Four-degree-of-freedom upper limb rehabilitation training device and control method

Abstract

The invention discloses a four-degree-of-freedom upper limb rehabilitation training device and a control method, and relates to the technical field of rehabilitation robots. The rehabilitation training device is used for assisting a hemiplegic patient to achieve rehabilitation training and comprises a shoulder joint mechanism, an elbow joint mechanism, a wrist joint mechanism and a sliding mechanism, the shoulder joint mechanism has two degrees of freedom of flexion extension and adduction and abduction, the elbow joint has one degree of freedom of flexion extension, and the wrist joint has one degree of freedom of palm flexion and back extension. The upper limb rehabilitation training device has the advantages that the back support can slide leftwards and rightwards by the aid of the sliding mechanisms, and accordingly the upper limb rehabilitation training device can adapt to users with different shoulder widths and body types; the shoulder joint adduction and abduction movement, the shoulder joint flexion and extension movement, the elbow joint flexion and extension movement, the wrist joint metacarpal flexion and back extension movement and the cooperative movement of multiple joints are achieved, the robot returns to the original position after training is completed, and the robot is combined with human engineering and has the advantages of multiple active degrees of freedom, simple structure, large movement range, low use cost and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation robots, and in particular relates to a four-degree-of-freedom upper limb rehabilitation training device and a control method. Background Art

[0002] Globally, the aging process of the population is accelerating, and the proportion of the elderly in the total population continues to rise. As they age, the physical functions of the elderly gradually decline, and various motor dysfunction problems also arise, seriously affecting their mobility and quality of life. On the other hand, the number of patients with diseases such as stroke, Parkinson's disease, and spinal cord injury is also increasing. Cerebrovascular diseases such as stroke often cause damage to local brain tissue of patients after onset, causing hemiplegia of the limbs, and affecting the patient's ability to move independently. As well as athletes or daily sports enthusiasts, patients with sports injuries who suffer from upper limb fractures, muscle strains, ligament injuries, etc. during exercise can rely on upper limb rehabilitation mechanical devices to obtain scientific and step-by-step rehabilitation training during the rehabilitation stage to promote the recovery of injured parts and help return to exercise.

[0003] In the past, rehabilitation treatment was provided by medical therapists on a one-to-one basis. Long-term rehabilitation training can easily cause fatigue to the therapists. At the same time, medical therapists often complete the rehabilitation training of patients based on their own subjective experience and lack objective evaluation criteria. In addition, medical therapists need to spend a lot of time and energy on rehabilitation training for patients. The cost of treatment is high, which brings certain financial pressure to the patients' families. Therefore, rehabilitation devices provide a possible rehabilitation and auxiliary action solution for this large group, which helps to improve their self-care ability and quality of life.

[0004] To this end, we provide a four-degree-of-freedom upper limb rehabilitation training device and a control method to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide a four-degree-of-freedom upper limb rehabilitation training device and a control method, so that the shoulder joint can achieve two degrees of freedom rehabilitation movements, namely, adduction and abduction and flexion and extension movements of the shoulder joint, the elbow joint can achieve one degree of freedom, namely, flexion and extension movements of the elbow joint, and the wrist joint can achieve one degree of freedom, namely, palmar flexion and dorsiflexion movements of the wrist joint. At the same time, the back support plate is arranged as a sliding mechanism to adapt to users of different body shapes, thereby solving the problem that the existing rehabilitation treatment is guided by a medical practitioner one-on-one, and long-term rehabilitation training easily causes fatigue of the therapist. At the same time, the medical practitioner often completes the rehabilitation training of the patient based on his or her own subjective experience and lacks objective evaluation criteria.

[0006] To solve the above technical problems, the present invention is implemented through the following technical solutions.

[0007] The present invention discloses a four-degree-of-freedom upper limb rehabilitation training device and a control method, comprising a shoulder joint adduction and abduction mechanism, wherein one side of the shoulder joint adduction and abduction mechanism is respectively provided with a shoulder joint flexion and extension mechanism, an elbow joint flexion and extension mechanism, a wrist joint palmar flexion and dorsiflexion mechanism and a back support sliding mechanism.

[0008] The present invention is further configured as follows: the shoulder joint adduction and abduction mechanism includes a servo motor, a harmonic reducer, a motor fixing bracket, a motor connecting flange, a coupling, a transmission shaft, a shoulder flange, a shoulder joint rotating connecting rod and a back support plate, the servo motor is fixed to the back support plate through the motor fixing bracket, the harmonic reducer is installed on the output shaft of the servo motor, the transmission shaft is fixedly connected to the harmonic reducer, the coupling connects the transmission shaft and the shoulder flange, the shoulder flange is fixedly connected to the shoulder joint rotating connecting rod through screws, and the shoulder joint adduction and abduction movement is realized through the shoulder joint adduction and abduction mechanism.

[0009] The present invention is further configured as follows: the shoulder joint flexion and extension mechanism includes a servo motor, a harmonic reducer, a motor fixing bracket, a motor connecting flange, a coupling, a transmission shaft, a shoulder connecting flange and a boom connecting rod; the servo motor is fixedly connected to the motor fixing bracket, the harmonic reducer is installed on the servo motor output shaft, the transmission shaft is fixedly connected to the harmonic reducer, the coupling connects the transmission shaft and the shoulder connecting flange, the shoulder connecting flange is fixedly connected to the boom connecting rod, and the shoulder joint flexion and extension movement is realized through the shoulder joint flexion and extension mechanism.

[0010] The present invention is further configured as follows: the elbow joint flexion and extension mechanism includes a servo motor, a harmonic reducer, a motor fixing bracket, a motor connecting flange, a coupling, a transmission shaft, an elbow connecting flange and an arm connecting rod; the servo motor is fixed to the arm connecting rod through the motor fixing bracket, the servo motor output shaft is fixedly connected to the harmonic reducer, the motor connecting flange is fixedly connected to the harmonic reducer through bolts, the transmission shaft is fixedly connected to the elbow connecting flange through a coupling, the elbow connecting flange is fixedly connected to the arm connecting rod through screws, and the elbow joint flexion and extension movement is realized through the elbow joint flexion and extension mechanism.

[0011] The present invention is further configured such that the wrist joint palmar flexion and dorsiflexion mechanism includes a wrist joint motor, a wrist flange and a hand grip, the wrist joint motor output shaft passes through the end of the forearm connecting rod and is fixedly connected to the wrist flange, the wrist flange is fixedly connected to the hand grip by a screw, and the wrist joint flexion and extension movement is achieved through the wrist joint palmar flexion and dorsiflexion mechanism.

[0012] The present invention is further configured as follows: the back support sliding mechanism includes a linear guide, a slider, a ball screw, a drive motor, a screw shaft connector, a support seat, a fixed plate and a slide plate; the linear guide is fixed to the fixed plate by screws; the drive motor output shaft is connected to the screw of the ball screw mechanism by a coupling; the slider is slidably connected to the inner wall of the linear guide; the slide plate is connected to the slider and the nut of the ball screw; the ball screw is fixed to the seat by a support seat; and the left and right sliding function of the back support is realized by the back support sliding mechanism.

[0013] A control method for a four-degree-of-freedom upper limb rehabilitation training device comprises the following steps:

[0014] S1: upper limb rehabilitation device in original condition;

[0015] S2: The servo motor of the shoulder joint flexion and extension mechanism drives the upper arm link and the lower arm link to move to the training state. At this time, the upper arm link, the lower arm link and the shoulder joint rotation link are on the same horizontal line;

[0016] S3: After reaching the training state, the shoulder joint motor, elbow joint motor and wrist joint motor can be driven separately to achieve shoulder joint adduction and abduction and flexion and extension movement, elbow joint flexion and extension movement and wrist joint palmar flexion and dorsiflexion movement; multiple motors can be driven simultaneously to achieve compound movements of the upper limbs;

[0017] S4: After the rehabilitation training is completed, the state of step 2 is restored, the shoulder joint servo motor is powered off, and the arm's own weight drives each connecting rod to return to the original state of step 1.

[0018] The present invention has the following beneficial effects.

[0019] 1. The present invention can realize the adduction and abduction, flexion and extension of the shoulder joint, flexion and extension of the elbow joint, and palmar flexion and dorsiflexion of the wrist joint, a total of four degrees of freedom. In addition to independent movement, each degree of freedom can also be combined with other joints to perform compound movements between different degrees of freedom. The four degrees of freedom meet the upper limb rehabilitation needs of most patients, with a simple structure and a wide range of applications.

[0020] 2. The present invention realizes the adaptive function for users with different shoulder widths and body shapes by adjusting the back support plate left and right. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0022] Figure 1 The present invention is a stereoscopic diagram of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0023] Figure 2The present invention is a schematic diagram of a shoulder joint mechanism of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0024] Figure 3 The present invention is a schematic diagram of an elbow joint mechanism and a wrist joint mechanism of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0025] Figure 4 The present invention is a schematic diagram of a back support sliding mechanism of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0026] Figure 5 The present invention is a control schematic diagram of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0027] Figure 6 The present invention is a control schematic diagram of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0028] Figure 7 The present invention is a control schematic diagram of a four-degree-of-freedom upper limb rehabilitation training device and a control method.

[0029] In the attached drawings: 1. shoulder adduction and abduction mechanism; 2. shoulder flexion and extension mechanism; 3. elbow flexion and extension mechanism; 4. wrist flexion and extension mechanism; 5. back support sliding mechanism; 6. back support plate; 7. motor fixing bracket; 8. coupling; 9. harmonic reducer; 10. motor connecting flange; 11. servo motor; 12. transmission shaft; 13. shoulder flange; 14. output shaft; 15. shoulder joint rotating connecting rod; 16. shoulder connecting flange; 17. upper arm connecting rod; 18. elbow connecting flange; 19. forearm connecting rod; 20. wrist flange; 21. hand grip; 22. wrist joint motor; 23. linear guide; 24. drive motor; 25. screw shaft connector; 26. support seat; 27. slider; 28. fixing plate; 29. ​​ball screw; 30. nut; 31. slide plate. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] like Figure 1 A four-degree-of-freedom upper limb rehabilitation training device and control method are shown, including a shoulder adduction / abduction mechanism 1, a shoulder flexion / extension mechanism 2, an elbow flexion / extension mechanism 3, a wrist flexion / extension mechanism 4 and a back support sliding mechanism 5, which constitute the overall structure of an upper limb rehabilitation robot.

[0032] like Figure 2As shown, the shoulder joint adduction / abduction mechanism 1 includes: a servo motor 11, a harmonic reducer 9, a motor connecting flange 10, a motor fixing bracket 7, a coupling 8, a transmission shaft 12, a shoulder flange 13, and a shoulder joint rotating connecting rod 14.

[0033] The servo motor 11 is fixed on the back support 6 through the motor fixing bracket 7, the motor connecting flange 10 connects the servo motor 11 and the harmonic reducer 9, the harmonic reducer 9 is connected to the transmission shaft 12 through a key, the coupling 8 connects the transmission shaft 12 and the output shaft 14, the output shaft 14 is connected to the shoulder flange 13, and the shoulder flange 13 is fixedly connected to the shoulder joint rotating link 15. The rotation of the servo motor 11 drives the transmission shaft 12 and the output shaft 14 to rotate, and the output shaft 14 drives the shoulder flange 13 and the shoulder joint rotating link 15 to rotate, thereby realizing the adduction / abduction movement of the shoulder joint.

[0034] like Figure 2 As shown, the shoulder joint flexion / extension mechanism 2 includes: a servo motor 11, a harmonic reducer 9, a motor connecting flange 10, a motor fixing bracket 7, a coupling 8, a transmission shaft 12, a shoulder connecting flange 16, and a large arm connecting rod 17.

[0035] The servo motor 11 is fixed on the shoulder joint rotating link 15 through the motor fixing bracket 7, the motor connecting flange 10 connects the servo motor 11 and the harmonic reducer 9, the harmonic reducer 9 is connected to the transmission shaft 12 through a key, the coupling 8 connects the transmission shaft 12 to the shoulder connecting flange 16, and the shoulder connecting flange 16 is fixedly connected to the big arm connecting rod 17. The rotation of the servo motor 11 drives the transmission shaft 12 to rotate, and the transmission shaft 12 drives the shoulder connecting flange 16 and the big arm connecting rod 17 to move, thereby realizing the flexion / extension movement of the shoulder joint.

[0036] like Figure 3 As shown, the elbow joint flexion / extension mechanism 3 includes: a servo motor 11, a harmonic reducer 9, a motor connecting flange 10, a coupling 8, a transmission shaft 12, an elbow connecting flange 18, and a forearm connecting rod 19.

[0037] The servo motor 11 is installed on the big arm connecting rod 17 through the motor fixing bracket 7, the motor connecting flange 10 connects the servo motor 11 and the harmonic reducer 9, the harmonic reducer 9 is connected to the transmission shaft 12, the coupling 8 connects the transmission shaft 12 and the elbow connecting flange 18, and the elbow connecting flange 18 is fixedly installed on the small arm connecting rod 19. The rotation of the servo motor 11 drives the transmission shaft 12 to rotate, and the transmission shaft 12 drives the elbow connecting flange 18 and the small arm connecting rod 19 to move, thereby realizing the flexion / extension movement of the elbow joint.

[0038] like Figure 3 As shown, the wrist joint palmar flexion / dorsiflexion mechanism 4 includes: a wrist joint motor 22, a wrist flange 20, and a hand grip 21.

[0039] The output shaft of the wrist joint motor 22 passes through the end of the forearm connecting rod 19 and is connected to the wrist flange 20, and the wrist flange 20 is fixedly connected to the hand grip 21. The servo motor 22 rotates to drive the wrist flange 20 and the hand grip 21 to move, thereby realizing the palmar flexion / dorsiflexion movement of the wrist joint.

[0040] like Figure 4 As shown, the back support sliding bracket mechanism 5 includes: a back support 6, a linear guide rail 23, a screw motor 24, a screw coupling 25, a support seat 26, a slider 27, a fixing plate 28, a screw 29, a nut 30, and a slide plate 31.

[0041] The linear guide 23 is fixed to the fixed plate 28 by screws, the slider 27 is placed on the linear guide 23, the lead screw 29 is fixed to the seat through the support seat 26, the lead screw coupling 25 connects the output shaft of the lead screw motor 24 and the lead screw 29, the nut 30 is placed in the lead screw 29, and the slide plate 31 is fixedly connected to the slider 27 and the nut 30. The rotation of the lead screw motor 24 drives the lead screw 29 to rotate, and the rotation of the lead screw 29 causes the nut 30 to move linearly along the direction of the lead screw, driving the movement of the slide plate 31 and the back support 6, realizing the sliding function of the back support.

[0042] Embodiment 1

[0043] See also Figure 1-7 The present invention is a four-degree-of-freedom upper limb rehabilitation training device and control method, comprising a shoulder joint adduction and abduction mechanism 1, wherein one side of the shoulder joint adduction and abduction mechanism 1 is respectively provided with a shoulder joint flexion and extension mechanism 2, an elbow joint flexion and extension mechanism 3, a wrist joint palmar flexion and dorsiflexion mechanism 4 and a back support sliding mechanism 5.

[0044] Specifically: the shoulder joint assembly is installed on the upper part of the back support sliding assembly, the back support sliding assembly is installed on the seat, the elbow joint assembly is connected to the lower part of the shoulder joint assembly, and the wrist joint assembly is connected to the lower part of the elbow joint assembly; the back support sliding assembly realizes the left and right movement of the entire back support.

[0045] Embodiment 2

[0046] See also Figure 1-7On the basis of the first embodiment, the shoulder joint adduction and abduction mechanism 1 includes a servo motor 11, a harmonic reducer 9, a motor fixing bracket 7, a motor connecting flange 10, a coupling 8, a transmission shaft 12, a shoulder flange 13, a shoulder joint rotating connecting rod 15 and a back support plate 6. The servo motor 11 is fixed to the back support plate 6 through the motor fixing bracket 7, the harmonic reducer 9 is installed on the output shaft 14 of the servo motor 11, the transmission shaft 12 is fixedly connected to the harmonic reducer 9, the coupling 8 connects the transmission shaft 12 and the shoulder flange 13, and the shoulder flange 13 is fixedly connected to the shoulder joint rotating connecting rod 15 through screws. Mechanism 1 realizes shoulder joint adduction and abduction movement, and shoulder joint flexion and extension mechanism 2 includes servo motor 11, harmonic reducer 9, motor fixing bracket 7, motor connecting flange 10, coupling 8, transmission shaft 12, shoulder connecting flange 16 and boom connecting rod 17. The servo motor 11 is fixedly connected to the motor fixing bracket 7, the harmonic reducer 9 is installed on the output shaft 14 of the servo motor 11, the transmission shaft 12 is fixedly connected to the harmonic reducer 9, the coupling 8 connects the transmission shaft 12 and the shoulder connecting flange 16, and the shoulder connecting flange 16 is fixedly connected to the boom connecting rod 17. The shoulder joint flexion and extension movement is realized through the shoulder joint flexion and extension mechanism 2.

[0047] Specifically, the coupling 8 connects the transmission shaft 12 and the output shaft 14, the output shaft 14 is connected to the inner ring of the deep groove ball bearing, the outer ring of the deep groove ball bearing is connected to the shoulder joint rotating connecting rod 15, and the shoulder flange 13 is connected to the shoulder joint rotating connecting rod 15 through screws. The rotation of the servo motor 11 drives the output shaft 14 to rotate, and the rotation of the output shaft 14 drives the shoulder flange 13 and the shoulder joint rotating connecting rod 15 to rotate, thereby realizing the adduction and abduction movement of the shoulder joint.

[0048] The elbow joint flexion and extension mechanism 3 includes a servo motor 11, a harmonic reducer 9, a motor fixing bracket 7, a motor connecting flange 10, a coupling 8, a transmission shaft 12, an elbow connecting flange 18 and an arm connecting rod 19. The servo motor 11 is fixed to the arm connecting rod 17 through the motor fixing bracket 7, the output shaft 14 of the servo motor 11 is fixedly connected to the harmonic reducer 9, the motor connecting flange 10 is fixedly connected to the harmonic reducer 9 through bolts, the transmission shaft 12 is fixedly connected to the elbow connecting flange 18 through the coupling 8, and the elbow connecting flange 18 is fixedly connected to the arm connecting rod 19 through screws. The elbow joint flexion and extension movement is realized through the elbow joint flexion and extension mechanism 3.

[0049] Specifically, the rotation of the servo motor 11 drives the transmission shaft 12 to rotate, and the rotation of the transmission shaft 12 drives the shoulder connection flange 16 and the upper arm connecting rod 17 to move, thereby realizing the flexion and extension movement of the shoulder joint.

[0050] Embodiment 3

[0051] See also Figure 1-7On the basis of the first embodiment, the wrist joint palmar flexion and extension mechanism 4 includes a wrist joint motor 22, a wrist flange 20 and a hand grip 21, the output shaft 14 of the wrist joint motor 22 passes through the end of the forearm connecting rod 19 and is fixedly connected to the wrist flange 20, the wrist flange 20 is fixedly connected to the hand grip 21 by screws, and the wrist joint flexion and extension movement is realized by the wrist joint palmar flexion and extension mechanism 4, and the back support sliding mechanism 5 includes a linear guide rail 23, a slider 27, a ball screw 29, a drive motor 24, a screw shaft Connector 25, support seat 26, fixed plate 28 and slide plate 31, the linear guide 23 is fixed on the fixed plate 28 by screws, the output shaft 14 of the drive motor 24 is connected to the ball screw 29 through the coupling 8, the slider 27 is slidingly connected to the inner wall of the linear guide 23, the slide plate 31 is connected to the slider 27 and the nut 30 of the ball screw 29, the ball screw 29 is fixed to the seat through the support seat 26, and the left and right movement of the back is supported by the back sliding mechanism 5 to adapt to users of different body shapes / shoulder widths.

[0052] Specifically: the servo motor 11 drives the transmission shaft 12 to rotate, the transmission shaft 12 drives the elbow connecting flange 18 and the forearm connecting rod 19 to move, thereby realizing the flexion and extension movement of the elbow joint, the rotation of the servo motor 11 drives the wrist flange 20 and the hand grip 21 to move, and realizes the palmar flexion and dorsiflexion movement of the wrist joint, the drive motor 24 rotates to drive the ball screw 29 to rotate, and the balls in the nut 30 seat drive the nut 30 to move along the axial direction of the ball screw 29, thereby driving the slide plate 31 and the back support to do linear motion, realizing the sliding function.

[0053] like Figure 5 , Figure 6 , Figure 7 , the control method of the present invention comprises the following steps:

[0054] Step 1: The upper limb rehabilitation device is in its original state;

[0055] Step 2: The servo motor 11 of the shoulder joint flexion and extension mechanism 2 drives the upper arm link 17 and the lower arm link 19 to move to a training state, at which time the upper arm link 17 and the lower arm link 19 and the shoulder joint rotation link 15 are on the same horizontal line;

[0056] Step 3: After reaching the training state, the shoulder joint motor, elbow joint motor and wrist joint motor can be driven separately to realize shoulder joint adduction and abduction and flexion and extension movement, elbow joint flexion and extension movement and wrist joint palmar flexion and dorsiflexion movement; multiple motors can be driven simultaneously to realize the compound movement of the upper limbs;

[0057] Step 4: After the rehabilitation training is completed, the state of step 2 is restored, the shoulder joint servo motor 11 is powered off, and the arm's own weight drives each connecting rod to return to the original state of step 1.

[0058] The working principle of the present invention is: the upper limb rehabilitation device is in an original state.

[0059] The servo motor 11 of the shoulder joint flexion and extension mechanism 2 drives the upper arm link 17 and the lower arm link 19 to move to a training state, at which time, the upper arm link 17 and the lower arm link 19 and the shoulder joint rotation link 15 are on the same horizontal line.

[0060] After reaching the training state, the shoulder joint motor, elbow joint motor and wrist joint motor 22 can be driven individually to achieve shoulder joint adduction and abduction and flexion and extension movements, elbow joint flexion and extension movements and wrist joint palmar flexion and dorsiflexion movements; and the compound movement of the upper limbs can be achieved by driving multiple motors simultaneously.

[0061] After the rehabilitation training is completed, the state of step 2 is restored, the shoulder joint servo motor 11 is powered off, and the arm's own weight drives each connecting rod to return to the original state of step 1.

[0062] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can better understand and utilize the present invention.

Claims

1. A four-degree-of-freedom upper limb rehabilitation training device, comprising a shoulder joint adduction and abduction mechanism (1), characterized in that: A shoulder joint flexion and extension mechanism (2), an elbow joint flexion and extension mechanism (3), a wrist joint palmar flexion and dorsiflexion mechanism (4) and a back support sliding mechanism (5) are respectively arranged on one side of the shoulder joint adduction and abduction mechanism (1).

2. A four-degree-of-freedom upper limb rehabilitation training device according to claim 1, characterized in that: The shoulder joint adduction and abduction mechanism (1) comprises a servo motor (11), a harmonic reducer (9), a motor fixing bracket (7), a motor connecting flange (10), a coupling (8), a transmission shaft (12), a shoulder flange (13), a shoulder joint rotating connecting rod (15) and a back support plate (6); the servo motor (11) is fixed on the back support plate (6) via the motor fixing bracket (7); the harmonic reducer (9) is mounted on the output shaft (14) of the servo motor (11); the transmission shaft (12) is fixedly connected to the harmonic reducer (9); the coupling (8) connects the transmission shaft (12) and the shoulder flange (13); the shoulder flange (13) is fixedly connected to the shoulder joint rotating connecting rod (15) via screws; and the shoulder joint adduction and abduction movement is realized by the shoulder joint adduction and abduction mechanism (1).

3. The four-degree-of-freedom upper limb rehabilitation training device according to claim 1, characterized in that: The shoulder joint flexion and extension mechanism (2) comprises a servo motor (11), a harmonic reducer (9), a motor fixing bracket (7), a motor connecting flange (10), a coupling (8), a transmission shaft (12), a shoulder connecting flange (16) and a boom connecting rod (17); the servo motor (11) is fixedly connected to the motor fixing bracket (7); the harmonic reducer (9) is mounted on the output shaft (14) of the servo motor (11); the transmission shaft (12) is fixedly connected to the harmonic reducer (9); the coupling (8) connects the transmission shaft (12) and the shoulder connecting flange (16); the shoulder connecting flange (16) is fixedly connected to the boom connecting rod (17); and the shoulder joint flexion and extension movement is realized through the shoulder joint flexion and extension mechanism (2).

4. The four-degree-of-freedom upper limb rehabilitation training device according to claim 1, characterized in that: The elbow joint flexion and extension mechanism (3) comprises a servo motor (11), a harmonic reducer (9), a motor fixing bracket (7), a motor connecting flange (10), a coupling (8), a transmission shaft (12), an elbow connecting flange (18) and an arm connecting rod (19); the servo motor (11) is fixed to the arm connecting rod (17) via the motor fixing bracket (7); the output shaft (14) of the servo motor (11) is fixedly connected to the harmonic reducer (9); the motor connecting flange (10) is fixedly connected to the harmonic reducer (9) via bolts; the transmission shaft (12) is fixedly connected to the elbow connecting flange (18) via the coupling (8); the elbow connecting flange (18) is fixedly connected to the arm connecting rod (19) via screws; and the elbow joint flexion and extension movement is realized via the elbow joint flexion and extension mechanism (3).

5. The four-degree-of-freedom upper limb rehabilitation training device according to claim 1, characterized in that: The wrist joint palmar flexion and dorsiflexion mechanism (4) comprises a wrist joint motor (22), a wrist flange (20) and a hand grip (21); the output shaft (14) of the wrist joint motor (22) passes through the end of the forearm connecting rod (19) and is fixedly connected to the wrist flange (20); the wrist flange (20) is fixedly connected to the hand grip (21) via screws; and wrist joint flexion and extension movement is achieved via the wrist joint palmar flexion and dorsiflexion mechanism (4).

6. The four-degree-of-freedom upper limb rehabilitation training device according to claim 1, characterized in that: The back support sliding mechanism (5) comprises a linear guide rail (23), a slider (27), a ball screw (29), a drive motor (24), a screw shaft connector (25), a support seat (26), a fixed plate (28) and a slide plate (31); the linear guide rail (23) is fixed to the fixed plate (28) by screws; the output shaft (14) of the drive motor (24) is connected to the ball screw (29) by a coupling (8); the slider (27) is slidably connected to the inner wall of the linear guide rail (23); the slide plate (31) is connected to the slider (27) and the nut (30) of the ball screw (29); the ball screw (29) is fixed to the seat by the support seat (26); the back support sliding mechanism (5) is used to realize left and right sliding of the back support; the back support is adjusted to adapt to different trapezoids to realize wrist joint palmar flexion and dorsiflexion movement and coordinated movement of multiple joints; and the back support returns to the original position after the movement is completed.

7. A control method for a four-degree-of-freedom upper limb rehabilitation training device, based on a four-degree-of-freedom upper limb rehabilitation training device according to any one of claims 1 to 6, characterized in that: The steps include: S1: upper limb rehabilitation device in original condition; S2: The servo motor (11) of the shoulder joint flexion and extension mechanism (2) drives the upper arm connecting rod (17) and the lower arm connecting rod (19) to move to a training state, at which time the upper arm connecting rod (17) and the lower arm connecting rod (19) and the shoulder joint rotation connecting rod (15) are on the same horizontal line; S3: After reaching the training state, the shoulder joint motor, the elbow joint motor and the wrist joint motor (22) can be driven individually to achieve shoulder joint adduction and abduction and flexion and extension movements, elbow joint flexion and extension movements and wrist joint palmar flexion and dorsiflexion movements; multiple motors can be driven simultaneously to achieve compound movements of the upper limbs; S4: After the rehabilitation training is completed, the state of step 2 is restored, the shoulder joint servo motor (11) is powered off, and the arm's own weight drives each connecting rod to return to the original state of step 1.

Images