Joint driving device for upper limb rehabilitation robot

Abstract

The invention relates to the technical field of joint driving devices, and particularly discloses a joint driving device for an upper limb rehabilitation robot, which comprises an upper manufacturing plate, an arc-shaped rod is arranged in the upper end of the upper manufacturing plate, a convex sliding groove is formed from the outer side surface to the interior of the arc-shaped rod, and a convex sliding table is slidably mounted in the convex sliding groove; the outer side face of the convex sliding table extends to the outer side of the convex sliding groove. In the operation process, a cavity threaded rod can move outwards under the action of an adjusting motor, in the movement process, the cavity threaded rod can push an arc-shaped plate to move outwards, a convex sliding table can slide in the outward movement process of the arc-shaped plate, and therefore the internal diameters of multiple arc-shaped racks can be changed, and the working efficiency is improved. The tensioning force of the main chain can be further changed, so that the situation that the chain falls off in the operation process of the rehabilitation robot can be avoided, and smooth joint driving is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of joint drive devices, and in particular to a joint drive device for an upper limb rehabilitation robot. Background Art

[0002] Robot technology is a comprehensive technology that integrates sensing, control, information, integration, and mobile computing, providing a wearable mechanical mechanism for the operator, that is, a robot worn outside the human body, also known as a "wearable robot".

[0003] The exoskeletons on the market are mainly divided into two categories. One is the human augmentation exoskeleton for specific joint assistance, which is mainly used to increase human strength and expand the upper limit of capabilities; the other is the rehabilitation exoskeleton, which is mainly used in the field of medical rehabilitation, such as assisting paralyzed patients to walk.

[0004] At present, for the mechanical robot joint drive devices on the market, during use, they mainly form a joint drive module through the connection of a motor belt. When the rehabilitation robot carries the operator to move, the joints of the rehabilitation robot need to bend back and forth, and the belt at the output end of the motor is likely to fall off due to frequent bending, resulting in the driving force of the joint drive module being affected.

[0005] Therefore, we specifically propose a joint drive device for an upper limb rehabilitation robot. Summary of the Invention

[0006] The purpose of the present invention is to provide a joint drive device for an upper limb rehabilitation robot to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A joint drive device for an upper limb rehabilitation robot, including an upper plate. An arc-shaped rod is arranged inside the upper end of the upper plate. A convex chute is formed from the outer side to the inside of the arc-shaped rod. Convex sliders are slidably installed inside the convex chutes, and the outer sides of the convex sliders extend to the outside of the convex chutes.

[0008] Arc-shaped racks are fixedly installed on the outer sides of the convex sliders, and a main chain is rotatably installed on the outer sides of the arc-shaped racks together.

[0009] A transmission gear is rotatably installed on the inner side of the lower end of the main chain. First gears are fixedly installed on both sides of the transmission gear. A secondary chain is rotatably installed on the circumferential surface of the first gear. A second gear is rotatably installed on the inner side of the lower end of the secondary chain, and a lower plate is fixedly installed inside the second gear.

[0010] Preferably, a first mounting hole is uniformly formed in an annular array on the outer side surface of the upper end of the upper plate. An outer shell is arranged on the outer side surface of the upper end of the upper plate. A second mounting hole matching the first mounting hole is uniformly formed in an annular array from the outer side surface to the inside of the outer shell. A mounting bolt is jointly arranged inside the first mounting hole and the second mounting hole.

[0011] By adopting the above technical solution, under the action of the first mounting hole and the second mounting hole, the outer shell and the upper plate can be fixedly connected together, so that the output motor for subsequent operation can be in a fixed state, and then the sun gear can be rotated.

[0012] Preferably, an output motor is fixedly installed at the center position of the outer side surface of the outer shell. A sun gear is fixedly installed on the output shaft of the output motor inside the outer shell.

[0013] Preferably, an inner cavity groove is formed inside the upper end of the upper plate. An inclined tooth groove is formed on the inner circumferential surface of the inner cavity groove. The inner end of the inner cavity groove is rotationally connected to the inner side of the connecting shaft. An installation plate is fixedly installed at the outer side end of the connecting shaft. Planetary gears are rotatably installed on the outer side surface of the installation plate in an annular array. The planetary gears are meshed with the sun gear, and the planetary gears are meshed with the inclined tooth groove.

[0014] By adopting the above technical solution, under the action of the inclined tooth groove inside the inner cavity groove, the planetary gear can be assisted to rotate, so as to ensure the generation and output of torque.

[0015] Preferably, adjusting motors are fixedly installed on the outer side surface of the connecting shaft in an annular array. Adjusting screws are fixedly installed on the output shafts of the adjusting motors. A cavity threaded rod is rotationally installed on the circumferential surface of the adjusting screw. The outer side end of the cavity threaded rod is rotationally connected to the center position of the inner side surface of the adjacent arc-shaped rod.

[0016] By adopting the above technical solution, under the action of the adjusting motor, the cavity threaded rod can push the arc-shaped rod to move outwards, so that the internal diameter size of the subsequent structure can be changed.

[0017] Preferably, a cavity groove is formed inside the upper plate. The upper end of the cavity groove is in communication with the inner cavity groove. Symmetric limiting rotating columns are rotationally installed at the upper end inside the cavity groove. A main chain is slidably installed inside adjacent two limiting rotating columns.

[0018] By adopting the above technical solution, under the action of the limiting rotating column, the main chain can be prevented from rubbing against the inner top corner position of the cavity groove, so as to ensure the service life and usage time of the column chain.

[0019] Preferably, a U-shaped groove is formed at the lower end of the upper plate, and the lower ends of the U-shaped groove and the cavity groove are in a through state. A transmission gear is rotatably arranged inside the U-shaped groove.

[0020] By adopting the above technical solution, the upper plate and the lower plate can be rotationally connected together under the action of the U-shaped groove, avoiding the misalignment of the two.

[0021] Preferably, the second gear is rotatably installed at the lower inner side of the U-shaped groove, and the upper end of the lower plate is located inside the U-shaped groove.

[0022] Preferably, a connecting plate is fixedly installed at the inner edge position of the U-shaped groove. A double-headed lead screw is rotatably installed on the inner side surface of the connecting plate. A limiting column is threadedly and rotatably installed on the circumferential surface of the double-headed lead screw. Rotating rings are rotatably installed at both ends of the limiting column, and the outer side surfaces of the rotating rings are in contact with the inner side surfaces of the adjacent auxiliary chains.

[0023] By adopting the above technical solution, the limiting column can tension the adjacent auxiliary chains under the action of the double-headed lead screw, preventing the auxiliary chains from falling off, and thus ensuring the use of the auxiliary chains.

[0024] Preferably, both ends of the convex slide are slidably installed inside the adjacent convex slide grooves. The convex slide can slide inside the adjacent convex slide grooves, and both ends of the convex slide can be in contact with both ends of the adjacent convex slide.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. In the present invention, during the operation process, under the action of the adjusting motor, the cavity threaded rod can move outward. During the movement, the cavity threaded rod can push the arc-shaped plate outward. During the outward movement of the arc-shaped plate, the convex slide can slide, thereby changing the inner diameter of the multiple arc-shaped racks, and further changing the tension of the main chain, so as to avoid the chain from falling off during the operation of the rehabilitation robot, and thus ensuring the smoothness of the joint drive.

[0027] 2. In the present invention, with the cooperation of the sun gear and the planetary gears, a large torque can be generated. However, due to the cooperation of the planetary gears, although a large torque is generated, the rotational speed is slow. Then, when the main chain drives the transmission gear to rotate, the rotational speed of the lower plate can be in a slow state, thus ensuring that the patient can be in a comfortable state and guaranteeing the patient's physical health.

[0028] 3. In the present invention, under the action of the double-headed lead screw, the two limit posts can move in opposite directions, and during the movement, the tension of the secondary chain can be changed, so as to ensure that the secondary chain will not fall off during operation, and further ensure the rotation of the lower platen. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are 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.

[0030] Figure 1 is a schematic diagram of the external structure of the present invention;

[0031] Figure 2 is a structural diagram of the interior of the upper platen of the present invention;

[0032] Figure 3 is a schematic diagram of the inner cavity groove of the present invention;

[0033] Figure 4 is a schematic diagram of the interior of the housing of the present invention;

[0034] Figure 5 is an exploded view of the sun gear, planetary gear and main chain of the present invention;

[0035] Figure 6 is an exploded view of the arc plate, convex chute and convex slide of the present invention;

[0036] Figure 7 is a connection schematic diagram of the upper platen and the lower platen of the present invention;

[0037] Figure 8 is a structural diagram of the main chain and the secondary chain of the present invention;

[0038] Figure 9 is a structural schematic diagram of the secondary chain and the second gear of the present invention.

[0039] Explanation of the attached reference numerals:

[0040] 1. Upper plate; 2. First mounting hole; 3. Inner cavity groove; 4. Helical groove; 5. Limit rotating column; 6. Cavity groove; 7. U-shaped groove; 8. Outer shell; 9. Second mounting hole; 10. Mounting bolt; 11. Output motor; 12. Sun gear; 13. Planet gear; 14. Mounting plate; 15. Connecting shaft; 16. Adjusting motor; 17. Adjusting screw; 18. Cavity threaded rod; 19. Arc rod; 20. Convex chute; 21. Convex slide; 22. Arc rack; 221. Main chain; 23. Driving gear; 24. First gear; 25. Sub-chain; 26. Second gear; 27. Connecting plate; 28. Double-headed lead screw; 29. Limit post; 30. Rotating ring; 31. Lower plate. Detailed implementation manner

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] Please refer to Figures 1 to 9 , the present invention provides a technical solution:

[0043] A joint drive device for an upper limb rehabilitation robot, including an upper plate 1. An inner cavity groove 3 is opened from the outer side surface to the inside of the top of the upper plate 1. Then, a first mounting hole 2 is opened at the position of the outer side surface of the top of the upper plate 1 at the outer edge of the inner cavity groove 3. Secondly, an outer shell 8 is fitted and mounted on the outer side surface of the upper plate 1. Second mounting holes 9 matching the first mounting hole 2 are evenly arranged in a circular array from the outer side surface to the inside of the outer shell 8. A mounting bolt 10 is rotatably mounted inside the first mounting hole 2 and the second mounting hole 9. Among them, it should be noted that threads can be opened on the inner circumferential surfaces of the first mounting hole 2 and the second mounting hole 9. Therefore, threads can also be opened on the outer side surface of the mounting bolt 10, so that the mounting bolt 10 can be rotatably mounted inside the first mounting hole 2 and the second mounting hole 9, so that the outer shell 8 can be fixedly connected to the upper plate 1. Secondly, the diameter of the mounting bolt 10 can be slightly larger than that of the first mounting hole 2 and the second mounting hole 9, and a larger pressure is used to press the mounting bolt 10 into the first mounting hole 2 and the second mounting hole 9. However, the specific mounting structure needs to be designed by operators or designers according to actual needs and situations, such as Figure 1 and Figure 4 shown.

[0044] Secondly, an output motor 11 is fixedly installed at the center position of the outer side surface of the outer shell 8. On the output shaft of the output motor 11 and inside the outer shell 8, a sun gear 12 is fixedly installed. On the outer circumferential surface of the sun gear 12, three planetary gears 13 are meshingly installed. At one end of the planetary gears 13 away from the output motor 11, a mounting plate 14 is fixedly installed together, as Figure 5 shown.

[0045] At the center position of one end of the mounting plate 14 away from the output motor 11, a connecting shaft 15 is fixedly installed. Among them, one end of the connecting shaft 15 away from the mounting plate 14 is rotatably installed at the center position of the inner rear end surface of the inner cavity groove 3.

[0046] During the use process, the output shaft of the output motor 11 drives the sun gear 12 to rotate. During the rotation of the sun gear 12, it can drive the planetary gears 13 to rotate. It should be noted that the output motor 11 can rotate forward and backward. Therefore, during the use process, under the action of the sun gear 12, the planetary gears 13 can also rotate forward and backward, as Figure 5 shown.

[0047] In addition, during the rotation of the planetary gears 13, the mounting plate 14 will be driven to rotate synchronously. Due to the limitation of the connecting shaft 15, it is ensured that the rotation of the mounting plate 14 is in a stable state and will not deviate or shake, thus ensuring the subsequent operation conditions.

[0048] Then, on the inner circumferential surface of the inner cavity groove 3, a helical tooth groove 4 is opened. The helical tooth groove 4 and the planetary gears 13 are in a meshing state, further ensuring the rotation of the planetary gears 13, so as to prevent the planetary gears 13 from rubbing against the inside of the upper plate 1, reducing the wear of the planetary gears 13, and ensuring that the upper plate 1 is in a stable state and will not shake, so that the patient's arm will not shake during the rehabilitation operation, as Figure 3 and Figure 5 shown.

[0049] On the outer side surface of the connecting shaft 15, four adjusting motors 16 are fixedly installed in a circumferential and uniform array. On the output shafts of the adjusting motors 16, adjusting screws 17 are fixedly installed. On the outer circumferential surface of the adjusting screws 17, external threads are opened. And on the outer circumferential surface of the adjusting screws 17, a cavity threaded rod 18 is threadedly rotated. Because internal threads are opened in the cavity threaded rod 18, under the action of the threads, the adjusting screws 17 and the cavity threaded rod 18 can be in a threaded rotation connection state, as Figure 6 shown.

[0050] Secondly, arc-shaped rods 19 are rotatably installed at the ends of the cavity threaded rod 18 far from the adjusting motor 16. The number of arc-shaped rods 19 is four. Moreover, the adjacent ends of the four arc-shaped rods 19 are in a disconnected state with a certain gap, as Figure 6 shown.

[0051] Secondly, convex sliding grooves 20 are formed on the outer circumferential surfaces of the arc-shaped rods 19. Moreover, the two ends of the convex sliding grooves 20 on the arc-shaped rods 19 are in a through state. However, convex sliding platforms 21 are slidably installed inside the convex sliding grooves 20. It should be noted that the two ends of the convex sliding platform 21 are respectively slidably installed inside the convex sliding grooves 20 at the adjacent two ends. And arc-shaped racks 22 are fixedly installed on the outer side surfaces of the convex sliding platforms 21. The four arc-shaped racks 22 can form an annular structure.

[0052] During the use process, when the adjusting motor 16 is started, the output shaft of the adjusting motor 16 will drive the adjusting screw rod 17 to rotate. When the adjusting screw rod 17 rotates, it will push the arc-shaped rods 19 to expand outward, and then the distance between the adjacent arc-shaped rods 19 will gradually become larger. On the contrary, when contracting inward, the distance between the adjacent ends will become smaller.

[0053] As the arc-shaped rods 19 move outward, the convex sliding platforms 21 inside the convex sliding grooves 20 will also move and slide inside the convex sliding grooves 20. Then, the adjacent ends of the adjacent convex sliding platforms 21 will gradually move away from each other, thereby changing the inner diameter of the ring formed by the combination of the convex sliding platforms 21, so as to be able to change the tension of the main chain 221 during the subsequent operation process.

[0054] A main chain 221 is rotatably installed on the outer side surface of the arc-shaped rack 22. And a cavity groove 6 is formed inside the upper plate 1. Among them, the top of the cavity groove 6 is in a through state with the inner cavity groove 3. Then, the main chain 221 can be arranged inside the cavity groove 6. And a horizontally placed limiting rotating column 5 is rotatably installed at the top inside the cavity groove 6. Among them, the main chain 221 is slidably installed inside the adjacent two limiting rotating columns 5, as Figure 3 shown. Under the action of the limiting rotating column 5, it can be avoided that the main chain 221 rubs against the corner position when moving into or out of the cavity groove 6, thereby ensuring the service life and usage time of the main chain 221 and avoiding the situation that the main chain 221 breaks during the use process, as Figure 3 and Figure 2 shown.

[0055] A U-shaped groove 7 is opened at the lower end of the upper plate 1, and the top of the U-shaped groove 7 and the lower end of the cavity groove 6 are in a through state. Moreover, a transmission gear 23 is rotatably installed at the upper end inside the U-shaped groove 7, and the main chain 221 is rotatably installed on the circumferential surface of the transmission gear 23, as Figure 8 shown.

[0056] During use, the main chain 221 drives the transmission gear 23 to rotate during rotation.

[0057] Then, first gears 24 are fixedly installed at both ends of the transmission gear 23. Secondly, the end of the first gear 24 away from the transmission gear 23 is rotatably connected to the inner side surface of the U-shaped groove 7, so that the transmission gear 23 can be in a suspended state and thus can rotate. Then, two symmetrically arranged second gears 26 are rotatably installed at the lower end inside the U-shaped groove 7, and a sub-chain 25 is rotatably installed between the upper end of the second gear 26 and the circumferential surface of the first gear 24 in the vertical direction, as Figure 8 shown.

[0058] During use, the first gear 24 drives the sub-chain 25 to rotate, and the sub-chain 25 drives the second gear 26 to rotate during rotation. As the second gear 26 rotates, the lower plate 31 fixedly installed inside the two second gears 26 can be driven to rotate, so that the vertically arranged lower plate 31 rotates to a horizontal state or other inclined states at an angle.

[0059] Secondly, a connecting plate 27 is fixedly installed at the finally positioned edge inside the U-shaped groove 7. A double-headed screw rod 28 is rotatably installed on the inner side surface of the connecting plate 27, and two limit posts 29 are threadedly rotated on the circumferential surface of the double-headed screw rod 28. It should be noted that rotating rings 30 are rotatably installed at both ends of the limit post 29, and the outer circumferential surface of the rotating ring 30 is located inside the adjacent sub-chain 25 and is in contact with the inner side surface of the sub-chain 25.

[0060] Before the operation, the operator rotates the double-headed screw rod 28 according to the tension of the sub-chain 25. During the rotation of the double-headed screw rod 28, the two limit posts 29 can be gradually moved away from each other, and thus the tension of the sub-chain 25 can be changed, so as to avoid the situation that the sub-chain 25 falls off during rotation. It should be noted that since no limiting device is provided at both ends of the limit post 29, it is easy for the limit post 29 to rotate synchronously with the double-headed screw rod 28. Therefore, during the rotation, a limiting operation needs to be performed on one end of the limit post 29 to prevent the limit post 29 from rotating synchronously with the double-headed screw rod 28, as Figure 9 shown.

[0061] Working principle: First, start the output motor 11. The output shaft of the output motor 11 drives the sun gear 12 to rotate. During the rotation of the sun gear 12, it drives the planetary gear 13 to rotate, and the planetary gear 13 drives the mounting plate 14 to rotate.

[0062] During the rotation of the mounting plate 14, it will drive the connecting shaft 15 to rotate synchronously.

[0063] At this time, according to the situation, start the adjustment motor 16. The output of the adjustment motor 16 will drive the adjustment screw 17 to rotate. The adjustment screw 17 will make the cavity threaded rod 18 move outwards, pushing the arc rod 19 to expand outwards.

[0064] At this time, the convex slide 21 will slide inside the convex chute 20, thereby changing the diameter formed inside, so that the inner diameter of the arc rack 22 can be in a state of becoming larger, and then the overall tension of the main chain 221 can be changed.

[0065] At this time, the main chain 221 will drive the transmission gear 23 to rotate. The transmission gear 23 drives the first gear 24 to rotate, and the first gear 24 will drive the auxiliary chain 25 to rotate synchronously, so that the second gear 26 can rotate, and then drive the lower platen 31 to rotate, so that the patient can perform rehabilitation training.

[0066] At this time, according to the situation, rotate the double-headed lead screw 28. When the double-headed lead screw 28 rotates, it can make the limit posts 29 gradually move away from each other, so as to change the tension of the auxiliary chain 25 and ensure the operation effect of the auxiliary chain 25. Since the inner part of the swivel ring 30 and the auxiliary chain 25 is in a state of long-term friction, in order to avoid the teeth in the auxiliary chain 25 from being worn, the swivel ring 30 and the auxiliary chain are both made of wear-resistant materials, avoiding the structure from being worn and consumed, and then ensuring the service life of the structure.

[0067] Finally, it should be noted that: the above 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 with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A joint driving device for an upper limb rehabilitation robot, comprising an upper control plate (1), wherein an arc-shaped rod (19) is arranged inside the upper end of the upper control plate (1), and a convex sliding groove (20) is provided from the outer side surface of the arc-shaped rod (19) to the inside, characterized in that: A convex slide table (21) is slidably mounted inside the convex slide groove (20), and the outer side surface of the convex slide table (21) extends to the outside of the convex slide groove (20); The outer side surfaces of the convex slides (21) are fixedly mounted with arc-shaped racks (22), and the outer side surfaces of the arc-shaped racks (22) are rotatably mounted with main chains (221); A transmission gear (23) is rotatably mounted on the inner side of the lower end of the main chain (221), first gears (24) are fixedly mounted on both sides of the transmission gear (23), a secondary chain (25) is rotatably mounted on the circumferential surface of the first gear (24), a second gear (26) is rotatably mounted on the inner side of the lower end of the secondary chain (25), and a lower control plate (31) is fixedly mounted on the inner side of the second gear (26).

2. A joint driving device for an upper limb rehabilitation robot according to claim 1, characterized in that: The upper outer side surface of the upper plate (1) is evenly provided with first mounting holes (2) in an annular array, the upper outer side surface of the upper plate (1) is provided with a shell (8), and second mounting holes (9) matching the first mounting holes (2) are evenly provided in an annular array from the outer side surface of the shell (8) to the inside, and mounting bolts (10) are commonly provided inside the first mounting holes (2) and the second mounting holes (9).

3. A joint driving device for an upper limb rehabilitation robot according to claim 2, characterized in that: An output motor (11) is fixedly mounted at the center of the outer side surface of the housing (8), and a sun gear (12) is fixedly mounted on the output shaft of the output motor (11) and located inside the housing (8).

4. A joint driving device for an upper limb rehabilitation robot according to claim 3, characterized in that: An inner cavity groove (3) is provided inside the upper end of the upper control plate (1), and an inner circumferential surface of the inner cavity groove (3) is provided with an oblique tooth groove (4). The interior of the inner cavity groove (3) is rotatably connected to one end of the inner side of a connecting shaft (15), and a mounting plate (14) is fixedly mounted on the outer end of the connecting shaft (15). Planetary gears (13) are evenly rotatably mounted in an annular array on the outer side surface of the mounting plate (14), and the planetary gears (13) are meshed with the sun gear (12), and the planetary gears (13) are meshed with the oblique tooth groove (4).

5. A joint driving device for an upper limb rehabilitation robot according to claim 4, characterized in that: The outer side surface of the connecting shaft (15) is evenly fixedly mounted with an adjusting motor (16) in a circular array, and the output shaft of the adjusting motor (16) is fixedly mounted with an adjusting screw (17), and a cavity threaded rod (18) is threadedly mounted on the circumferential surface of the adjusting screw (17), and the outer side end of the cavity threaded rod (18) is rotatably connected to the center position of the inner side surface of the adjacent arc rod (19).

6. A joint driving device for an upper limb rehabilitation robot according to claim 5, characterized in that: A cavity groove (6) is provided inside the upper control plate (1), the upper end of the cavity groove (6) and the inner cavity groove (3) are in a through-state, a symmetrical limiting rotating column (5) is rotatably installed inside the upper end of the cavity groove (6), and a main chain (221) is slidably installed inside two adjacent limiting rotating columns (5).

7. A joint driving device for an upper limb rehabilitation robot according to claim 6, characterized in that: A U-shaped groove (7) is provided at the lower end of the upper plate (1), the U-shaped groove (7) and the lower end of the cavity groove (6) are in a through-connection state, and a transmission gear is rotatably arranged inside the U-shaped groove (7).

8. The joint driving device for an upper limb rehabilitation robot according to claim 1, characterized in that: The second gear (26) is rotatably mounted on the inner lower end of the U-shaped groove (7), and the upper end of the lower control plate (31) is located at the inner lower end of the U-shaped groove (7).

9. The joint driving device for an upper limb rehabilitation robot according to claim 1, characterized in that: A connecting plate (27) is fixedly mounted at the position of the inner edge of the U-shaped groove (7); a double-headed screw (28) is rotatably mounted on the inner side surface of the connecting plate (27); a limiting column (29) is rotatably mounted on the circumferential surface of the double-headed screw (28); swivels (30) are rotatably mounted on both ends of the limiting column (29); and the outer side surface of the swivel (30) is evenly fitted with the inner side surface of the adjacent secondary chain (25).

10. The joint driving device for an upper limb rehabilitation robot according to claim 1, characterized in that: The two ends of the convex slide (21) are slidably mounted inside the adjacent convex slide groove (20); the convex slide (21) can slide inside the adjacent convex slide groove (20), and the two ends of the convex slide (21) can fit with the two ends of the adjacent convex slide (21).

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