Upper limb rehabilitation training equipment capable of being used by left arm and right arm

Abstract

The invention discloses upper limb rehabilitation training equipment capable of being mutually used by left and right arms, which comprises a small arm elbow joint training mechanism, a big arm shoulder joint training mechanism and a left and right reversing mechanism, and is characterized in that the small arm elbow joint training mechanism is connected with the front end of the big arm shoulder joint training mechanism in a foldable manner through a folding part; the rear end of the big arm shoulder joint training mechanism is connected with the left-right reversing mechanism, and the left-right reversing mechanism is used for driving the big arm shoulder joint training mechanism to rotate relatively. According to the upper limb rehabilitation training equipment capable of being used by the left arm and the right arm, the functions of being small in size, light and easy to use are achieved, the pull rope is used for power transmission, the overall size of the equipment is optimized, daily use is more convenient through the rotating clutch mechanism used by the left arm and the right arm, and the equipment is small in size, convenient to store, simple in structure, practical and easy to operate.

Description

Technical Field

[0001] The present invention relates to an upper limb rehabilitation training device that can be used interchangeably with the left and right arms, belonging to the technical field of rehabilitation devices. Background Art

[0002] The increasing aging population, high incidence of chronic diseases, and large number of disabled people have led to a wide range of rehabilitation treatment needs. Rehabilitation robots have the advantages of accuracy, efficiency, and controllability in solving problems such as insufficient numbers of rehabilitation therapists and high labor costs. Despite significant progress in this technology, challenges still remain: high costs, lack of flexibility, complex operation, large volume, and still requiring the participation of therapists, etc.; It can be seen that in order to solve the above technical problems and meet the requirements for flexibility and operability, there is an urgent need for an upper limb rehabilitation training device that can be used interchangeably with the left and right arms. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an upper limb rehabilitation training device that can be used interchangeably with the left and right arms, realizing functions of small size, light weight, and simple use. The overall volume of the device is optimized by using a pull rope as the power transmission medium, and a rotation clutch mechanism for interchangeable use of the left and right arms is more convenient for daily use. The device is small in volume, convenient for storage, and has a simple and practical structure that is easy to operate.

[0004] To achieve the above object / To solve the above technical problems, the present invention is implemented by adopting the following technical solutions: An upper limb rehabilitation training device that can be used interchangeably with the left and right arms, comprising a forearm elbow joint training mechanism, a upper arm shoulder joint training mechanism, and a left - right reversing mechanism. Among them, The forearm elbow joint training mechanism is foldably connected to the front end of the upper arm shoulder joint training mechanism through a folding part. The rear end of the upper arm shoulder joint training mechanism is connected to the left - right reversing mechanism, and the left - right reversing mechanism is used to drive the upper arm shoulder joint training mechanism to rotate relatively; The forearm elbow joint training mechanism drives the training end to rotate relative to the folding part through a first driving source to drive the forearm to perform elbow flexion training; The upper arm shoulder joint training mechanism completes the forward flexion and abduction of the upper arm shoulder joint through a four - link mechanism. The upper arm shoulder joint training mechanism is simultaneously driven by a second driving source for the abduction training driving end and the forward flexion training driving end of the shoulder joint, and clutch components are provided at the connection points of the abduction training driving end and the forward flexion training driving end of the shoulder joint with the second driving source. When it is necessary to perform shoulder joint abduction training or shoulder joint forward flexion training alone, the training mode is switched by means of clutching; The power transmission medium in both the first driving source and the second driving source adopts the form of a pull rope.

[0005] Furthermore, the forearm elbow joint training mechanism also includes a training plate and a wrist strap retractable plate, wherein the wrist strap retractable plate is retractably mounted on the front end of the training plate and can be fixed by bolts after being retracted; The wrist strap retractable plate is provided with a strap for fixing the wrist, the rear end of the training plate is hinged to the folding part, the first driving source is arranged on the side of the training plate facing the folding part, one end of the power transmission medium of the first driving source is transmitted to the first driving source, and the other end is fixed to the top side wall of the folding part.

[0006] Furthermore, the folding part includes a forearm support and a boom support which are folded and connected to each other, and a locking device is provided on the closed side of the forearm support and the boom support in the unfolded state, the locking device is hinged on the boom support, and a matching part matching with the locking device is provided on the forearm support, and the locking of the forearm support and the boom support is achieved through the cooperation between the locking device and the matching part.

[0007] Furthermore, the upper arm shoulder joint training mechanism includes an upper arm frame, a first rocker, a second rocker, a tension spring, a connecting rod and a shoulder joint power mechanism, wherein: The first rocker arm and the second rocker arm are arranged one above the other between the boom support and the boom frame, and the front ends of the first rocker arm and the second rocker arm are hinged to the boom support, and the rear ends of the first rocker arm and the second rocker arm are respectively adjustable to be installed with the first outer rod and the second outer rod, and the other ends of the first outer rod and the second outer rod are hinged to the boom frame; The power transmission medium of the shoulder joint power mechanism passes through the upper arm frame and is fixed to the first outer rod; One end of the tension spring is fixed to the upper arm frame, and the other end is fixed to the top side wall of the second outer rod; The boom frame is rotatably connected to the shoulder joint power mechanism through a first bolt pair, and one end of the shoulder joint power mechanism away from the boom frame is connected to the left and right reversing mechanism; Both sides of the first outer rod and the second outer rod are connected to the connecting rod through a shaft and a first bearing, and a large arm support plate for supporting the large arm is installed on one side of the connecting rod away from the first outer rod and the second outer rod.

[0008] Furthermore, the shoulder joint power mechanism includes a shoulder joint abduction training device, a shoulder joint front drive training device and a rack reciprocating sliding device, wherein: One end of the shoulder joint front drive training device is in transmission with the second drive source, and the other end is in transmission with the power transmission medium of the shoulder joint power mechanism, the rack reciprocating sliding device is used to link the shoulder joint front drive training device and the shoulder joint abduction training device, and the other end of the shoulder joint abduction training device is rotatably connected to the upper arm frame; When the shoulder joint forward training device rotates driven by the second drive source, the shoulder joint abduction training device reciprocally rotates along with the rack reciprocating sliding device.

[0009] Furthermore, the shoulder joint abduction training device includes a nut, a driving shaft, positioning beads, a driven gear, a transfer shaft, a second bearing, a shaft sleeve, a connecting piece and a flange bolt. Among them, The outer surface of the driving shaft is fixedly installed with a driven gear, the driven gear is in transmission with the rack reciprocating sliding device, and four positioning beads are arranged on the outer surface of the part of the driving shaft above the driven gear; The upper end of the driving shaft penetrates above the housing of the shoulder joint power mechanism and is in threaded connection with the nut. The nut, the driving shaft and the positioning beads form a first clutch assembly. When the nut pulls up the driving shaft, the four positioning beads can be stuck above the housing to achieve manual clutch; The lower end of the driving shaft is connected to the upper end of the transfer shaft through a rectangular interface. The lower end of the transfer shaft penetrates below the housing and is connected to the connecting piece through a rectangular interface. The second bearing and the shaft sleeve are assembled outside the transfer shaft and are located between the driving shaft and the connecting piece. The flange bolt is used for axially fixing the assembled transfer shaft, second bearing, shaft sleeve and connecting piece.

[0010] Furthermore, the shoulder joint forward training device includes a driving incomplete gear, a connecting shaft and an electromagnetic clutch. Among them, The connecting shaft penetrates through the upper and lower side covers of the housing of the shoulder joint power mechanism. The part of the connecting shaft above the housing is in transmission with the second drive source, the part inside the housing is fixed to the driving incomplete gear, the driving incomplete gear is in transmission with the rack reciprocating sliding device, the part of the connecting shaft below the housing is fixed to the electromagnetic clutch, and the electromagnetic clutch is in transmission with the power transmission medium to achieve clutch through the electromagnetic clutch; The rack reciprocating sliding device includes two driving racks, a rack frame plate, rollers and a driven rack. Two driving racks and a driven rack are installed on the rack frame plate through bolts. Four rollers are installed below the rack frame plate, which can make the rack frame plate move linearly back and forth along the track. The two driving racks cooperate with the driving incomplete gear, and the driven rack cooperates with the driven gear. When the driving incomplete gear rotates, it drives the rack frame plate to move linearly back and forth along the track, so that the driven gear rotates reciprocally.

[0011] Furthermore, the left - right reversing mechanism includes a back strap frame, a fourth bearing, a positioning cloud platform, a second bolt pair, an axial positioning bolt, an angle locking nut and a housing. Among them, The fourth bearing is installed on the back harness bracket. The bottom of the positioning pan-tilt is inserted into the inner ring of the fourth bearing and fixed with an axial positioning bolt. The housing of the shoulder joint power mechanism is fixed to the positioning pan-tilt by a second bolt pair and can be rotationally adjusted relative to the back harness bracket; The angle locking nut is installed below the positioning pan-tilt and is used to fix the adjusted housing.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This upper limb rehabilitation training device that can be used interchangeably for the left and right arms optimizes the inconvenience of common upper limb rehabilitation training devices that can only target a single arm. The left-right reversing mechanism allows both the left and right arms to be applicable to the device. Moreover, the power transmission medium for the main training movements all adopts the drawstring method, effectively reducing the volume and weight of the device. Patients can use this device anytime and anywhere. The upper limb rehabilitation training device that can be used interchangeably for the left and right arms has a simple structure, low cost, and excellent convenience for use. The setting of the clutch structure facilitates the rapid adjustment of training items and can meet the training needs in different situations; This upper limb rehabilitation training device that can be used interchangeably for the left and right arms uses a rack reciprocating sliding device to connect the abduction drive end of the shoulder joint and the flexion drive end of the shoulder joint, enabling the abduction drive end of the shoulder joint to reciprocally rotate under the action of the rack reciprocating sliding device, thereby meeting the abduction training requirements of the shoulder joint; This upper limb rehabilitation training device that can be used interchangeably for the left and right arms is provided with an electric clutch assembly at the flexion drive end of the shoulder joint. Since during flexion training, when the upper arm is lifted to an appropriate height through the flexion drive end of the shoulder joint, it is necessary to disconnect the drive and let the upper arm fall naturally under gravity to complete the training. The electric clutch method can achieve the switching more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of an upper limb rehabilitation training device that can be used interchangeably for the left and right arms; Figure 2 It is a schematic diagram of the structure of the forearm elbow joint training mechanism; Figure 3 It is a schematic diagram of the structure of the upper arm shoulder joint training mechanism; Figure 4 It is a schematic diagram of the structure of the shoulder joint power mechanism; Figure 5 It is an exploded schematic diagram of the structure of the shoulder joint abduction training device; Figure 6 It is a front view sectional schematic diagram of the structure of the shoulder joint power mechanism; Figure 7 It is a schematic diagram of the first part of the structure of the shoulder joint flexion training device; Figure 8It is a schematic diagram of the second part structure of the shoulder joint forward flexion training device; Figure 9 It is a schematic diagram of the structure of the left - right reversing mechanism; Figure 10 It is a schematic diagram of the structure of the left - right reversing mechanism in the upward view state; Figure 11 It is an exploded schematic diagram of the structure of the outer rotor motor and the braided belt fixing device.

[0014] In the figure: 1. Forearm elbow joint training mechanism; 1.1. Wrist strap telescopic plate; 1.2. Adjusting bolt; 1.3. Braided belt; 1.4. Pressing cover; 1.5. Locking device; 1.6. Bolt; 1.7. Braided belt fixing device; 1.8. Outer rotor motor; 1.9. Pin shaft; 1.10. Training plate; 1.11. Forearm support; 1.12. Upper arm support; 2. Upper arm shoulder joint training mechanism; 2.1. Second rocker; 2.3. First pin shaft; 2.4. First rocker; 2.5. Connecting rod; 2.6. Shaft; 2.7. First bearing; 2.8. Line hook; 2.9. Bolt pair; 2.10. Shoulder joint power mechanism; 2.10.1. Shoulder joint abduction training device; 2.10.1.1. Nut; 2.10.1.2. Driving shaft; 2.10.1.3. Positioning bead; 2.10.1.4. Driven gear; 2.10.1.5. Adapter shaft; 2.10.1.6. Second bearing; 2.10.1.7. Bush; 2.10.1.8. Connecting piece; 2.10.1.9. Flange bolt; 2.10.2. Upper cover; 2.10.3. Shoulder joint forward flexion training device; 2.10.3.1. Stepper motor; 2.10.3.2. Driving rack; 2.10.3.3. Rack frame plate; 2.10.3.4. Roller; 2.10.3.5. Electromagnetic clutch; 2.10.3.6. Driven rack; 2.10.3.7. Driving incomplete gear; 2.10.3.8. Connecting shaft; 2.10.4. Rack reciprocating sliding device; 2.10.5. Outer shell; 2.10.6. Electromagnetic clutch fixing outer shell; 2.11. Upper arm frame; 2.12. Main shaft; 2.13. Bearing end cover; 2.14. Third bearing; 2.15. Second pin shaft; 2.16. Tension spring; 2.17. Tension spring hook; 2.18. Upper arm support plate; 2.19. Pulling wire; 3. Left - right reversing mechanism; 3.1. Bolt pair; 3.2. Positioning cloud platform; 3.3. Fourth bearing; 3.4. Back strap frame; 3.5. Axial positioning bolt; 3.6. Angle locking nut; 4. Hinge. Detailed implementation manners

[0015] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0016] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0017] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances. Embodiment 1

[0018] As Figure 1 shown, this embodiment provides an upper limb rehabilitation training device that can be used interchangeably with the left and right arms, including a forearm elbow joint training mechanism 1, a upper arm shoulder joint training mechanism 2, and a left-right reversing mechanism 3. Among them, The forearm elbow joint training mechanism 1 is foldably connected to the front end of the upper arm shoulder joint training mechanism 2 through a folding part. The rear end of the upper arm shoulder joint training mechanism 2 is connected to the left-right reversing mechanism 3, and the left-right reversing mechanism 3 is used to drive the upper arm shoulder joint training mechanism 2 to rotate relatively; The forearm elbow joint training mechanism 1 drives the training end to rotate relative to the folding part through a first driving source to drive the forearm to perform elbow flexion training; The upper arm shoulder joint training mechanism 2 completes the forward flexion and abduction of the upper arm shoulder joint through a four-bar linkage mechanism. The upper arm shoulder joint training mechanism 2 is simultaneously driven by a second driving source for the abduction training driving end and the forward flexion training driving end of the shoulder joint, and clutch components are provided at the connection points of the abduction training driving end and the forward flexion training driving end of the shoulder joint with the second driving source. When it is necessary to perform shoulder joint abduction training or shoulder joint forward flexion training separately, the training mode is switched by means of clutch; The power transmission media in the first driving source and the second driving source both adopt the form of pull ropes.

[0019] In the above technical solution, the inconvenience that common upper limb rehabilitation training equipment can only be used for a single arm is optimized. The left - right reversing mechanism 3 enables the equipment to be applicable to both the left and right arms. Moreover, the power transmission medium for the main training movements all adopts the cable - pulling method, effectively reducing the volume and weight of the equipment. Patients can use this equipment anytime and anywhere. The upper limb rehabilitation training equipment that can be used interchangeably for the left and right arms has a simple structure, low cost, and excellent convenience for use. The setting of the clutch structure facilitates the rapid adjustment of training items and can meet the training requirements under different circumstances.

[0020] The forearm elbow joint training mechanism 1 and the upper arm shoulder joint training mechanism 2 are fold - connected through a hinge 4. By folding the forearm elbow joint training mechanism 1 through the hinge 4, the equipment is convenient for storage. Embodiment 2

[0021] As Figures 2 to 11 shown, a kind of upper limb rehabilitation training equipment that can be used interchangeably for the left and right arms provided in this embodiment is different from the one provided in Embodiment 1 in that: The forearm elbow joint training mechanism 1 further includes a training board 1.10 and a wrist - strap telescopic board 1.1. The wrist - strap telescopic board 1.1 is telescopically installed at the front end of the training board 1.10 and can be fixed by bolts after extension. The wrist - strap telescopic board 1.1 is provided with straps for fixing the wrist. The rear end of the training board 1.10 is hinged to the folding part. The first driving source is arranged on the side of the training board 1.10 facing the folding part. One end of the power transmission medium of the first driving source is in transmission with the first driving source, and the other end is fixed to the top side wall of the folding part.

[0022] The folding part includes a forearm support column 1.11 and a large - arm support column 1.12 that are fold - connected to each other. A locking device 1.5 is arranged on the closed side of the forearm support column 1.11 and the large - arm support column 1.12 in the unfolded state. The locking device 1.5 is hinged to the large - arm support column 1.12, and a matching part that cooperates with the locking device 1.5 is arranged on the forearm support column 1.11. The locking of the forearm support column 1.11 and the large - arm support column 1.12 is achieved through the cooperation of the locking device 1.5 and the matching part.

[0023] Figure 2It is a schematic structural diagram of the training mechanism 1 for the elbow joint of the forearm, including a wrist strap telescopic plate 1.1, an adjusting bolt 1.2, a training plate 1.10, a braided belt 1.3, a pressing cover 1.4, a locking device 1.5, a bolt 1.6, a braided belt fixing device 1.7, an outer rotor motor 1.8, a pin shaft 1.9, and a forearm support 1.11. The wrist strap telescopic plate 1.1 is inserted into the training plate 1.10 and its length is adjusted by the adjusting bolt 1.2. The training plate 1.10 is hinged to the forearm support 1.11 through the pin shaft 1.9. The outer rotor motor 1.8 is fixed to the inner side of the training plate 1.10 by bolts. As Figure 11 shown, on the other side of the outer rotor motor 1.8, a braided belt fixing device 1.7 is installed. One end of the braided belt 1.3 is fixed to the braided belt fixing device 1.7, and the other end is pressed against the forearm support 1.11 by the pressing cover 1.4. When the outer rotor motor 1.8 starts to rotate, it can lift the training plate 1.10 to rotate around the pin shaft 1.9. The locking device 1.5 is hinged to the upper arm support 1.12 through the bolt 1.6. When it hooks the mating part on the forearm support 1.11, it can fix the overall mechanism in the front.

[0024] In this embodiment, the first driving source is the outer rotor motor 1.8. The outer rotor motor 1.8 adopts a pan-tilt motor. Based on the advantages of small volume and light weight of the pan-tilt motor, it can further improve the convenience of the training equipment. However, it is not limited to this, and other motors in the form of outer rotors can also be used to ensure convenience in terms of volume and weight as much as possible; As Figure 2 and Figure 3 shown, the locking device 1.5 is in the form of a claw. A mating groove adapted to the mating part fixed on the forearm support 1.11 is provided at the front end of the locking device 1.5. When the locking device 1.5 is rotated to hook the mating part on the forearm support 1.11, the upper arm support 1.12 and the forearm support 1.11 in the unfolded state can be fixed.

[0025] The working process of the training mechanism 1 for the elbow joint of the forearm is as follows: First, the wrist strap telescopic plate 1.1 is adjusted to an appropriate length by the adjusting bolt 1.2 and the wrist is fixed. The locking device 1.5 locks the forearm support 1.11 to prevent folding. The outer rotor motor 1.8 rotates while winding up and contracting the braided belt 1.3, so as to lift the training plate 1.10 and the wrist strap telescopic plate 1.1, driving the forearm to do elbow flexion training.

[0026] The training mechanism 2 for the shoulder joint of the upper arm includes an upper arm frame 2.11, a first rocker 2.4, a second rocker 2.1, a tension spring 2.16, a connecting rod 2.5, and a shoulder joint power mechanism 2.10. Among them, The first rocker 2.4 and the second rocker 2.1 are arranged one above the other between the boom support 1.12 and the boom frame 2.11. The front ends of the first rocker 2.4 and the second rocker 2.1 are hinged to the boom support 1.12. The rear ends of the first rocker 2.4 and the second rocker 2.1 are respectively and adjustably installed with a first outer rod 2.20 and a second outer rod 2.21. The other ends of the first outer rod 2.20 and the second outer rod 2.21 are hinged to the boom frame 2.11; The power transmission medium of the shoulder joint power mechanism 2.10 passes through the boom frame 2.11 and is fixed to the first outer rod 2.20; One end of the tension spring 2.16 is fixed to the boom frame 2.11, and the other end is fixed to the top side wall of the second outer rod 2.21; The boom frame 2.11 is rotationally connected to the shoulder joint power mechanism 2.10 through a first bolt pair 2.9. The end of the shoulder joint power mechanism 2.10 away from the boom frame 2.11 is connected to the left-right reversing mechanism 3; Both sides of the first outer rod 2.20 and the second outer rod 2.21 are connected to the connecting rod 2.5 through a shaft 2.6 and a first bearing 2.7. A boom support plate 2.18 for supporting the boom is installed on the side of the connecting rod 2.5 away from the first outer rod 2.20 and the second outer rod 2.21.

[0027] Figure 3 It is a schematic structural diagram of the boom shoulder joint training mechanism 2, which consists of a second rocker 2.1, a boom support 1.12, a first pin shaft 2.3, a first rocker 2.4, a connecting rod 2.5, a shaft 2.6, a first bearing 2.7, a wire hook 2.8, a first bolt pair 2.9, a shoulder joint power mechanism 2.10, a boom frame 2.11, a main shaft 2.12, a bearing end cover 2.13, a third bearing 2.14, a second pin shaft 2.15, a tension spring 2.16, a tension spring hook 2.17, a boom support plate 2.18, and a wire rope 2.19. Among them, the front ends of the second rocker 2.1 and the first rocker 2.4 are hinged to the boom support 1.12 through the first pin shaft 2.3, and the other ends are adjustably installed with the first outer rod 2.20 and the second outer rod 2.21. The other ends of the first outer rod 2.20 and the second outer rod 2.21 are hinged to the boom frame 2.11 through the main shaft 2.12 and the second pin shaft 2.15. Among them, a third bearing 2.14 is assembled between the main shaft 2.12 and the boom frame 2.11, and the bearing end cover 2.13 is fixed to the boom frame 2.11 by bolts. The boom frame 2.11 and the shoulder joint power mechanism 2.10 are rotationally connected through the first bolt pair 2.9. One end of the wire rope 2.19 is fixed to the wire hook 2.8 and the other end is as Figure 2After passing through the upper arm frame 2.11, it is connected to the shoulder joint power mechanism 2.10, so that the second rocker 2.1 and the first rocker 2.4 can be lifted along with the pull wire 2.19, the shaft 2.6 is fixed on the first outer rod 2.20 and the second outer rod 2.21, and the first bearing 2.7 and the connecting rod 2.5 are installed on the shaft 2.6, the upper arm support plate 2.18 is fixed to the connecting rod 2.5, and the same connecting rod support plate mechanism is used on the other side of the first outer rod 2.20 and the second outer rod 2.21, so that the left and right arms can still be applicable after being interchanged.

[0028] The second rocker 2.1 and the second outer rod 2.21 as well as the first rocker 2.4 and the first outer rod 2.20 are all inner and outer rod structures, and the inner rods (the second rocker 2.1 and the first rocker 2.4) can be telescopically adjusted relative to the outer rods (the first outer rod 2.20 and the second outer rod 2.21), and are fixed by bolts after adjustment, so that the lengths of the second rocker 2.1 and the first rocker 2.4 can be adjusted according to the length of the upper arm of the user to meet the rehabilitation training needs of different users; The working process of the upper arm shoulder joint training mechanism 2 is as follows: first, adjust the second rocker arm 2.1 and the first rocker arm 2.4 to a suitable length suitable for the current user, the front ends of the second rocker arm 2.1 and the first rocker arm 2.4 need to be close to the user's elbow joint, and let the upper arm support plate 2.18 support the upper arm. At this time, the second rocker arm 2.1 and the first rocker arm 2.4 are lifted by the pulling force of the pulling wire 2.19 to lift the upper arm to a certain angle, and then the power of the pulling wire 2.19 is disconnected. The upper arm falls by gravity and the tension spring 2.16 gives a certain damping effect to complete the flexion training of the shoulder joint, and then the flexion training is ended, and the upper arm frame 2.11 rotates to complete the shoulder joint abduction training.

[0029] The shoulder joint power mechanism 2.10 includes a shoulder joint abduction training device 2.10.1, a shoulder joint front drive training device 2.10.3 and a rack reciprocating sliding device 2.10.4, wherein: One end of the shoulder joint front drive training device 2.10.3 is in transmission with the second drive source, and the other end is in transmission with the power transmission medium of the shoulder joint power mechanism 2.10. The rack reciprocating sliding device 2.10.4 is used to link the shoulder joint front drive training device 2.10.3 and the shoulder joint abduction training device 2.10.1. The other end of the shoulder joint abduction training device 2.10.1 is rotatably connected to the upper arm frame 2.11. When the shoulder joint anterior drive training device 2.10.3 rotates under the drive of the second drive source, the shoulder joint abduction training device 2.10.1 reciprocates along with the rack reciprocating sliding device 2.10.4.

[0030] The second driving source is a stepper motor 2.10.3.1.

[0031] Figure 4It is the shoulder joint power mechanism 2.10, which includes a shoulder joint abduction training device 2.10.1, an upper cover 2.10.2, a shoulder joint flexion training device 2.10.3, a rack reciprocating sliding device 2.10.4, a housing 2.10.5 and an electromagnetic clutch fixing housing 2.10.6. The shoulder joint abduction training device 2.10.1 is installed on the outside of the housing 2.10.5, the shoulder joint flexion training device 2.10.3 is installed inside, and the rack reciprocating sliding device 2.10.4 is installed between the shoulder joint abduction training device 2.10.1 and the shoulder joint flexion training device 2.10.3.

[0032] The working process of the shoulder joint power mechanism 2.10 is as follows: The shoulder joint abduction training device 2.10.1 controls the rotation of the upper arm frame 2.11, and the shoulder joint flexion training device 2.10.3 controls the stretching of the pull wire 2.19. The stepping motor 2.10.3.1 inside the shoulder joint flexion training device 2.10.3 starts to transmit power to the driving incomplete gear 2.10.3.7. The rack reciprocating sliding device 2.10.4 makes reciprocating sliding under the influence of the driving incomplete gear 2.10.3.7, and at the same time drives the shoulder joint abduction training device 2.10.1 to make reciprocating rotation.

[0033] The shoulder joint abduction training device 2.10.1 includes a nut 2.10.1.1, a driving shaft 2.10.1.2, positioning beads 2.10.1.3, a driven gear 2.10.1.4, a transfer shaft 2.10.1.5, a second bearing 2.10.1.6, a bushing 2.10.1.7, a connecting piece 2.10.1.8 and a flange bolt 2.10.1.9. Among them, The outer surface of the driving shaft 2.10.1.2 is fixedly installed with a driven gear 2.10.1.4. The driven gear 2.10.1.4 is in transmission with the rack reciprocating sliding device 2.10.4, and four positioning beads 2.10.1.3 are arranged on the outer surface of the part of the driving shaft 2.10.1.2 above the driven gear 2.10.1.4. The upper end of the driving shaft 2.10.1.2 penetrates above the housing 2.10.5 of the shoulder joint power mechanism and is threadedly connected with the nut 2.10.1.1. The nut 2.10.1.1, the driving shaft 2.10.1.2 and the positioning beads 2.10.1.3 form a first clutch assembly. When the nut 2.10.1.1 pulls up the driving shaft 2.10.1.2, the four positioning beads 2.10.1.3 can be stuck above the housing 2.10.5 to achieve manual clutch. The lower end of the driving shaft 2.10.1.2 is connected to the upper end of the adapter shaft 2.10.1.5 through a rectangular interface. The lower end of the adapter shaft 2.10.1.5 penetrates below the housing 2.10.5 and is connected to the connecting piece 2.10.1.8 through a rectangular interface. The second bearing 2.10.1.6 and the bushing 2.10.1.7 are assembled outside the adapter shaft 2.10.1.5 after combination and are located between the driving shaft 2.10.1.2 and the connecting piece. The flange bolt 2.10.19 is used for axially fixing the assembled adapter shaft 2.10.1.5, the second bearing 2.10.1.6, the bushing 2.10.1.7 and the connecting piece 2.10.1.8.

[0034] Figure 5 It is the overall structural scheme of the shoulder abduction training device 2.10.1, including a nut 2.10.1.1, a driving shaft 2.10.1.2, positioning beads 2.10.1.3, a driven gear 2.10.1.4, an adapter shaft 2.10.1.5, a second bearing 2.10.1.6, a bushing 2.10.1.7, a connecting piece 2.10.1.8 and a flange bolt 2.10.1.9. Among them, the nut 2.10.1.1 is threadedly connected to the driving shaft 2.10.1.2, and the driving shaft 2.10.1.2 passes through the upper cover 2.10.2 and is fixedly connected to the driven gear 2.10.1.4 by a setscrew. Four positioning beads 2.10.1.3 are press-fitted on the driving shaft 2.10.1.2 so that when the driving shaft 2.10.1.2 is pulled up by the nut 2.10.1.1, the four positioning beads 2.10.1.3 can be stuck above the upper cover 2.10.2 to achieve the function of manual clutch with the adapter shaft 2.10.1.5. The upper end of the adapter shaft 2.10.1.5 is connected to the driving shaft 2.10.1.2 through a rectangular connection port. The lower end of the adapter shaft 2.10.1.5 is connected to the connecting piece 2.10.1.8 through a rectangular connection port outside the housing. The second bearing 2.10.1.6 and the bushing 2.10.1.7 are assembled in the middle of the adapter shaft 2.10.1.5. The flange bolt 2.10.1.9 is used for axially fixing the upper parts. As Figure 6As shown in the figure, the transfer shaft 2.10.1.5 and its fittings are installed inside the housing. The connecting piece 2.10.1.8 is located below the housing and is used to fixedly connect the boom frame 2.11. The transfer shaft 2.10.1.5 is rotatably connected to the housing through the second bearing 2.10.1.6. In addition, the lower ends of the driving shaft 2.10.1.2 and the transfer shaft 2.10.1.5 are designed as rectangles for torque transmission. Besides transmitting power, the transfer shaft 2.10.1.5 can also cooperate with the manual clutch effect. Pull up the driving shaft 2.10.1.2 to disconnect the rectangular area below the driving shaft 2.10.1.2 from the transfer shaft 2.10.1.5. Press the driving shaft 2.10.1.2 to connect the rectangular area below the driving shaft 2.10.1.2 to the transfer shaft 2.10.1.5 to achieve the clutch effect. If the rectangular area below the driving shaft 2.10.1.2 does not align with the rectangular groove above the transfer shaft 2.10.1.5, the boom frame 2.11 can be manually rotated for adjustment.

[0035] As Figure 6 shown, the positioning bead 2.10.1.3 and the driving shaft 2.10.1.2 are connected by a compression spring. A groove for accommodating the compression spring is provided on the surface of the driving shaft 2.10.1.2. In the state where the compression spring is not stressed, half of the positioning bead 2.10.1.3 is located inside the groove and the other half is located outside the groove. When the driving shaft 2.10.1.2 is pulled up, the positioning bead 2.10.1.3 will be squeezed by the upper cover 2.10.2 and retract into the groove along with the compression spring, enabling the driving shaft 2.10.1.2 to move smoothly. When the driving shaft 2.10.1.2 is pulled up until the positioning bead 2.10.1.3 is located above the upper cover 2.10.2, the positioning bead 2.10.1.3 is no longer under pressure, and the compression spring will drive the positioning bead 2.10.1.3 to reset, thus getting stuck above the upper cover 2.10.2 to achieve manual clutch.

[0036] The working process of the shoulder joint abduction training device 2.10.1 is as follows: First, when wanting to do separate elbow flexion training, the nut 2.10.1.1 can be pulled up to move the positioning bead 2.10.1.3 above the upper cover 2.10.2 and get stuck to prevent it from falling. At this time, the nut 2.10.1.1, the driving shaft 2.10.1.2, the positioning bead 2.10.1.3, and the driven gear 2.10.1.4 are simultaneously lifted and disconnected from its transfer shaft 2.10.1.5 and the rack reciprocating sliding device 2.10.4, and are not affected by the stepping motor. When doing shoulder joint abduction training, press the nut 2.10.1.1 to the lowest position to connect the driving shaft 2.10.1.2 to the transfer shaft 2.10.1.5. The reciprocating movement of the rack reciprocating sliding device 2.10.4 drives the driving shaft 2.10.1.2 and the connecting piece 2.10.1.8 to make reciprocating rotations, so that the power is transmitted to the boom frame 2.11 for shoulder joint abduction training.

[0037] The shoulder joint anterior training device 2.10.3 includes an active incomplete gear 2.10.3.7, a connecting shaft 2.10.3.8, and an electromagnetic clutch 2.10.3.5. Among them, The connecting shaft 2.10.3.8 penetrates through the upper and lower cover plates of the shoulder joint power mechanism housing 2.10.5. The part of the connecting shaft 2.10.3.8 above the housing 2.10.5 is in transmission with the second drive source. The part inside the housing 2.10.5 is fixed to the active incomplete gear 2.10.3.7. The active incomplete gear 2.10.3.7 is in transmission with the rack reciprocating sliding device 2.10.4. The part of the connecting shaft 2.10.3.8 below the housing 2.10.5 is fixed to the electromagnetic clutch 2.10.3.5. The electromagnetic clutch 2.10.3.5 is in transmission with the power transmission medium, and the clutch is realized through the electromagnetic clutch 2.10.3.5; The rack reciprocating sliding device 2.10.4 includes two active racks 2.10.3.2, a rack frame plate 2.10.3.3, rollers 2.10.3.4, and a driven rack 2.10.3.6. Two active racks 2.10.3.2 and a driven rack 2.10.3.6 are installed on the rack frame plate 2.10.3.3 by bolts. Four rollers 2.10.3.4 are installed below the rack frame plate 2.10.3.3, which can make the rack frame plate 2.10.3.3 move linearly back and forth along the track. The two active racks 2.10.3.2 cooperate with the active incomplete gear 2.10.3.7, and the driven rack 2.10.3.6 cooperates with the driven gear. When the active incomplete gear 2.10.3.7 rotates, it drives the rack frame plate 2.10.3.3 to move linearly back and forth along the track, so that the driven gear rotates reciprocally.

[0038] Figure 7 and Figure 8For the overall structural scheme of the shoulder joint forward flexion training device 2.10.3, it includes a stepper motor 2.10.3.1, two driving racks 2.10.3.2, a rack frame plate 2.10.3.3, rollers 2.10.3.4, an electromagnetic clutch 2.10.3.5, a driven rack 2.10.3.6, a driving incomplete gear 2.10.3.7 and a connecting shaft 2.10.3.8. The stepper motor 2.10.3.1 is fixed above the upper cover 2.10.2 by bolts. The output shaft of the stepper motor 2.10.3.1 is fixed to the connecting shaft 2.10.3.8. The driving incomplete gear 2.10.3.7 and the electromagnetic clutch 2.10.3.5 are fixed on the connecting shaft 2.10.3.8. And the lower end of the electromagnetic clutch 2.10.3.5 is fixed on the electromagnetic clutch fixed housing 2.10.6. Two driving racks 2.10.3.2 and a driven rack 2.10.3.6 are installed on the rack frame plate 2.10.3.3 by bolts. Four rollers 2.10.3.4 are installed below the rack frame plate 2.10.3.3, which can make the rack frame plate 2.10.3.3 move linearly back and forth along the track. The two driving racks 2.10.3.2 cooperate with the driving incomplete gear 2.10.3.7, and the driven rack 2.10.3.6 cooperates with the driven gear 2.10.1.4. When the driving incomplete gear 2.10.3.7 rotates, it drives the rack frame plate 2.10.3.3 to move linearly back and forth along the track, so that the driven gear 2.10.1.4 rotates reciprocally.

[0039] The working process of the shoulder joint forward flexion training device 2.10.3 is as follows: When the stepper motor 2.10.3.1 starts, the electromagnetic clutch 2.10.3.5 rotates to retract the cable 2.19, thus lifting the upper second rocker 2.1 and the first rocker 2.4. When it is lifted to an appropriate angle, the internal output shaft of the electromagnetic clutch 2.10.3.5 disconnects, so that the upper arm can drop by gravity. After that, the electromagnetic clutch 2.10.3.5 is started again, and so on, to complete the shoulder joint forward flexion movement. If you want to complete the shoulder joint abduction training alone, you can control the internal disconnection of the electromagnetic clutch 2.10.3.5. At this time, the output shaft of the electromagnetic clutch 2.10.3.5 is not affected by the stepper motor 2.10.3.1.

[0040] The left - right reversing mechanism 3 includes a back strap frame 3.4, a fourth bearing 3.3, a positioning cloud platform 3.2, a second bolt pair 3.1, an axial positioning bolt 3.5, an angle locking nut 3.6 and a housing 2.10.5. Among them, The fourth bearing 3.3 is installed on the back strap frame 3.4. The bottom of the positioning cloud platform 3.2 is inserted into the inner ring of the fourth bearing 3.3 and fixed with the axial positioning bolt 3.5. The housing 2.10.5 of the shoulder joint power mechanism is fixed on the positioning cloud platform 3.2 by the second bolt pair 3.1 and can rotate and adjust relative to the back strap frame 3.4; The angle locking nut 3.6 is installed below the positioning cloud platform 3.2 and is used to fix the adjusted housing 2.10.5.

[0041] Figure 9 and Figure 10 is the structural scheme of the left - right reversing mechanism 3, which includes a back strap holder 3.4, a fourth bearing 3.3, a positioning cloud platform 3.2, a second bolt pair 3.1, an axial positioning bolt 3.5, an angle locking nut 3.6 and a housing 2.10.5. As Figure 8 shown, the fourth bearing 3.3 is pressed into the back strap holder 3.4. The bottom of the positioning cloud platform 3.2 is inserted into the inner ring of the fourth bearing 3.3 and locked with the axial positioning bolt 3.5. The housing 2.10.5 is fixed to the positioning cloud platform 3.2 through the second bolt pair 3.1. In addition, the angle locking nut 3.6 is installed below the positioning cloud platform 3.2, and the housing 2.10.5 can be fixed to any angle within 180 degrees. As Figure 10 shown, the back strap holder 3.4 is provided with an installation position for installing the fourth bearing 3.3. The outer ring of the fourth bearing 3.3 is fixed to the installation position, and the inner ring of the fourth bearing 3.3 is fixed to the positioning cloud platform 3.2. The top of the positioning cloud platform 3.2 is of a circular structure, and there are several locking holes on the circumference that are adapted to the angle locking nut 3.6. The angle locking nut 3.6 passes through the installation position and is connected to the locking holes to achieve the fixation of the adjusted positioning cloud platform 3.2.

[0042] The working process of the left - right reversing mechanism 3 is as follows: First, loosen the angle locking nut 3.6, manually rotate its housing 2.10.5 to the other side. At this time, manually lift the nut 2.10.1.1 so that the nut 2.10.1.1, the driving shaft 2.10.1.2, the positioning bead 2.10.1.3, and the driven gear 2.10.1.4 are simultaneously lifted and disconnected from its transfer shaft 2.10.1.5 and the rack reciprocating sliding device 2.10.4. Then, rotate the forearm elbow joint training mechanism 1 and the upper arm shoulder joint training mechanism 2 to appropriate angles. Finally, lock the angle locking nut 3.6 and press the nut 2.10.1.1 to the lowest position so that its driving shaft 2.10.1.2 is connected to the transfer shaft 2.10.1.5, and then subsequent rehabilitation training can be carried out.

[0043] The above - mentioned is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. An upper limb rehabilitation training device that can be used interchangeably with left and right arms, characterized in that: It comprises a forearm elbow joint training mechanism (1), an upper arm shoulder joint training mechanism (2) and a left-right direction switching mechanism (3), wherein: The forearm elbow joint training mechanism (1) is foldably connected to the front end of the upper arm shoulder joint training mechanism (2) via a folding portion, and the rear end of the upper arm shoulder joint training mechanism (2) is connected to a left-right reversing mechanism (3), and the left-right reversing mechanism (3) is used to drive the upper arm shoulder joint training mechanism (2) to rotate relative to each other; The forearm elbow joint training mechanism (1) drives the training end to rotate relative to the folding part through a first driving source to drive the forearm to perform elbow flexion training; The upper arm shoulder joint training mechanism (2) completes the flexion and abduction of the upper arm shoulder joint through a four-bar linkage mechanism. The upper arm shoulder joint training mechanism (2) is driven by a second driving source to simultaneously drive a shoulder joint abduction training driving end and a shoulder joint flexion training driving end. A clutch assembly is provided at the connection between the shoulder joint abduction training driving end and the shoulder joint flexion training driving end and the second driving source. When it is necessary to perform shoulder joint abduction training or shoulder joint flexion training alone, the training mode is switched by means of a clutch. The power transmission medium in the first driving source and the second driving source are both in the form of pull ropes.

2. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 1, characterized in that: The forearm elbow joint training mechanism (1) further comprises a training plate (1.10) and a wrist strap retractable plate (1.1); the wrist strap retractable plate (1.1) is retractably mounted on the front end of the training plate (1.10) and can be fixed by bolts after being retracted; The wrist strap retractable plate (1.1) is provided with a strap for fixing the wrist, the rear end of the training plate (1.10) is hinged to the folding portion, the first driving source is provided on the side of the training plate (1.10) facing the folding portion, one end of the power transmission medium of the first driving source is transmitted to the first driving source, and the other end is fixed to the top side wall of the folding portion.

3. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 2, characterized in that: The folding portion comprises a forearm support (1.11) and a boom support (1.12) which are folded and connected to each other; a locking device (1.5) is provided on the closed side of the forearm support (1.11) and the boom support (1.12) in the unfolded state; the locking device (1.5) is hinged on the boom support (1.12); and a matching portion matching the locking device (1.5) is provided on the forearm support (1.11); the forearm support (1.11) and the boom support (1.12) are locked by the matching of the locking device (1.5) and the matching portion.

4. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 3, characterized in that: The upper arm shoulder joint training mechanism (2) comprises an upper arm frame (2.11), a first rocker (2.4), a second rocker (2.1), a tension spring (2.16), a connecting rod (2.5) and a shoulder joint power mechanism (2.10), wherein: The first rocker arm (2.4) and the second rocker arm (2.1) are arranged one above the other between the boom support (1.12) and the boom frame (2.11), and the front ends of the first rocker arm (2.4) and the second rocker arm (2.1) are hinged to the boom support (1.12), and the rear ends of the first rocker arm (2.4) and the second rocker arm (2.1) are respectively adjustable and mounted with a first outer rod (2.20) and a second outer rod (2.21), and the other ends of the first outer rod (2.20) and the second outer rod (2.21) are hinged to the boom frame (2.11); The power transmission medium of the shoulder joint power mechanism (2.10) passes through the upper arm frame (2.11) and is fixed to the first outer rod (2.20); One end of the tension spring (2.16) is fixed to the upper arm frame (2.11), and the other end is fixed to the top side wall of the second outer rod (2.21); The upper arm frame (2.11) is rotatably connected to the shoulder joint power mechanism (2.10) via a first bolt pair (2.9); an end of the shoulder joint power mechanism (2.10) away from the upper arm frame (2.11) is connected to a left-right reversing mechanism (3); Both sides of the first outer rod (2.20) and the second outer rod (2.21) are connected to the connecting rod (2.5) via a shaft (2.6) and a first bearing (2.7); a large arm support plate (2.18) for supporting the large arm is installed on one side of the connecting rod (2.5) away from the first outer rod (2.20) and the second outer rod (2.21).

5. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 4, characterized in that: The shoulder joint power mechanism (2.10) comprises a shoulder joint abduction training device (2.10.1), a shoulder joint front drive training device (2.10.3) and a rack reciprocating sliding device (2.10.4), wherein: One end of the shoulder joint front drive training device (2.10.3) is in transmission with the second drive source, and the other end is in transmission with the power transmission medium of the shoulder joint power mechanism (2.10). The rack reciprocating sliding device (2.10.4) is used to link the shoulder joint front drive training device (2.10.3) and the shoulder joint abduction training device ( 2.10.1), the shoulder abduction training device ( The other end of 2.10.1) is rotatably connected to the boom frame (2.11); When the shoulder joint anterior drive training device (2.10.3) rotates under the drive of the second drive source, the shoulder joint abduction training device (2.10.1) reciprocates along with the rack reciprocating sliding device (2.10.4).

6. The upper limb rehabilitation training equipment that can be used interchangeably for left and right arms according to claim 5 is characterized in that the shoulder joint abduction training device (2.10.1) includes a nut (2.10.1.1), a driving shaft (2.10.1.2), a positioning bead (2.10.1.3), a driven gear (2.10.1.4), an adapter shaft (2.10.1.5), a second bearing (2.10.1.6), a sleeve (2.10.1.7), a connecting plate (2.10.1.8) and a flange bolt (2.10.1.9), wherein: A driven gear (2.10.1.4) is fixedly mounted on the outer surface of the driving shaft (2.10.1.2), the driven gear (2.10.1.4) is in transmission with the rack reciprocating sliding device (2.10.4), and four positioning beads (2.10.1.3) are provided on the outer surface of the driving shaft (2.10.1.2) located above the driven gear (2.10.1.4); The upper end of the driving shaft (2.10.1.2) passes through the upper part of the housing (2.10.5) of the shoulder joint power mechanism and is threadedly connected to the nut (2.10.1.1); the nut (2.10.1.1), the driving shaft (2.10.1.2) and the positioning beads (2.10.1.3) form a first clutch assembly; when the driving shaft (2.10.1.2) is pulled up by the nut (2.10.1.1), the four positioning beads (2.10.1.3) can be stuck on the upper part of the housing (2.10.5) to realize manual clutch; The lower end of the driving shaft (2.10.1.2) is connected to the upper end of the adapter shaft (2.10.1.5) through a rectangular interface, the lower end of the adapter shaft (2.10.1.5) passes through the lower side of the housing (2.10.5) and is connected to the connecting piece (2.10.1.8) through a rectangular interface, the second bearing (2.10.1.6) and the shaft sleeve (2.10.1.7) are assembled outside the adapter shaft (2.10.1.5) and are located between the driving shaft (2.10.1.2) and the connecting piece, and the flange bolts (2.10.1.9) are used to axially fix the assembled adapter shaft (2.10.1.5), the second bearing (2.10.1.6), the shaft sleeve (2.10.1.7) and the connecting piece (2.10.1.8).

7. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 6, characterized in that: The shoulder joint front drive training device (2.10.3) comprises an active incomplete gear (2.10.3.7), a connecting shaft (2.10.3.8) and an electromagnetic clutch (2.10.3.5), wherein: The connecting shaft (2.10.3.8) passes through the upper and lower cover plates of the shoulder joint power mechanism housing (2.10.5); the connecting shaft (2.10.3.8) located above the housing (2.10.5) is in transmission with the second drive source; the part located inside the housing (2.10.5) is fixed with the active incomplete gear (2.10.3.7); the active incomplete gear (2.10.3.7) is in transmission with the rack reciprocating sliding device (2.10.4); the connecting shaft (2.10.3.8) located below the housing (2.10.5) is fixed with the electromagnetic clutch (2.10.3.5); the electromagnetic clutch (2.10.3.5) is in transmission with the power transmission medium, and the clutch is realized through the electromagnetic clutch (2.10.3.5); The rack reciprocating sliding device (2.10.4) comprises two active racks (2.10.3.2), a rack frame plate (2.10.3.3), a roller (2.10.3.4) and a driven rack (2.10.3.6), the rack frame plate (2.10.3.3) being mounted with two active racks (2.10.3.2) and a driven rack (2.10.3.6) by bolts, and four rollers (2.10.3.4) being mounted below the rack frame plate (2.10.3.3). .10.3.4), used to make the rack frame plate (2.10.3.3) move back and forth in a straight line along the track, the two active racks (2.10.3.2) cooperate with the active incomplete gear (2.10.3.7), and the driven rack (2.10.3.6) cooperates with the driven gear. When the active incomplete gear (2.10.3.7) rotates, it drives the rack frame plate (2.10.3.3) to move back and forth in a straight line along the track, causing the driven gear (2.10.1.4) to rotate back and forth.

8. The upper limb rehabilitation training device that can be used interchangeably by left and right arms according to claim 7, characterized in that: The left-right reversing mechanism (3) comprises a back strap frame (3.4), a fourth bearing (3.3), a positioning platform (3.2), a second bolt pair (3.1), an axial positioning bolt (3.5), an angle locking nut (3.6) and a housing (2.10.5), wherein: The fourth bearing (3.3) is mounted on the back strap frame (3.4); the bottom of the positioning platform (3.2) is inserted into the inner ring of the fourth bearing (3.3) and fixed with an axial positioning bolt (3.5); the housing (2.10.5) of the shoulder joint power mechanism is fixed to the positioning platform (3.2) via a second bolt pair (3.1) and can be rotated and adjusted relative to the back strap frame (3.4); The angle locking nut (3.6) is installed below the positioning platform (3.2) and is used to fix the adjusted housing (2.10.5).

Images