Upper limb rehabilitation training linkage device

Abstract

The invention discloses an upper limb rehabilitation training linkage device. The wearable upper limb rehabilitation training device comprises a strap, at least one fixing shell installed on the strap, mechanical arms movably arranged on the fixing shells, manipulators movably arranged on the mechanical arms, a plurality of lantern rings installed on the mechanical arms and driving assemblies arranged on the fixing shells and used for driving the mechanical arms to ascend and descend. The mechanical arm is provided with a first plastic shell with the hollow interior, the first plastic shell is provided with a massage assembly used for conducting hammering massage on the arm of the patient, and the massage assembly is connected with the mechanical arm through a rope assembly. By means of the upper limb rehabilitation training linkage device, on the basis that arm and finger training is achieved at the same time, massage on the arms of the patient is completed efficiently and conveniently, the training convenience of the patient is greatly improved, the patient can conveniently carry the training device on the back to conduct real-time training, efficiency and convenience are achieved, and the training convenience of the patient is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to an upper limb rehabilitation training linkage device. Background Art

[0002] Paralysis refers to the loss of sensory and motor functions of one or more muscles due to damage to the human nervous system. The main causes of this type of disease include stroke, spinal cord injury, etc. For patients with upper limb dysfunction, a certain intensity of limb training is often required. In terms of the reconstruction of the motor function of paralyzed limbs, the motor function rehabilitation of the upper limbs has an important impact on the daily life of patients; however, patients with upper limb dysfunction cannot independently and effectively perform upper limb rehabilitation training, and need medical staff to assist in the training in real time, which puts forward new and higher requirements on the number and ability of medical staff.

[0003] Upper limb rehabilitation devices can replace a large number of medical staff's repetitive and monotonous medical care work to provide rehabilitation training for patients, thereby effectively improving patients' muscle atrophy symptoms and avoiding permanent loss of muscle function. At present, arm training and finger training of upper limb rehabilitation devices are performed separately through two different training devices, which makes training inconvenient for patients. Therefore, there is an urgent need to develop a rehabilitation device that can achieve arm and finger training at the same time. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an upper limb rehabilitation training linkage device, aiming to solve the technical problem that the existing upper limb rehabilitation training devices cannot achieve arm and finger training at the same time.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an upper limb rehabilitation training linkage device, comprising a shoulder strap, at least one fixed shell installed on the shoulder strap, a mechanical arm movably arranged on each of the fixed shells, a mechanical hand movably arranged on the mechanical arm, a plurality of rings installed on the mechanical arm and used to fix the patient's arm on the mechanical arm, and a driving component arranged on the fixed shell and used to drive the mechanical arm to rise and fall, the mechanical arm is provided with a first plastic shell with a hollow interior, the first plastic shell is provided with a massage component for hammering massage on the patient's arm, and the massage component is connected to the mechanical hand through a rope component.

[0006] Furthermore, the massage component includes a chassis arranged in the first plastic shell, a plurality of mounting seats distributed at intervals along the circumferential direction of the chassis, a rotating wheel rotatably mounted on each of the mounting seats, a connecting piece integrally formed with the rotating wheel, a connecting rod transmission-connected to the connecting piece, a massage head arranged at the end of the connecting rod, a support plate distributed in parallel on one side of the chassis and mounted on each of the connecting pieces, a turntable rotatably mounted on the support plate, a lifting wheel assembly installed on each of the connecting pieces and abutting against the turntable, and a gear assembly for driving the turntable to rotate, the outer side wall of the turntable is provided with meshing teeth meshing with the gear assembly, the turntable is provided with a protrusion abutting against the lifting wheel assembly to drive the connecting rod to rise and fall, and the rope assembly is respectively connected to each of the massage heads and the manipulator.

[0007] Furthermore, the massage component also includes a spring which is sleeved on the connecting rod and elastically presses against the rotating disk, and a baffle for positioning one end of the spring is fixedly provided on the connecting rod.

[0008] Furthermore, a slot for inserting one end of the connecting rod is provided at one end of the connecting piece, and a locking ball which cooperates with the slot is provided on the connecting rod.

[0009] Furthermore, the lifting wheel assembly includes a lifting rod arranged in parallel with the connecting rod at an interval, a horizontal rod for connecting the lifting rod and the connecting rod, and an abutment wheel arranged on the lifting rod and abutting against the turntable.

[0010] Furthermore, the rope assembly includes a mounting plate arranged on the manipulator, a sliding rod slidably mounted on the mounting plate, a first elastic rope sleeved on the sliding rod and used to connect each finger of the manipulator, a second elastic rope sleeved on the sliding rod and used to connect with each massage head, the first elastic rope is distributed on one side of the mounting plate, the second elastic rope is distributed on a side of the mounting plate facing away from the first elastic rope, and the mounting plate is provided with a slide opening for the sliding rod to slide.

[0011] Furthermore, the sliding rod is provided with a first slot connected to the first elastic rope.

[0012] Furthermore, the slide bar is provided with a second slot for connecting to one end of the second elastic rope, and the massage head is provided with a third slot for connecting to the other end of the second elastic rope.

[0013] Furthermore, the gear assembly includes a driving motor disposed on the mechanical arm, a rotating shaft mounted on a movable end of the driving motor, and a gear disposed on the rotating shaft and meshing with the teeth.

[0014] Furthermore, the collar is also provided with a heart rate sensor for real-time monitoring of heart rate.

[0015] The beneficial effects of the present invention are as follows: compared with the prior art, the upper limb rehabilitation training linkage device in the present invention can be worn by the patient by providing a strap; a mechanical arm is provided on the fixed shell, so that the patient's arm can be fixed on the mechanical arm through a plurality of rings on the mechanical arm; a driving component is provided, so that the driving component can drive the mechanical arm to perform lifting and lowering movements, thereby realizing the training of the patient's arm lifting; a first plastic shell is provided on the mechanical arm, and a massage component is provided in the first plastic shell, so that the patient's arm can be hammered and massaged by the massage component, so as to accelerate the blood circulation of the patient and realize the relaxation training of the patient's muscles; a rope component is provided, so that the massage component can be connected to the mechanical hand through the rope component; when the massage component is working, the mechanical hand can be driven to move through the rope component, and the mechanical hand can then drive the patient's fingers to perform activity training, thereby realizing the linkage of arm massage and finger activity training simultaneously. Through the upper limb rehabilitation training linkage device in the present application, on the basis of realizing arm and finger training at the same time, the massage of the patient's arm is completed synchronously, which is efficient and convenient, and greatly improves the convenience of patient training.

[0016] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art may be taught from the practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0018] Figure 1 A schematic diagram of the structure of an upper limb rehabilitation training linkage device proposed in an embodiment of the present invention from a first perspective;

[0019] Figure 2 A schematic diagram of the structure of the upper limb rehabilitation training linkage device proposed in an embodiment of the present invention from a second viewing angle;

[0020] Figure 3 A schematic diagram of the partial structure of an upper limb rehabilitation training linkage device proposed in one embodiment of the present invention;

[0021] Figure 4 This is a schematic structural diagram of a massage component provided by an embodiment of the present invention;

[0022] Figure 5 An embodiment of the present invention is proposed Figure 4 A magnified view of middle;

[0023] Figure 6 A schematic structural diagram of a massage component from another perspective according to an embodiment of the present invention;

[0024] Figure 7 A schematic diagram of the structure of a manipulator according to an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of the structure of a slide bar and a mounting plate provided in one embodiment of the present invention;

[0026] Fig. 9 A schematic diagram of the structure of a mechanical arm and a driving assembly according to an embodiment of the present invention;

[0027] Fig.10 A schematic diagram of the structure of a pressing assembly proposed in one embodiment of the present invention;

[0028] Fig.11 A schematic diagram of a partial structure of a pressing assembly according to an embodiment of the present invention.

[0029] Figure Number:

[0030] 1- Strap;

[0031] 2-Fix the shell;

[0032] 3-mechanical arm; 31-ring; 32-first plastic shell; 33-second plastic shell;

[0033] 4-driving assembly; 41-first driving cylinder; 42-card table; 43-jointed arm; 44-support plate;

[0034] 5-massage assembly; 51-chassis; 52-mounting seat; 53-rotating wheel; 54-connecting piece; 55-connecting rod; 551-spring; 552-blocking plate; 56-massage head; 561-third card slot; 57-support plate; 58-lifting wheel assembly; 581-lifting rod; 582-horizontal rod; 583-abutting wheel; 59-rotating plate; 591-protrusion; 592-tooth;

[0035] 6-rope assembly; 61-mounting plate; 62-sliding rod; 621-first slot; 622-second slot; 63-first elastic rope; 64-second elastic rope;

[0036] 7-Manipulator;

[0037] 8-gear assembly; 81-driving motor; 82-rotating shaft; 83-gear;

[0038] 9-pressing assembly; 91-second driving cylinder; 92-fixed bushing; 93-driving shaft; 94-scissor support. DETAILED DESCRIPTION

[0039] like Figures 1 to 11 As shown, this embodiment proposes an upper limb rehabilitation training linkage device, including a strap 1, on which at least one fixed shell 2 is installed. Specifically, in this embodiment, the strap 1 is provided with two fixed shells 2, and the two fixed shells 2 are arranged on opposite sides of the strap 1; each fixed shell 2 is movably provided with a mechanical arm 3, and one end of the mechanical arm 3 is movably provided with a mechanical hand 7. In addition, a plurality of rings 31 are installed on the mechanical arm 3, and the rings 31 can be used to fix the patient's arm on the mechanical arm 3. The fixed shell 2 is provided with a driving component 4, and the driving component 4 can be used to drive the mechanical arm 3 The robot arm 3 is lifted and lowered, and the robot arm 3 drives the patient's arm to lift and lower, so as to realize the training of lifting the patient's arm; in addition, the robot arm 3 is provided with a first plastic shell 32, and the first plastic shell 32 is hollow inside. The shell is made of plastic material, so that the shell has good plastic toughness. The first plastic shell 32 is provided with a massage component 5, and the massage component 5 can push the first plastic shell 32 to perform hammer massage on the patient's arm, accelerate the circulation of the patient's blood, realize relaxation training of the patient's muscles, and contact the patient's arm through the plastic material, thereby improving the patient's comfort. In addition, the massage component 5 is connected to the robot 7 through the rope component 6. When the massage component 5 is working, the robot 7 can be driven to move through the rope component 6, and the robot 7 can drive the patient's fingers to perform activity training, and the arm massage and finger activity linkage training are realized synchronously. Through the upper limb rehabilitation training linkage device in this application, on the basis of realizing arm and finger training at the same time, the massage of the patient's arm is completed synchronously, which is efficient and convenient, and greatly improves the convenience of patient training.

[0040] For further information, see Figures 3 to 6As shown, the massage component 5 includes a chassis 51 and a plurality of mounting seats 52. The chassis 51 is arranged in the first plastic shell 32. The chassis 51 is provided with a plurality of mounting seats 52 spaced apart along its circumferential direction. A rotating wheel 53 is rotatably mounted on each mounting seat 52. The rotating wheel 53 is provided with a connecting member 54 integrally formed therewith. The connecting member 54 is provided with a connecting rod 55 transmission-connected therewith. A massage head 56 is provided at the end of the connecting rod 55. A support plate 57 is distributed in parallel on one side of the chassis 51. The support plate 57 is installed on each connecting member 54. Specifically, a through hole is opened on the support plate 57 corresponding to the position of each connecting member 54, and each connecting member 54 can pass through each through hole. In addition, a turntable 59 is rotatably provided on the support plate 57, and a lifting wheel assembly 58 abutting against the turntable 59 is installed on the connecting member 54. In addition, a gear assembly 8 is also provided in the first plastic shell 32, and a meshing tooth 592 is provided on the outer wall of the turntable 59, and the meshing tooth 592 is meshed with the gear assembly 8. The gear assembly 8 can be used to drive the turntable 59 to rotate. A protrusion 591 is provided on the turntable 59, and the protrusion 591 abuts against the lifting wheel assembly 58 so that the lifting wheel assembly 58 drives the connecting rod 55 to rise and fall, and the rope assembly 6 is respectively connected to each massage head 56 and the manipulator 7.

[0041] In the present application, the massage principle of the massage component 5 is as follows:

[0042] When the patient's arm needs to be massaged, the gear assembly 8 meshes with the teeth of the turntable 59. By driving the gear assembly 8, the gear assembly 8 drives the turntable 59 to rotate, and the protrusion 591 on the turntable 59 rotates synchronously. The protrusion 591 will push the lifting wheel assembly 58 up and down, and the lifting wheel assembly 58 will then drive the connecting rod 55 to move up and down, and the connecting rod 55 will then drive the massage head 56 to hammer the patient's arm, thereby massaging the patient's arm.

[0043] Preferably, the rotating disk 59 is integrally formed with the protrusion 591. By integrally forming, subsequent machining can be reduced, thereby reducing the processing cost.

[0044] Preferably, the rotating disk 59 is detachably connected to the protruding portion 591. Specifically, the rotating disk 59 is connected to the protruding portion 591 by a buckle connection. Through the detachable connection, when the protruding portion 591 is worn out after long-term use, the protruding portion 591 can be easily replaced.

[0045] For further information, see Figure 4As shown, the massage assembly 5 further includes a spring 551, which is sleeved on the connecting rod 55, and the spring 551 elastically abuts against the rotating disk 59. A baffle 552 is fixedly provided on the connecting rod 55, and the baffle 552 can abut against one end of the spring 551. In this way, by providing the spring 551, one end of the spring 551 abuts against the baffle 552, and the other end of the spring 551 abuts against the rotating disk 59. In this way, the spring 551 elastically abuts against the rotating disk 59, thereby ensuring that the rotating disk 59 and the lifting wheel assembly 58 are continuously abutted, providing a guarantee for subsequent massage hammering.

[0046] For further information, see Figure 4 As shown, a slot is provided at one end of the connecting member 54, and a ball is provided on the connecting rod 55, which can be inserted into the slot. In this way, one end of the connecting member 54 is connected with the ball of the connecting rod 55 through the slot, so as to realize the connection between the connecting member 54 and the connecting rod 55; the other end of the connecting member 54 is hinged to the mounting seat 52 through the rotating wheel 53, so as to form a structure similar to a "seesaw", so that the connecting member 54 can move synchronously with the connecting rod 55.

[0047] In the present application, when the lifting rod assembly 58 drives the connecting rod 55 to rise and fall, the connecting rod 55 further drives one end of the connecting member 54 to rise and fall synchronously, and the other end of the connecting member 54 rotates around the mounting seat 52 through the rotating wheel 53, thereby realizing the transmission connection between the connecting rod 55 and the connecting member 54.

[0048] In the present application, the connecting member 54 is a spoon-shaped structure. By setting it to a spoon shape, on the one hand, the structure is more compact, and on the other hand, the movable stroke of the connecting rod 55 is increased. Of course, in this embodiment, according to actual conditions and specific needs, the connecting member 54 can also be set to other structures, which is not limited here.

[0049] For further information, see Figure 4 As shown, the lifting wheel assembly 58 includes a lifting rod 581, a horizontal rod 582, and an abutment wheel 583. The lifting rod 581 and the connecting rod 55 are arranged in parallel with each other at an interval. The horizontal rod 582 can be used to connect the lifting rod 581 with the connecting rod 55. The abutment wheel 583 is arranged on the lifting rod 581 and abuts against the turntable 59.

[0050] In the present application, when the gear assembly 8 is meshed with the teeth of the turntable 59, the turntable 59 can be driven to rotate through the gear assembly 8, and the turntable 59 can then synchronously drive the protrusion 591 to rotate, and the protrusion 591 can then abut against the abutment wheels 583 at different positions, and the abutment wheels 583 can then drive the lifting rod 581 to rise and fall, and the lifting rod 581 drives the connecting rod 55 to rise and fall under the action of the horizontal rod 582, and the connecting rod 55 can then drive the massage head 56 to hammer the patient's arm, thereby massaging the patient's arm.

[0051] In the present application, the number of the massage heads 56 is four, and accordingly, the number of the connecting rods 55 is also four. In this way, when the protrusions 591 sequentially abut against the abutting wheels 583 at different positions, the abutting wheels 583 at different positions and the lifting rods 581 are synchronously lifted and lowered in sequence. Of course, in the present application, according to actual conditions and specific needs, the number of the massage heads 56 and the connecting rods 55 can also be set to five, six, seven, eight, etc., which is not limited here.

[0052] Preferably, in the present application, the protrusion 591 can abut against a single abutment wheel 583. Of course, in the present application, the protrusion 591 can also abut against two abutment wheels 583 at the same time to achieve synchronous lifting of the two abutment wheels 583; of course, it can also abut against three abutment wheels 583 at the same time, which is not the only limitation here.

[0053] For further information, see Figure 1 , Figure 7 as well as Figure 8 As shown, the rope assembly 6 includes a mounting plate 61, a slide bar 62, a first elastic rope 63, and a second elastic rope 64. The mounting plate 61 is arranged on the manipulator 7, the slide bar 63 is slidably mounted on the mounting plate 61, the first elastic rope 63 is sleeved on the slide bar 62 and is used to connect each finger, the second elastic rope 64 is sleeved on the slide bar 62 and is used to connect with each massage head 56, the first elastic rope 63 is distributed on one side of the mounting plate 61, and the second elastic rope 64 is distributed on the side of the mounting plate 61 facing away from the first elastic rope 63. The mounting plate 61 is provided with a slide opening, and the slide opening can allow the slide bar 62 to slide.

[0054] In the present application, when the massage head 56 is hammering, the massage head 56 pulls the slide bar 62 along the slideway through the second elastic rope 64, and the slide bar 62 then pulls the fingers of the manipulator 7 to bend through the first elastic rope 63, so as to achieve training of each finger; when the massage head returns to the original position, the first elastic rope 63 and the second elastic rope 64 return to the initial state. In order to be able to train repeatedly, the fingers of the manipulator 7 are also made of elastic material, so that the fingers of the manipulator 7 can be restored to the initial state under the action of their own elastic force. The massage head 56 repeatedly pulls the slide bar 62 to move, and the slide bar 63 then pulls the fingers of the manipulator 7 to stretch and bend back and forth through the first elastic rope 63, so as to achieve training of the fingers during the massage process.

[0055] In the present application, the first elastic rope 63 and the second elastic rope 64 are distributed on opposite sides of the mounting plate 61 , thereby ensuring uniform force on the sliding rod 62 .

[0056] For further information, see Figure 8As shown, the slide bar 62 is provided with a first slot 621, and the first slot 621 is connected to the first elastic rope 63. The first elastic rope 63 is sleeved in the first slot 621, so that the installation is more convenient.

[0057] For further information, see Figure 8 As shown, the slide bar 62 is provided with a second slot 622, which can be used to connect with one end of the second elastic rope 64, and the massage head 56 is provided with a third slot 561, and the other end of the second elastic rope 64 is connected to the third slot 561. In this way, by providing the second slot 622 and the third slot 561, it is convenient to quickly sleeve the two ends of the second elastic rope 64 on the slide bar 62. In this way, when the massage head 56 performs hammering massage, the massage head 56 pulls the slide bar 62 to move along the slideway through the second elastic rope 64, and the slide bar 62 then pulls the fingers of the manipulator 7 through the first elastic rope 63 to perform stretching and bending training, thereby realizing the synchronization of massage and finger training.

[0058] In the present application, by providing the first card slot 621, the second card slot 622, and the third card slot 561, the two ends of the first elastic rope 63 and the second elastic rope 64 can be better clamped and fixed, preventing the end of the first elastic rope 63 or the second elastic rope 64 from being offset during the pulling process and affecting the pulling effect.

[0059] For further information, see Figure 3 As shown, the gear assembly 8 includes a driving motor 81, a rotating shaft 82, and a gear 83. The driving motor 81 is arranged on the mechanical arm 3, the rotating shaft 82 is installed on the movable end of the driving motor 81, and the gear 83 is arranged on the rotating shaft 82 and meshes with the teeth 592 on the rotating disk 59. In this way, the driving motor 81 drives the rotating shaft 82 to rotate, the rotating shaft 82 drives the gear 83 to rotate, and the gear 83 further drives the rotating disk 59 to rotate, thereby realizing the output of power.

[0060] Furthermore, a heart rate sensor is also provided on the collar 31. By providing the heart rate sensor, the patient's heart rate can be monitored in real time; when the patient's heart rate is irregular, the training of the patient is stopped to ensure the suitability of the patient's training.

[0061] For further information, see Figure 3 and Fig. 9As shown, the driving assembly 4 includes a first driving cylinder 41, a card table 42, and a joint arm 43. The first driving cylinder 41 is arranged on the fixed shell 2, the card table 42 is arranged at the movable end of the first driving cylinder 41, one end of the joint arm 43 is connected to the card table 42, and the other end of the joint arm 43 is connected to the mechanical arm 3. In addition, the driving assembly 4 also includes a pair of support plates 44, which are spaced and distributed on opposite sides of the first driving cylinder 41. The mechanical arm 3 is arranged on the pair of support plates 44 through a hinge shaft. In this way, when it is necessary to perform lifting training on the arm, the arm is fixed on the mechanical arm 3 at this time, and the first driving cylinder 41 is driven. The first driving cylinder 41 pushes the joint arm 43 to move, and the joint arm 43 can make the mechanical arm 3 rotate around the pair of support plates 57, that is, when the first driving cylinder 41 is contracted, the lifting training of the arm can be realized; when the first driving cylinder 41 is extended, the drooping training of the arm can be realized. Preferably, both ends of the articulated arm 43 are respectively hinged to the card table 42 and the robot arm 3. Furthermore, the articulated arm 43 is an arc-shaped plate, and the bending direction of the arc-shaped plate is the same as the rotation direction of the robot arm 3, which is conducive to the adjustment training of the robot arm 3.

[0062] For further information, see Figures 9 to 11 As shown, the robot arm 3 is also provided with a second plastic shell 33, and the side of the second plastic shell 33 close to the shoulder is provided on the robot arm 3, and the second plastic shell 33 is hollow inside, and a pressing assembly 9 for pressing the upper arm is provided in the second plastic shell 33. Specifically, the pressing assembly 9 includes a second driving cylinder 91, and the second driving cylinder 91 is provided on the robot arm 3 and located outside the second plastic shell 33, and a fixed shaft sleeve 92, a driving shaft 93, and a plurality of scissor struts 94 are provided in the second plastic shell 33, and the driving shaft 93 is coaxially arranged with the fixed shaft sleeve 92, and each scissor strut 94 is distributed on the fixed shaft sleeve 92 and the driving shaft 93 at intervals along the circumferential direction of the fixed shaft sleeve 92 and the driving shaft 93, respectively, and the movable end of the second driving cylinder 91 can extend into the second plastic shell 33 and connect with the driving shaft 93. In this way, when the patient's shoulder needs to be fixed, the driving shaft 93 is pushed to move by the second driving cylinder 91. When the driving shaft 93 moves toward the fixed sleeve 92, the scissors strut 94 is pushed to open and push the second plastic shell 33 against the patient's shoulder, thereby pressing or fixing the upper arm; when pressing or fixing is not needed, the second driving cylinder 91 contracts, so that the scissors strut 94 returns to its initial state, which is simple and convenient.

[0063] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An upper limb rehabilitation training linkage device, characterized in that: The invention comprises a shoulder strap, at least one fixed shell installed on the shoulder strap, a mechanical arm movably arranged on each of the fixed shells, a mechanical hand movably arranged on the mechanical arm, a plurality of rings installed on the mechanical arm and used for fixing the patient's arm on the mechanical arm, and a driving component arranged on the fixed shell and used for driving the mechanical arm to rise and fall. The mechanical arm is provided with a first plastic shell with a hollow interior, and the first plastic shell is provided with a massage component for performing hammer massage on the patient's arm, and the massage component is connected to the mechanical hand through a rope component.

2. The upper limb rehabilitation training linkage device according to claim 1, characterized in that: The massage component includes a chassis arranged in the first plastic shell, a plurality of mounting seats distributed at intervals along the circumferential direction of the chassis, a rotating wheel rotatably mounted on each of the mounting seats, a connecting piece integrally formed with the rotating wheel, a connecting rod transmission-connected to the connecting piece, a massage head arranged at the end of the connecting rod, a supporting plate distributed in parallel on one side of the chassis and mounted on each of the connecting pieces, a rotating disk rotatably mounted on the supporting plate, a lifting wheel assembly installed on each of the connecting pieces and abutting against the rotating disk, and a gear assembly for driving the rotating disk to rotate, the outer side wall of the rotating disk is provided with teeth meshing with the gear assembly, the rotating disk is provided with a protrusion abutting against the lifting wheel assembly to drive the connecting rod to rise and fall, and the rope assembly is respectively connected to each of the massage heads and the manipulator.

3. The upper limb rehabilitation training linkage device according to claim 2, characterized in that: The massage component also includes a spring which is sleeved on the connecting rod and elastically presses against the rotating disk. A baffle for positioning one end of the spring is fixedly provided on the connecting rod.

4. The upper limb rehabilitation training linkage device according to claim 2, characterized in that: One end of the connecting piece is provided with a slot for inserting one end of the connecting rod, and the connecting rod is provided with a locking ball which is matched and connected with the slot.

5. The upper limb rehabilitation training linkage device according to claim 2, characterized in that: The lifting wheel assembly includes a lifting rod arranged in parallel with the connecting rod at an interval, a horizontal rod for connecting the lifting rod with the connecting rod, and an abutting wheel arranged on the lifting rod and abutting against the turntable.

6. The upper limb rehabilitation training linkage device according to claim 2, characterized in that: The rope assembly includes a mounting plate arranged on the manipulator, a sliding rod slidably mounted on the mounting plate, a first elastic rope sleeved on the sliding rod and used to connect the fingers of the manipulator, a second elastic rope sleeved on the sliding rod and used to connect with each massage head, the first elastic rope is distributed on one side of the mounting plate, the second elastic rope is distributed on the side of the mounting plate facing away from the first elastic rope, and the mounting plate is provided with a slide opening for the sliding rod to slide.

7. The upper limb rehabilitation training linkage device according to claim 6, characterized in that: The slide bar is provided with a first slot connected with the first elastic rope.

8. The upper limb rehabilitation training linkage device according to claim 6, characterized in that: The slide bar is provided with a second slot for connecting with one end of the second elastic rope, and the massage head is provided with a third slot for connecting with the other end of the second elastic rope.

9. The upper limb rehabilitation training linkage device according to claim 2, characterized in that: The gear assembly includes a driving motor disposed on the mechanical arm, a rotating shaft mounted on a movable end of the driving motor, and a gear disposed on the rotating shaft and meshing with the teeth.

10. The upper limb rehabilitation training linkage device according to claim 1, characterized in that: The collar is also provided with a heart rate sensor for real-time monitoring of heart rate.

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