Upper limb robot for shoulder rehabilitation training

Abstract

The invention relates to an upper limb robot for shoulder rehabilitation training. The upper limb robot is provided with a wearing assembly, an adjustable supporting rod, a joint mechanism, an arm connecting piece and a driving movement device. The joint mechanism comprises a mounting frame, a rotating disc and a connecting arm, the rotating disc is rotationally arranged on the mounting frame, one end of the connecting arm is fixedly connected with the rotating disc, the other end of the connecting arm is connected with the arm connecting piece, and the driving movement device comprises a sliding support, a movement part and a driving device used for enabling the movement part to slide on the sliding support; the moving part is driven by the driving device to slide up and down; the first Bowden cable and the second Bowden cable are used for connecting the moving part and the joint mechanism; when the moving part slides, the moving part drives the first Bowden cable or the second Bowden cable in the direction opposite to the sliding direction to drive the connecting arm on the rotating disc to rotate. Accurate and stable shoulder support can be provided for a patient, and the training mode can be adjusted according to rehabilitation requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, in particular to an upper limb robot for shoulder rehabilitation training. Background Art

[0002] Upper limb rehabilitation training is a specialized training program designed to help patients recover upper limb motor skills after brain damage, thereby helping them regain independence. Traditional rehabilitation training often requires one-on-one, face-to-face sessions with rehabilitation specialists. The entire rehabilitation process is highly dependent on rehabilitation specialists. The shortage of rehabilitation specialists is also a major challenge facing the rehabilitation field in my country.

[0003] After a shoulder injury or surgery, patients require systematic rehabilitation training to restore shoulder joint mobility and muscle strength. Currently, rehabilitation training often relies on manual assistance from physical therapists or simple mechanical devices. This method is not only time-consuming and labor-intensive, but can also lead to unstable training results due to human factors. Existing upper limb rehabilitation equipment often fails to provide precise support and active training for the shoulder, making it difficult to meet the rehabilitation needs of complex shoulder movements.

[0004] Therefore, there is an urgent need for an upper limb robot that can effectively assist shoulder rehabilitation training and can be personalized according to the patient's condition to improve rehabilitation effect and efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide an upper limb robot for shoulder rehabilitation training, which can provide patients with accurate and stable shoulder support and adjust the training mode according to rehabilitation needs.

[0006] The technical solution for achieving the purpose of the present invention is as follows: the present invention comprises a wearable component, an adjustable support rod, a joint mechanism, an arm connector and a driving motion device; the joint mechanism comprises a mounting frame, a turntable and a connecting arm, the turntable is rotatably arranged on the mounting frame, one end of the connecting arm is fixedly connected to the turntable, and the other end of the connecting arm is connected to the arm connector, one end of the adjustable support rod is detachably fixedly arranged on the wearable component, and the other end of the adjustable support rod is fixedly connected to the mounting frame; the driving motion device comprises a sliding bracket, a moving part and a driving device for the moving part to slide on the sliding bracket, the sliding direction of the moving part is consistent with the extension direction of the adjustable support rod, and the moving part is driven by the driving device to slide up and down; a first Bowden cable is also provided A cable and a second Bowden cable, one end of the first Bowden cable is fixedly arranged on one side of the moving part and the other end extends toward the arm connecting part, the second Bowden cable is fixedly arranged on the other side of the moving part and the other end extends back to the arm connecting part, a guide wheel for changing the extension direction of the other end of the second Bowden cable is rotatably provided on the sliding bracket, the other end of the first Bowden cable acts on the turntable, and the other end of the second Bowden cable is fixedly acted on the turntable after being acted on by the guide wheel; a control unit, an input unit and an interactive output unit are also provided, the input unit is used to select a training mode, and the interactive output unit is used to output interactive information, the input unit and the interactive output unit are both electrically connected to the control unit, and the driving device is electrically connected to the control unit.

[0007] Furthermore, the joint mechanism is also provided with a second shell, a rotation support plate, a limiting gear, a limiting plate, a first mounting block and a second mounting block, and the mounting frame, the turntable, the rotation support plate, the limiting gear, the limiting plate, the first mounting block and the second mounting block are all arranged inside the second shell, and the first mounting block and the second mounting block are fixedly arranged on the mounting frame; a rotating shaft is fixedly provided on both sides of the rotation support plate, the turntable and the first mounting block are arranged on one side of the rotation support plate, and the limiting gear and the second mounting block are arranged on the other side of the rotation support plate, the turntable, the first mounting block, the limiting gear and the second mounting block are all provided with a rotating hole that can be matched with the rotating shaft; the turntable is pressed on the rotation support plate through the rotation hole thereon and the rotation shaft is matched, and the turntable is fixedly connected to the rotation support plate, the first mounting block is rotatably arranged on the rotating shaft corresponding to the rotation support plate through the rotation hole thereon, the limiting gear is rotatably arranged on the rotating shaft corresponding to the rotation support plate through the rotation hole thereon, and the first mounting block is rotatably arranged on the rotating shaft corresponding to the rotation support plate through the first mounting block thereon through the rotation hole thereon The cam is fixedly provided with a toothed plate and a toothed plate, and the toothed plate is fixedly provided with a toothed plate so as to be in contact with the toothed plate and the toothed plate, and the toothed plate is fixedly provided with a toothed plate and a toothed plate.

[0008] The limiting plate is provided with a guide groove, and a guide block that can form a sliding fit with the guide groove is fixedly provided on the second mounting plate, and the limiting block forms a stable lifting and lowering under the sliding fit of the guide block and the guide groove; the second mounting plate is also provided with a sliding groove extending along the lifting direction of the limiting plate, and is also provided with a latch with one end fixedly provided on the limiting plate and the other end extending through the sliding groove, the latch is slidably provided in the sliding groove, and the limiting plate is passively lowered by the sliding fit of the latch and the sliding groove, and is actively lifted by the action of the spring and the sliding fit of the guide block and the guide groove;

[0009] An extension arm extending outward with the center of the limiting gear as the center is fixedly provided on the limiting gear, and a limiting rod is fixedly provided on the connecting arm, and the limiting rod can form a limiting fit with the extension arm.

[0010] Furthermore, the outer wall of the rotating support disk is provided with a guide groove extending along the outer contour direction of the rotating support disk, and the first Bowden cable and the second Bowden cable are both clamped in the guide groove; a steering wheel is also rotatably provided between the first mounting block and the second mounting block for guiding the second Bowden cable to turn and connect to the rotating support disk, the first Bowden cable is wound around the rotating support disk clockwise along the extension direction of the guide groove, and the second Bowden cable is wound around the rotating support disk counterclockwise after the steering action of the steering wheel.

[0011] Furthermore, a first housing fixedly mounted on the wearable component is provided, wherein the moving parts include a first sliding plate, a second sliding plate, a third sliding plate, a screw nut, a first elastic member and a second elastic member; the sliding bracket includes a first mounting plate, a second mounting plate, a screw and a guide rod;

[0012] The first mounting plate and the second mounting plate are fixedly arranged inside the housing symmetrically in the upper and lower parts, the screw rod is rotatably arranged between the first mounting plate and the second mounting plate, and the extension direction of the screw rod is consistent with the extension direction of the adjustable support rod, the first mounting plate is arranged close to the joint mechanism, and the second mounting plate is arranged away from the joint mechanism; a plurality of guide rods are provided and fixedly arranged between the first mounting plate and the second mounting plate and extended along the extension direction of the screw rod, the driving device is fixedly arranged on the second mounting plate, and the output end of the driving device is fixedly connected to the screw rod, and the guide wheel is rotatably arranged on the second mounting plate;

[0013] The screw nut is arranged on the screw rod and can form a threaded fit with the screw rod, the first sliding plate, the second sliding plate and the third sliding plate are all provided with guide holes that correspond to each guide rod one by one and can form a sliding fit, the first sliding plate, the second sliding plate and the third sliding plate are arranged in sequence through the guide holes and the sliding fit with the guide rod, and the first sliding plate and the third sliding plate are fixedly connected to each other. The first sliding plate is located on the side of the second sliding plate facing the first mounting plate, and the third sliding plate is located on the side of the second sliding plate facing the second mounting plate; the middle part of the screw nut is fixedly connected to the second sliding plate, the first elastic member and the second elastic member are respectively sleeved on both sides of the screw nut, one end of the first elastic member acts on one side of the screw nut, the other end of the first elastic member acts on the first sliding plate, one end of the second elastic member acts on the other side of the screw nut, and the other end of the second elastic member acts on the third sliding plate;

[0014] The first mounting plate is symmetrically provided with a first through hole and a second through hole, through which the first Bowden cable and the second Bowden cable can pass respectively. One end of the first Bowden cable is fixedly arranged on the first sliding plate, and the other end of the first Bowden cable is fixedly connected to the turntable after passing through the first through hole. One end of the second Bowden cable is fixedly arranged on the third sliding plate, and the other end of the second Bowden cable is fixedly connected to the turntable after passing around the guide wheel and the second through hole.

[0015] Furthermore, a position sensor for detecting the sliding offset of the slider is also provided in the first housing, and the position sensor is electrically connected to the control unit.

[0016] Furthermore, a sensing and control system is provided, which includes an inertial measurement unit 1 that can be installed at the upper arm, an inertial measurement unit 2 that can be installed at the lower arm, and an inertial measurement unit 3 that can be installed at the torso. The inertial measurement unit 1, the inertial measurement unit 2, and the inertial measurement unit 3 are combined to monitor the motion state and motion posture. The inertial measurement unit 1, the inertial measurement unit 2, and the inertial measurement unit 3 are all electrically connected to the control unit.

[0017] Furthermore, the wearable component includes a shoulder strap for the user to carry and a waist strap for wrapping the user's waist. There are two waist straps, one end of the two waist straps is respectively fixed on both sides of the lower end of the shoulder strap, and the other ends of the two waist straps can be plugged into each other through a plug-in connector; both waist straps are provided with a card box, and the card box is provided with a card slot. A connecting block is fixed on one end of the adjustable support rod that is detachably fixed to the wearable component, and a card block that can be snap-fitted with the card slot is fixed on the connecting block. The adjustable support rod is detachably fixed to the wearable component through the snap-fitting of the card block and the card slot; the card box is slidably set on the waist strap.

[0018] Furthermore, the adjustable support rod includes a first rod body and a second rod body, the interior of the second rod body is provided with a sliding groove for the first rod body to be inserted and slide, and the first rod body is slidably connected to the second rod body through the sliding groove; the first rod body is provided with a limiting member for limiting the sliding of the first rod body and the second rod body.

[0019] The lock member is a pair of locks, and the lock member is a pair of locks, and the lock member is a pair of locks. The two ends of the lock member are connected with each other with a bolt, and the bolt has a round shank to contact with the other end of the lock member. The bolt has a round shank to contact with the other end of the lock member.

[0020] Furthermore, a handheld remote control is provided which is electrically connected to the control unit and is used to control the output size of the drive device, control the input unit to select a training mode, and feed back the interactive information output by the interactive output unit. The handheld remote control is electrically connected to the control unit, the input unit, and the interactive output unit, and is provided with an interactive interface for displaying the interactive information output by the interactive output unit.

[0021] Furthermore, both the first Bowden cable and the second Bowden cable have force output wires inside, and the force output wires include composite wires or metal wires. The force output wires are connected to the moving parts and the joint mechanism through the corresponding first Bowden cable and the second Bowden cable.

[0022] The present invention has positive effects: (1) the other end of the first Bowden cable of the present invention acts on the turntable, and the other end of the second Bowden cable is fixed on the turntable after being acted on by the guide wheel; a control unit, an input unit and an interactive output unit are also provided, the input unit is used to select a training mode, the interactive output unit is used to output interactive information, the input unit and the interactive output unit are both electrically connected to the control unit, and the drive device is electrically connected to the control unit; instructions for different rehabilitation methods are input through the input unit, and then the control unit controls the drive device to perform different rehabilitation methods, and the training mode can be adjusted according to rehabilitation needs.

[0023] (2) The first mounting plate of the present invention is symmetrically provided with a first through hole and a second through hole, through which the first Bowden cable and the second Bowden cable can pass respectively. One end of the first Bowden cable is fixedly arranged on the first sliding plate, and the other end of the first Bowden cable is fixedly connected to the turntable after passing through the first through hole. One end of the second Bowden cable is fixedly arranged on the third sliding plate, and the other end of the second Bowden cable is fixedly connected to the turntable after passing around the guide wheel and passing through the second through hole. Through the arrangement of the first through hole and the second through hole, the parts of the first Bowden cable and the second Bowden cable between the first mounting plate and the second mounting plate can be located in the same plane as the parts on the guide wheel, thereby reducing the friction between the first Bowden cable and the second Bowden cable and the parts passed by when the first mounting plate and the second mounting plate slide.

[0024] (3) The wearing assembly of the present invention includes a shoulder strap for the user to carry the wearer's back and a waist strap for wrapping the user's waist. Both the shoulder strap and the waist strap can be adjusted to accommodate users of different body shapes.

[0025] (4) The joint mechanism of the present invention is also provided with a second shell, a rotating support disk, a limiting gear, a limiting plate, a first mounting block and a second mounting block, and the mounting frame, turntable, rotating support disk, limiting gear, limiting plate, first mounting block and second mounting block are all arranged inside the second shell; the plug-in cooperation of the limiting block and the limiting groove can adjust the position angle of the extension arm, and the rotating support disk drives the turntable to rotate between the first mounting block and the second mounting block. The connecting arm forms a limit to the range of motion through the limiting cooperation of the limiting rod and the extension arm and the position angle of the extension arm is adjusted to prevent the turntable from over-rotating and protect the user's safety.

[0026] (5) The arm connector of the present invention is adjustably arranged on the connecting arm through the threaded cooperation of the positioning bolt and the knob and the positioning cooperation of the positioning block and the positioning groove; through the adjustable installation of the shoulder connector, the support position of the shoulder connector can be adjusted according to the needs of the user.

[0027] (6) The first sliding plate, the second sliding plate and the third sliding plate of the present invention are all provided with guide holes corresponding to the respective guide rods and capable of forming a sliding fit. The first sliding plate, the second sliding plate and the third sliding plate are arranged in sequence through the guide holes and the sliding fit with the guide rods, and the first sliding plate and the third sliding plate are fixedly connected to each other. The first sliding plate is located on the side of the second sliding plate facing the first mounting plate, and the third sliding plate is located on the side of the second sliding plate facing the second mounting plate. The deformation force of the first elastic member and the second elastic member is measured through the deformation of the first elastic member and the second elastic member and the sensing of the position sensor, thereby being able to obtain more accurate data. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 A schematic diagram of the internal structure of the first shell and the second shell of the present invention;

[0031] Figure 3 Schematic diagram of the connection structure between the joint mechanism and the arm connector of the present invention;

[0032] Figure 4 It is a schematic diagram of the exploded structure of the connection between the joint mechanism and the arm connector of the present invention;

[0033] Figure 5 It is a schematic structural diagram of the driving motion device of the present invention;

[0034] Figure 6 It is a structural schematic diagram of the rotating support plate of the present invention;

[0035] Figure 7 Schematic diagram of the structure of the limiting plate of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the limiting gear of the present invention;

[0037] Figure 9 This is a schematic diagram of electrical connections of the present invention;

[0038] Figure 10 It is a schematic diagram of the PID algorithm and feedforward control algorithm of the present invention.

[0039] In the figure, the wearing component: 1, the shoulder belt: 11, the waist belt: 12, the card box: 121, the adjustable support rod: 2, the first rod body: 21, the second rod body: 22, the joint mechanism: 3, the mounting frame: 31, the lifting hole: 311, the steering wheel: 312, the turntable: 32, the connecting arm: 33, the limiting rod: 331, the slide groove: 332, the positioning groove: 333, the second shell: 34, the rotating support plate: 35, the guide groove: 351, the rotating shaft: 352, the limiting gear: 36, the protruding block: 361, the extension arm: 362, the limiting plate: 37, the fixing rod: 371, the guide groove: 372, the limiting block: 373, the first mounting block: 38, the second mounting block: 39, the guide block: 391, the arm connector: 4 driving motion device: 5, the sliding bracket: 51, the first mounting plate : 511, first through hole: 5111, second through hole: 5112, second mounting plate: 512, screw: 513, guide rod: 514, moving part: 52, first sliding plate: 521, second sliding plate: 522, third sliding plate: 523, screw nut: 524, first elastic member: 525, second elastic member: 526, driving device: 53, first Bowden cable: 6, second Bowden cable: 7, guide wheel: 8, first housing: 9 position sensor: 10, adjusting member 1-1, mounting seat: 1-11, clamping seat: 1-12, positioning bolt: 1-13, knob: 1-14, control unit: a, input unit: b, interactive output unit: c, inertial measurement unit one: d, inertial measurement unit two: e, inertial measurement unit three: f, rotating hole: g. DETAILED DESCRIPTION

[0040] See Figures 1 to 9The present invention comprises a wearable component 1, an adjustable support rod 2, a joint mechanism 3, an arm connector 4 and a driving motion device 5; the joint mechanism 3 comprises a mounting frame 31, a turntable 32 and a connecting arm 33, the turntable 32 is rotatably arranged on the mounting frame 31, one end of the connecting arm 33 is fixedly connected to the turntable 32, and the other end of the connecting arm 33 is connected to the arm connector 4, one end of the adjustable support rod 2 is detachably fixed on the wearable component 1, and the other end of the adjustable support rod 2 is fixedly connected to the mounting frame 31; the driving motion device 5 comprises a sliding bracket 51, a moving part 52 and a driving device 53 for the moving part 52 to slide on the sliding bracket 51, the sliding direction of the moving part 52 is consistent with the extension direction of the adjustable support rod 2, and the moving part 52 is driven by the driving device 53 to slide up and down; a first Bowden is also provided A cable 6 and a second Bowden cable 7, wherein one end of the first Bowden cable 6 is fixedly disposed on one side of the moving component 52 and the other end extends toward the arm connector 4, and the second Bowden cable 7 is fixedly disposed on the other side of the moving component 52 and the other end extends away from the arm connector 4. A guide wheel 8 is rotatably provided on the sliding bracket 51 for changing the extension direction of the other end of the second Bowden cable 7. The other end of the first Bowden cable 6 acts on the turntable 32, and the other end of the second Bowden cable 7 is fixedly disposed on the turntable 32 by the action of the guide wheel 8. A control unit a, an input unit b, and an interactive output unit c are also provided. The input unit b is used to select a training mode, and the interactive output unit c is used to output interactive information. The input unit b and the interactive output unit c are both electrically connected to the control unit a, and the drive device 53 is electrically connected to the control unit a.

[0041] When the moving part 52 slides downward, the first Bowden cable 6 drives the turntable 32 to rotate counterclockwise, and the turntable 32 drives the connecting arm 33 to rotate upward; when the moving part 52 slides upward, the second Bowden cable 7 drives the turntable 32 to rotate clockwise, and the turntable 32 drives the connecting arm 33 to rotate downward.

[0042] The joint mechanism 3 is also provided with a second shell 34, a rotating support plate 35, a limiting gear 36, a limiting plate 37, a first mounting block 38 and a second mounting block 39. The mounting frame 31, the turntable 32, the rotating support plate 35, the limiting gear 36, the limiting plate 37, the first mounting block 38 and the second mounting block 39 are all arranged inside the second shell 34, and the first mounting block 38 and the second mounting block 39 are both fixedly arranged on the mounting frame 31; a rotating shaft 352 is fixedly provided on both sides of the rotating support plate 35, the turntable 32 and the first mounting block 38 are arranged on one side of the rotating support plate 35, the limiting gear 36 and the second mounting block 39 are arranged on the other side of the rotating support plate 35, the turntable 32, the first mounting block 38 and the second mounting block 39 are arranged on the other side of the rotating support plate 35, The block 38, the limiting gear 36 and the second mounting block 39 are all provided with a rotating hole g that can be formed to cooperate with the rotating shaft 352; the rotating disk 32 is pressed against the rotating support disk 35 through the rotating hole g thereon and the rotating shaft 352 is matched, and the rotating disk 32 is fixedly connected to the rotating support disk 35, the first mounting block 38 is rotatably set on the rotating shaft 352 on the corresponding side of the rotating support disk 35 through the rotating hole g thereon, the limiting gear 36 is rotatably set on the rotating shaft 352 on the corresponding side of the rotating support disk 35 through the rotating hole g thereon, and the second mounting block 39 is rotatably set on the rotating shaft 352 on the corresponding side of the rotating support disk 35 through the rotating hole g thereon; the rotating disk 32 is located on the rotating support disk 3 5 and the first mounting block 38, the limiting gear 36 is located between the rotating support plate 35 and the second mounting block 39; the rotating disk 32, the rotating support plate 35 and the limiting gear 36 are concentrically arranged; the mounting frame 31 is provided with a lifting hole 311, and the limiting plate 37 is fixed with a fixing rod 371 that can form a sliding fit with the lifting hole 311. The limiting plate 37 is slidably arranged on the mounting frame 31 through the fixing rod 371 and the lifting hole 311; the periphery of the limiting gear 36 is provided with a plurality of protrusions 361 that are evenly distributed around the circumference with the center of the limiting gear 36 as the origin, and a limiting groove is formed between two adjacent protrusions 361, and a limiting groove is fixed on the limiting plate 37 that can form a plug-in fit with the limiting groove. The limit plate 37 is always moved toward the limit gear 36 by the action of the return spring, and the limit block 373 is plugged into the limit groove under the action of the movement of the limit plate 37; the limit block 373 is offset toward the rotation direction of the limit gear 36, and the connection between the limit block 373 and the limit plate 37 forms a guide surface for guiding the protruding block 361 to push the limit plate 37 down. The limit plate 37 and the limit gear 36 are rotationally restricted by the plug-in cooperation between the limit block 373 and the limit groove and the elastic force of the return spring;

[0043] The limiting plate 37 is provided with a guide groove 372, and the second mounting plate 512 is fixedly provided with a guide block 391 that can form a sliding fit with the guide groove 372. The limiting block 373 is stably lifted and lowered under the sliding fit between the guide block 391 and the guide groove 372; the second mounting plate 512 is also provided with a sliding groove extending along the lifting direction of the limiting plate 37, and a latch with one end fixed on the limiting plate 37 and the other end extending through the sliding groove. The latch is slidably set in the sliding groove. The limiting plate 37 is passively lowered by the sliding fit between the latch and the sliding groove, and is actively lifted by the action of the spring and the sliding fit between the guide block 391 and the guide groove 372.

[0044] An extension arm 362 extending outward from the center of the limiting gear 36 is fixedly provided on the limiting gear 36 , and a limiting rod 331 is fixedly provided on the connecting arm 33 . The limiting rod 331 can form a limiting fit with the extension arm 362 .

[0045] The insertion and cooperation between the limiting block 373 and the limiting groove can adjust the position angle of the extension arm 362. The connecting arm 33 forms a limit on the movement range through the limiting cooperation between the limiting rod 331 and the extension arm 362 and the adjustment of the position angle of the extension arm 362.

[0046] The outer wall of the rotating support disk 35 is provided with a guide groove 351 extending along the outer contour direction of the rotating support disk 35, and the first Bowden cable 6 and the second Bowden cable 7 are both clamped in the guide groove 351; a steering wheel 312 is also rotatably provided between the first mounting block 38 and the second mounting block 39 for guiding the second Bowden cable 7 to turn and connect to the rotating support disk 35. The first Bowden cable 6 is wound around the rotating support disk 35 clockwise along the extension direction of the guide groove 351, and the second Bowden cable 7 is wound around the rotating support disk 35 counterclockwise after being turned by the steering wheel 312.

[0047] The limiting blocks 373 may be provided with two, and the one of the two limiting blocks 373 that first comes into contact with the protruding block 361 is offset in the direction of rotation of the limiting gear 36, and the other limiting block 373 is offset in the direction of rotation of the limiting gear 36 to a smaller extent than the limiting block 373 that first comes into contact with the protruding block 361; the two limiting blocks 373 can respectively form a plug-in fit with two adjacent limiting grooves, so that the restriction of the limiting plate 37 on the limiting gear 36 is more stable, and the gap between a single limiting block 373 and the limiting groove is reduced.

[0048] The extension arm 362 is fixedly provided with an adjustment roller for adjusting the limiting gear 36 after the limiting block 373 is disengaged from the limiting groove; the second shell 34 is provided with a slot extending along the sliding direction of the sliding groove and for the pin to pass through, and an adjustment slot for the adjustment roller to pass through, and the adjustment slot extends along the circumferential motion direction of the adjustment roller with the center of the limiting gear 36 as the origin.

[0049] A first housing 9 is also provided, which is fixedly mounted on the wearable component 1. The moving component 52 includes a first sliding plate 521, a second sliding plate 522, a third sliding plate 523, a screw nut 514, a first elastic member 525 and a second elastic member 526. The sliding bracket 51 includes a first mounting plate 511, a second mounting plate 512, a screw 513 and a guide rod 514. The first elastic member 525 and the second elastic member 526 are both spring members.

[0050] The first mounting plate 511 and the second mounting plate 512 are fixedly arranged inside the housing symmetrically in the upper and lower directions. The screw rod 513 is rotatably arranged between the first mounting plate 511 and the second mounting plate 512, and the extension direction of the screw rod 513 is consistent with the extension direction of the adjustable support rod 2. The first mounting plate 511 is arranged close to the joint mechanism 3, and the second mounting plate 512 is arranged away from the joint mechanism 3. A plurality of guide rods 514 are provided and fixedly arranged between the first mounting plate 511 and the second mounting plate 512 and extended along the extension direction of the screw rod 513. The driving device 53 is fixedly arranged on the second mounting plate 512, and the output end of the driving device 53 is fixedly connected to the screw rod 513. The guide wheel 8 is rotatably arranged on the second mounting plate 512.

[0051] The screw nut 514 is provided on the screw rod 513 and can form a threaded fit with the screw rod 513. The first sliding plate 521, the second sliding plate 522 and the third sliding plate 523 are each provided with a guide hole corresponding to each guide rod 514 and can form a sliding fit. The first sliding plate 521, the second sliding plate 522 and the third sliding plate 523 are arranged in sequence through the guide holes and the sliding fit with the guide rod 514. The first sliding plate 521 and the third sliding plate 523 are fixedly connected to each other. The first sliding plate 521 is located on the side of the second sliding plate 522 facing the first mounting plate 511. The third sliding plate 523 is located on the side of the second sliding plate 522 facing the second mounting plate 512; the middle portion of the screw nut 514 is fixedly connected to the second sliding plate 522, and the first elastic member 525 and the second elastic member 526 are respectively sleeved on both sides of the screw nut 514, one end of the first elastic member 525 acts on one side of the screw nut 514, and the other end of the first elastic member 525 acts on the first sliding plate 521, one end of the second elastic member 526 acts on the other side of the screw nut 514, and the other end of the second elastic member 526 acts on the third sliding plate 523;

[0052] The first mounting plate 511 is symmetrically provided with a first through hole 5111 and a second through hole 5112, through which the first Bowden cable 6 and the second Bowden cable 7 can pass respectively. One end of the first Bowden cable 6 is fixedly set on the first sliding plate 521, and the other end of the first Bowden cable 6 is fixedly connected to the turntable 32 after passing through the first through hole 5111. One end of the second Bowden cable 7 is fixedly set on the third sliding plate 523, and the other end of the second Bowden cable 7 is fixedly connected to the turntable 32 after passing around the guide wheel 8 and passing through the second through hole 5112.

[0053] A position sensor 10 for detecting the sliding offset of the slider is further provided in the first housing 9 , and the position sensor 10 is electrically connected to the control unit a.

[0054] The basis of the driving motion device 5 is a flexible actuator. The following is the underlying motion control of the flexible actuator force feedback:

[0055] F=k s *Δx

[0056] Where F represents the measured force unit: Newton, k s The unit of spring stiffness is Newton / meter. The unit of Δx is the compression of the spring.

[0057] The modeling of the driving motion device 5 can be described as a linear second-order system:

[0058]

[0059] Where u represents the output torque unit of the motor: Nm, i represents the current unit: ampere, k i represents the torque constant of the motor. a0, a1, and b0 are model parameters that can be obtained through model identification or nominal parameter calculation.

[0060] In order to offset or reduce the interference and deviation that may occur between the control unit a and the drive device 53 in the future, a PID algorithm and a feedforward control algorithm are added. Figure 10 .

[0061] The above linear second-order system, where k p , k d To obtain the desired force, a0 / b0 can be calibrated by measuring the static relationship between the motor torque and the output force of the driving motion device 5. The final controller can be described as:

[0062]

[0063] where k p , k dIt is a PD control parameter and can be adjusted through a step response test. The step response and sinusoidal signal control effects are measured simultaneously during the test. That is, when the kp coefficient increases, the response between the control unit a and the drive device 53 is faster, and vice versa. When the kd coefficient increases, the overshoot of the signal transmission between the control unit a and the drive device 53 is significantly reduced, and vice versa.

[0064] The PD control parameters are part of the existing technology

[0065] A sensing and control system is also provided, which includes an inertial measurement unit 1d that can be installed on the upper arm, an inertial measurement unit 2e that can be installed on the lower arm, and an inertial measurement unit 3f that can be installed on the torso. The inertial measurement unit 1d, inertial measurement unit 2e, and inertial measurement unit 3f are combined to monitor the motion state and motion posture. The inertial measurement unit 1d, inertial measurement unit 2e, and inertial measurement unit 3f are all electrically connected to the control unit a.

[0066] The control unit a can control the input unit b to perform a rehabilitation mode in an adaptive mode, a passive mode, or an evaluation mode, while the interactive output unit c can display the selected rehabilitation mode;

[0067] When the control unit a controls the input unit b to perform the adaptive rehabilitation mode, the adaptive mode provides gravity compensation to reduce the patient's weight burden. At the same time, based on the IMU's sensor information, it determines the patient's movement intention to lift and lower the patient, thereby reducing the patient's shoulder burden and providing dynamic assistance. The IMU located on the upper arm can detect the inclination angle θ of the patient's upper arm with the horizontal plane. s , angular velocity After capturing this information, the control unit a adjusts the adaptive auxiliary force of the driving device 53. The adaptive auxiliary torque is designed as follows:

[0068]

[0069] Among them, k g sin(θ s -θ0) represents the gravity compensation term, represents the torque related to the shoulder movement speed, θ0 is the offset of the position measured by the position sensor 10, and k g , k v They are the adjustable gains of the two torques, k g It can be determined according to the weight of the patient's upper limbs. When gravity is fully compensated, k g = mgl, where m is the weight of the upper limb, g is the acceleration of gravity, and l is the distance between the center of gravity of the upper limb and the shoulder joint;

[0070] When the patient's upper limbs move to a certain position and remain still, The generated torque value is 0, and the robot only provides gravity compensation.

[0071] By adjusting the force output, the support for the patient can be adjusted.

[0072] When the control unit a can control the input unit b to perform a passive rehabilitation mode, the control unit a is loaded with fixed trajectory motion data. The fixed trajectory motion data means that the output end of the driving device 53 performs a predetermined rotation speed and rotation direction under a predetermined setting, thereby driving the second sliding plate 522 to push the first sliding plate 521 or the third sliding plate 523 to slide in a predetermined direction and at a predetermined sliding speed. At this time, the first Bowden cable 6 and the second Bowden cable 7 respectively drive the turntable 32 to rotate in different directions, thereby controlling the lifting angle of the patient's shoulder. In the passive mode, the robot provides assistance to the patient by controlling the lifting angle of the patient's shoulder. In this process, the patient's active movement is ignored or even overcome, and the robot only moves according to the set trajectory.

[0073] When the control unit a can control the input unit b to perform the rehabilitation mode of the evaluation mode, the control unit a does not issue instructions to the drive device 53. At this time, the second sliding plate 522 does not push the first sliding plate 521 or the third sliding plate 523 to drive the corresponding first Bowden cable 6 or the second Bowden cable 7 to control the direction of rotation of the turntable 32. In the evaluation mode, the IMU equipped with the robot is used to evaluate the patient's motor ability without restricting the patient's movement as much as possible.

[0074] The above-mentioned IMU is a general term for inertial measurement unit 1d, inertial measurement unit 2e and inertial measurement unit 3f.

[0075] The wearing component 1 includes a shoulder belt 11 for the user to carry on the back and a waist belt 12 for wrapping the user's waist. There are two waist belts 12, one end of the two waist belts 12 is fixedly arranged on both sides of the lower end of the shoulder belt 11, and the other ends of the two waist belts 12 can be plugged into each other through a plug-in connector; a card box 121 is provided on the two waist belts 12, and a card slot is provided on the card box 121. A connecting block 23 is fixed on one end of the adjustable support rod 2 and the wearing component 1 detachably fixed, and a card block that can be snap-fitted with the card slot is fixed on the connecting block 23. The adjustable support rod 2 is detachably fixed to the wearing component 1 through the snap-fitting of the card block and the card slot; the card box 121 is slidably arranged on the waist belt 12, and when the waist belt 12 acts on the user's waist, the card box 121 is squeezed, so that the card box 121 will not actively slide on the waist belt part.

[0076] The adjustable support rod 2 includes a first rod body 21 and a second rod body 22. The interior of the second rod body 22 is provided with a sliding groove for the first rod body 21 to be inserted and slide. The first rod body 21 is slidably connected to the second rod body 22 through the sliding groove; the first rod body 21 is provided with a limiting member for limiting the sliding of the first rod body 21 and the second rod body 22.

[0077] The limiting member adopts the quick-release locking buckle in the prior art, and its specific structure can refer to the height locking structure of a bicycle seat.

[0078] The arm connecting member 4 is adjustably fixed on one side of the connecting arm 33 through the adjusting member 1-1, and a sliding groove 332 extending and closing along the extension direction of the connecting wall is provided on the other side of the connecting arm 33, and a positioning groove 333 extending and evenly arranged along the extension direction of the sliding groove 332 is also provided on the other side of the connecting arm 33; the adjusting member 1-1 includes a mounting seat 1-11 and a card-mounting seat 1-12, the mounting seat 1-11 is provided on one side of the connecting arm 33 where the arm connecting member 4 is provided, and the card-mounting seat 1-12 is provided on the other side of the connecting arm 33, and a positioning groove 333 is provided on the card-mounting seat 1-12. A positioning block is provided; a positioning bolt 1-13 is provided, and the mounting seat 1-11 and the clamping seat 1-12 are respectively penetrated with positioning holes for the threaded portion of the positioning bolt 1-13 to pass through, and the arm connecting member 4 is provided with a limiting hole corresponding to the positioning hole and for the threaded portion of the positioning bolt 1-13 to pass through and limit the positioning bolt 1-13, and is also provided with a knob 1-14 that can form a threaded fit with the threaded portion of the positioning bolt 1-13. The arm connecting member 4 is adjustably arranged on the connecting arm 33 through the threaded fit of the positioning bolt 1-13 and the knob 1-14 and the positioning fit of the positioning block and the positioning groove 333.

[0079] The mounting seat 1-11 is symmetrically provided with plug screws with the positioning bolt 1-13 as the center line, and each plug screw is sleeved with a spring return member, one end of the spring return member acts on the clamping seat 1-12, and the other end of the spring return member acts on the connecting arm 33. When the knob 1-14 is loosened, the clamping seat 1-12 will loosen, and the clamping seat 1-12 will be lifted up by the spring return member at this time, which is convenient for adjusting the position of the arm connecting member 4.

[0080] There is also a handheld remote control electrically connected to the control unit a and used to control the output size of the drive device 53, control the input unit b to select the training mode, and feedback the interactive information output by the interactive output unit c. The handheld remote control is electrically connected to the control unit a, the input unit b and the interactive output unit c, and the handheld remote control is provided with an interactive interface for displaying the interactive information output by the interactive output unit c.

[0081] Both the first Bowden cable 6 and the second Bowden cable 7 have force output wires inside, which include composite wires or metal wires. The force output wires are connected to the moving part 52 and the joint mechanism 3 through the corresponding first Bowden cable 6 and the second Bowden cable 7.

[0082] The working principle of the present invention is as follows: after the user puts on the wearable assembly 1, the user adjusts the position and length of the adjustable support rod 2 according to their own needs, and the user places the shoulder on the shoulder connector; then the driving pin shaft slides in the sliding groove, thereby driving the limiting block 373 on the limiting plate 37 to disengage from the plug-in fit with the limiting groove, and then the limiting gear 36 is driven to rotate by the adjusting roller to adjust the position of the extension arm 362, and then the limiting rod 331 on the connecting arm 33 and the extension arm 362 are used to limit the range of movement of the user's shoulder to prevent excessive rotation;

[0083] The handheld remote control controls the input unit b to select different modes. The input unit b outputs the selected mode through the control unit a and feeds back the mode selection structure to the handheld remote control.

[0084] The control unit a controls the output end of the driving device 53 to rotate. After the output end of the driving device 53 rotates, the screw rod 513 is driven to rotate. The rotation of the screw rod 513 drives the screw nut 514 to slide on the screw rod 513. During the sliding process of the screw nut 514, the screw nut 514 drives the second sliding plate 522 to slide.

[0085] When the second sliding plate 522 is driven by the screw rod 513 and the screw rod 513 and the screw nut 514 are threaded together, it slides downward. The sliding second sliding plate 522 squeezes the second elastic member 526 in the sliding direction. The second elastic member 526 pushes the third sliding plate 523 to drive the first sliding plate 521 to slide. At this time, the first Bowden cable 6 drives the turntable 32 to rotate counterclockwise, and the turntable 32 drives the connecting arm 33 to rotate upward.

[0086] When the second sliding plate 522 is driven by the screw rod 513 and the screw rod 513 and the screw nut 514 are threaded together, it slides upward. The sliding second sliding plate 522 squeezes the first elastic member 525 in the sliding direction. The first elastic member 525 pushes the first sliding plate 521 to drive the third sliding plate 523 to slide. At this time, the second Bowden cable 7 drives the turntable 32 to rotate clockwise, and the turntable 32 drives the connecting arm 33 to rotate downward.

[0087] The connecting arm 33 can be rotated upward or downward to provide active or passive support to the user's arm;

[0088] During the synchronous sliding of the first sliding plate 521, the second sliding plate 522, and the third sliding plate 523, the second sliding plate 522 is driven by the screw rod 513 and the screw rod nut 514 is threadedly engaged to slide. The sliding second sliding plate 522 squeezes the first elastic member 525 or the second elastic member 526 in the sliding direction. The position sensor 10 can calculate the magnitude of the compression of the first elastic member 525 and the second elastic member 526, and then feed it back to the control unit a. Then, the output force of the driving device 53 is adjusted according to the selected mode and the above-mentioned algorithm.

[0089] During the entire process, the inertial measurement unit 1d installed on the user's upper arm, the inertial measurement unit 2e installed on the user's upper arm, and the inertial measurement unit 3f installed on the user's upper arm monitor the user's motion state and motion posture in real time, and transmit the monitoring results to the control unit a. The control unit a then adjusts the output of the driving motion device 5 and displays the results through the interactive output unit c.

[0090] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An upper limb robot for shoulder rehabilitation training, characterized by: The invention comprises a wearable component (1), an adjustable support rod (2), a joint mechanism (3), an arm connecting piece (4) and a driving motion device (5); the joint mechanism (3) comprises a mounting frame (31), a turntable (32) and a connecting arm (33); the turntable (32) is rotatably arranged on the mounting frame (31); one end of the connecting arm (33) is fixedly connected to the turntable (32); the other end of the connecting arm (33) is connected to the arm connecting piece (4); one end of the adjustable support rod (2) is detachably fixedly arranged on the wearable component (1); the other end of the adjustable support rod (2) is fixedly connected to the mounting frame (31); the driving motion device (55) comprises a sliding bracket (51), a moving part (52) and a driving device (53) for the moving part (52) to slide on the sliding bracket (51); the sliding direction of the moving part (52) is consistent with the extension direction of the adjustable support rod (2); the moving part (52) is driven by the driving device (53) to slide up and down; and a first bracket (51) is also provided. A Bowden cable (6) and a second Bowden cable (7), one end of the first Bowden cable (6) is fixedly arranged on one side of the moving component (52) and the other end extends toward the arm connecting member (4), the second Bowden cable (7) is fixedly arranged on the other side of the moving component (52) and the other end extends away from the arm connecting member (4), the sliding bracket (51) is rotatably provided with a guide wheel (8) for changing the extension direction of the other end of the second Bowden cable (7), the other end of the first Bowden cable (6) acts on the turntable (32), and the other end of the second Bowden cable (7) is fixedly acted on the turntable (32) after being acted on by the guide wheel (8); a control unit (a), an input unit (b) and an interactive output unit (c) are also provided, the input unit (b) is used to select a training mode, the interactive output unit (c) is used to output interactive information, the input unit (b) and the interactive output unit (c) are both electrically connected to the control unit (a), and the driving device (53) is electrically connected to the control unit (a).

2. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: The joint mechanism (3) is further provided with a second housing (34), a rotating support disk (35), a limiting gear (36), a limiting plate (37), a first mounting block (38) and a second mounting block (39); the mounting frame (31), the rotating disk (32), the rotating support disk (35), the limiting gear (36), the limiting plate (37), the first mounting block (38) and the second mounting block (39) are all arranged inside the second housing (34); the first mounting block (38) and the second mounting block (39) are both fixedly arranged on the mounting frame (31); rotating shafts (352) are fixedly arranged on both sides of the rotating support disk (35); the rotating disk (32) and the first mounting block (38) are arranged on one side of the rotating support disk (35); the limiting gear (36) and the limiting plate (37) are all arranged on one side of the rotating support disk (35); The wheel (36) and the second mounting block (39) are arranged on the other side of the rotating support disk (35); the rotating disk (32), the first mounting block (38), the limiting gear (36) and the second mounting block (39) are all provided with a rotating hole (g) that can be formed to cooperate with the rotating shaft (352); the rotating disk (32) is pressed against the rotating support disk (35) through the cooperation of the rotating hole (g) on ​​the rotating disk and the rotating shaft (352), and the rotating disk (32) is fixedly connected to the rotating support disk (35); the first mounting block (38) is rotatably arranged on the rotating shaft (352) on the corresponding side of the rotating support disk (35) through the rotating hole (g) on ​​the rotating disk; the limiting gear (36) is rotatably arranged on the rotating shaft (352) on the corresponding side of the rotating support disk (35) through the rotating hole (g) on ​​the rotating disk ), the second mounting block (39) is rotatably mounted on the rotating shaft (352) on the corresponding side of the rotating support disk (35) through the rotating hole (g) thereon; the rotating disk (32) is located between the rotating support disk (35) and the first mounting block (38); the limiting gear (36) is located between the rotating support disk (35) and the second mounting block (39); the rotating disk (32), the rotating support disk (35) and the limiting gear (36) are concentrically arranged; the mounting frame (31) is provided with a lifting hole (311); a fixing rod (371) that can form a sliding fit with the lifting hole (311) is fixed on the limiting plate (37); the limiting plate (37) is connected to the lifting hole (311) through the fixing rod (371); ) is slidably arranged on the mounting frame (31); a plurality of protrusions (361) are provided on the periphery of the limiting gear (36) and are evenly distributed around the circumference with the center of the limiting gear (36) as the origin, and a limiting groove is formed between two adjacent protrusions (361); a limiting block (373) that can be plugged into the limiting groove is fixedly provided on the limiting plate (37); a reset spring is fixedly provided in the lifting hole (311), one end of the reset spring acts on the bottom of the lifting hole (311), and the other end of the reset spring acts on the fixed rod (371); the limiting plate (37) is always moved toward the limiting gear (36) by the action of the reset spring, and the limiting block (373) is plugged into the limiting groove under the action of the movement of the limiting plate (37);The limiting block (373) is offset toward the rotation direction of the limiting gear (36), and the limiting plate (37) and the limiting gear (36) form a rotation restriction through the plug-in fit between the limiting block (373) and the limiting groove and the elastic force of the return spring; The limiting plate (37) is provided with a guide groove (372), and a guide block (391) that can form a sliding fit with the guide groove (372) is fixedly provided on the second mounting plate (512), and the limiting block (373) forms a stable lifting under the sliding fit between the guide block (391) and the guide groove (372); the second mounting plate (512) is also provided with a sliding groove extending along the lifting direction of the limiting plate (37), and a latch with one end fixed on the limiting plate (37) and the other end extending through the sliding groove, the latch being slidably arranged in the sliding groove, and the limiting plate (37) is passively lowered by the sliding fit between the latch and the sliding groove, and is actively lifted by the action of the spring and the sliding fit between the guide block (391) and the guide groove (372); An extension arm (362) extending outward with the center of the limiting gear (36) as the center is fixedly provided on the limiting gear (36), and a limiting rod (331) is fixedly provided on the connecting arm (33), and the limiting rod (331) can form a limiting fit with the extension arm (362).

3. The upper limb robot for shoulder rehabilitation training according to claim 2, characterized in that: The outer wall of the rotating support disk (35) is provided with a guide groove (351) extending along the outer contour direction of the rotating support disk (35), and the first Bowden cable (6) and the second Bowden cable (7) are both clamped in the guide groove (351); a steering wheel (312) for guiding the second Bowden cable (7) to be connected to the rotating support disk (35) after steering is also rotatably provided between the first mounting block (38) and the second mounting block (39); the first Bowden cable (6) is wound around the rotating support disk (35) clockwise along the extending direction of the guide groove (351), and the second Bowden cable (7) is wound around the rotating support disk (35) counterclockwise after being turned by the steering wheel (312).

4. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: A first housing (9) fixedly mounted on the wearable assembly (1) is also provided. The moving component (52) includes a first sliding plate (521), a second sliding plate (522), a third sliding plate (523), a screw nut (514), a first elastic member (525), and a second elastic member (526). The sliding bracket (51) includes a first mounting plate (511), a second mounting plate (512), a screw (513), and a guide rod (514). The first mounting plate (511) and the second mounting plate (512) are fixedly arranged inside the housing in an upper and lower symmetrical manner; the screw rod (513) is rotatably arranged between the first mounting plate (511) and the second mounting plate (512), and the extension direction of the screw rod (513) is consistent with the extension direction of the adjustable support rod (2); the first mounting plate (511) is arranged close to the joint mechanism (3), and the second mounting plate (512) is arranged away from the joint mechanism (3); a plurality of guide rods (514) are provided and are fixedly arranged between the first mounting plate (511) and the second mounting plate (512) and extend along the extension direction of the screw rod (513); the driving device (53) is fixedly arranged on the second mounting plate (512), and the output end of the driving device (53) is fixedly connected to the screw rod (513); the guide wheel (8) is rotatably arranged on the second mounting plate (512); The screw nut (514) is arranged on the screw rod (513) and can form a threaded fit with the screw rod (513). The first sliding plate (521), the second sliding plate (522) and the third sliding plate (523) are all provided with guide holes corresponding to the respective guide rods (514) and can form a sliding fit. The first sliding plate (521), the second sliding plate (522) and the third sliding plate (523) are arranged in sequence through the guide holes and the sliding fit with the guide rods (514). The first sliding plate (521) and the third sliding plate (523) are fixedly connected to each other. The first sliding plate (521) is located on the side of the second sliding plate (522) facing the first mounting plate (511). The third sliding plate (523) is located on the side of the second sliding plate (522) facing the second mounting plate (512); the middle part of the screw nut (514) is fixedly connected to the second sliding plate (522); the first elastic member (525) and the second elastic member (526) are respectively sleeved on both sides of the screw nut (514); one end of the first elastic member (525) acts on one side of the screw nut (514); the other end of the first elastic member (525) acts on the first sliding plate (521); one end of the second elastic member (526) acts on the other side of the screw nut (514); the other end of the second elastic member (526) acts on the third sliding plate (523); A first through hole (5111) and a second through hole (5112) are symmetrically provided on the first mounting plate (511) for respectively passing a first Bowden cable (6) and a second Bowden cable (7). One end of the first Bowden cable (6) is fixedly arranged on the first sliding plate (521), and the other end of the first Bowden cable (6) is fixedly connected to the turntable (32) after passing through the first through hole (5111). One end of the second Bowden cable (7) is fixedly arranged on the third sliding plate (523), and the other end of the second Bowden cable (7) is fixedly connected to the turntable (32) after passing around the guide wheel (8) and passing through the second through hole (5112).

5. The upper limb robot for shoulder rehabilitation training according to claim 4, characterized in that: A position sensor (10) for detecting the sliding offset of the slider is also provided in the first housing (9), and the position sensor (10) is electrically connected to the control unit (a).

6. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: A sensing and control system is also provided, which includes an inertial measurement unit 1 (d) that can be installed at the upper arm, an inertial measurement unit 2 (e) that can be installed at the lower arm, and an inertial measurement unit 3 (f) that can be installed at the torso. The inertial measurement unit 1 (d), the inertial measurement unit 2 (e), and the inertial measurement unit 3 (f) are combined to monitor the motion state and motion posture. The inertial measurement unit 1 (d), the inertial measurement unit 2 (e), and the inertial measurement unit 3 (f) are all electrically connected to the control unit (a).

7. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: The wearing assembly (1) comprises a shoulder belt (11) for a user to carry on the back and a waist belt (12) for wrapping the waist of the user, wherein two waist belts (12) are provided, one end of the two waist belts (12) is respectively fixedly arranged on both sides of the lower end of the shoulder belt (11), and the other ends of the two waist belts (12) can be plugged into each other through a plug-in connector; a card box (121) is provided on each waist belt (12), and a card slot is provided on the card box (121); a connecting block (23) is fixed on one end of the adjustable support rod (2) to be detachably fixed to the wearing assembly (1), and a card block that can be snap-fitted with the card slot is fixed on the connecting block (23); the adjustable support rod (2) is detachably fixed to the wearing assembly (1) through the snap-fitting of the card block and the card slot; the card box (121) is slidably arranged on the waist belt (12).

8. The upper limb robot for shoulder rehabilitation training according to claim 7, characterized in that: The adjustable support rod (2) comprises a first rod body (21) and a second rod body (22); the interior of the second rod body (22) is provided with a sliding groove for the first rod body (21) to be inserted and slide; the first rod body (21) is slidably connected to the second rod body (22) through the sliding groove; and the first rod body (21) is provided with a limiting member for limiting the sliding between the first rod body (21) and the second rod body (22).

9. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: The arm connecting member (4) is adjustably fixed on one side of the connecting arm (33) through the adjusting member (1-1); a sliding groove (332) extending and closing along the extending direction of the connecting wall is provided on the other side of the connecting arm (33); and positioning grooves (333) extending and evenly arranged along the extending direction of the sliding groove (332) are also provided on the other side of the connecting arm (33); the adjusting member (1-1) comprises a mounting seat (1-11) and a clamping seat (1-12); the mounting seat (1-11) is provided on one side of the connecting arm (33) provided with the arm connecting member (4); the clamping seat (1-12) is provided on the other side of the connecting arm (33); and the clamping seat (1-12) is provided with a fixing member that can form a fixed position with the positioning groove (333). The invention relates to a positioning block for positioning the positioning bolt (1-13); a positioning bolt (1-13) is provided; the mounting seat (1-11) and the clamping seat (1-12) are respectively penetrated with positioning holes for the threaded portion of the positioning bolt (1-13) to pass through; the arm connecting member (4) is provided with a limiting hole corresponding to the positioning hole and for the threaded portion of the positioning bolt (1-13) to pass through and limit the positioning bolt (1-13); a knob (1-14) is also provided for forming a threaded fit with the threaded portion of the positioning bolt (1-13); the arm connecting member (4) is adjustably arranged on the connecting arm (33) through the threaded fit of the positioning bolt (1-13) and the knob (1-14) and the positioning fit of the positioning block and the positioning groove (333).

10. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: A handheld remote controller is also provided, which is electrically connected to the control unit (a) and is used to control the output size of the drive device (53), control the input unit (b) to select a training mode, and feed back interactive information output by the interactive output unit (c). The handheld remote controller is electrically connected to the control unit (a), the input unit (b), and the interactive output unit (c), and is provided with an interactive interface for displaying the interactive information output by the interactive output unit (c).

11. The upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that: The first Bowden cable (6) and the second Bowden cable (7) both have force output wires inside, and the force output wires include composite wires or metal wires. The force output wires are connected to the moving part (52) and the joint mechanism (3) through the corresponding first Bowden cable (6) and the second Bowden cable (7).

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