Rehabilitation mechanical arm based on elbow joint pulling device

Abstract

The invention provides a rehabilitation mechanical arm based on an elbow joint pulling device, and belongs to the technical field of medical equipment. According to the rehabilitation mechanical arm, the elbow joint pulling device and the mechanism design are combined, the forearm three-rod tensioning device and the elbow joint pulling device are utilized, and the rehabilitation mechanical arm is used for solving the problems that a traditional rehabilitation mechanism is complex in structure, large in driving device and the like. The rehabilitation mechanical arm based on the elbow joint pulling device comprises a forearm three-rod tensioning device and the elbow joint pulling device, and the forearm three-rod tensioning device and the elbow joint pulling device are fixedly connected through a bolt. Compared with the prior art, the device has the following technical effects that according to the human elbow joint as a bionic model, a pulling device and structural design are combined, the device is matched with the characteristics of human joints and muscles, the requirements of movement of all degrees of freedom are met, the joint structure is simplified, and lightweight design is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a rehabilitation robotic arm based on an elbow joint pulling device. Background Art

[0002] In the modern medical system, the progress of elbow joint rehabilitation medical robotic arm technology is based on profound practical needs and scientific backgrounds. On the one hand, as a key hub of the human upper limb, the elbow joint is frequently active and bears great pressure during movement, work, and daily life. It is vulnerable to various traumas, such as fractures, ligament tears, or diseases such as arthritis and synovitis, which can lead to pain and limited mobility, seriously affecting the limb function and quality of life of patients. Therefore, the rehabilitation treatment of the elbow joint has become an urgent clinical problem to be solved. Modern rehabilitation medicine emphasizes personalized and precise treatment, and hopes to customize rehabilitation programs based on the degree of patient injury and recovery stage. However, it is difficult to achieve precise control of force, angle, and movement trajectory through manual operation, which affects the rehabilitation effect. At the same time, the development of automation control technology enables more precise movement control of the robotic arm; the innovation of sensing technology enables the robotic arm to sense patient feedback in real time; the progress of artificial intelligence algorithms can deeply analyze rehabilitation data and optimize training strategies. The integration of these technologies has promoted the birth and development of elbow joint rehabilitation medical robotic arms. Summary of the Invention

[0003] The purpose of the present invention is to solve the above technical problems, and provide a rehabilitation robotic arm based on an elbow joint pulling device, which is composed of an elbow joint pulling device and kinematic design, and is composed of a three-bar tensioning device for the forearm and an elbow joint pulling device, so as to solve the problems of complex structure and large driving device of traditional rehabilitation mechanisms.

[0004] To achieve the above purpose, the present invention provides the following solutions: A rehabilitation robotic arm based on an elbow joint pulling device, which comprises: a three-bar tensioning device for the forearm and an elbow joint pulling device, wherein the three-bar tensioning device for the forearm and the elbow joint pulling device are fixedly connected by bolts.

[0005] The three-bar tensioning device for the forearm is composed of four elastic bodies, a first forearm support ring, a first straight rod ball head for the forearm, a second straight rod ball head for the forearm, a third straight rod ball head for the forearm, a fourth straight rod ball head for the forearm, a first lifting rod for the forearm, a second lifting rod for the forearm, and a third lifting rod for the forearm. The first straight rod ball head for the forearm, the second straight rod ball head for the forearm, and the third straight rod ball head for the forearm are triangularly spaced and fixedly connected on the first forearm support ring; the first lifting rod for the forearm is connected to the first straight rod ball head for the forearm, the second lifting rod for the forearm is connected to the second straight rod ball head for the forearm, and the third lifting rod for the forearm is connected to the third straight rod ball head for the forearm; the fourth straight rod ball head for the forearm is located below and connected to the first elbow joint support ring.

[0006] The four elastic bodies are symmetrically distributed on the left and right sides of the first forearm support ring and fixedly connected thereto.

[0007] The first forearm lifting rod, the second forearm lifting rod, and the third forearm lifting rod are distributed at triangular intervals and fixedly connected to the fourth forearm straight rod ball head and three bearings on the first elbow support ring.

[0008] The four elastic bodies are symmetrically distributed on the upper and lower sides of the first elbow support ring and fixedly connected thereto.

[0009] When performing forearm training, the forearm passes through the forearm three-rod tensioning device and stops at point A; when performing forearm pronation training, the first forearm straight rod ball head, the second forearm straight rod ball head, the third forearm straight rod ball head, and the fourth forearm straight rod ball head rotate counterclockwise with the four elastic bodies, and the four elastic bodies are in a stretched state; When performing forearm supination training, the first forearm straight rod ball head, the second forearm straight rod ball head, the third forearm straight rod ball head, and the fourth forearm straight rod ball head rotate clockwise with the four elastic bodies, and the four elastic bodies are in a stretched state.

[0010] The elbow joint pulling device is composed of a first elbow joint support ring, a second elbow joint support ring, a first rolling bearing, a second rolling bearing, a third rolling bearing, a fourth rolling bearing, a fifth rolling bearing, a sixth rolling bearing, a seventh rolling bearing, an eleventh rolling bearing, a twelfth rolling bearing, a thirteenth rolling bearing, a sixteenth rolling bearing, a seventeenth rolling bearing, a twentieth rolling bearing, a twenty-first rolling bearing, a twenty-second rolling bearing, an eighth rolling bearing, a ninth rolling bearing, a tenth rolling bearing, a fourteenth rolling bearing, a fifteenth rolling bearing, an eighteenth rolling bearing, a nineteenth rolling bearing, a twenty-third rolling bearing, a twenty-fourth rolling bearing, a twenty-fifth rolling bearing, a twenty-sixth rolling bearing, a twenty-seventh rolling bearing, a first steel wire, a second steel wire, a third steel wire, a fourth steel wire, a first elastic body, a second elastic body, a third elastic body, and a fourth elastic body. The front end of the first steel wire is connected to the first rolling bearing; the first steel wire sequentially passes under the fifth rolling bearing, over the sixth rolling bearing, under the seventh rolling bearing, over the eighth rolling bearing, and behind the ninth rolling bearing and is connected to the rear end of the first elastic body; the first elastic body bypasses the front end of the tenth rolling bearing and is fixedly connected to the elbow joint support plate; the front end of the second steel wire is connected to the second rolling bearing; the second steel wire sequentially passes under the eleventh rolling bearing, over the twelfth rolling bearing, under the thirteenth rolling bearing, and over the fourteenth rolling bearing; behind the fifteenth rolling bearing and is connected to the rear end of the second elastic body; the front end of the second elastic body is fixedly connected to the elbow joint support plate; the front end of the third steel wire is connected to the third rolling bearing; the third steel wire sequentially passes over the sixteenth rolling bearing, under the seventeenth rolling bearing, over the eighteenth rolling bearing, and behind the nineteenth rolling bearing and is connected to the rear end of the third elastic body; the front end of the third elastic body is fixedly connected to the elbow joint support plate; the front end of the fourth steel wire is connected to the fourth rolling bearing; the fourth steel wire sequentially passes under the twentieth rolling bearing, over the twenty-first rolling bearing, under the twenty-second rolling bearing, and over the twenty-third rolling bearing; behind the twenty-fourth rolling bearing and is connected to the front end of the fourth elastic body; the fourth elastic body bypasses the front end of the twenty-fifth rolling bearing and is fixedly connected to the elbow joint support plate; The first rolling bearing, the second rolling bearing, the third rolling bearing, and the fourth rolling bearing form an elbow joint lifting structure; The fifth rolling bearing, the sixth rolling bearing, the seventh rolling bearing, the eleventh rolling bearing, the twelfth rolling bearing, the thirteenth rolling bearing, the sixteenth rolling bearing, the seventeenth rolling bearing, the twentieth rolling bearing, the twenty-first rolling bearing, and the twenty-second rolling bearing form an elbow joint sliding structure; The eighth rolling bearing, ninth rolling bearing, tenth rolling bearing, fourteenth rolling bearing, fifteenth rolling bearing, eighteenth rolling bearing, nineteenth rolling bearing, twenty-third rolling bearing, twenty-fourth rolling bearing, twenty-fifth rolling bearing, first elastic body, second elastic body, third elastic body, and fourth elastic body form an elbow joint elastic structure; When performing elbow joint training, the elbow joint passes through the elbow joint pulling device and stops at point B. When performing elbow joint flexion training, an upward force is generated by the forearm, causing the forearm three-bar tensioning device to move upward, thereby driving the elbow joint lifting structure to rotate counterclockwise successively around the twenty-sixth rolling bearing and the twenty-seventh rolling bearing. Through the first wire, the first rolling bearing rotates clockwise, the fifth rolling bearing rotates clockwise, the sixth rolling bearing rotates counterclockwise, the seventh rolling bearing rotates clockwise, the eighth rolling bearing rotates counterclockwise, the ninth rolling bearing rotates clockwise, the tenth rolling bearing rotates clockwise, and the first elastic body gradually rebounds. Through the second wire, the second rolling bearing rotates clockwise, the eleventh rolling bearing rotates clockwise, the twelfth rolling bearing rotates counterclockwise, the thirteenth rolling bearing rotates clockwise, the fourteenth rolling bearing rotates counterclockwise, the fifteenth rolling bearing rotates counterclockwise, and the second elastic body gradually rebounds. Through the third wire, the third rolling bearing rotates clockwise, the sixteenth rolling bearing rotates clockwise, the seventeenth rolling bearing rotates counterclockwise, the eighteenth rolling bearing rotates clockwise, the nineteenth rolling bearing rotates counterclockwise, and the third elastic body is gradually stretched. Through the fourth wire, the fourth rolling bearing rotates clockwise, the twentieth rolling bearing rotates counterclockwise, the twenty-first rolling bearing rotates clockwise, the twenty-second rolling bearing rotates counterclockwise, the twenty-third rolling bearing rotates clockwise, the twenty-fourth rolling bearing rotates clockwise, the twenty-fifth rolling bearing rotates clockwise, and the fourth elastic body is gradually stretched. When performing elbow joint extension training, a downward force is generated by the forearm, causing the forearm three-bar tensioning device to move downward, thereby driving the elbow joint lifting structure to rotate counterclockwise successively around the twenty-sixth rolling bearing and the twenty-seventh rolling bearing. Through the first wire, the first rolling bearing rotates counterclockwise, the fifth rolling bearing rotates counterclockwise, the sixth rolling bearing rotates clockwise, the seventh rolling bearing rotates counterclockwise, the eighth rolling bearing rotates clockwise, the ninth rolling bearing rotates counterclockwise, the tenth rolling bearing rotates counterclockwise, and the first elastic body is gradually stretched. Through the second wire, the second rolling bearing rotates counterclockwise, the eleventh rolling bearing rotates counterclockwise, the twelfth rolling bearing rotates clockwise, the thirteenth rolling bearing rotates counterclockwise, the fourteenth rolling bearing rotates clockwise, the fifteenth rolling bearing rotates clockwise, and the second elastic body is gradually stretched. Through the third wire, the third rolling bearing rotates counterclockwise, the sixteenth rolling bearing rotates counterclockwise, the seventeenth rolling bearing rotates clockwise, the eighteenth rolling bearing rotates counterclockwise, the nineteenth rolling bearing rotates clockwise, and the third elastic body gradually rebounds. Through the fourth wire, the fourth rolling bearing rotates counterclockwise, the twentieth rolling bearing rotates clockwise, the twenty-first rolling bearing rotates counterclockwise, the twenty-second rolling bearing rotates clockwise, the twenty-third rolling bearing rotates counterclockwise, the twenty-fourth rolling bearing rotates counterclockwise, the twenty-fifth rolling bearing rotates counterclockwise, and the fourth elastic body gradually rebounds.

[0011] The present invention has achieved the following technical effects compared with the prior art: Based on the human elbow joint as a bionic model, the present invention combines the pulling device with the structural design, which not only matches the characteristics of the human joints and muscles, meets the requirements of various degrees of freedom of movement, but also simplifies the joint structure and realizes the lightweight design. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0013] Figure 1 is a schematic structural diagram of the three-bar tensioning device of the forearm and the elbow joint pulling device; Figure 2 is Figure 1 a schematic structural diagram of the three-bar tensioning device of the middle forearm; Figure 3 is Figure 1 a schematic structural diagram of the elbow joint pulling device in ; Figure 4 is a wearing diagram of a rehabilitation robotic arm based on the elbow joint pulling device; Figure 5 is an unused diagram of a rehabilitation robotic arm based on the elbow joint pulling device; Figure 6 is a usage diagram of a rehabilitation robotic arm based on the elbow joint pulling device; DETAILED DESCRIPTION OF THE INVENTION

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0015] Referring to Figures 1 - 6 , a rehabilitation robotic arm based on the elbow joint pulling device in this specific embodiment includes: a three-bar tensioning device 1 of the forearm and an elbow joint pulling device 2 (as Figure 1 shown). In the three-bar tensioning device 1 of the forearm (as Figure 2As shown in the figure, it includes the first forearm support ring 101, the first forearm straight rod ball head 102, the first forearm lifting rod 106, the second forearm straight rod ball head 103, the second forearm lifting rod 107, the third forearm straight rod ball head 104, the third forearm lifting rod 108, the fourth forearm straight rod ball head 105 and four elastic bodies. In the three-rod tensioning device 1 of the forearm (as Figure 2 shown), through the first forearm straight rod ball head 102, the second forearm straight rod ball head 103, and the third forearm straight rod ball head 104, they are spaced triangularly and fixedly connected on the first forearm support ring 101. The first forearm lifting rod 106 is connected to the first forearm straight rod ball head 102, the second forearm lifting rod 107 is connected to the second forearm straight rod ball head 103, and the third forearm lifting rod 108 is connected to the third forearm straight rod ball head 104. The fourth forearm straight rod ball head 105 is located below the first elbow support ring 201. The four elastic bodies are symmetrically distributed on the left and right sides of the first forearm support ring and fixedly connected to it. The first forearm lifting rod 106, the second forearm lifting rod 107, and the third forearm lifting rod 108 are spaced triangularly and fixedly connected to the fourth forearm straight rod ball head 105 and two bearings on the first elbow support ring 201. The four elastic bodies are symmetrically distributed on the upper and lower sides of the first elbow support ring 201 and fixedly connected to it.

[0016] When performing forearm training, the forearm passes through the three-rod tensioning device 1 of the forearm, and the forearm stays at point A (as Figure 4 shown); when performing forearm pronation training (i.e., the forearm rotates clockwise), the first forearm straight rod ball head 102, the second forearm straight rod ball head 103, the third forearm straight rod ball head 104, the fourth forearm straight rod ball head 105 and the four elastic bodies rotate counterclockwise, and the four elastic bodies are in a stretched state. When performing forearm supination training (i.e., the forearm rotates counterclockwise), the first forearm straight rod ball head 102, the second forearm straight rod ball head 103, the third forearm straight rod ball head 104, the fourth forearm straight rod ball head 105 and the four elastic bodies rotate clockwise, and the four elastic bodies are in a stretched state.

[0017] In the elbow pulling device 2, it is composed of the first elbow support ring 201, the second elbow support ring 202, two elbow lifting structures, two elbow support plates, two elbow sliding structures, two elbow elastic structures, the first steel wire 230, the second steel wire 231, the third steel wire 232, and the fourth steel wire 233.

[0018] The elbow lifting structure includes: the first rolling bearing 203, the second rolling bearing 204, the third rolling bearing 205, and the fourth rolling bearing 206.

[0019] The described elbow joint sliding structure includes: the fifth rolling bearing 207, the sixth rolling bearing 208, the seventh rolling bearing 209, the eleventh rolling bearing 210, the twelfth rolling bearing 211, the thirteenth rolling bearing 212, the sixteenth rolling bearing 213, the seventeenth rolling bearing 214, the twentieth rolling bearing 215, the twenty-first rolling bearing 216, and the twenty-second rolling bearing 217.

[0020] The described elbow joint elastic structure includes: the eighth rolling bearing 218, the ninth rolling bearing 219, the tenth rolling bearing 220, the fourteenth rolling bearing 221, the fifteenth rolling bearing 222, the eighteenth rolling bearing 223, the nineteenth rolling bearing 224, the twenty-third rolling bearing 225, the twenty-fourth rolling bearing 226, the twenty-fifth rolling bearing 227, the first elastic body 234, the second elastic body 235, the third elastic body 236, and the fourth elastic body 237.

[0021] Two of the described elbow joint lifting structures are symmetrically distributed on the left and right sides of the first elbow joint support ring 201, and the front ends of the elbow joint lifting structures are fixedly connected to the left and right sides of the first elbow joint support ring 201. The bottom ends of the two elbow joint lifting structures are connected to the front ends of the two elbow joint support plates through the twenty-sixth rolling bearing 228. The bottom ends of the two elbow joint support plates are fixedly connected to the front ends of the two elbow joint elastic structures through the twenty-seventh rolling bearing 229. The two elbow joint elastic structures are symmetrically distributed on the left and right sides of the second elbow joint support ring 202 and are fixedly connected thereto.

[0022] In the elbow joint pulling device 2 (such as Figure 3As shown in the figure, the front end of the first steel wire 230 is connected to the first rolling bearing 203. The first steel wire 230 sequentially passes under the fifth rolling bearing 207, above the sixth rolling bearing 208, under the seventh rolling bearing 209, above the eighth rolling bearing 218, and behind the ninth rolling bearing 219 and is connected to the rear end of the first elastic body 234. The first elastic body 234 bypasses the front end of the tenth rolling bearing 220 and is fixedly connected to the elbow joint support plate. The front end of the second steel wire 231 is connected to the second rolling bearing 204. The second steel wire 231 sequentially passes under the eleventh rolling bearing 210, above the twelfth rolling bearing 211, under the thirteenth rolling bearing 212, above the fourteenth rolling bearing 221, and behind the fifteenth rolling bearing 222 and is connected to the rear end of the second elastic body 235. The front end of the second elastic body 235 is fixedly connected to the elbow joint support plate. The front end of the third steel wire 232 is connected to the third rolling bearing 205. The third steel wire 232 sequentially passes above the sixteenth rolling bearing 213, under the seventeenth rolling bearing 214, above the eighteenth rolling bearing 223, and behind the nineteenth rolling bearing 224 and is connected to the rear end of the third elastic body 236. The front end of the third elastic body 236 is fixedly connected to the elbow joint support plate. The front end of the fourth steel wire 233 is connected to the fourth rolling bearing 206. The fourth steel wire 233 sequentially passes under the twentieth rolling bearing 215, above the twenty-first rolling bearing 216, under the twenty-second rolling bearing 217, above the twenty-third rolling bearing 225, and behind the twenty-fourth rolling bearing 226 and is connected to the front end of the fourth elastic body 237. The fourth elastic body 237 bypasses the front end of the twenty-fifth rolling bearing 227 and is fixedly connected to the elbow joint support plate.

[0023] When performing elbow joint training, the elbow joint passes through the elbow joint pulling device 2 and stops at position B (as Figure 4As shown); when performing elbow flexion training, an upward force is generated through the forearm, causing the forearm three-bar tensioning device 1 to move upward, thereby driving the elbow joint lifting structure to rotate counterclockwise successively around the twenty-sixth rolling bearing 228 and the twenty-seventh rolling bearing 229. Through the first steel wire 230, the first rolling bearing 203 rotates clockwise, the fifth rolling bearing 207 rotates clockwise, the sixth rolling bearing 208 rotates counterclockwise, the seventh rolling bearing 209 rotates clockwise, the eighth rolling bearing 218 rotates counterclockwise, the ninth rolling bearing 219 rotates clockwise, the tenth rolling bearing 220 rotates clockwise, and the first elastic body 234 gradually rebounds. Through the second steel wire 231, the second rolling bearing 204 rotates clockwise, the eleventh rolling bearing 210 rotates clockwise, the twelfth rolling bearing 211 rotates counterclockwise, the thirteenth rolling bearing 212 rotates clockwise, the fourteenth rolling bearing 221 rotates counterclockwise, the fifteenth rolling bearing 222 rotates counterclockwise, and the second elastic body 235 gradually rebounds. Through the third steel wire 232, the third rolling bearing 205 rotates clockwise, the sixteenth rolling bearing 213 rotates clockwise, the seventeenth rolling bearing 214 rotates counterclockwise, the eighteenth rolling bearing 223 rotates clockwise, the nineteenth rolling bearing 224 rotates counterclockwise, and the third elastic body 236 is gradually stretched. Through the fourth steel wire 233, the fourth rolling bearing 206 rotates clockwise, the twentieth rolling bearing 215 rotates counterclockwise, the twenty-first rolling bearing 216 rotates clockwise, the twenty-second rolling bearing 217 rotates counterclockwise, the twenty-third rolling bearing 225 rotates clockwise, the twenty-fourth rolling bearing 226 rotates clockwise, the twenty-fifth rolling bearing 227 rotates clockwise, and the fourth elastic body 237 is gradually stretched. (As Figure 6As shown in the figure). When performing elbow extension training, a downward force is generated by the forearm, causing the forearm three-bar tensioning device 1 to move downward and then successively rotate counterclockwise around the twenty-sixth rolling bearing 228 and the twenty-seventh rolling bearing 229. Through the first steel wire 230, the first rolling bearing 203 rotates counterclockwise, the fifth rolling bearing 207 rotates counterclockwise, the sixth rolling bearing 208 rotates clockwise, the seventh rolling bearing 209 rotates counterclockwise, the eighth rolling bearing 218 rotates clockwise, the ninth rolling bearing 219 rotates counterclockwise, the tenth rolling bearing 220 rotates counterclockwise, and the first elastic body 234 is gradually stretched. Through the second steel wire 231, the second rolling bearing 204 rotates counterclockwise, the eleventh rolling bearing 210 rotates counterclockwise, the twelfth rolling bearing 211 rotates clockwise, the thirteenth rolling bearing 212 rotates counterclockwise, the fourteenth rolling bearing 221 rotates clockwise, the fifteenth rolling bearing 222 rotates clockwise, and the second elastic body 235 is gradually stretched. Through the third steel wire 232, the third rolling bearing 205 rotates counterclockwise, the sixteenth rolling bearing 213 rotates counterclockwise, the seventeenth rolling bearing 214 rotates clockwise, the eighteenth rolling bearing 223 rotates counterclockwise, the nineteenth rolling bearing 224 rotates clockwise, and the third elastic body 236 gradually rebounds. Through the fourth steel wire 233, the fourth rolling bearing 206 rotates counterclockwise, the twentieth rolling bearing 215 rotates clockwise, the twenty-first rolling bearing 216 rotates counterclockwise, the twenty-second rolling bearing 217 rotates clockwise, the twenty-third rolling bearing 225 rotates counterclockwise, the twenty-fourth rolling bearing 226 rotates counterclockwise, the twenty-fifth rolling bearing 227 rotates counterclockwise, and the fourth elastic body 237 gradually rebounds. (As Figure 6 shown). Example 1

[0024] When performing forearm training, the forearm passes through the forearm three-bar tensioning device 1 and stops at position A (as Figure 4 shown); when performing forearm pronation training (i.e., the forearm rotates clockwise), the first straight rod ball head 102, the second straight rod ball head 103, the third straight rod ball head 104, the fourth straight rod ball head 105 of the forearm and the four elastic bodies rotate counterclockwise, and the four elastic bodies are in a stretched state. When performing forearm supination training (i.e., the forearm rotates counterclockwise), the first straight rod ball head 102, the second straight rod ball head 103, the third straight rod ball head 104, the fourth straight rod ball head 105 of the forearm and the four elastic bodies rotate clockwise, and the four elastic bodies are in a stretched state. Example 2

[0025] When performing elbow joint training, the elbow joint passes through the elbow joint pulling device 2 and stops at position B (as Figure 4As shown in the figure); when performing elbow flexion training, an upward force is generated through the forearm, causing the forearm three-bar tensioning device 1 to move upward and then successively rotate counterclockwise around the twenty-sixth rolling bearing 228 and the twenty-seventh rolling bearing 229. Through the first steel wire 230, the first rolling bearing 203 rotates clockwise, the fifth rolling bearing 207 rotates clockwise, the sixth rolling bearing 208 rotates counterclockwise, the seventh rolling bearing 209 rotates clockwise, the eighth rolling bearing 218 rotates counterclockwise, the ninth rolling bearing 219 rotates clockwise, the tenth rolling bearing 220 rotates clockwise, and the first elastic body 234 gradually rebounds. Through the second steel wire 231, the second rolling bearing 204 rotates clockwise, the eleventh rolling bearing 210 rotates clockwise, the twelfth rolling bearing 211 rotates counterclockwise, the thirteenth rolling bearing 212 rotates clockwise, the fourteenth rolling bearing 221 rotates counterclockwise, the fifteenth rolling bearing 222 rotates counterclockwise, and the second elastic body 235 gradually rebounds. Through the third steel wire 232, the third rolling bearing 205 rotates clockwise, the sixteenth rolling bearing 213 rotates clockwise, the seventeenth rolling bearing 214 rotates counterclockwise, the eighteenth rolling bearing 223 rotates clockwise, the nineteenth rolling bearing 224 rotates counterclockwise, and the third elastic body 236 is gradually stretched. Through the fourth steel wire 233, the fourth rolling bearing 206 rotates clockwise, the twentieth rolling bearing 215 rotates counterclockwise, the twenty-first rolling bearing 216 rotates clockwise, the twenty-second rolling bearing 217 rotates counterclockwise, the twenty-third rolling bearing 225 rotates clockwise, the twenty-fourth rolling bearing 226 rotates clockwise, the twenty-fifth rolling bearing 227 rotates clockwise, and the fourth elastic body 237 is gradually stretched. (As Figure 6 shown).

[0026] When performing elbow extension training, a downward force is generated through the forearm, causing the three-bar tension device 1 of the forearm to move downward and then successively rotate counterclockwise around the twenty-sixth rolling bearing 228 and the twenty-seventh rolling bearing 229. Through the first steel wire 230, the first rolling bearing 203 rotates counterclockwise, the fifth rolling bearing 207 rotates counterclockwise, the sixth rolling bearing 208 rotates clockwise, the seventh rolling bearing 209 rotates counterclockwise, the eighth rolling bearing 218 rotates clockwise, the ninth rolling bearing 219 rotates counterclockwise, the tenth rolling bearing 220 rotates counterclockwise, and the first elastic body 234 is gradually stretched. Through the second steel wire 231, the second rolling bearing 204 rotates counterclockwise, the eleventh rolling bearing 210 rotates counterclockwise, the twelfth rolling bearing 211 rotates clockwise, the thirteenth rolling bearing 212 rotates counterclockwise, the fourteenth rolling bearing 221 rotates clockwise, the fifteenth rolling bearing 222 rotates clockwise, and the second elastic body 235 is gradually stretched. Through the third steel wire 232, the third rolling bearing 205 rotates counterclockwise, the sixteenth rolling bearing 213 rotates counterclockwise, the seventeenth rolling bearing 214 rotates clockwise, the eighteenth rolling bearing 223 rotates counterclockwise, the nineteenth rolling bearing 224 rotates clockwise, and the third elastic body 236 gradually rebounds. Through the fourth steel wire 233, the fourth rolling bearing 206 rotates counterclockwise, the twentieth rolling bearing 215 rotates clockwise, the twenty-first rolling bearing 216 rotates counterclockwise, the twenty-second rolling bearing 217 rotates clockwise, the twenty-third rolling bearing 225 rotates counterclockwise, the twenty-fourth rolling bearing 226 rotates counterclockwise, the twenty-fifth rolling bearing 227 rotates counterclockwise, and the fourth elastic body 237 gradually rebounds. (As Figure 6 shown).

[0027] In the present invention, specific examples are used to illustrate the principle and implementation of the present invention. The above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A rehabilitation robot arm based on an elbow joint pulling device, characterized in that: The invention comprises a forearm three-rod tensioning device (1) and an elbow joint pulling device (2) which are fixedly connected by bolts from front to back in sequence, wherein the forearm three-rod tensioning device (1) and the elbow joint pulling device (2) are fixedly connected by bolts.

2. A rehabilitation robot arm based on an elbow joint pulling device according to claim 1, characterized in that: The forearm three-rod tensioning device (1) comprises a first forearm supporting ring (101), a first forearm lifting rod (106), a first forearm straight rod ball head (102), a second forearm lifting rod (107), a second forearm straight rod ball head (103), a third forearm lifting rod (108), a third forearm straight rod ball head (104), a fourth forearm straight rod ball head (105) and four elastic bodies; the first forearm straight rod ball head (102), the second forearm straight rod ball head (103) and the third forearm straight rod ball head (104) are arranged on the forearm first The support ring (101) is distributed in a triangular manner at intervals and fixedly connected, the first forearm lifting rod (106) is connected to the first forearm straight rod ball head (102), the second forearm lifting rod (107) is connected to the second forearm straight rod ball head (103), the third forearm lifting rod (108) is connected to the third forearm straight rod ball head (104), and the fourth forearm straight rod ball head (105) is located below the first support ring (201) of the elbow joint; the four elastic bodies are symmetrically distributed on the left and right sides of the first forearm support ring (101) and fixedly connected thereto.

3. A rehabilitation robot arm based on an elbow joint pulling device according to claim 2, characterized in that: The first forearm lifting rod (106), the second forearm lifting rod (107), and the third forearm lifting rod (108) are arranged in a triangular pattern with two bearings and the fourth forearm straight rod ball head (105) on the first support ring (201) of the elbow joint and are fixedly connected; the four elastic bodies are symmetrically distributed on the upper and lower sides of the first support ring (201) of the elbow joint and are fixedly connected thereto.

4. A rehabilitation robot arm based on an elbow joint pulling device according to claim 1, characterized in that: The elbow joint pulling device (2) comprises a first elbow joint supporting ring (201), a second elbow joint supporting ring (202), two elbow joint lifting structures, two elbow joint supporting plates, two elbow joint sliding structures, and two elbow joint elastic structures; the two elbow joint lifting structures are symmetrically distributed on the left and right sides of the first elbow joint supporting ring (201), and the front ends of the elbow joint lifting structures are fixedly connected to the left and right sides of the first elbow joint supporting ring (201); the bottom ends of the two elbow joint lifting structures are connected to the front ends of the two elbow joint supporting plates; the bottom ends of the two elbow joint supporting plates are fixedly connected to the front ends of the two elbow joint elastic structures; and the two elbow joint elastic structures are symmetrically distributed on the left and right sides of the second elbow joint supporting ring (202) and are fixedly connected thereto.

5. A rehabilitation robot arm based on an elbow joint pulling device according to claim 4, characterized in that: The elbow joint lifting structure is composed of a first rolling bearing (203), a second rolling bearing (204), a third rolling bearing (205), and a fourth rolling bearing (206); the elbow joint sliding structure is composed of a fifth rolling bearing (207), a sixth rolling bearing (208), a seventh rolling bearing (209), an eleventh rolling bearing (210), a twelfth rolling bearing (211), a thirteenth rolling bearing (212), a sixteenth rolling bearing (213), a seventeenth rolling bearing (214), a twentieth rolling bearing (215), a twenty-first rolling bearing (216), and a twenty-second rolling bearing (217); the elbow joint elastic structure is composed of an eighth rolling bearing (218), a ninth rolling bearing (219), a The elbow joint support plate is composed of a movable bearing (219), a tenth rolling bearing (220), a first elastic body (234), a fourteenth rolling bearing (221), a fifteenth rolling bearing (222), a second elastic body (235), an eighteenth rolling bearing (223), a nineteenth rolling bearing (224), a third elastic body (236), a twenty-third rolling bearing (225), a twenty-fourth rolling bearing (226), a twenty-fifth rolling bearing (227), a fourth elastic body (237), a first steel wire (230), a second steel wire (231), a third steel wire (232), and a fourth steel wire (233); and the elbow joint support plate is composed of a twenty-sixth rolling bearing (228) and a twenty-seventh rolling bearing (229).

6. A rehabilitation robot arm based on an elbow joint pulling device according to claim 4, characterized in that: The elbow joint lifting structure, elbow joint sliding structure, and elbow joint elastic structure are connected in sequence. The front end of the first steel wire (230) is connected to the first rolling bearing (203). The first steel wire (230) passes through the bottom of the fifth rolling bearing (207), the top of the sixth rolling bearing (208), the bottom of the seventh rolling bearing (209), the top of the eighth rolling bearing (218), and the rear of the ninth rolling bearing (219) in sequence and is connected to the rear end of the first elastic body (234). The first elastic body (234) The front end of the second steel wire (231) passes through the bottom of the eleventh rolling bearing (210), the top of the twelfth rolling bearing (211), the bottom of the thirteenth rolling bearing (212), the top of the fourteenth rolling bearing (221), and the rear of the fifteenth rolling bearing (222) is connected to the rear end of the second elastic body (235). The second elastic body (2 The front end of the third steel wire (232) is connected to the third rolling bearing (205), and the third steel wire (232) passes through the top of the sixteenth rolling bearing (213), the bottom of the seventeenth rolling bearing (214), the top of the eighteenth rolling bearing (223), and the rear of the nineteenth rolling bearing (224) and is connected to the rear end of the third elastic body (236), and the front end of the third elastic body (236) is connected to the elbow joint support plate; the front end of the fourth steel wire (233) is connected to the third rolling bearing (205), and the third rolling bearing (214) passes through the top of the sixteenth rolling bearing (213), the bottom of the seventeenth rolling bearing (214), the top of the eighteenth rolling bearing (223), and the rear of the nineteenth rolling bearing (224) and is connected to the rear end of the third elastic body (236), and the front end of the third elastic body (236) is connected to the elbow joint support plate; The front end is connected to the fourth rolling bearing (206), the fourth steel wire (233) passes through the bottom of the twentieth rolling bearing (215), the top of the twenty-first rolling bearing (216), the bottom of the twenty-second rolling bearing (217), and the top of the twenty-third rolling bearing (225) in sequence, and the rear of the twenty-fourth rolling bearing (226) is connected to the front end of the fourth elastic body (237), and the fourth elastic body (237) bypasses the front end of the twenty-fifth rolling bearing (227) and is connected and fixed to the elbow joint support plate.

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