Suspension type robot device for upper limb rehabilitation training

Abstract

A suspension type robot device for upper limb rehabilitation training belongs to the technical field of rehabilitation training equipment and comprises a supporting posture adjusting unit, a suspension posture adjusting unit and a bearing posture adjusting unit. The supporting posture adjusting unit is fixedly arranged on the table top; the suspension posture adjusting unit is connected to the supporting posture adjusting unit. The bearing posture adjusting unit is connected to the suspension posture adjusting unit through a quick-change connector. The bearing posture adjusting unit comprises a large arm bearing assembly, a small arm bearing assembly, a hand bearing assembly, an elbow joint position self-adaption switching assembly, a wrist joint position self-adaption switching assembly, a steering engine and three electric push rods. The suspension type robot device for upper limb rehabilitation training has the advantages of being small and exquisite in size, simple in structure and easy and convenient to operate and can be used in families, patients can still obtain professional rehabilitation training opportunities after leaving hospitals or medical rehabilitation institutions and returning home, dependence on doctors or rehabilitators is reduced, and the rehabilitation training efficiency is improved. Therefore, the subsequent rehabilitation training effect of the patient is better improved.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation training equipment technology, and in particular relates to a suspended upper limb rehabilitation training robot device. Background Technology

[0002] For patients with upper limb functional impairments caused by central nervous system diseases such as stroke, traumatic brain injury, spinal cord injury, and cerebral palsy, the impaired upper limb motor function not only affects their daily living abilities but also reduces their quality of life. Studies have shown that early, frequent, and repetitive motor training can promote neural function reconstruction and motor ability recovery.

[0003] At present, in addition to surgical and drug treatment, rehabilitation training programs developed by rehabilitation therapists can also fundamentally improve upper limb dysfunction and gradually restore the patient's upper limb function to a normal state.

[0004] Currently, rehabilitation training robot equipment can effectively help patients complete rehabilitation training, thereby improving the rehabilitation effect and quality of life of brain patients and helping them return to their families and normal lives as soon as possible. Therefore, actively developing and using rehabilitation training robot equipment has important clinical significance and social value for a large number of patients.

[0005] However, the research and development of existing rehabilitation training robots generally focuses on large-scale and advanced designs, employing complex structures and numerous sensors. This means that such robots are typically only usable in hospitals and medical rehabilitation institutions. Once patients leave these facilities and return home, they can no longer receive professional rehabilitation training, thus affecting the effectiveness of their subsequent rehabilitation. Therefore, designing a miniaturized rehabilitation training robot suitable for home use is imperative. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a suspended upper limb rehabilitation training robot device, which is small in size, simple in structure, and easy to operate. It can be used at home, and even after patients leave the hospital or medical rehabilitation institution, they can still continue to receive professional rehabilitation training opportunities at home, reducing their dependence on doctors or rehabilitation therapists, thereby improving the subsequent rehabilitation training effect of patients.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a suspended upper limb rehabilitation training robot device, comprising a support posture adjustment unit, a suspension posture adjustment unit, and a support posture adjustment unit; the support posture adjustment unit is fixedly installed on a table; the suspension posture adjustment unit is connected to the support posture adjustment unit; and the support posture adjustment unit is connected to the suspension posture adjustment unit.

[0008] The support and posture adjustment unit includes a support column, a first support cantilever, a second support cantilever, a first joint motor, a second joint motor, and an adapter. The support column is vertically arranged, and its bottom end is fixedly connected to the desktop. The first joint motor is located at the top of the support column. The first support cantilever is horizontally arranged, and its rear end is connected to the first joint motor. The second joint motor is located at the front end of the first support cantilever. The second support cantilever is horizontally arranged, and its rear end is connected to the second joint motor. The adapter is fixedly installed at the front end of the second support cantilever.

[0009] The suspension and attitude adjustment unit includes a frame, a housing, a first servo motor, a second servo motor, a first drive wheel, a second drive wheel, a driven wheel, a cable, a slide base, a multi-stage telescopic slide rail, and an attitude adjustment shaft. The top of the frame is fixedly connected to an adapter. The first and second servo motors are fixedly mounted side-by-side on the frame. The first drive wheel is coaxially fixed to the power output shaft of the first servo motor. The second drive wheel is coaxially fixed to the power output shaft of the second servo motor. The multi-stage telescopic slide rail adopts a parallel double-rail structure and is vertically arranged. The end section of the multi-stage telescopic slide rail is fixedly connected to the frame. The platform is fixedly connected to the first section of the multi-stage telescopic slide rail; the outer shell adopts a telescopic cylindrical structure and is vertically fitted on the outside of the frame, with the upper end of the outer shell fixedly connected to the top of the frame and the lower end of the outer shell fixedly connected to the bottom of the slide base; the attitude adjustment shaft is horizontally arranged on the slide base and extends to the outside of the outer shell at both ends, and the attitude adjustment shaft is rotatably connected to the slide base through bearings; the driven wheel is coaxially fixedly mounted in the middle of the attitude adjustment shaft; one end of the cable is fixedly connected to the first drive wheel, and the other end of the cable passes around the driven wheel and is fixedly connected to the second drive wheel; quick-change female connectors are symmetrically fixedly installed at both ends of the attitude adjustment shaft.

[0010] The support and posture adjustment unit includes an upper arm support assembly, a forearm support assembly, a hand support assembly, an elbow joint position adaptive transition assembly, a wrist joint position adaptive transition assembly, a third servo motor, a first electric actuator, a second electric actuator, and a third electric actuator. The upper arm support assembly is connected to the forearm support assembly in sequence via the third servo motor and the elbow joint position adaptive transition assembly. The forearm support assembly is connected to the hand support assembly via the wrist joint position adaptive transition assembly. The first, second, and third electric actuators are all connected between the wrist joint position adaptive transition assembly and the forearm support assembly.

[0011] The boom support assembly includes a boom support plate and a boom support U-shaped plate; the boom support U-shaped plate is fixedly installed on the upper rear surface of the boom support plate; the power output shaft of the third servo motor is fixedly connected to the front end of the boom support plate.

[0012] The elbow joint position adaptive adapter assembly includes a U-shaped guide rail and an adapter slide; the third servo motor is fixedly mounted on the adapter slide, and the adapter slide is slidably connected to the U-shaped guide rail.

[0013] The forearm support assembly includes a U-shaped inner plate, a U-shaped outer plate, and a linear guide rail. The U-shaped guide rail is fixedly installed at the rear end of the U-shaped inner plate, and the U-shaped inner plate is abutted against the inner side of the U-shaped outer plate. The linear guide rail is fixedly installed on the inner surface of the U-shaped outer plate, and a linear groove is provided on the outer surface of the U-shaped inner plate. The linear guide rail is located within the linear groove, and the U-shaped inner plate has only axial sliding motion relative to the U-shaped outer plate. A first linear bolt hole is provided on the outer plate, and there is at least one first linear bolt hole. An outer plate positioning and fastening screw is provided between the first linear bolt hole and the inner plate. Quick-connect couplings are symmetrically fixedly installed on the top of the U-shaped inner plate, and the couplings are plugged into each other.

[0014] The wrist joint position adaptive adapter includes a spherical inner plate and a spherical outer plate; the spherical outer plate is fixedly installed at the front end of the forearm support U-shaped outer plate; the spherical inner plate is abutted against the inner side of the spherical outer plate, and the spherical inner plate has only rotational freedom relative to the spherical outer plate.

[0015] The first electric actuator is located on the left side of the spherical outer plate. Its rear end is hinged to the rear end of the U-shaped outer plate supported by the forearm. A first connecting rod is provided between the front end of the first electric actuator and the spherical inner plate. The rear end of the first connecting rod is connected to the front end of the first electric actuator via a first universal joint. The front end of the first connecting rod is hinged to the spherical inner plate. The second electric actuator is located on the right side of the spherical outer plate. Its rear end is hinged to the rear end of the U-shaped outer plate supported by the forearm. Its front end is connected to the spherical inner plate. A second linkage is provided between the two plates. The rear end of the second linkage is connected to the front end of the second electric push rod via a second universal joint. The front end of the second linkage is hinged to the spherical inner plate. The third electric push rod is located below the spherical outer plate. The rear end of the third electric push rod is hinged to the rear end of the U-shaped outer plate supported by the forearm. A third linkage is provided between the front end of the third electric push rod and the spherical inner plate. The rear end of the third linkage is connected to the front end of the third electric push rod via a third universal joint. The front end of the third linkage is hinged to the spherical inner plate.

[0016] The hand support assembly includes a hand support plate and a handle; the hand support plate is located in front of the spherical inner plate, and the rear end of the hand support plate is fixedly connected to the spherical inner plate; the handle is located above the hand support plate, and a second straight bolt hole is provided on the hand support plate, and a handle positioning and fastening screw is provided between the second straight bolt hole and the handle.

[0017] The beneficial effects of this invention are: The suspended upper limb rehabilitation training robot device of the present invention is characterized by its small size, simple structure, and easy operation. It can be used at home, and even after patients leave the hospital or medical rehabilitation institution, they can still continue to receive professional rehabilitation training opportunities at home, reducing their dependence on doctors or rehabilitation therapists, thereby improving the subsequent rehabilitation training effect of patients. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a suspended upper limb rehabilitation training robot device according to the present invention; Figure 2 This is a schematic diagram of the structure of the support posture adjustment unit of the present invention; Figure 3 This is a schematic diagram of the structure of the suspension attitude adjustment unit (outer shell not shown) of the present invention; Figure 4 This is a schematic diagram (initial state) of the suspension attitude adjustment unit of the present invention (frame, housing and quick-change connector female end not shown); Figure 5 This is a schematic diagram of the structure of the suspension attitude adjustment unit of the present invention (frame, housing and quick-change connector female end not shown) (vertically rising). Figure 6 This is a schematic diagram of the structure of the suspension attitude adjustment unit of the present invention (frame, housing and quick-change connector female end not shown) (rotating clockwise); Figure 7 This is a schematic diagram of the structure of the suspension attitude adjustment unit of the present invention (frame, housing and quick-change connector female end not shown) (rotating counterclockwise); Figure 8 This is a schematic diagram of the support and posture adjustment unit of the present invention (viewpoint 1). Figure 9 This is a schematic diagram of the support and posture adjustment unit of the present invention (viewpoint 2). Figure 10 This is a diagram illustrating upper limb arm raising rehabilitation training. Figure 11 A diagram illustrating upper limb elbow flexion rehabilitation training; Figure 12 A diagram illustrating wrist extension and flexion rehabilitation exercises; Figure 13 A diagram illustrating wrist horizontal rotation rehabilitation training; Figure 14 A diagram illustrating wrist twisting rehabilitation training; In the diagram, I—support and attitude adjustment unit, II—suspension and attitude adjustment unit, III—support and attitude adjustment unit, 1—support column, 2—first support cantilever, 3—second support cantilever, 4—first joint motor, 5—second joint motor, 6—adapter, 7—frame, 8—outer shell, 9—first servo motor, 10—second servo motor, 11—first drive wheel, 12—second drive wheel, 13—driven wheel, 14—cable, 15—slide base, 16—first section of slide rail, 17—last section of slide rail, 18—attitude adjustment shaft, 19—female end of quick-change connector, 20—third servo motor, 21—first electric actuator, 22—second electric actuator, 23—third electric actuator, 24—upper arm 25—U-shaped plate supported by the upper arm; 26—U-shaped guide rail; 27—Transfer slide; 28—U-shaped inner plate supported by the lower arm; 29—U-shaped outer plate supported by the lower arm; 30—Linear guide rail; 31—Linear slide groove; 32—First linear bolt hole; 33—Outer plate positioning and fastening screw; 34—Quick-change connector end; 35—Spherical inner plate; 36—Spherical outer plate; 37—First connecting rod; 38—First universal joint; 39—Second connecting rod; 40—Second universal joint; 41—Third connecting rod; 42—Third universal joint; 43—Hand support plate; 44—Handle; 45—Second linear bolt hole; 46—Handle positioning and fastening screw. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] like Figures 1-14 As shown, a suspended upper limb rehabilitation training robot device includes a support and posture adjustment unit I, a suspension and posture adjustment unit II, and a support and posture adjustment unit III; the support and posture adjustment unit I is fixedly installed on a table; the suspension and posture adjustment unit II is connected to the support and posture adjustment unit I; and the support and posture adjustment unit III is connected to the suspension and posture adjustment unit II.

[0021] The support and posture adjustment unit I includes a support column 1, a first support cantilever 2, a second support cantilever 3, a first joint motor 4, a second joint motor 5, and an adapter 6. The support column 1 is vertically arranged, and its bottom end is fixedly connected to the desktop. The first joint motor 4 is located at the top of the support column 1. The first support cantilever 2 is horizontally arranged, and its rear end is connected to the first joint motor 4. The second joint motor 5 is located at the front end of the first support cantilever 2. The second support cantilever 3 is horizontally arranged, and its rear end is connected to the second joint motor 5. The adapter 6 is fixedly installed at the front end of the second support cantilever 3.

[0022] The suspension attitude adjustment unit II includes a frame 7, a housing 8, a first servo motor 9, a second servo motor 10, a first drive wheel 11, a second drive wheel 12, a driven wheel 13, a cable 14, a slide base 15, a multi-stage telescopic slide rail, and an attitude adjustment shaft 18. The top of the frame 7 is fixedly connected to the adapter 6. The first servo motor 9 and the second servo motor 10 are fixedly mounted side by side on the frame 7. The first drive wheel 11 is coaxially fixedly mounted on the power output shaft of the first servo motor 9. The second drive wheel 12 is coaxially fixedly mounted on the power output shaft of the second servo motor 10. The multi-stage telescopic slide rail adopts a parallel double-rail structure and is vertically arranged. The end section 17 of the multi-stage telescopic slide rail is fixedly connected to the frame 7. The slide base... The base 15 is fixedly connected to the first section 16 of the multi-stage telescopic slide rail; the outer shell 8 adopts a telescopic cylindrical structure and is vertically fitted on the outside of the frame 7, with the upper end of the outer shell 8 fixedly connected to the top of the frame 7 and the lower end of the outer shell 8 fixedly connected to the bottom of the slide base 15; the attitude adjustment shaft 18 is horizontally arranged on the slide base 15 and extends to the outside of the outer shell 8 at both ends, and the attitude adjustment shaft 18 is rotatably connected to the slide base 15 through bearings; the driven wheel 13 is coaxially fixedly mounted in the middle of the attitude adjustment shaft 18; one end of the cable 14 is fixedly connected to the first drive wheel 11, and the other end of the cable 14 passes around the driven wheel 13 and is fixedly connected to the second drive wheel 12; quick-change female ends 19 are symmetrically fixedly installed at both ends of the attitude adjustment shaft 18.

[0023] The support and posture adjustment unit III includes an upper arm support assembly, a forearm support assembly, a hand support assembly, an elbow joint position adaptive transition assembly, a wrist joint position adaptive transition assembly, a third servo motor 20, a first electric actuator 21, a second electric actuator 22, and a third electric actuator 23. The upper arm support assembly is connected to the forearm support assembly in sequence through the third servo motor 20 and the elbow joint position adaptive transition assembly. The forearm support assembly is connected to the hand support assembly through the wrist joint position adaptive transition assembly. The first electric actuator 21, the second electric actuator 22, and the third electric actuator 23 are all connected between the wrist joint position adaptive transition assembly and the forearm support assembly.

[0024] The boom support assembly includes a boom support plate 24 and a boom support U-shaped plate 25; the boom support U-shaped plate 25 is fixedly installed on the upper rear surface of the boom support plate 24; the power output shaft of the third servo motor 20 is fixedly connected to the front end of the boom support plate 24.

[0025] The elbow joint position adaptive adapter includes a U-shaped guide rail 26 and an adapter slide 27; the third servo motor 20 is fixedly mounted on the adapter slide 27, and the adapter slide 27 is slidably connected to the U-shaped guide rail 26.

[0026] The forearm support assembly includes a U-shaped inner forearm support plate 28, a U-shaped outer forearm support plate 29, and a linear guide rail 30. The U-shaped guide rail 26 is fixedly installed at the rear end of the U-shaped inner forearm support plate 28, and the U-shaped inner forearm support plate 28 is abutted against the inner side of the U-shaped outer forearm support plate 29. The linear guide rail 30 is fixedly disposed on the inner surface of the U-shaped outer forearm support plate 29, and a linear groove 31 is provided on the outer surface of the U-shaped inner forearm support plate 28. The linear guide rail 30 is located within the linear groove 31. 28 has only axial sliding auto-degree relative to the U-shaped outer plate 29 supporting the forearm; a first straight bolt hole 32 is provided on the plate body of the U-shaped outer plate 29 supporting the forearm, and the number of the first straight bolt holes 32 is at least one; an outer plate positioning fastening screw 33 is provided between the first straight bolt hole 32 and the U-shaped inner plate 28 supporting the forearm; quick-change connector sub-ends 34 are symmetrically fixedly installed on the top of the U-shaped inner plate 28 supporting the forearm, and quick-change connector sub-ends 34 are inserted and engaged with quick-change connector female ends 19.

[0027] The wrist joint position adaptive adapter includes a spherical inner plate 35 and a spherical outer plate 36; the spherical outer plate 36 is fixedly installed at the front end of the forearm support U-shaped outer plate 29; the spherical inner plate 35 is abutted against the inner side of the spherical outer plate 36, and the spherical inner plate 35 has only rotational freedom relative to the spherical outer plate 36.

[0028] The first electric actuator 21 is located on the left side of the spherical outer plate 36. The rear end of the first electric actuator 21 is hinged to the rear end of the U-shaped outer plate 29 supported by the forearm. A first connecting rod 37 is provided between the front end of the first electric actuator 21 and the spherical inner plate 35. The rear end of the first connecting rod 37 is connected to the front end of the first electric actuator 21 via a first universal joint 38. The front end of the first connecting rod 37 is hinged to the spherical inner plate 35. The second electric actuator 22 is located on the right side of the spherical outer plate 36. The rear end of the second electric actuator 22 is hinged to the rear end of the U-shaped outer plate 29 supported by the forearm. The front end of the second electric actuator 22 is connected to the spherical inner plate 35. A second linkage 39 is provided between the two, and the rear end of the second linkage 39 is connected to the front end of the second electric push rod 22 through a second universal joint 40. The front end of the second linkage 39 is hinged to the spherical inner plate 35. The third electric push rod 23 is located below the spherical outer plate 36. The rear end of the third electric push rod 23 is hinged to the rear end of the forearm supporting the U-shaped outer plate 29. A third linkage 41 is provided between the front end of the third electric push rod 23 and the spherical inner plate 35. The rear end of the third linkage 41 is connected to the front end of the third electric push rod 23 through a third universal joint 42. The front end of the third linkage 41 is hinged to the spherical inner plate 35.

[0029] The hand support assembly includes a hand support plate 43 and a handle 44; the hand support plate 43 is located in front of the spherical inner plate 35, and the rear end of the hand support plate 43 is fixedly connected to the spherical inner plate 35; the handle 44 is located above the hand support plate 43, and a second straight bolt hole 45 is provided on the hand support plate 43, and a handle positioning and fastening screw 46 is provided between the second straight bolt hole 45 and the handle 44.

[0030] The following describes a single use of the present invention with reference to the accompanying drawings: Before first use, place a chair next to the table where the suspended upper limb rehabilitation training robot is installed. The patient needs to sit in the chair and place the upper limb flat on the support and posture adjustment unit III before upper limb rehabilitation training can begin. However, since height and upper limb arm length vary from person to person, the size and position of the suspended upper limb rehabilitation training robot need to be slightly adjusted in order to better fit the patient.

[0031] When adapting to the height of a patient sitting in the chair, the first servo motor 9 and the second servo motor 10 need to be activated simultaneously. The first servo motor 9 and the second servo motor 10 have the same rotation speed but opposite directions, which drives the first drive wheel 11 and the second drive wheel 12 to pull the rope synchronously at the same speed. At this time, the cable 14 does not generate relative movement with respect to the driven wheel 13, but only generates a vertical upward lifting force on the driven wheel 13. Under the action of the vertical upward lifting force, the posture adjustment unit III, the posture adjustment shaft 18 and the slide base 15 move upward along the multi-stage telescopic slide rail until the height of the posture adjustment unit III is adapted to the patient's height, ensuring that the patient's upper limbs can be placed horizontally on the posture adjustment unit III.

[0032] When adapting the patient's upper limb arm length, firstly, use a screwdriver to loosen the outer plate positioning fastening screw 33, restoring the relative sliding freedom between the forearm support U-shaped inner plate 28 and the forearm support U-shaped outer plate 29, until the total overlap length of the forearm support U-shaped inner plate 28 and the forearm support U-shaped outer plate 29 matches the patient's forearm length. Then, use a screwdriver to retighten the outer plate positioning fastening screw 33, re-fixing the forearm support U-shaped inner plate 28 and the forearm support U-shaped outer plate 29, and then use... The bandage secures the patient's upper arm to the upper arm support U-shaped plate 25. Since hand length varies from person to person, an adaptation is necessary. First, loosen the handle positioning screw 46 with a screwdriver to restore the relative sliding freedom between the handle 44 and the hand support plate 43. Continue until the handle 44 is in the most comfortable position for the patient's hand. Then, tighten the handle positioning screw 46 again with a screwdriver to restore the handle 44 to its fixed position, allowing the patient's hand to grip the handle 44.

[0033] When a patient needs to perform upper limb arm raising rehabilitation training, the first servo motor 9 and the second servo motor 10 need to be activated simultaneously. The first servo motor 9 and the second servo motor 10 have the same rotation speed and direction to drive the first drive wheel 11 to retract the rope and drive the second drive wheel 12 to release the rope. At this time, the cable 14 generates relative motion with respect to the driven wheel 13 and only drives the driven wheel 13 to rotate. This causes the posture adjustment shaft 18 and the posture adjustment unit III to rotate in sync with the driven wheel 13 until the patient's upper limb completes the arm raising action. Similarly, the first servo motor 9 and the second servo motor 10 are started in reverse synchronously, and the first servo motor 9 and the second servo motor 10 have the same speed and direction, which is used to drive the first drive wheel 11 to release the rope and at the same time drive the second drive wheel 12 to retract the rope. At this time, the cable 14 generates relative motion with respect to the driven wheel 13, and only drives the driven wheel 13 to rotate in the opposite direction, thereby driving the attitude adjustment shaft 18 and the entire attitude adjustment unit III to swing with the driven wheel 13 until the patient's upper limb returns from the raised arm state to the horizontal state.

[0034] When a patient needs to perform upper limb elbow flexion rehabilitation training, the third servo motor 20 and the second joint motor 5 need to be activated simultaneously. The third servo motor 20 is used to change the angle between the upper arm support plate 24 and the forearm support U-shaped inner plate 28, and the second joint motor 5 is used to coordinate the spatial position changes of the upper arm support plate 24 and the forearm support U-shaped inner plate 28 until the patient's upper limb completes the elbow flexion movement. Similarly, the third servo motor 20 and the second joint motor 5 are activated synchronously in the opposite direction until the patient's upper limb returns from the flexed elbow position to the extended elbow position.

[0035] When a patient needs to perform wrist flexion and extension rehabilitation training, simply activate the third electric push rod 23. The power output shaft of the third electric push rod 23 extends and retracts, which in turn drives the spherical inner plate 35, the hand support plate 43, and the handle 44 to perform flexion and extension movements around the center point of the spherical outer plate 36 via the third linkage rod 41. The first linkage rod 37 and the second linkage rod 39 follow the movement of the spherical inner plate 35, thereby realizing wrist flexion and extension rehabilitation training.

[0036] When a patient needs to perform wrist horizontal rotation rehabilitation training, the first electric push rod 21 and the second electric push rod 22 need to be activated simultaneously. The power output shaft of the first electric push rod 21 extends while the power output shaft of the second electric push rod 22 retracts, and the power output shaft of the first electric push rod 21 retracts while the power output shaft of the second electric push rod 22 extends. This will drive the spherical inner plate 35, the hand support plate 43 and the handle 44 to perform horizontal rotation around the center point of the spherical outer plate 36. The third linkage rod 41 moves in tandem with the spherical inner plate 35, thereby realizing the wrist horizontal rotation rehabilitation training.

[0037] When a patient needs to perform wrist twisting rehabilitation training, in the initial state, the third electric push rod 23 and the third connecting rod 41 are at the dead point position, while the first electric push rod 21 and the first connecting rod 37, and the second electric push rod 22 and the second connecting rod 39 are at the non-dead point position with the same included angle. Then, the first electric push rod 21 and the second electric push rod 22 are started synchronously, so that the power output shafts of the first electric push rod 21 and the second electric push rod 22 extend synchronously. This allows the first connecting rod 37 and the second connecting rod 39 to drive the spherical inner plate 35, the hand support plate 43 and the handle 44 to rotate counterclockwise around the center point of the spherical outer plate 36. During the counterclockwise rotation of the spherical inner plate 35, the third connecting rod 41 will be driven to pass the dead point position. At the same time, the third connecting rod 41 moves accordingly, and the power output shaft of the third electric push rod 23 extends accordingly.

[0038] When the angle between the first electric push rod 21 and the first connecting rod 37, and between the second electric push rod 22 and the second connecting rod 39 reaches 90°, the spherical inner plate 35 reaches its limit of counterclockwise rotation. At this time, the first electric push rod 21 and the second electric push rod 22 are activated in the opposite direction, so that the power output shafts of the first electric push rod 21 and the second electric push rod 22 retract synchronously. This allows the first connecting rod 37 and the second connecting rod 39 to synchronously drive the spherical inner plate 35, the hand support plate 43, and the handle 44 to rotate clockwise around the center point of the spherical outer plate 36. During the clockwise rotation of the spherical inner plate 35, the third connecting rod 41 moves accordingly, and the power output shaft of the third electric push rod 23 retracts and extends accordingly.

[0039] When the first electric push rod 21 and the first connecting rod 37, and the second electric push rod 22 and the second connecting rod 39 reach the dead point position, the third electric push rod 23 and the third connecting rod 41 are in the non-dead point position, and the angle between them is exactly opposite to the angle between the first electric push rod 21 and the first connecting rod 37, and the second electric push rod 22 and the second connecting rod 39 in the non-dead point position in the initial state. Then, the third electric push rod 23 is activated, causing the power output shaft of the third electric push rod 23 to extend. This allows the spherical inner plate 35 to continue to rotate clockwise through the third connecting rod 41. During the clockwise rotation of the spherical inner plate 35, the first connecting rod 37 and the second connecting rod 39 will pass the dead point position. At the same time, the first connecting rod 37 and the second connecting rod 39 will follow, and the power output shafts of the first electric push rod 21 and the second electric push rod 22 will extend accordingly.

[0040] After the first linkage 37 and the second linkage 39 pass the dead point position, the drive of the first electric push rod 21 and the second electric push rod 22 is restored, and the third electric push rod 23 is readjusted to follow the movement. This continues until the angle between the first electric push rod 21 and the first linkage 37, and between the second electric push rod 22 and the second linkage 39, reaches 90° again. At this point, the spherical inner plate 35 reaches its instantaneous maximum twist. Then, the first electric push rod 21 and the second electric push rod 22 are activated in reverse, causing the power output shafts of the first electric push rod 21 and the second electric push rod 22 to retract synchronously. The first and second linkages 37 and 39 simultaneously drive the spherical inner plate 35, hand support plate 43, and handle 44 to rotate counterclockwise around the center of the spherical outer plate 36. During the counterclockwise rotation of the spherical inner plate 35, the third linkage 41 follows, and the power output shaft of the third electric push rod 23 retracts and extends until the first electric push rod 21 and the first linkage 37, the second electric push rod 22 and the second linkage 39, and the third electric push rod 23 and the third linkage 41 return to their initial states. Repeating the above process satisfies the patient's wrist rotation rehabilitation training.

[0041] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A suspended upper limb rehabilitation training robot device, characterized in that: It includes a support posture adjustment unit, a suspension posture adjustment unit, and a support posture adjustment unit; the support posture adjustment unit is fixedly installed on a desktop; the suspension posture adjustment unit is connected to the support posture adjustment unit; and the support posture adjustment unit is connected to the suspension posture adjustment unit.

2. The suspended upper limb rehabilitation training robot device according to claim 1, characterized in that: The support posture adjustment unit includes a support column, a first support cantilever, a second support cantilever, a first joint motor, a second joint motor, and an adapter; the support column is vertically arranged, and its bottom end is fixedly connected to the desktop; the first joint motor is located at the top of the support column; the first support cantilever is horizontally arranged, and its rear end is connected to the first joint motor; the second joint motor is located at the front end of the first support cantilever. The second support cantilever is horizontally positioned, and its rear end is connected to the second joint motor; the adapter is fixedly installed at the front end of the second support cantilever.

3. The suspended upper limb rehabilitation training robot device according to claim 2, characterized in that: The suspension and attitude adjustment unit includes a frame, a housing, a first servo motor, a second servo motor, a first drive wheel, a second drive wheel, a driven wheel, a cable, a slide base, a multi-stage telescopic slide rail, and an attitude adjustment shaft. The top of the frame is fixedly connected to an adapter. The first and second servo motors are fixedly mounted side-by-side on the frame. The first drive wheel is coaxially fixed to the power output shaft of the first servo motor. The second drive wheel is coaxially fixed to the power output shaft of the second servo motor. The multi-stage telescopic slide rail adopts a parallel double-rail structure and is vertically arranged. The end section of the multi-stage telescopic slide rail is fixedly connected to the frame. The platform is fixedly connected to the first section of the multi-stage telescopic slide rail; the outer shell adopts a telescopic cylindrical structure and is vertically fitted on the outside of the frame, with the upper end of the outer shell fixedly connected to the top of the frame and the lower end of the outer shell fixedly connected to the bottom of the slide base; the attitude adjustment shaft is horizontally arranged on the slide base and extends to the outside of the outer shell at both ends, and the attitude adjustment shaft is rotatably connected to the slide base through bearings; the driven wheel is coaxially fixedly mounted in the middle of the attitude adjustment shaft; one end of the cable is fixedly connected to the first drive wheel, and the other end of the cable passes around the driven wheel and is fixedly connected to the second drive wheel; quick-change female connectors are symmetrically fixedly installed at both ends of the attitude adjustment shaft.

4. The suspended upper limb rehabilitation training robot device according to claim 3, characterized in that: The support and posture adjustment unit includes an upper arm support assembly, a forearm support assembly, a hand support assembly, an elbow joint position adaptive transition assembly, a wrist joint position adaptive transition assembly, a third servo motor, a first electric actuator, a second electric actuator, and a third electric actuator. The upper arm support assembly is connected to the forearm support assembly in sequence via the third servo motor and the elbow joint position adaptive transition assembly. The forearm support assembly is connected to the hand support assembly via the wrist joint position adaptive transition assembly. The first, second, and third electric actuators are all connected between the wrist joint position adaptive transition assembly and the forearm support assembly.

5. The suspended upper limb rehabilitation training robot device according to claim 4, characterized in that: The boom support assembly includes a boom support plate and a boom support U-shaped plate; the boom support U-shaped plate is fixedly installed on the upper rear surface of the boom support plate; the power output shaft of the third servo motor is fixedly connected to the front end of the boom support plate.

6. The suspended upper limb rehabilitation training robot device according to claim 5, characterized in that: The elbow joint position adaptive adapter assembly includes a U-shaped guide rail and an adapter slide; the third servo motor is fixedly mounted on the adapter slide, and the adapter slide is slidably connected to the U-shaped guide rail.

7. The suspended upper limb rehabilitation training robot device according to claim 6, characterized in that: The forearm support assembly includes a U-shaped inner plate, a U-shaped outer plate, and a linear guide rail. The U-shaped guide rail is fixedly installed at the rear end of the U-shaped inner plate, and the U-shaped inner plate is abutted against the inner side of the U-shaped outer plate. The linear guide rail is fixedly installed on the inner surface of the U-shaped outer plate, and a linear groove is provided on the outer surface of the U-shaped inner plate. The linear guide rail is located within the linear groove, and the U-shaped inner plate has only axial sliding motion relative to the U-shaped outer plate. A first linear bolt hole is provided on the outer plate, and there is at least one first linear bolt hole. An outer plate positioning and fastening screw is provided between the first linear bolt hole and the inner plate. Quick-connect couplings are symmetrically fixedly installed on the top of the U-shaped inner plate, and the couplings are plugged into each other.

8. The suspended upper limb rehabilitation training robot device according to claim 7, characterized in that: The wrist joint position adaptive adapter includes a spherical inner plate and a spherical outer plate; the spherical outer plate is fixedly installed at the front end of the forearm support U-shaped outer plate; the spherical inner plate is abutted against the inner side of the spherical outer plate, and the spherical inner plate has only rotational freedom relative to the spherical outer plate.

9. A suspended upper limb rehabilitation training robot device according to claim 8, characterized in that: The first electric actuator is located on the left side of the spherical outer plate. Its rear end is hinged to the rear end of the U-shaped outer plate supported by the forearm. A first connecting rod is provided between the front end of the first electric actuator and the spherical inner plate. The rear end of the first connecting rod is connected to the front end of the first electric actuator via a first universal joint. The front end of the first connecting rod is hinged to the spherical inner plate. The second electric actuator is located on the right side of the spherical outer plate. Its rear end is hinged to the rear end of the U-shaped outer plate supported by the forearm. Its front end is connected to the spherical inner plate. A second linkage is provided between the two plates. The rear end of the second linkage is connected to the front end of the second electric push rod via a second universal joint. The front end of the second linkage is hinged to the spherical inner plate. The third electric push rod is located below the spherical outer plate. The rear end of the third electric push rod is hinged to the rear end of the U-shaped outer plate supported by the forearm. A third linkage is provided between the front end of the third electric push rod and the spherical inner plate. The rear end of the third linkage is connected to the front end of the third electric push rod via a third universal joint. The front end of the third linkage is hinged to the spherical inner plate.

10. A suspended upper limb rehabilitation training robot device according to claim 8, characterized in that: The hand support assembly includes a hand support plate and a handle; the hand support plate is located in front of the spherical inner plate, and the rear end of the hand support plate is fixedly connected to the spherical inner plate; the handle is located above the hand support plate, and a second straight bolt hole is provided on the hand support plate, and a handle positioning and fastening screw is provided between the second straight bolt hole and the handle.

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