Intelligent multifunctional elbow joint rehabilitation equipment

Abstract

The invention discloses intelligent multifunctional elbow joint rehabilitation equipment which comprises a base, a seat structure capable of adjusting the sitting height and a main control box are arranged on the base, and a touch screen is arranged on the main control box; the main control box body is provided with a rotating handle mechanism and an elbow joint rotating exercise mechanism which can position and pull palms and provide elbow joint rotating training resistance, and the rotating handle mechanism, the sliding connection mechanism, the bending and stretching mechanism and the like are mutually cooperated and matched and integrated on one device. Main technical parameters such as elbow joint flexion and extension force, time, elbow joint movement angle, training resistance, training times, holding time and angular velocity can be accurately measured and controlled, the related muscle force of the elbow joint can be intelligently measured and evaluated, and equipment manufacturing cost, occupied space and human resources are saved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to an intelligent multifunctional elbow joint rehabilitation device. Background Art

[0002] The elbow joint is a synovial hinge joint between the humerus of the upper arm and the radius and ulna of the forearm. It is responsible for the movement of the forearm and hand. The joint consists of three joints, namely the radiohumeral joint, the humeroulnar joint and the proximal radioulnar joint. Injury to any of these joints can cause elbow dysfunction. Elbow fractures account for the highest proportion of various bone and joint fractures, about 15%. At the same time, the elbow joint is one of the most commonly dislocated joints in the human body. Elbow dislocation accounts for 10% to 25% of all elbow injuries. The elbow joint capsule is translucent and relatively weak. Due to the many connections between the elbow joints, The elbow joint has a high degree of harmony and is closely related to the ligaments and muscles, which makes it very sensitive to injury. After an elbow joint injury, the joint capsule itself may contract due to damage to the articular cartilage and internal bones, and internal or external tissue adhesions may lead to joint dysfunction. After an elbow joint injury, the elbow needs to be flexed to fix it, but immobilization for about 6 days will cause the elbow flexor muscle belly to shorten; after 3 weeks, the loose connective tissue around the joint turns into dense connective tissue. Local tissue edema and lymphatic reflux disorders after elbow joint injury and surgical treatment will also lead to late joint dysfunction and joint capsule adhesion.

[0003] Taking targeted rehabilitation training as early as possible can effectively reduce the incidence of joint dysfunction and accelerate the recovery of joint function. Rehabilitation training has a positive effect on fracture surgery. Scientific muscle strength and joint mobility training can significantly promote the recovery of limb function after fracture surgery; reasonable load exercise can promote blood circulation, help fracture healing, muscle and soft tissue repair. The timing of rehabilitation training is determined by the type of elbow injury and the surgical method. It follows the "passive-assisted-active" cycle training model. The training principle is to achieve the maximum range of motion under tolerable conditions, but it should be gradual and avoid sudden changes. Common training methods include joint traction, including elbow flexion traction and elbow extension traction, to increase joint mobility; flexion and extension training, the upper arm remains motionless, the therapist holds the distal forearm, flexes and extends the patient's elbow joint to the maximum angle, and maintains for 20s to 30s; rotation training, the patient's elbow joint is in a flexed position, the therapist holds the upper part of the wrist joint with one hand to fix it, and grasps the fingers with the other hand, and then rotates the forearm to perform pronation and supination movements; resistance training can be performed in the later stage of rehabilitation, with the maximum value of one resistance exercise (1RM) as the benchmark, once a day, 1RM is measured once a week, and the exercise load is gradually increased.

[0004] Traditional rehabilitation training involves one-on-one training by rehabilitation therapists. The therapists perform stretching, traction and other activities on the affected limbs to restore the patient's joint mobility. However, there are the following problems with this method of rehabilitation training for patients: there is a relative shortage of rehabilitation therapists in China, and the cost of rehabilitation is relatively high; the effectiveness of rehabilitation training is affected by the therapist's level of experience, and data cannot be collected in real time during the training process, which is not conducive to the determination and improvement of treatment plans; the training process is boring, and patients passively accept treatment, with poor subjective initiative and enthusiasm; rehabilitation therapists have a heavy workload, and the time for the same patient to receive rehabilitation training is limited, so the rehabilitation effect is often poor. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent multifunctional elbow joint rehabilitation device in order to solve the above problems and overcome the defects of the prior art, as described in detail below.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] The present invention provides an intelligent multifunctional elbow joint rehabilitation device, comprising a base, on which are respectively provided a seat structure capable of adjusting the seat height and a main control box, and the main control box is provided with a touch screen;

[0008] The main control box is respectively provided with a rotating handle mechanism and an elbow joint rotation exercise mechanism that can position and hold the palm and provide resistance for elbow joint rotation training. The main control box is provided with a flexion and extension mechanism that can drive the rotating handle mechanism and the elbow joint rotation exercise mechanism to rotate a certain angle. The flexion and extension mechanism is provided with a sliding connection mechanism for adjusting the distance between the rotating handle mechanism and the elbow joint rotation exercise mechanism.

[0009] Preferably, the flexion and extension mechanism includes two parallel distributed bearing fixing seats, which are fixed to the main control box by bolts, a rotating shaft is rotatably arranged between the two bearing fixing seats, a fixed connecting support is fixed on the rotating shaft, the rotating handle mechanism and the elbow joint rotation exercise mechanism are both arranged on the fixed connecting support, and a rotating drive component for driving the rotating shaft to rotate back and forth within a certain angle range is provided in the main control box.

[0010] Preferably, the rotation drive assembly includes a servo motor, which is fixedly arranged in the main control box through a motor base plate. The output shaft end of the servo motor is connected to a second bevel gear through a planetary reducer. One side of the second bevel gear is meshed with a first bevel gear. The first bevel gear is fixed on the rotating shaft. The first bevel gear and the rotating shaft have a coaxial axis. A cover is provided on the outer sides of both ends of the rotating shaft. The output end of the touch screen is electrically connected to the input end of the servo motor.

[0011] Preferably, the sliding connection mechanism includes a slide rail, one end of which is fixedly connected to a fixed connection support, and a slider is slidably arranged on the slide rail. The slider is slidably arranged on the slide rail through a U-shaped groove provided therein, and guide slides are fixedly arranged on both sides of the slide rail. A guide slide groove that cooperates with the guide slide is provided on the inner side wall of the U-shaped groove of the slider, and a rotating handle mechanism is arranged on the slider.

[0012] Preferably, the rotating handle mechanism includes an outer shell fixedly arranged on the slider, and two resistance rope structures symmetrically distributed with the slide rail as the center are arranged in the outer shell, and each resistance rope structure includes a rotating handle rotatably arranged on the outer side wall of the outer shell, and the rotating shaft end of the rotating handle extends into the outer shell and is fixedly connected to the second winding wheel. A stepper motor is fixedly arranged in the outer shell, and the output shaft end of the stepper motor is fixedly connected to the first winding wheel. A traction rope is connected between the first winding wheel and the second winding wheel, and a tension and pressure sensor is provided on the traction rope, and the output end of the tension and pressure sensor is electrically connected to the input end of the touch screen, and the output end of the touch screen is electrically connected to the input end of the stepper motor.

[0013] Preferably, a fixed pulley for changing the guidance of the traction rope is fixedly provided in the outer shell, and a spring for buffering the traction force is provided on the traction rope located between the fixed pulley and the second rope winding wheel.

[0014] Preferably, a wire displacement sensor is fixedly provided on the fixed connection support, and the wire head end of the wire displacement sensor is fixedly connected to the outer shell. When the wire is in a taut and straight state, the length direction of the wire is consistent with the sliding direction of the slider on the slide rail, and the output end of the wire displacement sensor is electrically connected to the input end of the wire displacement sensor.

[0015] Preferably, the elbow joint rotation exercise mechanism includes two parallel guide rods, one end of the two guide rods is fixedly connected to a fixed connection support, the other ends of the two guide rods are fixedly connected to each other via a block, and sliders are slidably provided on the two guide rods, and grip rods are fixedly provided on both sides of the sliders.

[0016] Preferably, two upper arm supports are provided on the upper side of the main control box, the cross-section of the upper arm supports is arc-shaped, and two or more restraining straps for restraining and fixing the arms thereon are provided on the upper side of the upper arm supports.

[0017] Preferably, the seat structure includes a seat plate, a backrest is provided on one side of the upper portion of the seat plate, two armrests are provided between the seat plate and the backrest, and a lifting column is provided between the bottom side of the seat plate and the upper side of the base.

[0018] The beneficial effects are:

[0019] 1. By integrating the rotating handle mechanism, sliding connection mechanism, and flexion and extension mechanism into one device, it is possible to accurately measure and control key technical parameters such as elbow flexion and extension force, time, elbow joint motion angle, training resistance, number of training sessions, hold time, angular velocity, etc., and intelligently measure and evaluate elbow joint-related muscle strength, saving equipment manufacturing costs, floor space, and human resources.

[0020] 2. The rotating handle mechanism can measure the arm distance and position the hands during elbow flexion and extension exercises, and can also provide training resistance during elbow rotation exercises.

[0021] 3. Increase joint mobility through joint traction training; in the middle stage of rehabilitation, the equipment drives the affected limb to passively perform two-degree-of-freedom flexion, extension and rotation rehabilitation training to further increase joint mobility; in the late stage of rehabilitation, the patient can actively complete flexion, extension and rotation movements, and the equipment sets a certain resistance so that the limb actively drives the equipment to move against resistance, thereby improving the degree of muscle strength recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a front view of the present invention;

[0024] Figure 2 This invention Figure 1 A first-direction stereogram;

[0025] Figure 3 This invention Figure 1 A second direction stereogram;

[0026] Figure 4 It is a partial three-dimensional structural diagram of the interior of the present invention;

[0027] Figure 5 This invention Figure 4 A local enlarged view of point A;

[0028] Figure 6 This is a three-dimensional diagram of the rotary handle mechanism of the present invention;

[0029] Figure 7 This invention Figure 1 A third-direction stereogram;

[0030] Figure 8This invention Figure 7 A partial enlarged view of point B.

[0031] Figure 9 It is a software control flow chart of the present invention.

[0032] Description of the accompanying drawings: 1. base; 101. movable casters; 2. seat structure; 201. seat plate; 202. backrest; 203. armrest; 204. lifting column; 3. main control box; 301. support rod; 4. rotating handle mechanism; 401. outer shell; 402. pull wire; 403. pull wire displacement sensor; 404. rotating handle; 405. stepping motor; 406. first rope pulley; 407. tension and compression sensor; 408. fixed pulley; 409. spring; 410. second rope pulley; 411. traction rope; 5. Sliding connection mechanism; 501. Slide rail; 502. Slider; 503. Guide slide; 6. Flexion and extension mechanism; 601. Cover; 602. Servo motor; 603. Planetary reducer; 604. Motor base plate; 605. Bearing fixing seat; 606. First bevel gear; 607. Second bevel gear; 608. Rotating shaft; 609. Fixed connection support; 7. Elbow joint rotation exercise mechanism; 701. Guide rod; 702. Slider; 703. Block; 704. Grip; 8. Upper arm support; 801. Restraint belt; 9. Touch screen. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0034] See also Figures 1-9 As shown, the present invention provides an intelligent multifunctional elbow joint rehabilitation device, including a base 1, which has a rectangular shape. The base 1 is respectively provided with a seat structure 2 capable of adjusting the seat height and a main control box 3, and the main control box 3 is provided with a touch screen 9; the main control box 3 is respectively provided with a rotating handle mechanism 4 and an elbow joint rotation exercise mechanism 7 capable of positioning and holding the palm and providing resistance for elbow joint rotation training, and the main control box 3 is provided with a flexion and extension mechanism 6 capable of driving the rotating handle mechanism 4 and the elbow joint rotation exercise mechanism 7 to rotate a certain angle, and the flexion and extension mechanism 6 is provided with a sliding connection mechanism 5 for adjusting the distance between the rotating handle mechanism 4 and it.

[0035] See the instructions attached Figure 3 、 4As shown in Figure 5, the flexion and extension mechanism 6 includes two parallel bearing fixing seats 605, which are fixed to the main control box 3 by bolts. A rotating shaft 608 is rotatably arranged between the two bearing fixing seats 605, and a fixed connecting support 609 is fixedly arranged on the rotating shaft 608. The rotating handle mechanism 4 and the elbow joint rotation exercise mechanism 7 are both arranged on the fixed connecting support 609. A rotating drive component for driving the rotating shaft 608 to rotate back and forth within a certain angle range is provided in the main control box 3. The rotation drive assembly includes a servo motor 602, which is fixedly arranged in the main control box 3 through a motor base plate 604. The output shaft end of the servo motor 602 is connected to the second bevel gear 607 through a planetary reducer 603. One side of the second bevel gear 607 is meshed with the first bevel gear 606. The first bevel gear 606 is fixedly arranged on the rotating shaft 608. The first bevel gear 606 and the rotating shaft 608 have a coaxial axis. A cover 601 is provided on the outer side of both ends of the rotating shaft 608. The outer shape of the cover 601 is a semicircular arch shell. The output end of the PLC controller is electrically connected to the input end of the servo motor 602.

[0036] The sliding connection mechanism 5 includes a slide rail 501, one end of which is fixedly connected to a fixed connection support 609, a slider 502 is slidingly arranged on the slide rail 501, and the slider 502 is slidably arranged on the slide rail 501 through a U-shaped groove provided therein, and guide slides 503 are fixedly arranged on both sides of the slide rail 501, and a guide groove that cooperates with the guide slide 503 is provided on the inner side wall of the U-shaped groove of the slider 502, and the rotating handle mechanism 4 is arranged on the slider 502.

[0037] See the instructions attached Figure 2 、 4As shown in Figure 6, this embodiment proposes a specific rotating handle mechanism 4, which includes an outer shell 401 fixedly set on a slider 502, and two resistance rope structures symmetrically distributed with the slide rail 501 as the center are arranged in the outer shell 401, and each resistance rope structure includes a rotating handle 404 rotatably set on the outer wall of the outer shell 401, and the rotating shaft end of the rotating handle 404 extends into the outer shell 401 and is fixedly connected to the second winding wheel 410, and a stepper motor 405 is fixedly set in the outer shell 401, and the output shaft end of the stepper motor 405 is fixedly connected to the first winding wheel 406, and a traction rope 411 is connected between the first winding wheel 406 and the second winding wheel 410, and a tension and pressure sensor 407 is provided on the traction rope 411, and the output end of the tension and pressure sensor 407 is electrically connected to the input end of the PLC controller, and the output end of the PLC controller is electrically connected to the input end of the stepper motor 405. A fixed pulley 408 for redirecting the traction rope 411 is fixedly installed in the outer shell 401. A spring 409 for buffering the traction force is installed on the traction rope 411 between the fixed pulley 408 and the second rope winding pulley 410. A pull-wire displacement sensor 403 is fixedly installed on the fixed connection support 609. The head end of the pull-wire 402 of the pull-wire displacement sensor 403 is fixedly connected to the outer shell 401. When the pull-wire 402 is in a taut and straight state, the length direction of the pull-wire 402 is consistent with the sliding direction of the slider 502 on the slide rail 501. The output end of the pull-wire displacement sensor 403 is electrically connected to the input end of the pull-wire displacement sensor 403. According to the table in GB 10000-88, "Human Dimensions of Chinese Adults," the range of forearm length for adult men is 206-268mm, and for adult women is 185-242mm. Based on this data and rounding, the linear distance between the rotating handle and the support optical axis can be determined to be 180-280mm. Based on the data provided in the literature, the force required for elbow joint traction and muscle strength testing and training, F1, can be determined to be 10kgf; the force required for elbow joint rotation muscle strength testing and training, F2, can be determined to be 5kgf. The length of the rotary control box connected in the sliding connection mechanism, L1, can be determined to be 150mm, or 0.15m. Based on the linear distance range between the rotating handle and the support optical axis, the length of the slide rail in the sliding connection mechanism can be determined to be: L2 = L1 + 280 = 430mm, or 0.43m.

[0038] According to the table, the weight of the slide rail in the sliding connection mechanism is G1 = 1.79 kg / m × L2 ≈ 0.77 kg, and the weight of the slider is G2 ≈ 0.24 kg. The rotation control box is made of S30403 stainless steel, with a density of ρ1 = 7.93 g / cm 3 , actual volume V1≈261cm 3 , then the weight G3=ρ1V1=2069.73g≈2.07kg, and the total weight of the remaining parts inside the rotating box G4≈2kg.

[0039] When the arm of the patient using the device is long enough to perform elbow extension muscle strength measurement and the rotation control box is at the extreme position, the required actual extreme torque T0=T1+T2 can be calculated.

[0040]

[0041] T2 = F1g × 0.28m = 28N·m;

[0042] Therefore, T0=T1+T2=44.96N·m.

[0043] According to "Mechanical Engineer," the selection rules for planetary reducers are: a small number of stages, a small size, a small torque amplification factor, and high transmission efficiency; a large number of stages, a large size, a large torque amplification factor, and low transmission efficiency. Currently, most planetary reducers on the market are one-, two-, or three-stage planetary reducers. Here, we choose a two-stage planetary reducer with a 50x reduction ratio, which can ensure sufficient torque while also ensuring a certain transmission efficiency and installation space. The general transmission efficiency of a planetary reducer is η1≈0.95, so the total transmission efficiency of a two-stage planetary reducer is:

[0044] At this time, the torque that the servo motor needs to provide after passing through the planetary reducer is at least:

[0045]

[0046] The actual torque output by the servo motor at this time is:

[0047]

[0048] According to the formula The calculated power P1≈349W;

[0049] In summary, the servo motor power P1 ≥ 349W and the actual output torque T4 ≥ 1N·m are selected.

[0050] See the instructions attached Figure 7 and 8 As shown, the elbow joint rotation exercise mechanism 7 includes two parallel guide rods 701, one end of the two guide rods 701 is fixedly connected to the fixed connection support 609, and the other ends of the two guide rods 701 are fixedly connected to each other through a stopper 703. Slide blocks 702 are slidably provided on the two guide rods 701, and grip bars 704 are fixedly provided on both sides of the sliders 702.

[0051] Two upper arm supports 8 are located on the upper side of the main control box 3. These supports 8 have an arc-shaped cross-section and are equipped with two or more restraint straps 801 for securing the arms thereon. This specific structural design allows the user to place their upper arms on the supports 8, where the cushioned upper surfaces provide comfortable support.

[0052] See the instructions attached Figure 1 As shown, the seat structure 2 includes a seat plate 201, a backrest 202 disposed on one side of the upper portion of the seat plate 201, two armrests 203 disposed between the seat plate 201 and the backrest 202, and a lifting column 204 disposed between the bottom side of the seat plate 201 and the top side of the base 1. The lifting column 204 is capable of adjusting the height of the seat plate 201 through the above-described specific structural design. A hydraulic cylinder is disposed within the lifting column 204 for adjusting the height position of the seat plate 201.

[0053] In order to improve the reliability and cost-effectiveness of the control system, the touch screen 9 adopts a PLC controller as the control center, and the tension and compression sensor 407 is used to measure the muscle force during the rotational movement of the elbow joint. The collected data is transmitted to the PLC through a digital transmitter; the PLC controls the driving stepper motor 405 to drive the elbow joint to rotate in forward and reverse directions; the wire displacement sensor 403 measures the lever arm during the flexion and extension movement of the elbow joint, and the PLC calculates the servo output torque based on the set force and the measured lever arm; the human-machine interface is mainly used for parameter setting and human-computer interaction; when an abnormal situation occurs, the voice module alarm is triggered, and the voice module is set on the main control box 3.

[0054] Equipment performance indicators:

[0055]

[0056] Working principle:

[0057] The first training mode: used for flexing and extending the elbow joint. Specifically, the rehabilitation trainee sits on the seat structure 2, and the seat height is adjusted according to the height of the rehabilitation trainee. The adjustment is mainly based on the comfort of the rehabilitation trainee placing the upper arm horizontally on the upper arm support 8 of the main control box 3. After the rehabilitation trainee places the upper arm horizontally on the upper arm support 8, the restraint belt 801 is used to restrain and fix the upper arm, while ensuring that the restraint does not interfere with the movement of the elbow joint. The rehabilitation trainee's two hands are respectively held on the two rotating handles 404 of the rotating handle mechanism 4. At this time, the pull wire displacement sensor 403 is used to detect the position of the slider 502 on the slide rail 501 and the length of the forearm and transmit the detected electrical signal to the PLC controller for feedback control of the servo motor 602; the elbow joint rotation training mechanism 7 can also be used to replace the rotating handle mechanism 4 for elbow joint flexion and extension training;

[0058] The second training mode: used for rotational exercise of the elbow joint. At this time, the two hands of the rehabilitation trainee are respectively held on the two rotating handles 404 of the rotating handle mechanism 4, and the elbow joint of the rehabilitation trainee rotates autonomously. In this process, the rotating handle 404 is driven to rotate relative to the outer shell 401. The rotation of the rotating handle 404 drives the second rope pulley 410 to rotate, thereby winding the traction rope 411. At this time, after the tension and pressure sensor 407 detects that the tension reaches a certain level, the tension and pressure sensor 407 transmits the detected electrical signal to the PLC controller and controls the stepper motor 405. The output shaft of the stepper motor 405 rotates to drive the first rope pulley 406 to pay out the line, thereby ensuring a constant resistance to the rotation of the elbow joint, and the spring 409 plays a buffering role against the tension, making the training resistance more gentle and balanced.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An intelligent multifunctional elbow joint rehabilitation device, characterized by: The invention comprises a base (1), wherein a seat structure (2) capable of adjusting the seat height and a main control box (3) are respectively provided on the base (1), and a touch screen (9) is provided on the main control box (3); The main control box (3) is provided with a rotating handle mechanism (4) and an elbow joint rotation training mechanism (7) capable of positioning and holding the palm and providing resistance for elbow joint rotation training, respectively. The main control box (3) is provided with a flexion and extension mechanism (6) capable of driving the rotating handle mechanism (4) and the elbow joint rotation training mechanism (7) to rotate to a certain angle, and the flexion and extension mechanism (6) is provided with a sliding connection mechanism (5) for adjusting the distance between the rotating handle mechanism (4) and the elbow joint rotation training mechanism.

2. The intelligent multifunctional elbow joint rehabilitation device according to claim 1, characterized in that: The flexion and extension mechanism (6) comprises two parallel bearing fixing seats (605), each of which is fixedly mounted on the main control box (3) by means of bolts. A rotating shaft (608) is rotatably mounted between the two bearing fixing seats (605), a fixed connection support (609) is fixedly mounted on the rotating shaft (608), the rotating handle mechanism (4) and the elbow joint rotation exercise mechanism (7) are both mounted on the fixed connection support (609), and a rotation drive assembly for driving the rotating shaft (608) to rotate back and forth within a certain angle range is mounted in the main control box (3).

3. The intelligent multifunctional elbow joint rehabilitation device according to claim 2, characterized in that: The rotary drive assembly includes a servo motor (602), which is fixedly arranged in a main control box (3) via a motor base plate (604). The output shaft end of the servo motor (602) is connected to a second bevel gear (607) via a planetary reducer (603). One side of the second bevel gear (607) is meshedly connected to a first bevel gear (606). The first bevel gear (606) is fixedly arranged on a rotating shaft (608). The first bevel gear (606) and the rotating shaft (608) are coaxial. Cover shells (601) are provided on the outer sides of both ends of the rotating shaft (608).

4. The intelligent multifunctional elbow joint rehabilitation device according to claim 2, characterized in that: The sliding connection mechanism (5) includes a slide rail (501), one end of which is fixedly connected to a fixed connection support (609), a slider (502) being slidably arranged on the slide rail (501), the slider (502) being slidably arranged on the slide rail (501) through a U-shaped groove provided therein, guide slide bars (503) being fixedly arranged on both sides of the slide rail (501), a guide slide groove cooperating with the guide slide bar (503) being provided on the inner side wall of the U-shaped groove of the slider (502), and a rotating handle mechanism (4) being arranged on the slider (502).

5. The intelligent multifunctional elbow joint rehabilitation device according to claim 1, characterized in that: The rotating handle mechanism (4) comprises an outer shell (401) fixedly arranged on a slider (502), two resistance rope structures symmetrically distributed with the slide rail (501) as the center are arranged in the outer shell (401), each resistance rope structure comprises a rotating handle (404) rotatably arranged on the outer wall of the outer shell (401), the rotating shaft end of the rotating handle (404) extends into the outer shell (401) and is fixedly connected to the second rope winding wheel (410), a stepping motor (405) is fixedly arranged in the outer shell (401), the output shaft end of the stepping motor (405) is fixedly connected to the first rope winding wheel (406), a traction rope (411) is connected between the first rope winding wheel (406) and the second rope winding wheel (410), and a tension and pressure sensor (407) is arranged on the traction rope (411).

6. The intelligent multifunctional elbow joint rehabilitation device according to claim 5, characterized in that: A fixed pulley (408) for changing and guiding the traction rope (411) is fixedly provided in the outer shell (401), and a spring (409) for buffering the traction force is provided on the traction rope (411) between the fixed pulley (408) and the second rope winding wheel (410).

7. The intelligent multifunctional elbow joint rehabilitation device according to claim 5, characterized in that: A wire displacement sensor (403) is fixedly provided on the fixed connection support (609); the head end of the wire (402) of the wire displacement sensor (403) is fixedly connected to the outer shell (401); when the wire (402) is in a taut and straight state, the length direction of the wire (402) is consistent with the sliding direction of the slider (502) on the slide rail (501).

8. The intelligent multifunctional elbow joint rehabilitation device according to claim 1, characterized in that: The elbow joint rotation training mechanism (7) comprises two parallel distributed guide rods (701), one end of the two guide rods (701) is fixedly connected to a fixed connection support (609), and the other ends of the two guide rods (701) are fixedly connected to each other via a stopper (703), and sliders (702) are slidably provided on the two guide rods (701), and grip rods (704) are fixedly provided on both sides of the sliders (702).

9. The intelligent multifunctional elbow joint rehabilitation device according to claim 1, characterized in that: Two upper arm supports (8) are provided on the upper side of the main control box (3), and the cross-section of the upper arm supports (8) is in the shape of an arc. The upper side of the upper arm supports (8) is provided with two or more restraint belts (801) for restraining and fixing the arms thereon.

10. The intelligent multifunctional elbow joint rehabilitation device according to claim 1, characterized in that: The seat structure (2) comprises a seat plate (201), a backrest (202) is provided on one side of the upper portion of the seat plate (201), two armrests (203) are provided between the seat plate (201) and the backrest (202), and a lifting column (204) is provided between the bottom side of the seat plate (201) and the upper side of the base (1).

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