Joint composite motion mechanical arm for upper limb rehabilitation training

Abstract

The invention discloses a joint composite motion mechanical arm for upper limb rehabilitation training, and relates to the technical field of medical instruments, the joint composite motion mechanical arm comprises a base, the upper part of the base is movably connected with a hollow box, the outer side of the hollow box is movably connected with a main fluted disc, and the auxiliary fluted disc is provided with a joint composite motion assembly; the rotation of the driven gear can drive a first connecting rod to swing along the fan shape of the driven gear, the rotation of the driven gear can drive a third movable rod to move along the fan shape of the driven gear, and the fan-shaped swing of the first connecting rod and the third movable rod can drive a driven rod to move. A driven rod moves to drive a second triangular plate and a second movable rod to move, an upper limb auxiliary training assembly is arranged on the second triangular plate, a motor is started to drive a first tooth clamp and a second tooth clamp to move relatively, and the relative movement of the first tooth clamp and the second tooth clamp can drive a rubber rod to clamp the palm part at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a robotic arm with joint compound movement for upper limb rehabilitation training. Background Art

[0002] With the accelerated pace of modern life and the health risks brought about by lifestyle changes, the incidence of neurological diseases such as stroke and spinal cord injury has shown an increasing trend year by year. These diseases often lead to varying degrees of impairment in the upper limb motor function of patients, seriously affecting their daily life and working ability. Facing this severe situation, the patient group with upper limb motor dysfunction is constantly expanding, and they urgently need scientific, efficient, and personalized rehabilitation training methods to accelerate the rehabilitation process, regain the ability to live independently, and further improve the overall quality of life.

[0003] After retrieval, the invention patent with the Chinese patent number CN109875845B discloses a robotic arm for upper limb rehabilitation with variable shoulder center. Compared with the prior art, this invention patent with the Chinese patent number CN109875845B realizes the variable shoulder center, enabling the shoulder joint to complete any direction of movement regardless of the position of the upper arm and forearm of the arm. For example, the daily shrugging behavior is achieved by the up and down movement of the shoulder center, and the chest expansion behavior is completed by the forward and backward movement of the shoulder center. The realization of the movement with variable shoulder center is of great significance for the recovery of shoulder muscles.

[0004] However, in the actual use process of the above device, the patient's arm is placed in the position described in the instructions, and then the shoulder motor starts to work, causing the patient's shoulder to rotate horizontally. In this process, the arm is driven by the shoulder motor to move. The upper limb is driven by the shoulder motor, and it is not easy for the patient to control the movement of the upper limb according to their own will and feeling. This may reduce the enthusiasm and effect of the rehabilitation process, and the lack of active movement may also lead to muscle atrophy, further affecting the rehabilitation process. The driving method of the shoulder motor may also result in unnatural and rigid movements, which are different from the movements in daily life. Therefore, a robotic arm with joint compound movement for upper limb rehabilitation training needs to be proposed. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages in the prior art that the upper limb is driven by a shoulder motor, and it is not easy for the patient to control the movement of the upper limb according to their own will and feeling. This may reduce the enthusiasm and effect of the rehabilitation process, and the lack of active movement may also lead to disuse atrophy of muscles, further affecting the rehabilitation process. The driving method of the shoulder motor may also result in unnatural and rigid movements, which are different from the movements in daily life, and to propose a robotic arm with joint compound movement for upper limb rehabilitation training.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An articulated compound motion robotic arm for upper limb rehabilitation training, comprising a base, an upper part of the base is movably connected with a hollow box, an outer side of the hollow box is movably connected with a main gear disc, an outer side of the hollow box is rotatably connected with a driven gear disc, and an articulated compound motion component is arranged on the driven gear disc. The articulated compound motion component includes a main gear, a driven gear, a first connecting rod, a driven rod, a second movable rod, a third movable rod and a second triangular plate movably connected to the driven gear disc. The rotation of the main gear will drive the driven gear to rotate. The rotation of the driven gear will drive the first connecting rod to swing in a sector along the driven gear. The rotation of the driven gear will drive the third movable rod to move in a sector along the driven gear. The sectorial swings of the first connecting rod and the third movable rod will drive the driven rod to move. The movement of the driven rod will drive the second triangular plate and the second movable rod to move. An upper limb auxiliary training component is arranged on the second triangular plate. The upper limb auxiliary training component includes a motor, a first tooth clamp, a second tooth clamp and a rubber rod movably connected to the second triangular plate. The start of the motor will drive the relative movement of the first tooth clamp and the second tooth clamp. The relative movement of the first tooth clamp and the second tooth clamp will simultaneously drive the rubber rod to clamp the palm.

[0008] The above technical solutions further include:

[0009] One side of the base close to the hollow box is fixedly connected with a support column. One end of the support column away from the base is fixedly connected to the hollow box. The support column mainly serves to support the hollow box.

[0010] A first servo motor is fixedly connected to the inner side of the hollow box. An end of an output shaft of the first servo motor is fixedly connected to the main gear disc. The main gear disc and the driven gear disc are meshed with each other. The rotation of the end of the output shaft of the first servo motor will drive the main gear disc to rotate. The rotation of the main gear disc will drive the driven gear disc to rotate.

[0011] One side of the driven gear disc away from the hollow box is fixedly connected with a first fixing plate. Second fixing plates are symmetrically and fixedly connected to one side of the first fixing plate away from the driven gear disc. A second servo motor is fixedly connected to the outer side of the second fixing plate. The second fixing plate serves to connect the second servo motor and the first fixing plate.

[0012] An end of an output shaft of the second servo motor is fixedly connected to the main gear. A third connecting shaft is movably connected to the relative sides of the two second fixing plates. The outer side of the third connecting shaft is fixedly connected to the driven gear. The driven gear and the main gear are meshed with each other. The rotation of the main gear will drive the driven gear to rotate. The rotation of the driven gear will drive the third connecting shaft to rotate.

[0013] A first movable rod is fixedly connected to the outer side of the driven gear. One end of the first movable rod away from the driven gear is movably connected to a first connecting rod. One end of the first connecting rod away from the first movable rod is movably connected to a first connecting shaft. The first connecting shaft is movably connected to the driven rod. A second connecting shaft is movably connected to the outer side of the driven rod. The second connecting shaft is movably connected to a second triangular plate. The swing of the first connecting rod will drive the first connecting shaft to move.

[0014] The outer side of the third connecting shaft is movably connected to a third movable rod. The number of the third movable rods is two groups. One end of the third movable rod away from the third connecting shaft is movably connected to a fourth connecting shaft. The outer side of the fourth connecting shaft is movably connected to the driven rod. The third movable rod can move on the outer side of the third connecting shaft. The movement of the third movable rod can drive the driven rod to move back and forth.

[0015] A fifth connecting shaft is fixedly connected to the outer sides of the two second fixing plates. The outer side of the fifth connecting shaft is movably connected to a second movable rod. The number of the second movable rods is two groups. One end of the second movable rod away from the second fixing plate is movably connected to a first triangular plate. One end of the first triangular plate away from the second movable rod is movably connected to a fourth movable rod. One end of the fourth movable rod away from the first triangular plate is movably connected to the second triangular plate. The movement of the driven rod will drive the second triangular plate and the second movable rod to move.

[0016] The outer side of the second triangular plate is fixedly connected to a motor. The end of the output shaft of the motor is fixedly connected to a driving wheel. One side of the driving wheel away from the motor is fixedly connected to a driven wheel. The driving wheel is meshed with a first toothed clamp. The driven wheel is meshed with a second toothed clamp. The driven wheel is meshed with the second toothed clamp. When the second connecting shaft and the second movable rod rotate, they will drive the first toothed clamp and the second toothed clamp to rotate simultaneously.

[0017] One end of each of the first toothed clamp and the second toothed clamp away from the second triangular plate is fixedly connected to a rubber rod. The relative movement of the first toothed clamp and the second toothed clamp will drive the rubber rod to appropriately squeeze the palm at the same time.

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

[0019] 1. In the present invention, by providing an upper limb assistance training component, the start of the motor drives the relative movement of the first and second toothed clamps. The relative movement of the first and second toothed clamps simultaneously drives the rubber rod to appropriately squeeze the palm. When the patient's upper limb lacks strength, it can achieve the assistance training of the upper limb. By grasping the first or second toothed clamp, the patient can control the movement of the upper limb according to their own will and feeling, thereby improving the enthusiasm and effect of the rehabilitation process and avoiding muscle atrophy that may be caused by the lack of active movement.

[0020] 2. In the present invention, further, by the patient grasping the first or second toothed clamp and providing a joint composite movement component, through the movement of the main gear and the driven gear, it can achieve simulated movements in various directions. The simulated movements can be achieved either by the startup of the device itself or by the movement of the patient's upper limb, thereby solving the problem of unnatural and rigid movements caused by changing the motor drive method. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. is a schematic diagram of the overall structure of a joint composite movement robotic arm for upper limb rehabilitation training proposed by the present invention;

[0022] Figure 2 FIG. is a schematic diagram of the structure of the joint composite movement component in the present invention;

[0023] Figure 3 FIG. is a top view schematic diagram of the joint composite movement component in the present invention;

[0024] Figure 4 FIG. is a rear view schematic diagram of the joint composite movement component in the present invention;

[0025] Figure 5 is Figure 2 a schematic enlarged view of the structure at A in;

[0026] Figure 6 is Figure 3 a schematic enlarged view of the structure at B in;

[0027] Figure 7 is Figure 3 a schematic enlarged view of the structure at C in;

[0028] Figure 8 is Figure 2 a schematic enlarged view of the structure at D in;

[0029] Figure 9 is Figure 4 a schematic enlarged view of the structure at E in.

[0030] In the figure: 1, base; 2, support column; 3, hollow box; 4, first servo motor; 5, main gear disc; 6, driven gear disc; 7, first fixing plate; 8, second fixing plate; 9, second servo motor; 10, main gear; 11, driven gear; 12, first movable rod; 13, first connecting rod; 14, first connecting shaft; 15, driven rod; 16, second connecting shaft; 17, second movable rod; 18, third connecting shaft; 19, third movable rod; 20, fourth connecting shaft; 21, first triangular plate; 22, fifth connecting shaft; 23, fourth movable rod; 24, second triangular plate; 25, motor; 26, driving wheel; 27, driven wheel; 28, first toothed clamp; 29, second toothed clamp; 30, rubber rod. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] As Figure 1 - Figure 9 shown, a joint composite motion robotic arm for upper limb rehabilitation training proposed by the present invention includes a base 1. A hollow box 3 is movably connected to the upper part of the base 1. A main gear disc 5 is movably connected to the outside of the hollow box 3. A driven gear disc 6 is rotatably connected to the outside of the hollow box 3. A joint composite motion component is provided on the driven gear disc 6. The joint composite motion component includes a main gear 10, a driven gear 11, a first connecting rod 13, a driven rod 15, a second movable rod 17, a third movable rod 19 and a second triangular plate 24 movably connected to the driven gear disc 6. The rotation of the main gear 10 will drive the rotation of the driven gear 11. The rotation of the driven gear 11 will drive the first connecting rod 13 to swing in a fan shape along the driven gear 11. The rotation of the driven gear 11 will drive the third movable rod 19 to move in a fan shape along the driven gear 11. The fan-shaped swings of the first connecting rod 13 and the third movable rod 19 will drive the driven rod 15 to move. The movement of the driven rod 15 will drive the second triangular plate 24 and the second movable rod 17 to move. An upper limb auxiliary training component is provided on the second triangular plate 24. The upper limb auxiliary training component includes a motor 25, a first toothed clamp 28, a second toothed clamp 29 and a rubber rod 30 movably connected to the second triangular plate 24. The start of the motor 25 will drive the relative movement of the first toothed clamp 28 and the second toothed clamp 29. The relative movement of the first toothed clamp 28 and the second toothed clamp 29 will simultaneously drive the rubber rod 30 to clamp the palm.

[0034] One side of the base 1 close to the hollow box 3 is fixedly connected with a support column 2. The end of the support column 2 away from the base 1 is fixedly connected to the hollow box 3. The support column 2 mainly serves to support the hollow box 3.

[0035] A first servo motor 4 is fixedly connected to the inner side of the hollow box 3. The end of the output shaft of the first servo motor 4 is fixedly connected to the main gear disk 5. The main gear disk 5 meshes with the driven gear disk 6. When the end of the output shaft of the first servo motor 4 rotates, it will drive the main gear disk 5 to rotate, and the rotation of the main gear disk 5 will drive the driven gear disk 6 to rotate.

[0036] One side of the driven gear disk 6 away from the hollow box 3 is fixedly connected with a first fixing plate 7. Symmetrically on one side of the first fixing plate 7 away from the driven gear disk 6, there are fixedly connected second fixing plates 8. The outer side of the second fixing plate 8 is fixedly connected with a second servo motor 9. The function of the second fixing plate 8 is to connect the second servo motor 9 and the first fixing plate 7.

[0037] The end of the output shaft of the second servo motor 9 is fixedly connected to the main gear 10. The opposite sides of the two groups of second fixing plates 8 are jointly movably connected with a third connecting shaft 18. The outer side of the third connecting shaft 18 is fixedly connected to the driven gear 11. The driven gear 11 meshes with the main gear 10. The rotation of the main gear 10 will drive the driven gear 11 to rotate, and the rotation of the driven gear 11 will drive the third connecting shaft 18 to rotate.

[0038] The outer side of the driven gear 11 is fixedly connected with a first movable rod 12. One end of the first movable rod 12 away from the driven gear 11 is movably connected to a first connecting rod 13. One end of the first connecting rod 13 away from the first movable rod 12 is movably connected to a first connecting shaft 14. The first connecting shaft 14 is movably connected to the driven rod 15. The outer side of the driven rod 15 is movably connected to a second connecting shaft 16. The second connecting shaft 16 is movably connected to the second triangular plate 24. The swing of the first connecting rod 13 will drive the first connecting shaft 14 to move.

[0039] The outer side of the third connecting shaft 18 is movably connected to a third movable rod 19. The number of the third movable rods 19 is two. One end of the third movable rod 19 away from the third connecting shaft 18 is movably connected to a fourth connecting shaft 20. The outer side of the fourth connecting shaft 20 is movably connected to the driven rod 15. The third movable rod 19 can move on the outer side of the third connecting shaft 18, and the movement of the third movable rod 19 can drive the driven rod 15 to move back and forth.

[0040] On the outer sides of two groups of second fixing plates 8, a fifth connecting shaft 22 is fixedly connected in common. The outer side of the fifth connecting shaft 22 is movably connected to a second movable rod 17. The number of the second movable rods 17 is two groups. One end of the second movable rod 17 far from the second fixing plate 8 is movably connected to a first triangular plate 21. One end of the first triangular plate 21 far from the second movable rod 17 is movably connected to a fourth movable rod 23. One end of the fourth movable rod 23 far from the first triangular plate 21 is movably connected to a second triangular plate 24. The movement of the driven rod 15 will drive the second triangular plate 24 and the second movable rod 17 to move.

[0041] In this embodiment, through the movement of the main gear 10 and the driven gear 11, the simulated movement in all directions can be realized. The simulated movement can be realized by the startup of the device itself or by the movement of the patient's upper limb. The specific implementation method is that the device can be moved on the plane through the base 1. The function of the support column 2 is to connect the base 1 and the hollow box 3. The first servo motor 4 is fixed inside the hollow box 3. When the first servo motor 4 is started, the rotation of the end of the output shaft of the first servo motor 4 will drive the main gear disk 5 to rotate. The rotation of the main gear disk 5 will drive the driven gear disk 6 to rotate. The rotation of the driven gear disk 6 can realize the back-and-forth swing of the device. The function of the first fixing plate 7 is to connect the second fixing plate 8 and the driven gear disk 6. The function of the second fixing plate 8 is to connect the second servo motor 9 and the first fixing plate 7. When the second servo motor 9 is started, the rotation of the end of the output shaft of the second servo motor 9 will drive the main gear 10 to rotate. The rotation of the main gear 10 will drive the driven gear 11 to rotate. The rotation of the driven gear 11 will drive the third connecting shaft 18 to rotate. The rotation of the third connecting shaft 18 will drive the first movable rod 12 to perform a sector movement along the third connecting shaft 18. The rotation of the driven gear 11 will drive the first connecting rod 13 to perform a sector swing along the driven gear 11. The swing of the first connecting rod 13 will drive the first connecting shaft 14 to move. The function of the third connecting shaft 18 is to connect the driven gear 11 and the third movable rod 19. The rotation of the driven gear 11 will drive the third movable rod 19 to perform a sector movement along the driven gear 11. The sector swings of the first connecting rod 13 and the third movable rod 19 will drive the driven rod 15 to move. The movement of the driven rod 15 will drive the second triangular plate 24 and the second movable rod 17 to move. Through the movement of the main gear 10 and the driven gear 11, the simulated movement in all directions can be realized. The simulated movement can be realized by the startup of the device itself or by the movement of the patient's upper limb.

[0042] Embodiment Two

[0043] As Figure 1 - Figure 9As shown, based on the first embodiment, there is a fixed connection between the outer side of the second triangular plate 24 and the motor 25. A driving wheel 26 is fixedly connected to the end of the output shaft of the motor 25. A driven wheel 27 is fixedly connected to the side of the driving wheel 26 away from the motor 25. The driving wheel 26 meshes with the first toothed clamp 28, and the driven wheel 27 meshes with the second toothed clamp 29. When the second connecting shaft 16 and the second movable rod 17 rotate, they will simultaneously drive the first toothed clamp 28 and the second toothed clamp 29 to rotate.

[0044] One ends of the first toothed clamp 28 and the second toothed clamp 29 away from the second triangular plate 24 are both fixedly connected to a rubber rod 30. The relative movement of the first toothed clamp 28 and the second toothed clamp 29 will simultaneously drive the rubber rod 30 to appropriately squeeze the palm.

[0045] In this embodiment, the start of the motor 25 will drive the relative movement of the first toothed clamp 28 and the second toothed clamp 29. The relative movement of the first toothed clamp 28 and the second toothed clamp 29 will simultaneously drive the rubber rod 30 to appropriately squeeze the palm. When the patient's upper limb has no strength, auxiliary training for the upper limb can be achieved. By grasping the first toothed clamp 28 or the second toothed clamp 29, the patient can control the movement of the upper limb according to their own will and feeling. The specific implementation method is as follows: when the motor 25 starts, the rotation of the end of the output shaft of the motor 25 will drive the driving wheel 26 to rotate. When the driving wheel 26 rotates, it will drive the driven wheel 27 to rotate at the same time. Since the driving wheel 26 meshes with the first toothed clamp 28 and the driven wheel 27 meshes with the second toothed clamp 29, when the second connecting shaft 16 and the second movable rod 17 rotate, they will simultaneously drive the first toothed clamp 28 and the second toothed clamp 29 to rotate. At this time, the relative movement of the first toothed clamp 28 and the second toothed clamp 29 will simultaneously drive the rubber rod 30 to appropriately squeeze the palm. When the patient's upper limb has no strength, auxiliary training for the upper limb can be achieved.

[0046] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An articulated compound motion robotic arm for upper limb rehabilitation training, comprising a base (1), characterized in that, The upper part of the base (1) is movably connected with a hollow box (3). The outer side of the hollow box (3) is movably connected with a main gear disk (5). The outer side of the hollow box (3) is rotatably connected with a driven gear disk (6). An articular composite motion assembly is arranged on the driven gear disk (6). The articular composite motion assembly includes a main gear (10), a driven gear (11), a first connecting rod (13), a driven rod (15), a second movable rod (17), a third movable rod (19) and a second triangular plate (24) which are movably connected to the driven gear disk (6). The rotation of the main gear (10) drives the rotation of the driven gear (11). The rotation of the driven gear (11) drives the first connecting rod (13) to swing in a sector along the driven gear (11). The rotation of the driven gear (11) drives the third movable rod (19) to move in a sector along the driven gear (11). The sector swings of the first connecting rod (13) and the third movable rod (19) drive the driven rod (15) to move. The movement of the driven rod (15) drives the second triangular plate (24) and the second movable rod (17) to move. An upper limb auxiliary training assembly is arranged on the second triangular plate (24). The upper limb auxiliary training assembly includes a motor (25), a first tooth clamp (28), a second tooth clamp (29) and a rubber rod (30) which are movably connected to the second triangular plate (24). The start of the motor (25) drives the relative movement of the first tooth clamp (28) and the second tooth clamp (29). The relative movement of the first tooth clamp (28) and the second tooth clamp (29) simultaneously drives the rubber rod (30) to clamp the palm.

2. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, characterized in that, One side of the base (1) close to the hollow box (3) is fixedly connected with a support column (2). One end of the support column (2) far away from the base (1) is fixedly connected with the hollow box (3).

3. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, characterized in that, A first servo motor (4) is fixedly connected to the inner side of the hollow box (3). The end of the output shaft of the first servo motor (4) is fixedly connected with the main gear disk (5). The main gear disk (5) is meshed with the driven gear disk (6).

4. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, characterized in that, One side of the driven gear disk (6) far away from the hollow box (3) is fixedly connected with a first fixing plate (7). Second fixing plates (8) are symmetrically and fixedly connected to one side of the first fixing plate (7) far away from the driven gear disk (6). A second servo motor (9) is fixedly connected to the outer side of the second fixing plate (8).

5. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 4, characterized in that, The end of the output shaft of the second servo motor (9) is fixedly connected with the main gear (10). A third connecting shaft (18) is movably connected to the relative sides of the two second fixing plates (8). The outer side of the third connecting shaft (18) is fixedly connected with the driven gear (11). The driven gear (11) is meshed with the main gear (10).

6. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, characterized in that, A first movable rod (12) is fixedly connected to the outer side of the driven gear (11). One end of the first movable rod (12) away from the driven gear (11) is movably connected to a first connecting rod (13). One end of the first connecting rod (13) away from the first movable rod (12) is movably connected to a first connecting shaft (14). The first connecting shaft (14) is movably connected to a driven rod (15). A second connecting shaft (16) is movably connected to the outer side of the driven rod (15). The second connecting shaft (16) is movably connected to a second triangular plate (24).

7. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 5, characterized in that, The outer side of the third connecting shaft (18) is movably connected to a third movable rod (19). The number of the third movable rods (19) is two groups. One end of the third movable rod (19) away from the third connecting shaft (18) is movably connected to a fourth connecting shaft (20). The outer side of the fourth connecting shaft (20) is movably connected to the driven rod (15).

8. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 4, wherein, A fifth connecting shaft (22) is fixedly connected to the outer sides of the two second fixing plates (8). The outer side of the fifth connecting shaft (22) is movably connected to a second movable rod (17). The number of the second movable rods (17) is two groups. One end of the second movable rod (17) away from the second fixing plate (8) is movably connected to a first triangular plate (21). One end of the first triangular plate (21) away from the second movable rod (17) is movably connected to a fourth movable rod (23). One end of the fourth movable rod (23) away from the first triangular plate (21) is movably connected to the second triangular plate (24).

9. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, wherein The outer side of the second triangular plate (24) is fixedly connected to a motor (25). The end of the output shaft of the motor (25) is fixedly connected to a driving wheel (26). One side of the driving wheel (26) away from the motor (25) is fixedly connected to a driven wheel (27). The driving wheel (26) is meshed with a first toothed clamp (28). The driven wheel (27) is meshed with a second toothed clamp (29).

10. The articulated compound motion robotic arm for upper limb rehabilitation training according to claim 1, characterized in that, One end of the first toothed clamp (28) and the second toothed clamp (29) away from the second triangular plate (24) are both fixedly connected to a rubber rod (30).

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