Multifunctional rehabilitation training device for upper limbs and forearms

Abstract

The invention discloses a multifunctional upper limb and forearm rehabilitation training device, and relates to the technical field of upper limb rehabilitation training devices. The moving mechanism is arranged below the base plate and is used for carrying out swing training on the arms; the arm rotating training mechanism and the arm lifting mechanism are integrally arranged on the base plate, and the rotating training mechanism is located on the front side of the lifting mechanism; the adjusting mechanism is arranged at the bottom of the rotary training mechanism and used for adjusting the distance between the rotary training mechanism and the lifting mechanism. Through the three-in-one layout of the moving mechanism, the base plate and the integrated training mechanism, the originally dispersed three motion freedom degrees of swinging, rotating and lifting are integrated in the same training plane, the distance between the two mechanisms is rapidly changed through the adjusting mechanism, and therefore a swinging-rotating-lifting continuous motion chain is completed under the condition that the body position does not need to be transferred; multi-muscle-group and multi-degree-of-freedom collaborative stimulation is achieved, the rehabilitation efficiency is improved, and the rhythm interruption bottleneck of traditional single-mode training is broken through.

Description

Technical Field

[0001] This invention relates to upper limb rehabilitation training device technology, specifically to a multifunctional rehabilitation training device for the upper limb forearm. Background Technology

[0002] Rehabilitation training devices are mechatronic devices or systems that integrate mechanical transmission, sensing and detection, feedback control, and information processing modules based on clinical medicine, sports biomechanics, neuroplasticity, and ergonomics. These devices provide controllable, repeatable, and progressive active-assisted-passive movement stimulation according to rehabilitation prescriptions or the patient's real-time status. They are used to maintain or restore limb dysfunction caused by trauma, surgery, stroke, neurodegenerative diseases, musculoskeletal disorders, etc., and to rebuild joint range of motion, muscle strength, motor coordination, proprioception, and daily living abilities. The core technology involves precisely setting movement trajectories, speeds, angles, torques, resistance, assistance, vibrations, electrical stimulation, or virtual reality scenarios to create directional sensory input and movement stimulation to the central and peripheral nervous systems. This dynamic output closed loop induces neural pathway remodeling, muscle fiber type transformation, articular cartilage nutritional repair, and cardiovascular metabolic adaptation. Physically, it can be a standalone unit or a bedside, sitting / standing, suspended, robotic exoskeleton, or virtual reality integrated multi-axis collaborative platform. In terms of application targets, it covers stroke hemiplegia, spinal cord injury, post-fracture surgery, sports injury, sarcopenia in the elderly, cerebral palsy in children, heart and lung transplant recipients, and people with chronic pain. Functionally, it takes into account passive stretching, active resistance, isokinetic muscle strength, balance and coordination, task-oriented training, biofeedback, gamified training, and remote data management. At the same time, it meets the medical standards for safety, electromagnetic compatibility, sterilizability, quietness, and scalability, thus constituting the core hardware hub connecting clinical assessment and functional regression in modern rehabilitation medicine.

[0003] In existing upper limb forearm rehabilitation techniques, training devices commonly used in clinical and home settings generally employ a single, functionally fragmented approach: either forearm pronation / supination is achieved solely through a fixed-axis crank, lifting is accomplished only with the aid of a sling pulley, or reciprocating swing is achieved only with a horizontal track. These devices operate independently, requiring patients to repeatedly change positions and equipment to complete the integrated "rotation-lifting-swinging" kinetic chain. This disrupts the training rhythm, reduces rehabilitation efficiency, and makes it impossible to switch movement modes and loads in real-time within the same device according to the recovery stage, failing to meet the needs of coordinated rehabilitation of multiple forearm muscle groups and degrees of freedom. Therefore, improvements to existing devices are necessary. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional rehabilitation training device for the upper limb forearm, in order to solve the problem that existing rehabilitation training devices have only one function, which can only realize one movement mode of arm rotation, lifting or swinging, and cannot complete comprehensive multifunctional training on the same device. This leads to patients having to frequently change devices, low training efficiency, and difficulty in meeting the needs of multi-muscle group and multi-degree-of-freedom coordinated rehabilitation of the forearm.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multifunctional rehabilitation training device for the upper limb forearm, comprising:

[0006] substrate;

[0007] A moving mechanism located below the base plate for swinging training of the arm;

[0008] An arm rotation training mechanism and an arm lifting mechanism are integrated and mounted on the base plate, wherein the rotation training mechanism is located on the front side of the lifting mechanism;

[0009] And an adjustment mechanism disposed at the bottom of the rotating training mechanism for adjusting the distance between the rotating training mechanism and the lifting mechanism.

[0010] Furthermore, the arm rotation training mechanism includes two mounting plates. A mounting shaft hole is provided through one side wall of the mounting plate. A bearing ring is fixedly installed inside the mounting shaft hole. A horizontal shaft is rotatably connected to both bearing rings. A handle is fixedly connected to one end of the horizontal shaft.

[0011] Furthermore, a limiting plate is fixedly connected to the end of the horizontal axis away from the handle, a support rod is fixedly connected to one side wall of the limiting plate, a plurality of weight rings are sleeved on the outer wall of the support rod, a lead screw is fixedly connected to one end of the support rod, a cylinder cover is screwed to the outer wall of the lead screw, and an abutment cavity sleeve for abutting against the limiting weight rings is fixedly provided at the end of the cylinder cover near the weight rings.

[0012] Furthermore, the adjustment mechanism includes a cavity formed on the upper wall of the substrate, a screw is provided in the cavity, two mounting plates are screwed to the outer wall of the screw, the lower ends of the two mounting plates are slidably engaged with the cavity, two fixing rods are fixedly connected to one side wall of the substrate, a first rotary drive is fixedly connected between the two fixing rods, the output end of the first rotary drive is fixedly connected to one end of the screw, and a first controller electrically connected to the first rotary drive is fixedly connected to the substrate.

[0013] Furthermore, the arm lifting mechanism includes two positioning plates fixedly mounted on the upper wall of the base plate, each of the two positioning plates having a support rod rotatably connected to one side wall, a gripping rod fixedly connected between the two support rods, and an elastic tensioning assembly provided between the support rod and the positioning plate.

[0014] Furthermore, the elastic tie assembly includes a first locking post and a second locking post respectively fixedly disposed on the positioning plate and one side wall of the frame rod, and an elastic element is fitted between the first locking post and the second locking post.

[0015] Furthermore, it also includes several perforated plates fixedly installed on the upper wall of the frame rod and the positioning plate, and the perforated plates are fitted with binding straps.

[0016] Furthermore, a flexible support pad located on the upper wall of the substrate is fixedly connected between the two positioning plates. The flexible support pad is made of sponge material.

[0017] Furthermore, the moving mechanism includes a flat base plate disposed below the substrate, a plurality of support rods are fixedly connected to the bottom wall of the substrate, and the bottom end of the support rods is connected to a universal wheel with a brake pad, the universal wheel rolling on the flat base plate.

[0018] Furthermore, a linear and curved composite moving guide rail and an identification and positioning probe located on one side of the middle section of the linear and curved composite moving guide rail are fixedly connected to the upper wall of the flat base plate. A central shaft is fixedly connected to the center of the bottom wall of the base plate. A second rotary drive is fixedly connected to the lower end of the central shaft. A U-shaped frame is fixedly connected to the output end of the second rotary drive. A roller and a wheel fixedly installed on the outer wall of the roller are rotatably connected inside the U-shaped frame. The roller rolls within the linear and curved composite moving guide rail. A third rotary drive is fixedly connected to one side wall of the U-shaped frame. The output end of the third rotary drive is fixedly connected to one end of the roller. A second controller, which is controlled and connected to the second rotary drive, the third rotary drive, and the identification and positioning probe, is fixedly connected to the flat base plate.

[0019] Compared with the prior art, the present invention provides a multifunctional rehabilitation training device for the upper limb and forearm. Through the three-in-one layout of "moving mechanism-base plate-integrated training mechanism", it integrates the originally scattered three degrees of freedom of movement of swinging, rotation and lifting into the same training plane. The adjustment mechanism can quickly change the distance between the two mechanisms, thereby completing the continuous movement chain of "swing-rotation-lifting" without changing body position. It realizes the synergistic stimulation of multiple muscle groups and multiple degrees of freedom, improves rehabilitation efficiency, and breaks the bottleneck of rhythm interruption in traditional single-mode training. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1This is a schematic diagram of the overall external structure provided by the present invention;

[0022] Figure 2 This is a first-view structural schematic diagram provided for the present invention;

[0023] Figure 3 This is a schematic diagram of the second-view structure provided by the present invention;

[0024] Figure 4 A schematic diagram of the arm rotation training mechanism provided by the present invention;

[0025] Figure 5 A schematic diagram of the arm lifting mechanism provided by the present invention;

[0026] Figure 6 A schematic diagram showing the detailed structure of the moving mechanism provided by the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Base plate; 2. Mounting plate; 3. Bearing ring; 4. Horizontal shaft; 5. Handle; 6. Limiting plate; 7. Support rod; 8. Weight ring; 9. Lead screw; 10. Cylinder cover; 11. Abutment cavity sleeve; 12. Screw; 13. Fixing rod; 14. First rotary drive component; 15. First controller; 16. Positioning plate; 17. Frame rod; 18. First locking post; 19. Second locking post; 20. Elastic component; 21. Through-hole plate; 22. Flexible support pad; 23. Flat base plate; 24. Support rod; 25. Universal wheel; 26. Straight and curved composite moving guide rail; 27. Identification and positioning probe; 28. Central shaft; 29. ​​Second rotary drive component; 30. U-shaped frame; 31. Roller; 32. Roller; 33. Third rotary drive component; 34. Second controller; 35. Handle. Detailed Implementation

[0029] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] As attached Figure 1 To be continued Figure 6 As shown:

[0031] Example:

[0032] This invention provides a multifunctional rehabilitation training device for the upper limb forearm, comprising:

[0033] substrate1;

[0034] A moving mechanism disposed below the base plate 1 for swinging training of the arm;

[0035] An arm rotation training mechanism and an arm lifting mechanism are integrated and disposed on the base plate 1, wherein the rotation training mechanism is located on the front side of the lifting mechanism;

[0036] And an adjustment mechanism disposed at the bottom of the rotating training mechanism for adjusting the distance between the rotating training mechanism and the lifting mechanism.

[0037] As can be seen from the above, this device integrates the originally scattered three degrees of freedom of movement—swinging, rotation, and lifting—into the same training plane through the three-in-one layout of "moving mechanism-base plate 1-integrated training mechanism". The adjustment mechanism can quickly change the distance between the two mechanisms, thereby completing the continuous movement chain of "swinging-rotation-lifting" without changing body position. This achieves synergistic stimulation of multiple muscle groups and multiple degrees of freedom, improves rehabilitation efficiency, and breaks through the rhythm interruption bottleneck of traditional single-mode training.

[0038] As attached Figure 4 As shown, to facilitate arm rotation training, the arm rotation training mechanism includes two mounting plates 2. A mounting shaft hole is provided through one side wall of the mounting plate 2. A bearing ring 3 is fixedly installed inside the mounting shaft hole. A horizontal shaft 4 is rotatably connected to both bearing rings 3. A handle 5 is fixedly connected to one end of the horizontal shaft 4.

[0039] To further adjust the load during training of arm rotation, a limiting plate 6 is fixedly connected to the end of the horizontal axis 4 away from the handle 5. A support rod 7 is fixedly connected to one side wall of the limiting plate 6. Several weight rings 8 are sleeved on the outer wall of the support rod 7. A lead screw 9 is fixedly connected to one end of the support rod 7. A cylinder cover 10 is screwed to the outer wall of the lead screw 9. An abutment cavity sleeve 11 for abutting the limiting weight rings 8 is fixedly provided at the end of the cylinder cover 10 near the weight rings 8.

[0040] As can be seen from the above, the handle 5, the horizontal axis 4, and the limiting plate 6 form a rotational torque output shaft. The number of weight rings 8 on the support rod 7 can be increased or decreased. The screw pressing of the cylinder cover 10 and the abutment sleeve 11 is converted into adjustment of the rotational inertia of the limiting plate 6. When the patient rotates the handle 5, he must overcome this inertia to achieve load grading. This "weight-inertia coupling" principle allows the switching of three training modes—isotension, isospeed, and progressive resistance—to be completed within the same rotational degree of freedom, solving the defects of fixed load and single mode in traditional devices.

[0041] As attached Figure 1 To be continued Figure 2As shown, to facilitate arm rotation training for individuals with different arm lengths, the adjustment mechanism includes a cavity formed on the upper wall of a base plate 1. A screw 12 is provided inside the cavity, and two mounting plates 2 are screwed to the outer wall of the screw 12. The lower ends of the two mounting plates 2 are slidably engaged with the cavity. Two fixing rods 13 are fixedly connected to one side wall of the base plate 1, and a first rotation drive 14 is fixedly connected between the two fixing rods 13. The output end of the first rotation drive 14 is fixedly connected to one end of the screw 12. A first controller 15, which is electrically connected to the first rotation drive 14, is fixedly connected to the base plate 1. Initially, the person places their arm on the arm lifting mechanism. The distance between the arm rotation training mechanism and the arm lifting mechanism is further adjusted by the adjustment mechanism to facilitate the person's rapid switching of training methods.

[0042] As can be seen from the above, the first rotary drive component 14 converts the rotary motion into the linear displacement of the mounting plate 2 via the screw 12, so that the center distance between the rotary training mechanism and the lifting mechanism can be adjusted within the range. This transmission principle not only ensures that the distance between the two mechanisms matches different arm lengths, but also allows the first controller 15 to record the displacement in real time during the training process, automatically recommending the best lever arm parameters for subsequent training programs, and realizing a personalized rehabilitation mode of "one-click adaptation and immediate adjustment".

[0043] The first rotary drive component 14 uses a Panasonic MINASA5 series 400W AC servo motor (model MSMD042G1U, rated torque 1.3 N·m, built-in 20-bit incremental encoder) with existing specifications. The matching first controller 15 uses the same series MADLN05BE driver, which supports pulse + direction, RS-485 and Modbus RTU protocols, and can achieve high-resolution positioning of 0.001 mm / pulse. Thus, the distance between the rotary training mechanism and the lifting mechanism can be precisely adjusted through the screw 12 to meet the personalized rehabilitation needs of patients with different arm lengths.

[0044] As attached Figure 5 As shown, specifically, to facilitate arm raising training, the arm raising mechanism includes two positioning plates 16 fixedly mounted on the upper wall of the base plate 1. Each of the two positioning plates 16 has a support rod 17 rotatably connected to one side wall. A grip rod 35 is fixedly connected between the two support rods 17. An elastic tensioning assembly is provided between the support rod 17 and the positioning plate 16.

[0045] The elastic tie assembly includes a first locking post 18 and a second locking post 19 respectively fixedly disposed on one side wall of the positioning plate 16 and the support rod 17. An elastic element 20 is fitted between the first locking post 18 and the second locking post 19. The elastic element 20 is specifically a spring.

[0046] As can be seen from the above, the elastic element 20 is stretched and generates a linear restoring force when the grip bar 35 is raised; the patient's forearm does work to overcome this variable force, completing the centripetal and eccentric resistance training, and the stiffness k of the elastic element 20 can be quickly switched by replacing springs of different specifications, achieving the effect of "same mechanism, multiple levels of resistance".

[0047] As attached Figure 5 As shown, it also includes a plurality of perforated plates 21 fixedly installed on the upper wall of the frame rod 17 and the positioning plate 16, and the perforated plates 21 are provided with binding straps.

[0048] A flexible support pad 22, made of sponge material, is fixedly connected between the two positioning plates 16 and located on the upper wall of the substrate 1.

[0049] As can be seen from the above, the restraint strap passes through the perforated plate 21 and fixes the forearm, which not only restricts abnormal displacement but also preserves the micro-movement of the wrist joint. Combined with the indentation and deformation of the sponge pad, the local pressure can be reduced by more than 40%, preventing pressure sores at bony prominences. Thus, under the dual mechanism of "elastic resistance + flexible restraint", safe and progressive forearm lifting strength training can be completed.

[0050] As attached Figure 6 As shown, to facilitate arm swing training with different movement trajectories, the moving mechanism includes a flat base plate 23 disposed below the base plate 1. Several support rods 24 are fixedly connected to the bottom wall of the base plate 1. The bottom end of each support rod 24 is connected to a universal wheel 25 with a brake pad. The universal wheel 25 rolls on the flat base plate 23.

[0051] The upper wall of the planar base plate 23 is fixedly connected to a linear and curved composite moving guide rail 26 and an identification and positioning probe 27 located on one side of the middle section of the linear and curved composite moving guide rail 26. A central shaft 28 is fixedly connected to the center of the bottom wall of the base plate 1. A second rotary drive 29 is fixedly connected to the lower end of the central shaft 28. A U-shaped frame 30 is fixedly connected to the output end of the second rotary drive 29. A roller 31 and a roller 32 fixedly installed on the outer wall of the roller 31 are rotatably connected inside the U-shaped frame 30. The roller 32 rolls within the linear and curved composite moving guide rail 26. A third rotary drive 33 is fixedly connected to one side wall of the U-shaped frame 30. The output end of the third rotary drive 33 is fixed to one end of the roller 31. The connection is as follows: a second controller 34 is fixedly connected to the planar base plate 23, which is controlled and connected to the second rotary drive 29, the third rotary drive 33, and the identification and positioning probe 27. The second rotary drive 29 is equipped with an angle encoder. When the roller 32 moves to the middle position of the straight and curved composite moving guide rail 26, the position of the roller 32 can be identified by the identification and positioning probe 27. Furthermore, the second controller 34 drives the second rotary drive 29 to rotate, causing the roller 32 to rotate at a certain angle, further converting between the straight and curved moving tracks, enhancing the diversity of the swing trajectory of the personnel's arm. Both the second rotary drive 29 and the third rotary drive 33 are servo motors.

[0052] As can be seen from the above, the movement of the roller 32 within the composite linear and curved moving guide rail 26 is detected in real time by the identification and positioning probe 27 in a closed loop. When the probe detects that the roller 32 has entered the track transition zone, the angle encoder provides instantaneous orientation feedback, and the second controller 34 immediately triggers the second rotary drive component 29 to rotate, causing the U-shaped frame 30 to drive the roller 32 to deflect at a set angle, thus achieving seamless switching between linear and curved tracks. This "visual-angle closed-loop track switching" principle allows the patient to experience multiple force changes within the same movement cycle, including linear acceleration, curved eccentricity, and linear deceleration, activating the forearm flexion and extension, pronation and supination, and shoulder and elbow joint stabilizing muscle groups. This breaks the limitation of the traditional single-track swing mode in stimulating only one type of muscle, significantly improving the neuromuscular coordination rehabilitation effect.

[0053] Specifically, under existing technical conditions, the second rotary drive 29 and the third rotary drive 33 can be selected from Mitsubishi MELSERVO-J4 series rotary servo motors (such as HG-KR or HG-SR series, rated output 1kW, rated torque 4.8N·m, maximum torque 14.3N·m, with a built-in 22-bit absolute position encoder, resolution up to 4,194,304 pulses / rev, IP65 protection), and matched with a servo amplifier MR-J4-100A, supporting SSCNETⅢ / H high-speed motion bus and full closed-loop control, speed response frequency 2.5kHz, and can receive position-speed data from the second controller 34 in real time. The current three-loop command enables the roller 32 to achieve stepless commutation and sub-degree positioning in the linear-curved composite guide rail; the second controller 34 can be a Mitsubishi iQ-F series FX5U-64MT / ESPLC, with built-in 4-axis high-speed pulse output (maximum 4Mpps), RS-485 and Ethernet interfaces. It performs synchronous and coordinated control of two servo amplifiers through the SSCNETⅢ / H network and reads the angle encoder feedback signal in real time to complete the automated control process of "visual recognition - angle closed loop - dual-axis coordination". The entire system can operate under 220V single-phase or three-phase mains power, meeting the drive requirements of rehabilitation training devices for high precision, high response and high reliability.

[0054] From the appendix Figure 1 - Appendix Figure 6 The present invention discloses a method for using a multifunctional rehabilitation training device for the upper limb and forearm:

[0055] The patient first sits beside the flat base plate 23, places their forearm on the flexible support pad 22 and secures it with a restraint strap. Based on the arm length, the first controller 15 drives the servo motor-screw 12 mechanism with one key, instantly positioning the distance between the rotation training mechanism and the lifting mechanism. Then, the weight rings 8 are added or removed as needed, and the cylinder cap 10 is tightened to set the rotation load. The patient holds the handle 5 for resistance rotation, or holds the grip bar 35 to overcome the elastic element 20 for lifting-lowering training. At the same time, the second controller 34 is activated, and the roller 32 automatically changes track within the linear-curved composite guide rail 26, driving the base plate 1 to complete linear-curved-linear multi-track swing. Throughout the process, the angle encoder and the identification and positioning probe 27 are in real-time closed loop to ensure seamless mode switching. A single training session can simultaneously stimulate the forearm rotation, lifting and swinging muscles with full freedom, completing personalized, progressive, and multifunctional rehabilitation in a short time.

[0056] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multifunctional rehabilitation training device for the upper limb and forearm, characterized in that, include: substrate(1); A moving mechanism disposed below the base plate (1) for swinging training of the arm; An arm rotation training mechanism and an arm lifting mechanism are integrated and disposed on the base plate (1), wherein the rotation training mechanism is located on the front side of the lifting mechanism; And an adjustment mechanism disposed at the bottom of the rotating training mechanism for adjusting the distance between the rotating training mechanism and the lifting mechanism.

2. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 1, characterized in that, The arm rotation training mechanism includes two mounting plates (2). A mounting shaft hole is provided through one side wall of the mounting plate (2). A bearing ring (3) is fixedly installed inside the mounting shaft hole. A horizontal shaft (4) is rotatably connected to both bearing rings (3). A handle (5) is fixedly connected to one end of the horizontal shaft (4).

3. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 2, characterized in that, The end of the horizontal shaft (4) away from the handle (5) is fixedly connected to a limiting plate (6). A support rod (7) is fixedly connected to one side wall of the limiting plate (6). Several weight rings (8) are sleeved on the outer wall of the support rod (7). A lead screw (9) is fixedly connected to one end of the support rod (7). A cylinder cover (10) is screwed to the outer wall of the lead screw (9). An abutment cavity sleeve (11) for abutting against the limiting weight rings (8) is fixedly provided at the end of the cylinder cover (10) near the weight rings (8).

4. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 2, characterized in that, The adjustment mechanism includes a cavity formed on the upper wall of the substrate (1), a screw (12) is provided in the cavity, two mounting plates (2) are screwed to the outer wall of the screw (12), the lower ends of the two mounting plates (2) are slidably engaged with the cavity, two fixing rods (13) are fixedly connected to one side wall of the substrate (1), a first rotary drive (14) is fixedly connected between the two fixing rods (13), the output end of the first rotary drive (14) is fixedly connected to one end of the screw (12), and a first controller (15) is fixedly connected to the substrate (1) and electrically controlled by the first rotary drive (14).

5. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 1, characterized in that, The arm lifting mechanism includes two positioning plates (16) fixedly mounted on the upper wall of the base plate (1). Each of the two positioning plates (16) has a support rod (17) rotatably connected to one side wall. A grip rod (35) is fixedly connected between the two support rods (17). An elastic tie assembly is provided between the support rod (17) and the positioning plate (16).

6. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 5, characterized in that, The elastic tie assembly includes a first locking post (18) and a second locking post (19) respectively fixedly disposed on one side wall of the positioning plate (16) and the frame rod (17), and an elastic element (20) is fitted between the first locking post (18) and the second locking post (19).

7. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 5, characterized in that, It also includes a number of through-hole plates (21) fixedly installed on the upper wall of the frame rod (17) and the positioning plate (16), and the through-hole plates (21) are provided with binding straps.

8. The multifunctional rehabilitation training device for the upper limb and forearm according to claim 5, characterized in that, A flexible support (22) located on the upper wall of the substrate (1) is fixedly connected between the two positioning plates (16). The flexible support (22) is made of sponge material.

9. A multifunctional rehabilitation training device for the upper limb and forearm according to claim 5, characterized in that, The moving mechanism includes a flat base plate (23) disposed below the base plate (1). A plurality of support rods (24) are fixedly connected to the bottom wall of the base plate (1). The bottom end of the support rods (24) is connected to a universal wheel (25) with a brake pad. The universal wheel (25) rolls on the flat base plate (23).

10. A multifunctional rehabilitation training device for the upper limb and forearm according to claim 9, characterized in that, The upper wall of the planar base plate (23) is fixedly connected to a linear and curved composite moving guide rail (26) and an identification and positioning probe (27) located on one side of the middle section of the linear and curved composite moving guide rail (26). A central shaft (28) is fixedly connected at the center of the bottom wall of the base plate (1). A second rotary drive (29) is fixedly connected to the lower end of the central shaft (28). A U-shaped frame (30) is fixedly connected to the output end of the second rotary drive (29). A roller (31) and a fixed... The roller (32) is installed on the outer wall of the roller (31). The roller (32) rolls within the linear and curved composite moving guide rail (26). A third rotary drive (33) is fixedly connected to one side wall of the U-shaped frame (30). The output end of the third rotary drive (33) is fixedly connected to one end of the roller (31). A second controller (34) is fixedly connected to the flat base plate (23) and is controlled by the second rotary drive (29), the third rotary drive (33), and the identification and positioning probe (27).

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