A four-degree-of-freedom rehabilitation device with adjustable joint limiting for upper limb rehabilitation

Abstract

The present application relates to the technical field of medical devices, in particular to a four-degree-of-freedom rehabilitation device with adjustable joint limiting for upper limb rehabilitation, comprising a joint motor, a motor housing is fixedly sleeved outside the joint motor; a first limiting sleeve and a second limiting sleeve are rotatably sleeved on both sides of the output shaft of the joint motor, a lever is arranged on each of the first limiting sleeve and the second limiting sleeve for adjusting the rotation angle; a clamping device is installed on the motor housing for locking and fixing the first limiting sleeve and the second limiting sleeve on the motor housing after the lever adjustment is completed; a large arm and a small arm are rigidly connected to both ends of the joint motor. Through the system integration of the limiting sleeve, the lever and the clamping device, the manual stepless adjustment, tool-free locking and rigid limiting transmission of the shoulder and elbow joint angle are realized, the problems of inconvenient adjustment, low precision and poor stability in the prior art are solved, and the flexibility, accuracy and safety of the rehabilitation training are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a four-degree-of-freedom rehabilitation device for upper limb rehabilitation with adjustable joint positioning. Background Technology

[0002] In the field of clinical medicine, upper limb fractures, stroke sequelae, and nerve damage often lead to limited joint movement and muscle atrophy in patients' upper limbs. Upper limb rehabilitation training is a key means to help these patients restore limb function and return to normal life. Currently, the upper limb rehabilitation devices used in clinical practice are mainly divided into three categories: passive, active, and assisted. Their core function is to guide patients' upper limb movements to gradually restore joint range of motion and muscle strength.

[0003] However, existing upper limb rehabilitation devices face numerous unresolved technical challenges in practical application, making it difficult to fully meet the personalized rehabilitation needs of different patients. Firstly, most existing rehabilitation devices have fixed joint limiting structures, failing to allow for flexible adjustment based on the patient's rehabilitation stage, degree of injury, and joint range of motion tolerance. For patients with limited joint mobility in the early stages of rehabilitation, this can easily lead to overstretching, causing pain and secondary injury. Conversely, for patients in the later stages of rehabilitation who require increased range of motion, it limits the effectiveness of rehabilitation training, hindering the achievement of gradual rehabilitation goals. Secondly, some rehabilitation devices with adjustable limiting structures have complex designs and cumbersome operations, requiring medical staff to use specialized tools for adjustment. This not only increases the workload of medical staff but also prevents patients from adjusting the devices themselves during home rehabilitation, reducing their ease of use. Furthermore, these adjustment structures are often coarse-grained, unable to achieve precise limiting positioning, making it difficult to match individual differences in the upper limb joints of different patients. Insufficient adjustment precision affects the targetedness and effectiveness of rehabilitation training.

[0004] Therefore, there is an urgent need to design a four-degree-of-freedom rehabilitation device with adjustable joint limits for upper limb rehabilitation to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a four-degree-of-freedom rehabilitation device with adjustable joint limits for upper limb rehabilitation, in order to solve the problems of non-adjustable or inconvenient joint limits, low adjustment accuracy, and poor stability in the existing technology, which cannot fully adapt to the personalized rehabilitation needs of different patients and are difficult to balance the effectiveness, safety and convenience of rehabilitation training.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation, comprising: A joint motor, wherein a motor housing is fixedly fitted onto the outside of the joint motor; The first limiting sleeve and the second limiting sleeve are rotatably sleeved on both sides of the output shaft of the joint motor. Both the first limiting sleeve and the second limiting sleeve are provided with levers for manually driving the sleeves to rotate around the output shaft of the joint motor to adjust the rotation angle. A locking device is installed on the motor housing and is used to lock and fix the first limiting sleeve and the second limiting sleeve to the motor housing after the lever adjustment is completed; The upper arm and forearm are rigidly connected to both ends of the joint motor, respectively.

[0007] Preferably, the clamping device includes a locking housing fixed to the motor housing, and the bottom end of the locking housing is provided with two independently arranged clamping teeth, which can be respectively limited and connected to the first limiting sleeve and the second limiting sleeve.

[0008] Preferably, the outer walls of the first limiting sleeve and the second limiting sleeve are respectively provided with external gears, and the clamping teeth are correspondingly provided with the external gears and can be limited and connected. When the clamping teeth extend, they clamp the external gears; when the clamping teeth retract, they release the external gears.

[0009] Preferably, the lever extends radially outward along the limiting sleeve, and the end of the lever is provided with a handle for easy operation.

[0010] Preferably, it also includes a wrist rehabilitation device, the wrist rehabilitation device comprising: A push rod bracket is fixedly connected to the distal end of the forearm; Two electric actuators, one end of each electric actuator being connected to the actuator bracket via a ball joint; The hands are connected to the other ends of the two electric push rods via ball joints; The wrist connects the forearm to the hand.

[0011] Preferably, the two electric actuators are arranged symmetrically; when the two electric actuators extend and retract synchronously, they drive the hand to swing around the wrist in a first direction; when the two electric actuators extend and retract differentially, they drive the hand to swing in a second direction, wherein the first direction and the second direction are perpendicular to each other.

[0012] Preferably, the upper arm and the lower arm are respectively provided with mounting holes, and are rigidly connected to the end of the joint motor through a connector.

[0013] Preferably, the joint motor includes a shoulder motor located at the shoulder and an elbow motor connecting the upper arm and forearm. The shoulder motor housing is fixed to the motor housing, and the elbow motor is installed in the same way as the shoulder motor.

[0014] Preferably, the limiting angles of the shoulder motor and the elbow motor are adjusted independently, and the range of motion of the shoulder joint and the elbow joint are set by their respective levers and locking devices.

[0015] Preferably, the lever has an angle scale mark on its outer periphery, and the motor housing has an indicator mark at a corresponding position for reading the currently set limit angle.

[0016] Compared with the prior art, the present invention has the following advantages and technical effects: The present invention discloses a four-degree-of-freedom rehabilitation device with adjustable joint limit for upper limb rehabilitation, including a joint motor, a limit sleeve, a clamping device, an upper arm, a forearm and other components, realizing the integrated operation of manual stepless adjustment, precise locking and rigid transmission of the shoulder and elbow joint range of motion. It breaks through the limitations of the prior art of stepped adjustment, inconvenient adjustment and low precision, and greatly improves the personalized adaptation ability and operation convenience of rehabilitation training. The first and second limiting sleeves are rotatably fitted onto both sides of the joint motor output shaft. Each sleeve has a lever, allowing angle adjustment to be performed within the patient's reach without the need for specialized tools. This addresses the inconvenience of adjustment in existing devices and the inability of patients to operate them independently during home rehabilitation. A locking device is installed on the motor housing. After adjustment with the lever, the two limiting sleeves are locked to the motor housing, forming a rigid locking path from the sleeves to the housing. This ensures stable angle maintenance after adjustment, preventing limit displacement during training and resolving the issues of poor limit stability and easy displacement in existing devices. The upper arm and forearm are rigidly connected to both ends of the joint motor, allowing the motor's driving force to be directly transmitted to the limb support structure. This, combined with the locked limiting angle, forms a closed-loop motion constraint, resolving the problems of existing devices' fixed limits being unsuitable for different rehabilitation stages and prone to secondary injury.

[0017] This invention achieves manual stepless adjustment of the shoulder and elbow joint angle, tool-free locking, and rigid limit transmission through the system integration of a limiting sleeve, a lever, and a locking device. It solves the problems of inconvenient adjustment, low precision, and poor stability in existing technologies, and improves the flexibility, accuracy, and safety of rehabilitation training. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is an axial view of the four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to the present invention; Figure 2 This is a schematic diagram of the back of the upper arm and forearm of the present invention; Figure 3 This is a schematic diagram of the upper arm fixing module and the forearm fixing module of the present invention; Figure 4 This is a frontal schematic diagram of the upper arm and forearm of the present invention; Figure 5 For the present invention Figure 4 A magnified view of part A in the image; Figure 6 This is a schematic diagram of the clamping device of the present invention; In the diagram: 1. Clamping device; 2. First limiting sleeve; 3. Second limiting sleeve; 4. Motor housing; 5. Adjustable bracket; 6. Upper arm; 7. Forearm; 8. Push rod bracket; 9. Electric push rod; 10. Wrist; 11. Hand; 12. Shoulder; 13. Upper arm fixing module; 14. Forearm fixing module; 15. Shoulder motor; 16. Elbow motor; 17. Limiting rod; 18. Limiting groove; 19. Locking housing; 20. Clamping teeth; 21. External gear. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 6 As shown, this embodiment provides a four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation, comprising: The joint motor has an externally fixed motor housing 4; The first limiting sleeve 2 and the second limiting sleeve 3 are rotatably sleeved on both sides of the output shaft of the joint motor. Both the first limiting sleeve 2 and the second limiting sleeve 3 are provided with levers for manually driving the sleeves to rotate around the output shaft of the joint motor to adjust the rotation angle. The clamping device 1 is installed on the motor housing 4 and is used to lock and fix the first limiting sleeve 2 and the second limiting sleeve 3 to the motor housing 4 after the lever adjustment is completed. The upper arm 6 and the lower arm 7 are rigidly connected to both ends of the joint motor, respectively.

[0022] This invention discloses a four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation, including components such as a joint motor, a limiting sleeve, a clamping device 1, an upper arm 6, and a forearm 7. It realizes the integrated function of manual stepless adjustment, precise locking, and rigid transmission of the range of motion of the shoulder and elbow joints, breaking through the limitations of existing technologies with stepped adjustment, inconvenient adjustment, and low precision, and greatly improving the personalized adaptation ability and ease of operation of rehabilitation training. The first limiting sleeve 2 and the second limiting sleeve 3 are rotatably fitted onto both sides of the joint motor output shaft. Each sleeve has a lever, allowing angle adjustment to be performed within reach of the patient's hand 11, eliminating the need for specialized tools and resolving the problems of inconvenient adjustment and inability for patients to operate independently during home rehabilitation. The locking device 1 is installed on the motor housing, locking the two limiting sleeves to the housing after lever adjustment, forming a rigid locking path from the sleeves to the housing. This ensures stable angle maintenance after adjustment, preventing limit displacement during training and resolving the issues of poor limit stability and easy displacement in existing devices. The upper arm 6 and forearm 7 are rigidly connected to both ends of the joint motor, allowing the motor's driving force to be directly transmitted to the limb support structure. Combined with the locked limiting angle, this forms a closed-loop motion constraint, resolving the problems of existing devices' fixed limiting mechanisms being unsuitable for different rehabilitation stages and prone to secondary injury. This invention achieves manual stepless adjustment of the shoulder and elbow joint angle, tool-free locking, and rigid limit transmission through the system integration of a limiting sleeve, a lever, and a locking device 1. It solves the problems of inconvenient adjustment, low precision, and poor stability in existing technologies, and improves the flexibility, accuracy, and safety of rehabilitation training.

[0023] In one embodiment of the present invention, the shoulder 12 of the device is fixed on the adjustable bracket 5, which can be flexibly adjusted according to the patient's usage needs and is suitable for different patients to use for rehabilitation.

[0024] Further optimizing the design, the clamping device 1 includes a locking housing 19 fixed to the motor housing 4. The bottom end of the locking housing 19 has two independently configured clamping teeth 20 that extend and retract. The two clamping teeth 20 can be respectively connected to the first limiting sleeve 2 and the second limiting sleeve 3 for limiting. (See attached diagram.) Figure 6 As shown, the locking housing 19 is connected to the motor housing 4 by bolts to ensure stability; the bottom end of the locking housing 19 is provided with two independently retractable locking teeth 20, which can lock the first limiting sleeve 2 and the second limiting sleeve 3 respectively. When adjustment is required, the first limiting sleeve 2 and the second limiting sleeve 3 can be loosened as needed.

[0025] In a further optimized design, the outer walls of the first limiting sleeve 2 and the second limiting sleeve 3 are respectively equipped with external gears 21. Clamping teeth 20 are correspondingly arranged with the external gears 21 and can be connected for limiting. When the clamping teeth 20 extend, they clamp the external gears 21; when the clamping teeth 20 retract, they release the external gears 21. (See attached diagram.) Figure 6As shown, the first limiting sleeve 2 and the second limiting sleeve 3 are externally machined with external gears 21. The locking teeth 20 and the external gears 21 are adapted to each other. When the locking teeth 20 are extended, they mesh and lock with the external gears 21, thereby locking the corresponding first limiting sleeve 2 or second limiting sleeve 3.

[0026] In one embodiment of the present invention, the inner cavity of the locking housing 19 is provided with two independent elastic components. The top control position of the elastic component extends out of the top of the locking housing 19, and the locking tooth 20 is connected to the elastic component in a transmission manner, so that the extension and retraction of the locking tooth 20 can be controlled by the elastic component.

[0027] In one embodiment of the present invention, the principle of the elastic component is similar to that of a furniture cabinet door spring or a ballpoint pen with telescopic function, and will not be described in detail here.

[0028] The design has been further optimized. The lever extends radially outward along the limiting sleeve, and a handle for easy operation is provided at the end of the lever. The lever extends radially outward from the surface of the limiting sleeve, amplifying the driving force applied by the patient's hand using the lever principle, making it easier to rotate the sleeve. This is especially beneficial for patients in the early stages of rehabilitation or elderly patients with weak finger grip strength. The handle at the end of the lever facilitates pinching or pressing, increasing the contact area and friction between the fingers and the lever, preventing slippage during adjustment.

[0029] In one embodiment of the present invention, the handle can be designed to be spherical, cylindrical or flat to adapt to the gripping habits of different patients, further reducing the physical burden of adjustment operation and realizing a hands-free, labor-saving and comfortable operation experience.

[0030] Further optimization of the plan also includes wrist rehabilitation institutions, which include: The push rod bracket 8 is fixedly connected to the distal end of the forearm 7; Two electric push rods 9, one end of each electric push rod 9 is connected to the push rod bracket 8 via a ball joint; The hand part 11 is connected to the other end of the two electric push rods 9 via ball joints; Wrist 10, which connects the forearm 7 and hand 11.

[0031] A wrist rehabilitation mechanism 10 is added to the distal end of the forearm 7 of the rehabilitation device. This mechanism includes a push rod support 8 fixed to the forearm 7 and two electric push rods 9. The two ends of the push rods are connected to the support and the hand 11 respectively via ball joints. The hand 11 and forearm 7 are movably connected via a bearing in the wrist 10. This integrates the shoulder / elbow limiting structure with the parallel mechanism of the wrist 10 into a four-degree-of-freedom upper limb rehabilitation device, enabling rehabilitation training of the patient's arm joints. The wrist 10 uses a parallel configuration of two electric push rods 9 with ball joints, allowing the push rods to rotate freely in multiple directions. This eliminates additional constraint torques during movement, making the wrist 10 movement smoother and more natural, better conforming to the human wrist's movement patterns. Compared to traditional serial wrist 10 mechanisms, this design offers higher structural rigidity and motion accuracy. The ball joint connection and the wrist 10 bearing bear the weight of the hand 11 and ensure the stability of the rotation center, allowing the electric push rods 9 to output driving force without bearing bending moments, thus extending their service life.

[0032] Further optimization of the design involves a symmetrical arrangement of two electric push rods 9. When the two electric push rods 9 extend and retract synchronously, they drive the hand 11 to swing around the wrist 10 in a first direction. When the two electric push rods 9 extend and retract differentially, they drive the hand 11 to swing in a second direction, with the first and second directions perpendicular to each other. The symmetrical arrangement of the two electric push rods 9 allows the hand 11 to swing around the wrist 10 in the first direction when both rods extend or retract to the same length simultaneously. When one rod extends and the other retracts, the hand 11 swings around the wrist 10 in a perpendicular second direction, achieving independent swinging of the hand 11 in two mutually perpendicular directions, corresponding to the left-right swinging of the radial and ulnar deviation of the wrist joint and the up-and-down swinging of flexion and extension. The symmetrical arrangement of the two electric push rods 9 allows for compact installation within the limited space at the end of the forearm 7, avoiding motion interference between the rods, eliminating the need for complex inverse kinematics calculations, reducing the hardware cost and software development difficulty of the control system, and facilitating its application in low-cost rehabilitation products.

[0033] Further optimization of the design involves pre-drilling mounting holes on the upper arm 6 and forearm 7, which are then rigidly connected to the ends of the joint motor via connectors. These mounting holes, along with the connectors, securely connect the upper arm 6 and forearm 7 to the ends of the joint motor, forming a detachable rigid structure. This allows the upper arm 6 and forearm 7 to be replaced or their installation positions adjusted according to the different upper limb lengths of patients, achieving a size-adaptive design. One set of motor components can be matched with upper arm 6 and forearm 7 of different specifications, reducing manufacturing costs and facilitating packaging, transportation, and routine maintenance. When a component fails, the entire device does not need to be scrapped; only the corresponding component needs to be replaced, extending the overall lifespan of the product.

[0034] The design is further optimized by installing an upper arm fixation module 13 on the upper arm 6 to fix it to the patient's arm, and a lower arm fixation module 14 on the forearm 7 to connect it to the patient's arm. This allows the device to be fixed to the patient's arm for exercise purposes.

[0035] In one embodiment of the present invention, the connector is preferably a conventional connection form such as a bolt or screw, which is simple, readily available, and provides a stable connection, ensuring that the motor driving force is efficiently and without loss transmitted to the patient's limb.

[0036] Further optimization of the design includes a shoulder motor 15 located at the shoulder 12 and an elbow motor 16 connecting the upper arm 6 and forearm 7. The shoulder motor 15 is fixed to the motor housing 4, and the elbow motor 16 is installed in the same manner as the shoulder motor 15. This rehabilitation device has two independently operating joint motors. The shoulder motor 15 is responsible for the movement of the shoulder 12, while the elbow motor 16 is located at the simulated elbow position between the upper arm 6 and forearm 7 to simulate elbow movement. This enables independent rehabilitation training of the two most important large joints of the upper limb, simplifies the assembly process, reduces manufacturing costs, and also reduces the types of spare parts required for maintenance.

[0037] In one embodiment of the present invention, the shoulder motor 15 and the elbow motor 16 can be controlled independently, allowing for individual training of the shoulder or elbow joints, or collaborative training to complete common upper limb compound movements in daily life such as reaching for objects, combing hair, and eating, thus enriching the rehabilitation training mode.

[0038] In one embodiment of the present invention, reference is made to the appendix. Figure 5 As shown, a limit rod 17 is fixed to the output shaft of the shoulder motor 15 and the elbow motor 16 by bolts. The first limit sleeve 2 and the second limit sleeve 3, which are nested together, are respectively provided with limit grooves 18 corresponding to the limit rod 17. The two limit grooves 18 are coaxially aligned and can rotate relative to each other along the central axis, thereby adjusting the overlapping area of ​​the two limit grooves 18. The limit rod 17 passes through the overlapping area of ​​the two limit grooves 18. When the first limit sleeve 2 and the second limit sleeve 3 rotate relative to each other, the fan-shaped angle of the overlapping area changes. Since the limit rod 17 can only move between the overlapping areas, the rotation angle of the output shaft of the shoulder motor 15 and the elbow motor 16 is restricted.

[0039] In one embodiment of the present invention, the maximum sector angle of the overlapping area of ​​the two limiting grooves 18 is 135°, that is, the maximum movement angle of the output shafts of the shoulder motor 15 and the elbow motor 16 is 135°, which limits the exercise angle of the device to 0-135°, and avoids injury to the user due to excessive angle.

[0040] The design is further optimized so that the limiting angles of the shoulder motor 15 and the elbow motor 16 are independently adjustable, with the maximum range of motion of the shoulder and elbow joints set by their respective levers and locking devices 1. The limiting angles of the shoulder motor 15 and the elbow motor 16 can be set independently to fully adapt to the varying degrees of shoulder and elbow joint injury in different patients: for example, patients with severely limited shoulder joint mobility but relatively good elbow joint mobility can have their shoulder motor 15 limiting angle reduced and their elbow motor limiting angle increased; other injury conditions can be adjusted according to medical advice. Furthermore, this invention can support the differentiated needs of the same patient at different rehabilitation stages. In the early stages of rehabilitation, both joints undergo safe training with small angles; in the middle stages, the angles of the more severely restricted joints are gradually increased; and in the final stages, both joints are restored to their normal physiological range of motion, achieving a precise rehabilitation strategy that separates shoulder and elbow treatment and is tailored to the individual patient.

[0041] The design has been further optimized. An angle scale is located on the outer periphery of the lever, and a corresponding indicator is located on the motor housing 4, for reading the currently set limit angle. An angle scale is engraved on the outer surface of the lever, and a fixed indicator is located on the corresponding position on the motor housing. When the lever is moved, the currently set limit angle value can be read through the indicator, allowing patients or medical staff to intuitively and quantitatively understand the currently set joint range of motion without the need for external goniometers. Patients can independently and accurately set and confirm the target angle value given by the rehabilitation physician, achieving precise execution of medical orders. The scale also facilitates the recording of rehabilitation progress. At each follow-up visit, the current limit angle can be read and compared with the previous one, objectively assessing rehabilitation progress and providing a quantitative basis for adjusting the next stage of the rehabilitation plan, enhancing the scientific nature and data-driven level of rehabilitation training.

[0042] In one embodiment of the present invention, the indicator may be a scale line or an indicator arrow.

[0043] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0044] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation, characterized in that, include: A joint motor, wherein a motor housing (4) is fixedly fitted on the outside of the joint motor. The first limiting sleeve (2) and the second limiting sleeve (3) are rotatably sleeved on both sides of the output shaft of the joint motor. Both the first limiting sleeve (2) and the second limiting sleeve (3) are provided with levers for manually driving the sleeves to rotate around the output shaft of the joint motor to adjust the rotation angle. A locking device (1) is installed on the motor housing (4) and is used to lock and fix the first limiting sleeve (2) and the second limiting sleeve (3) to the motor housing (4) after the lever adjustment is completed. The upper arm (6) and the lower arm (7) are rigidly connected to the two ends of the joint motor, respectively.

2. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: The clamping device (1) includes a locking housing (19) fixed on the motor housing (4). The bottom end of the locking housing (19) is provided with two independently configured clamping teeth (20). The two clamping teeth (20) can be respectively connected to the first limiting sleeve (2) and the second limiting sleeve (3) for limiting.

3. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 2, characterized in that: The outer walls of the first limiting sleeve (2) and the second limiting sleeve (3) are respectively provided with external gears (21). The clamping teeth (20) are correspondingly provided with the external gears (21) and can be limited and connected. When the clamping teeth (20) extend, they clamp the external gears (21); when the clamping teeth (20) retract, they release the external gears (21).

4. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: The lever extends radially outward along the limiting sleeve, and the end of the lever is provided with a handle for easy operation.

5. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: It also includes wrist rehabilitation facilities, which include: The push rod bracket (8) is fixedly connected to the distal end of the forearm (7); Two electric push rods (9), one end of each electric push rod (9) is connected to the push rod bracket (8) via a ball joint; The hand (11) is connected to the other end of the two electric push rods (9) via ball joints; The wrist (10) is movably connected to the forearm (7) and the hand (11).

6. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 5, characterized in that: The two electric actuators (9) are arranged symmetrically; when the two electric actuators (9) extend and retract synchronously, the hand (11) is driven to swing around the wrist (10) in a first direction; when the two electric actuators (9) extend and retract differentially, the hand (11) is driven to swing in a second direction, and the first direction and the second direction are perpendicular to each other.

7. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: Mounting holes are provided on the upper arm (6) and the lower arm (7), and are rigidly connected to the end of the joint motor through a connector.

8. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: The joint motor includes a shoulder motor (15) located at the shoulder (12) and an elbow motor (16) connecting the upper arm (6) and the forearm (7). The outer shell of the shoulder motor (15) is fixed to the motor housing (4). The installation method of the elbow motor (16) is the same as that of the shoulder motor (15).

9. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 8, characterized in that: The limiting angles of the shoulder motor (15) and the elbow motor (16) are independently adjustable, and the range of motion of the shoulder joint and the elbow joint are set by their respective levers and clamping devices (1).

10. The four-degree-of-freedom rehabilitation device with adjustable joint positioning for upper limb rehabilitation according to claim 1, characterized in that: The lever has an angle scale mark on its outer periphery, and the motor housing (4) has an indicator mark at the corresponding position, which is used to read the currently set limit angle.

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