invention.

[0027] Figure 3 It is a perspective view of the lifting mechanism of the present invention.

[0028] Figure 4 It is a three-dimensional diagram of the present invention without the base support mechanism and the lifting mechanism.

[0029] Figure 5 yes Figure 4 Enlarged view of point A.

[0030] Figure 6 yes Figure 4 Enlarged view of point B.

[0031] Figure 7 It is a three-dimensional exploded view of the elbow training mechanism of the present invention.

[0032] Figure 8 It is a three-dimensional diagram of the variable rigidity boom of the present invention.

[0033] Figure 9 It is a three-dimensional diagram of a single variable-rigidity elastic arm of the present invention.

[0034] Figure 10yes Figure 9 Cross-sectional view of.

[0035] Figure 11 yes Figure 9 longitudinal section view of .

[0036] Numbers in the figure: 1 lifting mechanism, 2 shoulder level training mechanism, 3 upper arm activity training mechanism, 4 elbow training mechanism, 5 forearm flexion and extension mechanism, 6 wrist activity training mechanism, 7 movable base, 8 column, 9 universal wheel, 10 screw, 11 screw sleeve, 12 screw housing, 13 lifting motor, 14 support rod, 15 guide slide, 16 first shoulder link, 17 second shoulder link, 18 variable stiffness upper arm, 19 upper arm motor, 20 variable stiffness elastic arm, 21 soft spinal tube, 22 spiral protrusion, 23 soft trachea, 24 air cavity, 25 air Cavity, 26 inner end plate, 27 trachea interface, 28 exhaust interface, 29 cylinder push rod, 30 flexible support rod, 31 transmission rod, 32 rotating elbow, 33 arc-shaped slide, 34 arc-shaped slider, 35 elbow motor, 36 driving wheel, 37 driven wheel, 38 transmission belt, 39 friction wheel, 40 semi-circular arm support, 41 forearm connecting rod, 42 forearm rotating rod, 43 forearm motor, 44 variable stiffness wrist, 45 grip, 46 grip force sensor, 47 first wrist connecting rod, 48 second wrist connecting rod, 49 forearm support rod, 50 shoulder motor, 51 lightweight particles. DETAILED DESCRIPTION

[0037] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. However, the protection scope of the present invention is not limited to the following embodiment.

[0038] See also Figures 1 to 11 This embodiment discloses an upper limb exercise rehabilitation robot, including a base support mechanism, on which are provided a lifting mechanism 1, a shoulder horizontal training mechanism 2, an upper arm activity training mechanism 3, an elbow training mechanism 4, a forearm flexion and extension mechanism 5, and a wrist activity training mechanism 6.

[0039] The base support mechanism includes a movable base 7 with universal wheels 9, and a column 8 is provided on the movable base 7. The universal wheels 9 at the bottom of the movable base 7 can realize convenient movement of the entire robot, making it convenient for patients to use it where needed.

[0040] The lifting mechanism 1 is mounted on the column 8 of the base support mechanism. The lifting mechanism 1 includes two sets of lifting components arranged on the column 8 of the base support mechanism. The two sets of lifting components correspond to the two sets of shoulder horizontal training components respectively. Each set of lifting components adopts a screw-nut mechanism. The screw-nut mechanism includes a screw 10 and a threaded sleeve 11 that are threaded together. The screw 10 extends vertically and is rotatably mounted in a screw housing 12. A lifting motor 13 is provided on the top of the screw housing 12. The lifting motor 13 drives the screw 10 of the screw-nut mechanism to rotate. The threaded sleeve 11 of the screw-nut mechanism is connected to the support rod 14 of the corresponding shoulder horizontal training component. A vertically extending guide slot 15 is opened on the front side of the screw housing 12, and the guide slot 15 guides the vertical movement of the support rod 14.

[0041] The shoulder horizontal training mechanism 2 includes two groups of shoulder horizontal training components arranged opposite to each other on the left and right sides, and each group of shoulder horizontal training components includes a first shoulder link 16 and a second shoulder link 17 that are rotatably connected to each other. The second shoulder link 17 rotates in a horizontal plane relative to the first shoulder link 16. The first shoulder link 16 and the second shoulder link 17 are rotatably connected through a first vertically extending hinge shaft, and the second shoulder link 17 is driven by a shoulder motor 50 to rotate around the first hinge shaft in a horizontal plane. The head end of the first shoulder link 16 is connected to the output end of the lifting mechanism 1 through the support rod 14, and the support rod 14 is driven to rise and fall through the lifting mechanism 1, thereby driving the first shoulder link 16 to rise and fall.

[0042] The upper arm activity training mechanism 3 includes two variable stiffness upper arms 18 arranged opposite to each other on the left and right. The upper end of each variable stiffness upper arm 18 is rotatably installed on the end of the second shoulder connecting rod 17 of the corresponding side shoulder horizontal training component. The upper arm motor 19 drives the variable stiffness upper arm 18 to rotate as a whole in the horizontal plane. The variable stiffness upper arm 18 includes two variable stiffness elastic arms 20 arranged opposite to each other in the upper and lower directions. The opposite side of the two variable stiffness elastic arms 20 is the inner side. The inner sides of the two variable stiffness elastic arms 20 are connected by a vertical telescopic component, so that the two variable stiffness elastic arms 20 can be vertically telescopic. Each variable stiffness elastic arm 20 can achieve different deformation and stiffness adjustment through pneumatic control.

[0043] In the upper arm activity training mechanism 3, each variable stiffness elastic arm 20 includes a soft spinal tube 21 with a cavity 25 therein. A spiral protrusion 22 is provided on the outer wall of the soft spinal tube 21. A plurality of soft trachea 23 are provided in the cavity 25 of the soft spinal tube 21. The soft spinal tube 21, the spiral protrusion 22 and the soft trachea 23 can be made of soft materials such as silicone or rubber, and the elastic modulus of the spiral protrusion 22 is greater than the elastic modulus of the soft spinal tube 21. After the spiral protrusion 22 wraps around the soft spinal tube 21, it plays a role in limiting the lateral deformation of the soft spinal tube 21. The soft spinal tube 21 is made to undergo more radial expansion or bending; multiple independent air cavities 24 are formed inside the multiple soft trachea 23, and the cavity 25 of the soft spinal tube 21 is filled with lightweight particles 51 at the part located outside the soft trachea 23. The lightweight particles 51 can be lightweight particles such as foam balls or plastic balls; by controlling the gas pressure and gas flow of the multiple air cavities 24, different deformations of the variable stiffness elastic arm 20 are achieved; by controlling the air pressure in the cavity 25 of the soft spinal tube 21, the stiffness of the variable stiffness elastic arm 20 is adjusted.

[0044] The inner side of the variable-rigidity elastic arm 20 is enclosed by an inner end plate 26. Multiple tracheal ports 27 and an air extraction port 28 are provided on the inner end plate 26. The multiple tracheal ports 27 are connected one-to-one to the multiple air cavities 24 of the variable-rigidity elastic arm 20, while the air extraction port 28 is connected to the cavity 25 of the soft spinal canal 21. In this embodiment, three tracheal ports 27 are provided on the inner end plate 26. The multiple tracheal ports 27 are connected to an external air supply system, enabling independent control of the air supply to the multiple air cavities 24. By controlling the gas pressure and gas flow in the multiple air cavities 24, the variable-rigidity elastic arm 20 can undergo various deformations, such as stretching, bending, and torsion. By connecting an external vacuum system through the vacuum interface 28, when the cavity 25 of the soft spinal tube 21 is vacuumed, the soft spinal tube 21 contracts, and the spacing between the lightweight particles 51 filled in the cavity 25 of the soft spinal tube 21 becomes smaller, which can improve the stiffness of the variable stiffness elastic arm 20; when the gas in the cavity 25 of the soft spinal tube 21 is released, the soft spinal tube 21 recovers and the stiffness of the variable stiffness elastic arm 20 becomes smaller.

[0045] The vertical telescopic components include cylinder push rods 29, mounted on the inner end plates 26 of the upper and lower variable-rigidity elastic arms 20. The movable ends of the two cylinder push rods 29 are coaxially and fixedly connected. The upper and lower variable-rigidity elastic arms 20 of the variable-rigidity arm 18 are also connected by multiple flexible support rods 30. These multiple flexible support rods 30 are located around the cylinder push rods 29, and each flexible support rod 30 is fixedly connected to the inner end plates 26 of the upper and lower variable-rigidity elastic arms 20 at its upper and lower ends. The upper and lower variable-rigidity elastic arms 20 can be moved vertically away from or closer to each other to meet various rehabilitation exercise requirements.

[0046] The elbow training mechanism 4 includes two groups of elbow training components arranged opposite to each other on the left and right sides. Each group of elbow training components includes a horizontally extending transmission rod 31. The head end of the transmission rod 31 is fixedly connected to the bottom end of the variable stiffness arm 18 on the corresponding side. A rotating elbow 32 is movably provided at the end of the transmission rod 31. The rotating elbow 32 is semicircular in shape. An arc-shaped slide groove 33 extending circumferentially along the rotating elbow 32 is provided on the outer circumferential surface of the rotating elbow 32. An arc-shaped slider 34 slidingly matched with the arc-shaped slide groove 33 is provided at the end of the transmission rod 31. The rotating elbow 32 is driven to rotate around its own axis through a transmission mechanism arranged on the transmission rod 31.

[0047] In each elbow training assembly, the transmission mechanism includes an elbow motor 35, a driving wheel 36, a driven wheel 37, a transmission belt 38, and a friction wheel 39. The elbow motor 35 is mounted on the transmission rod 31. The driving wheel 36 is coaxially fixedly connected to the output shaft of the elbow motor 35. The driven wheel 37 is coaxially fixedly connected to the friction wheel 39 and rotatably mounted on the transmission rod 31. The driving wheel 36 and the driven wheel 37 are connected by the transmission belt 38. The outer circumferential surface of the rotating elbow 32 and the friction wheel 39 are connected by friction. The elbow motor 35 drives the driving wheel 36 to rotate, which in turn drives the driven wheel 37 to rotate coaxially with it. The driven wheel 37 then drives the friction wheel 39 coaxially fixed with it to rotate. The friction between the outer circumferential surface of the rotating elbow 32 and the friction wheel 39 drives the rotating elbow 32 to rotate about its own axis, thereby achieving rotational movement of the patient's elbow joint.

[0048] The forearm flexion and extension mechanism 5 includes two groups of forearm flexion and extension components that are arranged opposite to each other on the left and right sides. The head ends of the two groups of forearm flexion and extension components are respectively connected to one side of the rotating elbow 32 of the two elbow training components.

[0049] The forearm flexion and extension assembly includes a semi-circular arm support 40, with two forearm connecting rods 41 provided at both ends of the semi-circular arm support 40, the two forearm connecting rods 41 are parallel and extend along the axial direction of the semi-circular arm support 40, the other ends of the two forearm connecting rods 41 are respectively connected to one end of the forearm rotating rod 42 through a second vertically extending hinge shaft, and the other ends of the two forearm rotating rods 42 are fixedly connected to the two ends of the rotating elbow 32. When the two forearm connecting rods 41 are respectively parallel to the two forearm rotating rods 42, the semi-circular arm support 40 and the rotating elbow 32 are coaxially arranged; the middle section of the semi-circular arm support 40 is provided with a forearm support rod 49, which extends along the axial direction of the semi-circular arm support 40 and is opposite to the extension direction of the forearm connecting rod 41. A forearm motor 43 is provided at the connection between one of the forearm connecting rods 41 and the forearm rotating rod 42, and the forearm motor 43 drives the two forearm connecting rods 41 to rotate in the horizontal plane around the second hinge shaft.

[0050] The wrist motion training mechanism 6 comprises two sets of wrist motion training components, each of which includes a variable-stiffness wrist 44 and a grip 45. The end of the grip 45 is equipped with a grip force sensor 46. The head end of the variable-stiffness wrist 44 is connected to the end of the forearm support rod 49 of the corresponding forearm flexion and extension assembly, and the end of the variable-stiffness wrist 44 is connected to the grip 45. The variable-stiffness wrist 44 can achieve different deformation and stiffness adjustments through pneumatic control.

[0051] The structure of the variable-stiffness wrist 44 is the same as that of the variable-stiffness elastic arm 20. Each wrist motion training assembly also includes a wrist joint bracket, which includes a first wrist link 47 and a second wrist link 48 that are rotatably connected to each other. The second wrist link 48 can rotate in the horizontal plane relative to the first wrist link 47. The first wrist link 47 and the second wrist link 48 are rotatably connected via a third hinge axis extending vertically. The head end of the first wrist link 47 is fixedly connected to the head end of the variable-stiffness wrist 44, and the tail end of the second wrist link 48 is fixedly connected to the tail end of the variable-stiffness wrist 44. The provision of the wrist joint bracket allows the variable-stiffness wrist 44 to move only in the horizontal plane and limits the rotation angle of the variable-stiffness wrist 44, effectively preventing secondary injury to the patient's wrist.

[0052] When in use, the robot is moved to the desired location via the universal wheels 9 and locked. The overall height is adjusted via the lifting mechanism 1 to suit the patient. The patient comes to the front of the column 8, passes the forearms of the two upper limbs through the rotating elbow 32 and the semi-circular arm support 40 respectively, and holds both hands forward on the grip force sensors 46 of the two handles 45; and fixes the patient's forearms with straps, the ends of which can be tied tightly to the two forearm rotating rods 42. By controlling the air circuit system of the variable stiffness upper arm 18 and the variable stiffness wrist 44 and the various motors, the patient can be driven to perform various movements of the upper limbs, thereby achieving the purpose of upper limb rehabilitation exercises.

[0053] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An upper limb exercise rehabilitation robot, comprising a base support mechanism, characterized in that: The base support mechanism is provided with a lifting mechanism (1), a shoulder level training mechanism (2), an upper arm movement training mechanism (3), an elbow training mechanism (4), a lower arm flexion and extension mechanism (5), and a wrist movement training mechanism (6); The lifting mechanism (1) is mounted on the base support mechanism; The shoulder horizontal training mechanism (2) comprises two groups of shoulder horizontal training components which are arranged opposite to each other on the left and right sides. Each group of shoulder horizontal training components comprises a first shoulder connecting rod (16) and a second shoulder connecting rod (17) which are connected to each other in a rotational manner. The second shoulder connecting rod (17) rotates in a horizontal plane relative to the first shoulder connecting rod (16). The first end of the first shoulder connecting rod (16) is connected to the output end of the lifting mechanism (1) through the support rod (14). The lifting mechanism (1) drives the support rod (14) to move up and down, thereby driving the first shoulder connecting rod (16) to move up and down. The upper arm activity training mechanism (3) comprises two variable stiffness upper arms (18) arranged in a left-right relative manner, the upper end of each variable stiffness upper arm (18) being rotatably mounted on the end of the second shoulder connecting rod (17) of the corresponding shoulder horizontal training assembly, the variable stiffness upper arm (18) comprising two variable stiffness elastic arms (20) arranged in a top-bottom relative manner, the opposite side of the two variable stiffness elastic arms (20) being the inner side, the inner sides of the two variable stiffness elastic arms (20) being connected by a vertical telescopic component, so that the two variable stiffness elastic arms (20) can be vertically telescopic, and each variable stiffness elastic arm (20) can achieve different deformation and stiffness adjustment through pneumatic control; The elbow training mechanism (4) comprises two sets of elbow training components which are arranged in a left-right relative manner. Each set of elbow training components comprises a horizontally extending transmission rod (31). The head end of the transmission rod (31) is fixedly connected to the bottom end of the variable stiffness arm (18) on the corresponding side. The end of the transmission rod (31) is movably provided with a rotating elbow (32). The rotating elbow (32) is in a semicircular ring shape. An arc-shaped sliding groove (33) extending along the circumference of the rotating elbow (32) is provided on the outer circumference surface of the rotating elbow (32). A slider which is slidably matched with the arc-shaped sliding groove (33) is provided at the end of the transmission rod (31). The rotating elbow (32) is driven to rotate around its own axis by a transmission mechanism arranged on the transmission rod (31). The forearm flexion and extension mechanism (5) comprises two groups of forearm flexion and extension components arranged opposite to each other on the left and right sides, and the head ends of the two groups of forearm flexion and extension components are respectively connected to one side of the rotating elbows (32) of the two elbow training components; The wrist movement training mechanism (6) includes two groups of wrist movement training components arranged in a left-right relative manner. Each group of wrist movement training components includes a variable stiffness wrist (44) and a handle (45). The head end of the variable stiffness wrist (44) is connected to the end of the corresponding side forearm flexion and extension component, and the end of the variable stiffness wrist (44) is connected to the handle (45). The variable stiffness wrist (44) can achieve different deformation and stiffness adjustments through pneumatic control.

2. The upper limb exercise rehabilitation robot according to claim 1, characterized in that: In the upper arm activity training mechanism (3), each variable stiffness elastic arm (20) includes a soft spinal tube (21) with an internal cavity (25), a spiral protrusion (22) is provided on the outer wall of the soft spinal tube (21), a plurality of soft trachea (23) are provided in the cavity (25) of the soft spinal tube (21), and a plurality of independent air cavities (24) are formed inside the plurality of soft trachea (23), and the cavity (25) of the soft spinal tube (21) is filled with light particles (51) at the portion located outside the soft trachea (23). By controlling the gas pressure and gas flow of the plurality of air cavities (24), different deformations of the variable stiffness elastic arm (20) are achieved; and by controlling the gas pressure in the cavity (25) of the soft spinal tube (21), the stiffness of the variable stiffness elastic arm (20) is adjusted.

3. The upper limb exercise rehabilitation robot according to claim 2, characterized in that: The inner side of the variable stiffness elastic arm (20) is closed by an inner end plate (26), and the inner end plate (26) of the variable stiffness elastic arm (20) is provided with a plurality of tracheal interfaces (27) and an air extraction interface (28), the plurality of tracheal interfaces (27) are connected one-to-one with the plurality of air cavities (24) of the variable stiffness elastic arm (20), and the air extraction interface (28) is connected with the cavity (25) of the soft spinal tube (21); the vertical telescopic component includes a cylinder push rod (29) respectively arranged on the upper and lower inner end plates (26) of the variable stiffness elastic arm (20), and the movable ends of the upper and lower cylinder push rods (29) are coaxially fixedly connected.

4. The upper limb exercise rehabilitation robot according to claim 3, characterized in that: The upper and lower variable stiffness elastic arms (20) of the variable stiffness large arm (18) are connected by a plurality of flexible support rods (30). The plurality of flexible support rods (30) are located on the periphery of the cylinder push rod (29). The upper and lower ends of each flexible support rod (30) are respectively fixedly connected to the inner end plates (26) of the upper and lower variable stiffness elastic arms (20).

5. The upper limb exercise rehabilitation robot according to claim 2, characterized in that: The structure of the variable stiffness wrist (44) is the same as that of the variable stiffness elastic arm (20).

6. The upper limb exercise rehabilitation robot according to claim 5, characterized in that: Each group of wrist activity training components also includes a wrist joint bracket, which includes a first wrist link (47) and a second wrist link (48) that are rotatably connected to each other. The second wrist link (48) can rotate in a horizontal plane relative to the first wrist link (47). The head end of the first wrist link (47) is fixedly connected to the head end of the variable stiffness wrist (44), and the end of the second wrist link (48) is fixedly connected to the end of the variable stiffness wrist (44).

7. The upper limb exercise rehabilitation robot according to claim 5, characterized in that: In each set of the wrist movement training components, a grip force sensor (46) is provided at the end of the grip (45).

8. The upper limb exercise rehabilitation robot according to claim 1, characterized in that: In each set of the elbow training components, the transmission mechanism includes an elbow motor (35), a driving wheel (36), a driven wheel (37), a transmission belt (38), and a friction wheel (39). The elbow motor (35) is installed on a transmission rod (31). The driving wheel (36) is coaxially fixedly connected to the output shaft of the elbow motor (35). The driven wheel (37) is coaxially fixedly connected to the friction wheel (39) and is rotatably installed on the transmission rod (31). The driving wheel (36) and the driven wheel (37) are connected to each other through a transmission belt (38). The outer circumferential surface of the rotating elbow (32) and the friction wheel (39) are connected to each other through friction.

9. The upper limb exercise rehabilitation robot according to claim 1, characterized in that: The forearm bending and extension assembly comprises a semi-circular arm support (40), two forearm connecting rods (41) are respectively provided at both ends of the semi-circular arm support (40), the two forearm connecting rods (41) are parallel and extend along the axial direction of the semi-circular arm support (40), the other ends of the two forearm connecting rods (41) are respectively rotatably connected to one end of the forearm rotating rod (42), the other ends of the two forearm rotating rods (42) are fixedly connected to the two ends of the rotating elbow (32), and when the two forearm connecting rods (41) are respectively parallel to the two forearm rotating rods (42), the semi-circular arm support (40) and the rotating elbow (32) are coaxially arranged; the middle section of the semi-circular arm support (40) is provided with a forearm supporting rod (49), the forearm supporting rod (49) extends along the axial direction of the semi-circular arm support (40) and is opposite to the extending direction of the forearm connecting rod (41).

10. The upper limb exercise rehabilitation robot according to claim 1, characterized in that: The lifting mechanism (1) comprises two groups of lifting components arranged on the columns (8) of the base support mechanism, the two groups of lifting components respectively corresponding to the two groups of shoulder horizontal training components, each group of lifting components adopts a screw-nut mechanism, the screw-nut mechanism comprises a screw (10) and a screw sleeve (11) that are threadedly matched with each other, the screw (10) of the screw-nut mechanism is driven to rotate by a lifting motor (13), and the screw sleeve (11) of the screw-nut mechanism is connected to the support rod (14) of the corresponding shoulder horizontal training component.

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