Intelligent upper limb rehabilitation equipment based on shoulder joint rehabilitation

Abstract

The invention relates to the technical field of medical instruments, and discloses an intelligent upper limb rehabilitation device based on shoulder joint rehabilitation, comprising: a driving assembly comprising a permanent magnet motor and a control module for controlling the running state of the permanent magnet motor; the lifting support is arranged at the bottom of the driving assembly; the training assembly is connected with an output shaft of the permanent magnet motor through a connecting assembly and comprises a surrounding training part, an abduction training part and a lifting training part; wherein the control module comprises a receiving unit, an acquisition unit, a processing unit and a control unit; the receiving unit receives a training instruction of a user, the acquisition unit acquires operation data of the permanent magnet motor, the processing unit sets an operation instruction of the permanent magnet motor according to the operation data, and the control unit controls the permanent magnet motor according to the training instruction and the operation instruction. By combining surrounding training, abduction training and lifting training, rehabilitation training can be comprehensively performed on the shoulder joints of the user, and the rehabilitation effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an upper limb intelligent rehabilitation device based on shoulder joint rehabilitation. Background Art

[0002] With the aging of the population and the increase of various diseases, the incidence of joint injuries and joint diseases is also rising year by year, which brings great troubles and inconveniences to the lives of patients. Traditional rehabilitation training methods usually require patients to go to hospitals or rehabilitation centers, where professional medical staff perform a series of cumbersome and repetitive actions. This method is not only time-consuming and laborious, but also restricted by the space of hospitals or rehabilitation centers, the number of professional staff, and time arrangements, making it impossible for many patients to obtain timely and effective rehabilitation training. Therefore, developing an intelligent device that can assist patients in joint rehabilitation training has important practical significance and application value.

[0003] Joint rehabilitation training is crucial for the treatment of joint injuries and joint diseases. Through scientific training, the flexibility and range of motion of joints can be improved, and the motion control ability of the damaged joints of patients can be enhanced, thereby improving the quality of life of patients. However, existing rehabilitation devices mostly focus on the innovation of mechanical structures. Although passive training of joints is achieved to a certain extent, the individual differences between patients are often ignored, making it difficult to achieve personalized and precise rehabilitation training. In addition, these devices often lack intelligent feedback and evaluation mechanisms during the training process and cannot adjust the training plan according to the real-time state of patients, resulting in limited training effects.

[0004] In recent years, with the rapid development of technology, especially the continuous innovation of virtual reality (VR) technology, artificial intelligence (AI) technology, and motion sensor technology, joint rehabilitation training software has gradually emerged and become a research hotspot in the rehabilitation field. These software can provide a more attractive and interactive rehabilitation training experience by simulating real scenarios and can also monitor the motion state and rehabilitation progress of patients in real time.

[0005] Therefore, developing an intelligent rehabilitation device based on joint rehabilitation training software is of great significance for improving the effect of rehabilitation training, reducing the cost of rehabilitation, and enhancing the quality of life of patients. Summary of the Invention

[0006] The object of the present invention is to provide an upper limb intelligent rehabilitation device based on shoulder joint rehabilitation, aiming to solve the above problems.

[0007] The present invention provides an upper limb intelligent rehabilitation device based on shoulder joint rehabilitation, including:

[0008] The driving assembly includes a driver and a control module. The driver includes a permanent magnet motor, and the control module is connected to the permanent magnet motor. The control module is used to control the operating state of the permanent magnet motor;

[0009] The lifting bracket is arranged at the bottom of the driving assembly, and the lifting bracket is fixedly connected to the driving assembly;

[0010] The training assembly is connected to the output shaft of the permanent magnet motor through a connecting assembly. The training assembly includes a circumferential training part, an abduction training part, and a lifting training part. The circumferential training part is used to perform circumferential training on the user's shoulder joint, the abduction training part is used to perform abduction training on the user's shoulder joint, and the lifting training part is used to perform lifting training on the user's shoulder joint;

[0011] Among them, the control module includes a receiving unit, a collecting unit, a processing unit, and a control unit; the receiving unit is used to receive the user's training instruction, the collecting unit is used to collect the operating data of the permanent magnet motor, the processing unit is used to set the operating instruction of the permanent magnet motor according to the operating data, and the control unit is used to control the permanent magnet motor according to the training instruction and the operating instruction.

[0012] Preferably, the lifting bracket includes a fixed seat, a lifting column, and a base. One end of the lifting column is fixedly connected to the top of the fixed seat, and the other end of the lifting column is fixedly connected to the bottom of the base. The lifting column is used to adjust the height of the driving assembly.

[0013] Preferably, the connecting assembly includes a first connecting plate and a second connecting plate. One end of the first connecting plate is fixedly connected to the output shaft of the permanent magnet motor. A first installation groove is provided at the other end of the first connecting plate. The first connecting plate is detachably connected to the second connecting plate, and a second installation groove is provided on the second connecting plate.

[0014] Preferably, the circumferential training part includes a U-shaped plate and a grip. The two sides of the grip are fixedly connected to the U-shaped plate, and the U-shaped plate is installed in the first installation groove; the grip is perpendicular to the first connecting plate.

[0015] Preferably, the abduction training part includes a first arc-shaped plate and a first locking member. The first arc-shaped plate is installed in the second installation groove through the first locking member. Fixed slots are provided on both sides of the first arc-shaped plate, and the fixed slots are used for a fixing belt to pass through and fix the user's training part;

[0016] The extending direction of the length of the first arc-shaped plate is parallel to the first connecting plate.

[0017] Preferably, the lifting training unit includes a third connecting plate, a second arc plate, and a second locking member. The third connecting plate is detachably connected to the first connecting plate. A third installation groove is formed on the third connecting plate. The second arc plate is installed on the third installation groove through the second locking member. Fixing grooves are formed on both sides of the second arc plate;

[0018] The extending direction of the length of the second arc plate is perpendicular to the first connecting plate.

[0019] Preferably, when the receiving unit receives a training instruction from the user, the training instruction includes a training mode and training parameters;

[0020] The training modes include a circumferential training mode, an abduction training mode, and a lifting training mode;

[0021] The training parameters include a training angle, a training intensity, a training cycle, and a training duration.

[0022] Preferably, the acquisition unit includes a torque sensor and an angle sensor. The torque sensor is used to acquire the torque value of the permanent magnet motor;

[0023] The angle sensor is used to acquire the angle value of the permanent magnet motor;

[0024] The operation data includes a torque value and an angle value.

[0025] Preferably, the processing unit sets an operation instruction for the permanent magnet motor according to the operation data, including:

[0026] Determine the actual training intensity of the user according to the torque value, compare the actual training intensity with the training intensity, and compare the angle value with the training angle. Determine the operation instruction of the permanent magnet motor according to the comparison result;

[0027] If the actual training intensity is not equal to the training intensity, and / or the angle value is not equal to the training angle, then set the operation instruction of the permanent magnet motor as a stop operation instruction;

[0028] Otherwise, set the operation instruction of the permanent magnet motor as a continue operation instruction.

[0029] Preferably, the control unit controls the permanent magnet motor according to the training instruction and the operation instruction, including:

[0030] After the control unit controls the permanent magnet motor according to the training instruction, it receives the operation instruction;

[0031] If the operation instruction is a stop operation instruction, then immediately stop the operation of the permanent magnet motor;

[0032] If the operation instruction is a continue operation instruction, the permanent magnet motor is controlled according to the training instruction.

[0033] Compared with the prior art, the beneficial effects of the present invention are that the rehabilitation device of the present invention is composed of multiple components. Through reasonable design and layout, the assembly and adjustment processes can be greatly simplified, enabling non-professional technicians to easily operate, thereby improving the usability and convenience of the device.

[0034] The rehabilitation device of the present invention can be adaptively adjusted according to the real-time situation of the patient, such as the training angle and training intensity, so as to provide a more scientific and effective rehabilitation training plan and improve the rehabilitation effect.

[0035] The rehabilitation device of the present invention performs safe and effective passive rehabilitation training within the set / determined training angle and training intensity range. At the same time, the device is also equipped with a variety of safety protection measures, such as emergency stop, etc., which maximally ensures the safety of the patient during the training process and avoids possible injuries. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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 for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0037] Figure 1 is one of the structural schematic diagrams of the upper limb intelligent rehabilitation device based on shoulder joint rehabilitation in the embodiment of the present invention;

[0038] Figure 2 is the second structural schematic diagram of the upper limb intelligent rehabilitation device based on shoulder joint rehabilitation in the embodiment of the present invention;

[0039] Figure 3 is the structural schematic diagram of the rehabilitation device during circumduction training in the embodiment of the present invention;

[0040] Figure 4 is the structural schematic diagram of the rehabilitation device during abduction training in the embodiment of the present invention;

[0041] Figure 5 is the structural schematic diagram of the rehabilitation device during elevation training in the embodiment of the present invention;

[0042] Figure 6 is the structural schematic diagram of the connection component in the embodiment of the present invention.

[0043] In the figure, 1 is the driving component; 11 is the permanent magnet motor; 2 is the lifting bracket; 21 is the fixed seat; 22 is the lifting column; 23 is the base; 3 is the circumferential training part; 31 is the U-shaped plate; 32 is the grip; 4 is the abduction training part; 41 is the first arc-shaped plate; 42 is the first locking member; 43 is the fixed groove; 5 is the lifting training part; 51 is the third connecting plate; 52 is the second arc-shaped plate; 53 is the second locking member; 54 is the third installation groove; 6 is the connecting component; 61 is the first connecting plate; 62 is the first installation groove; 63 is the second connecting plate; 64 is the second installation groove. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0045] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application 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 cannot be understood as a limitation to the present application.

[0046] The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "plurality" is two or more.

[0047] In the description of the present application, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" 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 internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0048] As Figures 1 - 6As shown in the figure, the present invention provides an upper limb intelligent rehabilitation device for shoulder joint rehabilitation, including: a driving component 1, including a driver and a control module. The driver includes a permanent magnet motor 11, and the control module is connected to the permanent magnet motor 11. The control module is used to control the operating state of the permanent magnet motor 11.

[0049] A lifting bracket 2 is arranged at the bottom of the driving component 1, and the lifting bracket 2 is fixedly connected to the driving component 1.

[0050] A training component is connected to the output shaft of the permanent magnet motor 11 through a connecting component 6. The training component includes a circumferential training part 3, an abduction training part 4, and a lifting training part 5. The circumferential training part 3 is used to perform circumferential training on the user's shoulder joint, the abduction training part 4 is used to perform abduction training on the user's shoulder joint, and the lifting training part 5 is used to perform lifting training on the user's shoulder joint. Each training part is used independently. When the patient needs to perform a certain training, select the corresponding training part for installation.

[0051] Among them, the control module includes a receiving unit, a collecting unit, a processing unit, and a control unit; the receiving unit is used to receive the user's training instructions, the collecting unit is used to collect the operating data of the permanent magnet motor 11, the processing unit is used to set the operating instructions of the permanent magnet motor 11 according to the operating data, and the control unit is used to control the permanent magnet motor 11 according to the training instructions and the operating instructions.

[0052] The present invention can comprehensively perform rehabilitation training on the user's shoulder joint by combining circumferential training, abduction training, and lifting training, improving the rehabilitation effect. At the same time, using the permanent magnet motor 11 as the power source and combining the precise control of the control module, it can achieve precise driving of the training component, making the training process smoother and safer. In addition, by receiving the user's training instructions through the receiving unit, collecting the operating data of the permanent magnet motor 11 through the collecting unit, setting the operating instructions of the permanent magnet motor 11 by the processing unit according to the operating data, and then controlling the permanent magnet motor 11 by the control unit according to the training instructions and the operating instructions, a closed-loop control system is formed, which can adjust the motion state of the training component in real time to meet the personalized rehabilitation needs of different users.

[0053] In this embodiment, the permanent magnet motor 11 is a permanent magnet brushless synchronous motor, which includes a stator and a rotor. The stator includes a stator core and stator windings arranged on the inner circumferential surface of the stator core along the circumferential direction. The rotor includes a rotor core and a plurality of permanent magnets arranged on the outer circumferential surface of the rotor core along the circumferential direction.

[0054] On the inner circumferential surface of the stator core, a plurality of stator tooth poles are arranged at intervals along its circumferential direction. The stator windings are wound around the plurality of stator tooth poles, and a stator slot is defined between adjacent two stator tooth poles. The least common multiple of the total number of stator slots and the total number of permanent magnets is greater than or equal to 1000.

[0055] The extending direction of the stator slot forms an angle with the extending direction of the stator central axis, and the angle is greater than or equal to 6° and less than or equal to 9°. The stator winding adopts a fractional concentrated winding.

[0056] The quick replacement of the training component is not limited to quick disassembly methods such as bolts, pins, springs, and buckles.

[0057] In some embodiments of the present application, the lifting bracket 2 includes a fixed seat 21, a lifting column 22, and a base 23. One end of the lifting column 22 is fixedly connected to the top of the fixed seat 21, and the other end of the lifting column 22 is fixedly connected to the bottom of the base 23. The lifting column 22 is used to adjust the height of the driving component 1.

[0058] It can be understood that through the design of the lifting bracket 2, the height of the entire rehabilitation device can be flexibly adjusted to meet the needs of different heights and usage scenarios. This height adjustability not only improves the applicability of the device but also ensures the comfort and training effect of users during training. In addition, the stable connection of the fixed seat 21, the lifting column 22, and the base 23 guarantees the stability and safety of the device during training and avoids training risks that may be caused by device shaking or instability.

[0059] In some embodiments of the present application, the connecting component 6 includes a first connecting plate 61 and a second connecting plate 63. One end of the first connecting plate 61 is fixedly connected to the output shaft of the permanent magnet motor 11. The other end of the first connecting plate 61 is provided with a first mounting groove 62. The first connecting plate 61 is detachably connected to the second connecting plate 63, and the second connecting plate 63 is provided with a second mounting groove 64.

[0060] It can be understood that through the detachable design of the connecting component 6, the output shaft of the permanent magnet motor 11 can be conveniently connected and detached from other parts of the rehabilitation device, thus facilitating the assembly and maintenance of the device. The mounting groove design on the first connecting plate 61 and the second connecting plate 63 not only provides a flexible connection method but also ensures the firmness and stability of the connection.

[0061] As Figure 3 shown, Figure 3 is a schematic structural diagram of the rehabilitation device during circumferential training in an embodiment of the present invention. In some embodiments of the present application, the circumferential training part 3 includes a U-shaped plate 31 and a grip 32. Both sides of the grip 32 are fixedly connected to the U-shaped plate 31, and the U-shaped plate 31 is installed in the first mounting groove 62; the grip 32 is perpendicular to the first connecting plate 61.

[0062] It can be understood that through the design of the U-shaped plate 31 and the grip 32 surrounding the training part 3, users can obtain a more comprehensive and effective training effect during shoulder joint rehabilitation training. The design that the grip 32 is perpendicular to the first connecting plate 61 enables users to hold the grip 32 more naturally and comfortably during training, thereby improving the comfort and efficiency of training. The design that the U-shaped plate 31 is detachably installed on the first installation groove 62 not only facilitates users to install and disassemble according to needs, but also is convenient for the cleaning and maintenance of the device.

[0063] As Figure 4 shown, Figure 4 is a schematic structural diagram of the rehabilitation device during abduction training in an embodiment of the present invention. In some embodiments of the present application, the abduction training part 4 includes a first arc plate 41 and a first locking member 42. The first arc plate 41 is installed on the second installation groove 64 through the first locking member 42. Fixing grooves 43 are provided on both sides of the first arc plate 41 for the fixing belt to pass through and fix the user's training part; the extending direction of the length of the first arc plate 41 is parallel to the first connecting plate 61.

[0064] It can be understood that through the design of the first arc plate 41 and the first locking member 42 of the abduction training part 4, users can obtain stable support and effective training effects during shoulder joint abduction rehabilitation training. The design of the fixing grooves 43 provided on both sides of the first arc plate 41 enables the fixing belt to firmly fix the user's training part, thereby improving the stability and safety of training. The design that the extending direction of the length of the first arc plate 41 is parallel to the first connecting plate 61 ensures that users can maintain the correct posture during training, avoid unnecessary injuries, and at the same time improve the pertinence and effect of training.

[0065] As Figure 5 shown, Figure 5 is a schematic structural diagram of the rehabilitation device during lifting training in an embodiment of the present invention. In some embodiments of the present application, the lifting training part 5 includes a third connecting plate 51, a second arc plate 52 and a second locking member 53. The third connecting plate 51 is detachably connected to the first connecting plate 61. A third installation groove 54 is provided on the third connecting plate 51. The second arc plate 52 is installed on the third installation groove 54 through the second locking member 53. Fixing grooves 43 are provided on both sides of the second arc plate 52; the extending direction of the length of the second arc plate 52 is perpendicular to the first connecting plate 61.

[0066] It can be understood that through the design of the third connecting plate 51, the second arc-shaped plate 52 and the second locking member 53 of the lifting training part 5, users can obtain more flexible and diverse training methods when performing shoulder joint lifting rehabilitation training. The third connecting plate 51 is detachably connected to the first connecting plate 61, so that the lifting training part 5 can be flexibly installed and adjusted according to the training needs of users. The design of the fixing grooves 43 provided on both sides of the second arc-shaped plate 52 also enables the fixing belt to firmly fix the training part of the user, improving the stability and safety of the training. The design that the extending direction of the length of the second arc-shaped plate 52 is perpendicular to the first connecting plate 61 enables users to conduct specialized training for the shoulder joint lifting movement during training, thereby further improving the pertinence and effect of the training.

[0067] In some embodiments of the present application, when the receiving unit receives the user's training instruction, the training instruction includes a training mode and training parameters; the training mode includes a circumferential training mode, an abduction training mode, and a lifting training mode; the training parameters include a training angle, a training intensity, a training cycle, and a training duration.

[0068] It can be understood that by receiving the user's training instruction through the receiving unit, the device can intelligently select the training mode and set the training parameters according to the personalized needs of the user. The circumferential training mode, the abduction training mode, and the lifting training mode cover the main movements of shoulder joint rehabilitation and can meet the rehabilitation training needs at different stages. The precise setting of parameters such as the training angle, the training intensity, the training cycle, and the training duration ensures the pertinence and effectiveness of the training.

[0069] In some embodiments of the present application, the acquisition unit includes a torque sensor and an angle sensor. The torque sensor is used to acquire the torque value of the permanent magnet motor; the angle sensor is used to acquire the angle value of the permanent magnet motor; the operation data includes the torque value and the angle value.

[0070] It can be understood that through the torque sensor and the angle sensor in the acquisition unit, the device can obtain the torque value and the angle value of the permanent magnet motor in real time and accurately, so as to comprehensively and detailedly understand the operation state of the device. The torque value and the angle value, as important components of the operation data, are of great significance for evaluating the training effect, monitoring the device state, and optimizing the training plan.

[0071] In some embodiments of the present application, the processing unit sets the operation instruction of the permanent magnet motor according to the operation data, including: determining the actual training intensity of the user according to the torque value, comparing the actual training intensity with the training intensity, and comparing the angle value with the training angle, and determining the operation instruction of the permanent magnet motor according to the comparison result; if the actual training intensity is not equal to the training intensity, and / or the angle value is not equal to the training angle, then set the operation instruction of the permanent magnet motor as a stop operation instruction; otherwise, set the operation instruction of the permanent magnet motor as a continue operation instruction.

[0072] It can be understood that the processing unit can intelligently set the operation instruction of the permanent magnet motor according to the collected operation data, namely the torque value and the angle value. By comparing the actual training intensity with the preset training intensity, and the actual angle value with the preset training angle, the processing unit can accurately judge whether the user's training status meets the expectation. Once it is found that the actual training intensity or the angle value does not match the preset value, the processing unit will immediately issue a stop operation instruction to ensure the safety of the user and avoid unnecessary injuries. This intelligent control method not only improves the flexibility and adaptability of the device, but also greatly enhances the user experience and rehabilitation effect.

[0073] In some embodiments of the present application, the control unit controls the permanent magnet motor according to the training instruction and the operation instruction, including: after the control unit controls the permanent magnet motor according to the training instruction, it receives the operation instruction; if the operation instruction is a stop operation instruction, then immediately stop operating the permanent magnet motor; if the operation instruction is a continue operation instruction, then control the permanent magnet motor according to the training instruction.

[0074] It can be understood that the control unit can efficiently respond to the operation instruction issued by the processing unit and precisely control the permanent magnet motor. When receiving the stop operation instruction, the control unit can quickly cut off the power supply of the permanent magnet motor to ensure that the device stops operating immediately, thereby effectively preventing possible user injuries caused by the continuous operation of the device. When receiving the continue operation instruction, the control unit can adjust the operation state of the permanent magnet motor according to the preset training instruction to meet the user's current training needs.

[0075] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowcharts and / or block diagrams. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate for implementing in the process Figure 1 one process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0077] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement in the process Figure 1 one process or multiple processes and / or blocks Figure 1 the functions specified in one block or multiple blocks.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the process Figure 1 one process or multiple processes and / or blocks Figure 1 a block or multiple blocks.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the specific implementation manners of the present invention can still be modified or equivalently replaced, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. An upper limb intelligent rehabilitation device based on shoulder joint rehabilitation, characterized in that, Comprising: A drive assembly, including a driver and a control module, the driver including a permanent magnet motor, the control module being connected to the permanent magnet motor, and the control module being used to control the operating state of the permanent magnet motor; A lifting bracket, disposed at the bottom of the drive assembly, the lifting bracket being fixedly connected to the drive assembly; A training assembly, connected to the output shaft of the permanent magnet motor through a connecting assembly, the training assembly including a circumferential training portion, an abduction training portion, and a lifting training portion, the circumferential training portion being used to perform circumferential training on the user's shoulder joint, the abduction training portion being used to perform abduction training on the user's shoulder joint, and the lifting training portion being used to perform lifting training on the user's shoulder joint; Wherein, the control module includes a receiving unit, a collecting unit, a processing unit, and a control unit; the receiving unit is used to receive the user's training instruction, the collecting unit is used to collect the operating data of the permanent magnet motor, the processing unit is used to set the operating instruction of the permanent magnet motor according to the operating data, and the control unit is used to control the permanent magnet motor according to the training instruction and the operating instruction.

2. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 1, wherein The lifting bracket includes a fixed seat, a lifting column, and a base, one end of the lifting column being fixedly connected to the top of the fixed seat, the other end of the lifting column being fixedly connected to the bottom of the base, and the lifting column being used to adjust the height of the drive assembly.

3. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 1, characterized in that, The connecting assembly includes a first connecting plate and a second connecting plate, one end of the first connecting plate being fixedly connected to the output shaft of the permanent magnet motor, a first mounting groove being provided at the other end of the first connecting plate, the first connecting plate being detachably connected to the second connecting plate, and a second mounting groove being provided on the second connecting plate.

4. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 3, characterized in that, The circumferential training portion includes a U-shaped plate and a grip, the two sides of the grip being fixedly connected to the U-shaped plate, and the U-shaped plate being installed in the first mounting groove; the grip is perpendicular to the first connecting plate.

5. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 4, wherein The abduction training portion includes a first arc-shaped plate and a first locking member, the first arc-shaped plate being installed in the second mounting groove through the first locking member, and fixing grooves being provided on both sides of the first arc-shaped plate for a fixing belt to pass through and fix the user's training part; The extending direction of the length of the first arc-shaped plate is parallel to the first connecting plate.

6. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 5, characterized in that, The lifting training portion includes a third connecting plate, a second arc-shaped plate, and a second locking member, the third connecting plate being detachably connected to the first connecting plate, a third mounting groove being provided on the third connecting plate, the second arc-shaped plate being installed in the third mounting groove through the second locking member, and fixing grooves being provided on both sides of the second arc-shaped plate; The extending direction of the length of the second arc-shaped plate is perpendicular to the first connecting plate.

7. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 1, characterized in that, When the receiving unit receives the user's training instruction, the training instruction includes a training mode and training parameters; The training mode includes a circumferential training mode, an abduction training mode, and a lifting training mode; The training parameters include a training angle, a training intensity, a training cycle, and a training duration.

8. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 7, characterized in that, The collecting unit includes a torque sensor and an angle sensor, the torque sensor being used to collect the torque value of the permanent magnet motor; The angle sensor is used to collect the angle value of the permanent magnet motor; The operating data includes torque value and angle value.

9. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 8, characterized in that The processing unit sets the operating instruction of the permanent magnet motor according to the operating data, including: Determining the actual training intensity of the user according to the torque value, comparing the actual training intensity with the training intensity, and comparing the angle value with the training angle, and determining the operating instruction of the permanent magnet motor according to the comparison result; If the actual training intensity is not equal to the training intensity, and / or the angle value is not equal to the training angle, then set the operating instruction of the permanent magnet motor as a stop operating instruction; Otherwise, set the operating instruction of the permanent magnet motor as a continue operating instruction.

10. The upper limb intelligent rehabilitation device based on shoulder joint rehabilitation according to claim 9, characterized in that, The control unit controls the permanent magnet motor according to the training instruction and the operating instruction, including: After the control unit controls the permanent magnet motor according to the training instruction, it receives the operating instruction; If the operating instruction is a stop operating instruction, then immediately stop the operation of the permanent magnet motor; If the operating instruction is a continue operating instruction, then control the permanent magnet motor according to the training instruction.

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