Upper limb training mechanism and rehabilitation robot

Abstract

The utility model belongs to the technical field of upper limb training, and discloses an upper limb training mechanism and a rehabilitation robot, the mechanism comprises a support, the top of the support is provided with two sets of arm treatment units, each set of arm treatment unit comprises a suspension type traction assembly and an upper limb fixing piece, and the upper limb fixing piece is used for being worn on the upper limb of a patient; the suspension type traction assembly of each arm treatment unit comprises at least two sets of winding assemblies, a lifting rope is wound on each set of winding assembly, and the suspension ends of the lifting ropes of the at least two sets of winding assemblies are detachably connected to the upper limb fixing pieces of the arm treatment unit. The at least two sets of winding assemblies are used for providing traction force for the upper limbs wearing the upper limb fixing parts. The upper limb rehabilitation device has the advantages of being more flexible, safer, more comfortable, wider in movement range of the upper limbs of the patient and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of upper limb training, and in particular relates to an upper limb training mechanism and a rehabilitation robot. Background Art

[0002] In recent years, the prevalence of stroke has steadily increased. According to a World Health Organization (WHO) survey, over 15 million people suffer from stroke or cerebrovascular disease each year. Clinical evidence indicates that due to the plasticity of the brain, effective limb rehabilitation training can help restore damaged neurological function. Therefore, rehabilitation training for post-stroke patients has become a research hotspot in modern rehabilitation medicine and rehabilitation engineering.

[0003] Traditional rehabilitation training for hemiplegic patients involves continuous, repetitive, hands-on, one-on-one passive training by rehabilitation therapists on the patient's affected limb, aiming to restore motor function. This training approach suffers from numerous issues, including low efficiency, poor control accuracy, and a tendency for patients to passively accept treatment. With the advancement of robotics technology, the application of rehabilitation robots in post-stroke rehabilitation training is gaining increasing attention. This approach not only alleviates the societal challenge of a shortage of rehabilitation physicians, but also helps shorten rehabilitation time and improve outcomes. Given that most post-stroke patients experience upper limb dysfunction, research on upper limb rehabilitation robots holds significant theoretical significance and demand.

[0004] Currently, upper limb rehabilitation robots primarily assist patients in two modes of rehabilitation training: passive training and active training. Passive training involves the patient completing rehabilitation movements along a predefined trajectory, while active training involves informing the patient of their movement intentions and assisting the affected limb in active movement. Clearly, engaging the patient's active movement intention in active training facilitates the simultaneous rehabilitation of the central nervous system, thereby improving and enhancing rehabilitation outcomes. However, active training is more challenging to implement than passive training, primarily due to the difficulty in integrating the patient's active movement intentions to achieve compliant control of the rehabilitation robot.

[0005] The structures of upper limb rehabilitation robots mainly include two forms: remote-driven and exoskeleton. The remote-driven upper limb rehabilitation robot uses the final destination of movement as the training task input, guiding the patient's distal limbs to perform three-dimensional space movement training, and does not control the specific angle of the shoulder and elbow bend during the training process.

[0006] Remotely actuated upper limb rehabilitation robots primarily provide planar motion, using a table to support the upper limb or providing gravity compensation, employing impedance control. Additional features include a wrist training module that provides wrist joint rehabilitation training. These robots are capable of simple planar motion and feedback control. Examples include MIT-MANUS, the first upper limb rehabilitation robot developed by MIT; the ArmMotus™ M2 upper limb rehabilitation robot developed by Shanghai Fourier Intelligent Technology Co., Ltd.; the NeReBot rehabilitation robot developed by the University of Padova in Italy; the GENTLE / S rehabilitation robot developed by the University of Reading in the UK; and the REO GO upper limb rehabilitation robot developed by Motorika in Israel.

[0007] Exoskeleton upper limb rehabilitation robots: These integrate the patient's upper limb with an exoskeleton arm, assisting the affected limb in three-dimensional rehabilitation training and enabling upper limb movement at virtually any angle. Examples include the CADEN-7, developed by the University of Washington, which uses a tether drive to achieve 7 degrees of freedom (DOF) training. The ArmeoPower, jointly developed by the University of Zurich and the Swiss Federal Institute of Technology (ETH Zurich) based on ARMin, uses seven motors to achieve 7 degrees of freedom. Paul Dominick E. Baniqued et al. designed a 5-DOF exoskeleton rehabilitation robot using biomimetic design methods. Kristina Daunoraviciene et al. designed the Armeo Spring, an exoskeleton rehabilitation robot.

[0008] The above-mentioned upper limb rehabilitation robots all have at least the following problems:

[0009] 1. Lack of conditions for bilateral upper limb coordinated training and limited range of motion

[0010] Existing equipment has obvious defects in the coordinated training of bilateral upper limbs. Both technical routes do not take the needs of bilateral training into consideration from the beginning of the design. The industrial design and human-computer interaction logic are designed around unilateral upper limb training.

[0011] For example, upper limb rehabilitation robots are designed with a motor driving a single point (the distal end of the patient's limb) through a linkage structure to achieve 3D motion. Based on the prototype design, this structure is designed solely for unilateral upper limb training. To achieve bilateral coordinated training, two devices would need to be operated separately, which would require solving the difficulties of collaborative operation, including timing and unified spatial recognition, and would be costly.

[0012] Because most remotely driven upper limb rehabilitation robots use rigid rods for traction, they cannot perform complex exercises for the affected limb. Furthermore, their spatial motion range is too small to support a wide range of rehabilitation movements. Some linkage structures lack smooth motion in the z-axis and provide stiff support. Spherical surfaces also make it difficult to achieve smooth linear motion.

[0013] For example, due to the complex mechanical structure of the exoskeleton upper limb rehabilitation robot, it is extremely difficult to achieve a bilateral upper limb exoskeleton mechanical structure while keeping the device lightweight. An overly bloated mechanical structure will lead to difficulties in application and high prices.

[0014] Since the motors of the exoskeleton upper limb rehabilitation robot are directly installed at the joints of the upper limbs, the structure is relatively large, the system safety is low, and the load on the patient during training is large, which is not conducive to continuous training.

[0015] 2. The support provided is relatively stiff

[0016] Most existing remote-driven upper limb rehabilitation robots use a connecting rod structure with fewer degrees of freedom, making multi-degree-of-freedom training impossible, resulting in poor training results.

[0017] Most upper-limb rehabilitation exoskeleton robots utilize a multi-degree-of-freedom serial structure, with a few employing parallel (or hybrid) configurations. To ensure structural rigidity, most robots are large, heavy, and complex. Furthermore, since most drive systems, control systems, and transmission systems are mounted on the robotic arm, these robots experience significant inertial impact and suffer from poor flexibility. Furthermore, design considerations for comfort, safety, and flexibility are lacking.

[0018] Most upper limb rehabilitation robots do not use gravity elastic support, which leads to secondary injuries during rehabilitation training because early patients may have extremely weak upper limb motor function and are unable to support the weight of their own upper limbs.

[0019] 3. Poor human-computer interaction

[0020] At present, many rehabilitation robot systems do not have human-computer interaction systems, making it difficult to improve the immersion of patient training.

[0021] 4. The operation of assembling / unassembling patients is relatively cumbersome

[0022] At present, since all exoskeleton upper limb rehabilitation robots need to fit the various components of the device to the patient's limbs during assembly, even a skilled operator will take about 5-10 minutes to assemble and debug. If the patient has slight changes in limb morphology, the debugging time will be greatly extended. Utility Model Content

[0023] The purpose of the present utility model is to provide an upper limb training mechanism and a rehabilitation robot to solve the problems existing in the prior art of lacking the conditions for bilateral upper limb coordinated training, limited range of motion, relatively stiff support, poor human-computer interaction, and cumbersome operation of assembling / unassembling patients.

[0024] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0025] In a first aspect, the utility model provides an upper limb training mechanism, comprising: a bracket, wherein two groups of arm treatment units are provided on the top of the bracket, each group of arm treatment units comprising: a hanging traction assembly and an upper limb fixing member, wherein the upper limb fixing member is used to be worn on the upper limb of a patient;

[0026] The suspended traction assembly of each group of arm treatment units includes: at least two sets of winding assemblies, each set of winding assemblies has a sling wound on it, and the hanging ends of the slings of at least two sets of winding assemblies can be detachably connected to the upper limb fixing parts of the group of arm treatment units; the at least two sets of winding assemblies are used to provide traction for the upper limbs after wearing the upper limb fixing parts.

[0027] Preferably, the suspended traction assembly of each arm treatment unit further includes: an installation box, wherein the at least two sets of winding assemblies are installed in the installation box, and the hanging end of the sling on each set of the winding assembly passes through the bottom of the installation box to the outside of the installation box.

[0028] Preferably, each group of arm treatment units also includes: a main controller, a rope length detector and a winding drive, the winding drive and the rope length detector are electrically connected to the main controller, the winding drive is used to drive at least two sets of winding components of the group of arm treatment units to reel or release the sling; the rope length detector is used to detect the release length of the sling.

[0029] Preferably, each set of arm treatment units further comprises:

[0030] a traction force detector, the traction force detection sensor being electrically connected to the main controller, the traction force detector being used to detect the traction force applied by each sling on the upper limb fixing member, and the traction force detector being further used to transmit the detected traction force applied by each sling on the upper limb fixing member to the main controller;

[0031] An upper limb position detection module is communicatively connected to the main controller. After the upper limb fixing device is worn on the patient's upper limb, the upper limb position detection module is used to detect the patient's upper limb position when performing training. The upper limb position detection module is also used to upload the detected upper limb position to the main controller.

[0032] Preferably, the upper limb position detection module includes: an accelerometer and a gyroscope, both of which are wirelessly connected to the main controller, and both of which are installed on the upper limb fixing member.

[0033] Preferably, the bracket includes: a movable base and a vertical pole connected to the middle of the movable base, a crossbeam is provided on the top of the vertical pole, and the two groups of arm treatment units are installed on the ends of the vertical pole, and the two groups of arm treatment units are located directly above the movable base.

[0034] Preferably, the upper limb fixing device comprises: two straps, the two straps are connected by an arm support insert, and a plurality of rings are provided on the outside of the straps, and the rings are used to be connected to the hanging end of the suspension rope.

[0035] In a second aspect, the present invention further provides an upper limb rehabilitation robot, comprising:

[0036] The upper limb training institutions mentioned above;

[0037] A PC host, the PC host being communicatively connected to a main controller of each arm treatment unit of the upper limb training mechanism;

[0038] A human-computer interaction unit, comprising: a display and input peripherals, wherein the display and the input peripherals are both electrically connected to the PC host, and the input peripherals include at least: a keyboard and a mouse;

[0039] The input peripheral device is used to input the basic information of the patient, and the PC host is used to establish the patient's training file according to the input basic information; the display is used to visually display the patient's training file.

[0040] Preferably, a first rotating frame and a second rotating frame are provided on the bracket of the upper limb training mechanism, the input peripheral device is installed on the first rotating frame, and the display is installed on the second rotating frame.

[0041] Beneficial effects:

[0042] 1. The upper limb training mechanism of this utility model has two sets of arm treatment units, which can train the patient's two arms at the same time, in line with the standard process of bilateral simultaneous training of upper limb nerve rehabilitation treatment. It can also operate only one set of arm treatment units to achieve unilateral training treatment;

[0043] 2. The suspended traction assembly of the arm treatment unit of the utility model is composed of a sling and a reel assembly. The sling is connected to the upper limb fixing part, which can provide flexible support and driving force on the patient's wrist and elbow, making the training more flexible, safe and comfortable, while also extending the range of motion of the patient's upper limbs.

[0044] 3. The utility model utilizes an upper limb fixing piece to be worn directly on the patient's upper limb, and the sling and the upper limb fixing piece can be directly assembled, which simplifies the operation of the patient's rehabilitation training and improves convenience;

[0045] 4. The upper limb rehabilitation robot of the present invention has a human-computer interaction unit, which can provide patients with a good human-computer interaction experience, such as training demonstration animation, etc., which can improve the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0047] Figure 1 This is a schematic diagram of the overall structure of an upper limb training mechanism provided by one embodiment of the present utility model;

[0048] Figure 2 This is a schematic diagram of an upper limb fixation device provided by one embodiment of the present invention being worn on a patient's arm;

[0049] Figure 3 This is a circuit structure block diagram of an arm treatment unit provided in one embodiment of the present utility model;

[0050] Figure 4 This is a system block diagram of an upper limb rehabilitation robot provided by one embodiment of the present utility model;

[0051] Figure 5 This is a schematic diagram of the assembly of a human-computer interaction unit on an upper limb training mechanism provided by one embodiment of the present utility model.

[0052] Description of reference numerals:

[0053] 1. Lifting rope; 2. Mounting box; 3. Mobile base; 4. Vertical pole; 5. Horizontal beam; 6. Monitor; 7. Input peripherals; 8. Strap; 9. Armrest insert; 10. Lifting ring. DETAILED DESCRIPTION

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly introduced below in conjunction with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structures of the drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0055] Figure 1 This is a schematic diagram of the overall structure of an upper limb training mechanism provided by an embodiment of the present invention. Figure 1 As shown, this embodiment provides an upper limb training mechanism, which includes: a bracket, two groups of arm treatment units are provided on the top of the bracket, and each group of arm treatment units includes: a hanging traction component and an upper limb fixing piece, and the upper limb fixing piece is used to be worn on the patient's upper limb;

[0056] The suspended traction assembly of each group of arm treatment units includes: at least two sets of winding assemblies, each set of winding assemblies has a sling 1 wound on it, and the hanging ends of the sling 1 of at least two sets of winding assemblies can be detachably connected to the upper limb fixing parts of the group of arm treatment units; the at least two sets of winding assemblies are used to provide traction force for the upper limbs after wearing the upper limb fixing parts.

[0057] In this embodiment, during the training process, a stool can be placed directly below the two sets of arm treatment units, and the patient can sit on the stool; or the patient can stand directly below the two sets of arm treatment units; when the patient is directly below the two sets of arm treatment units, the two sets of arm treatment units are respectively located on the left and right sides of the patient, and then the corresponding arm treatment unit is selected according to the arm that the patient needs to train. When the patient has only one arm that needs training, one group is selected, and when the patient needs to train both arms, both groups are selected at the same time; therefore, the upper limb training mechanism of the present invention has two sets of arm treatment units, which can train the patient's arms at the same time, in line with the standard process of bilateral simultaneous training of upper limb nerve rehabilitation treatment, or only one set of arm treatment units can be run to achieve unilateral training treatment.

[0058] When not training, the upper limb fixing piece is separated from the sling 1. It is necessary to wear the upper limb fixing piece on the patient's arm, then pull out the sling 1, and connect the hanging end of the sling 1 to the upper limb fixing piece. The structure of the upper limb fixing piece is as follows: Figure 2 As shown, the upper limb fixing device includes two straps 8, which are connected by an arm support insert 9. The arm support insert 9 can provide a certain support force for the arm and wrist. The two straps 8 can be tied to the patient's arm through Velcro. A plurality of rings 10 are provided on the outside of the straps 8, and the hanging end of the sling 1 can be connected to the ring 10; therefore, the arm treatment unit of the present invention simplifies the operation of rehabilitation training for patients and improves convenience.

[0059] In this embodiment, each group of arm treatment units is preferably provided with two sets of winding components. At this time, each group of arm treatment units has two slings 1, and the two slings 1 are respectively connected to the rings 10 of the two straps 8. Two traction forces can be applied to the patient's arms to improve the stability of the patient's upper limb (arm) training. The two traction forces can make the arms more evenly stressed and improve the comfort of training.

[0060] In this embodiment, each set of winding components includes: a winding motor and a winding disk. The winding disk is installed on the driving shaft of the winding motor, and the sling rope 1 is then wound around the winding disk. By driving the winding motor forward and reverse, the winding and release of the sling rope 1 can be achieved. The winding component is a conventional structure in this field, so its specific structure is not drawn in the accompanying drawings.

[0061] The suspended traction assembly of the arm treatment unit of the present invention consists of a sling 1 and a winding assembly. The sling 1 is connected to the upper limb fixing part, which can provide flexible support and driving force on the patient's wrist and elbow, making the training more flexible, safe and comfortable, and the patient's upper limb has a wider range of motion.

[0062] As a further optimization of this embodiment, the suspended traction assembly of each group of arm treatment units also includes: an installation box 2, and the at least two sets of winding assemblies are installed in the installation box 2, and the hanging end of the sling 1 on each set of the winding assembly passes through the bottom of the installation box 2 to the outside of the installation box 2.

[0063] The arrangement of the installation box 2 of this embodiment integrates the winding components into the installation box 2, thereby improving the aesthetics of the entire upper limb training mechanism.

[0064] As a further optimization of this embodiment, the bracket includes: a movable base 3 and a vertical pole 4 connected to the middle part of the mobile base 3, a crossbeam 5 is provided on the top of the vertical pole 4, and the two groups of arm treatment units are installed on the end parts of the vertical pole 4, and the two groups of arm treatment units are located directly above the mobile base 3.

[0065] In this embodiment, the mobile base 3 is a U-shaped structure, and is provided with self-locking universal wheels on the mobile base 3. At this time, the mobile base 3 can be flexibly transported according to actual needs; the column is located on the middle edge of the mobile base 3, and the crossbeam 5 is located above the middle of the mobile base 3. At this time, when the patient only needs to stand in the middle position of the mobile base 3, the two sets of arm treatment units are located directly above the patient.

[0066] As a further optimization of this embodiment, Figure 3As shown, each group of arm treatment units also includes: a main controller, a rope length detector and a winding drive. The winding drive and the rope length detector are electrically connected to the main controller. The winding drive is used to drive at least two sets of winding components of the group of arm treatment units to reel or release the sling 1; the rope length detector is used to detect the release length of the sling 1.

[0067] In this embodiment, the main controller can adopt the STM32 series single-chip microcomputer minimum system, or a PLC controller. The rope length detector can adopt a photoelectric encoder to detect the release length of the suspension rope 1. The winding drive can adopt a conventional motor driver on the market to drive the forward and reverse rotation of the winding motor.

[0068] As a further optimization of this embodiment, each arm treatment unit further includes: a traction force detector and an upper limb position detection module, and the traction force detector and the upper limb position detection module are both electrically connected to the main controller;

[0069] The traction force detector is used to detect the traction force applied by each sling 1 to the upper limb fixing member, and the traction force detector is also used to upload the detected traction force applied by each sling 1 to the upper limb fixing member to the main controller;

[0070] After the upper limb fixing device is worn on the patient's upper limb, the upper limb position detection module is used to detect the position of the patient's upper limb when performing training, and the upper limb position detection module is also used to upload the detected upper limb position to the main controller.

[0071] In this embodiment, the traction force detector can monitor in real time the traction force applied by the sling 1 to the upper limb fixation piece. Since the upper limb fixation piece is worn on the patient's arm, the traction force applied by the sling 1 to the patient's arm is monitored in real time. The greater the traction force, the less effort the patient needs to use to move his arm, thereby supporting the arm. The utility model can also generate different amounts of traction force by controlling the torque of the winding motor according to the actual recovery condition of the patient, so as to provide the patient with the best traction force and speed up the patient's recovery.

[0072] In this embodiment, the upper limb position detection module includes an accelerometer and a gyroscope, both of which are wirelessly connected to the main controller and mounted on the upper limb mount. The accelerometer and gyroscope detect the angular velocity and acceleration of the arm during training. The upper limb position can be determined based on the acceleration and angular velocity. This position can be used as an evaluation indicator of the patient's training effectiveness, allowing for the development of a personalized training plan for each patient.

[0073] Example 2

[0074] Figure 4 This is a system block diagram of an upper limb rehabilitation robot provided by an embodiment of the present invention. Figure 4 As shown, this embodiment provides an upper limb rehabilitation robot, the robot comprising:

[0075] The upper limb training mechanism in the first embodiment has been described in detail in the first embodiment and will not be described in detail in this embodiment;

[0076] A PC host, the PC host being communicatively connected to a main controller of each arm treatment unit of the upper limb training mechanism;

[0077] A human-computer interaction unit, comprising: a display 6 and an input peripheral 7, both of which are electrically connected to the PC host, and the input peripheral 7 comprises at least a keyboard and a mouse;

[0078] The input peripheral device 7 is used to input the basic information of the patient, and the PC host is used to establish the patient's training file according to the input basic information; the display 6 is used to visually display the patient's training file.

[0079] As a further optimization of this embodiment, the bracket of the upper limb training mechanism is provided with a first rotating frame and a second rotating frame, the input peripheral 7 is installed on the first rotating frame, and the display 6 is installed on the second rotating frame. Figure 5 shown.

[0080] The upper limb rehabilitation robot of the present invention has a human-computer interaction unit, which can provide patients with a good human-computer interaction experience, such as training demonstration animation, etc., and can improve the training effect.

[0081] As a further optimization of this embodiment, a first rotating frame and a second rotating frame are provided on the bracket of the upper limb training mechanism, the input peripheral device 7 is installed on the first rotating frame, and the display 6 is installed on the second rotating frame.

[0082] In this embodiment, the first rotating frame and the second rotating frame are both installed on the column of the bracket, and the first rotating frame and the second rotating frame are both composed of multiple connecting rods hinged together. At this time, the display 6 and the keyboard can be rotated in multiple directions, changing the position of the display 6 and the keyboard, making it easier for patients or other medical staff to operate and view the display 6 and use the keyboard.

[0083] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0084] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An upper limb training mechanism, characterized in that: The mechanism comprises: a bracket, the top of which is provided with two groups of arm treatment units, each group of arm treatment units comprising: a hanging traction component and an upper limb fixing piece, the upper limb fixing piece being used to be worn on the patient's upper limb; The suspension traction assembly of each arm treatment unit comprises: at least two sets of winding assemblies, each set of winding assemblies has a sling (1) wound on it, and the suspension ends of the slings (1) of at least two sets of winding assemblies can be detachably connected to the upper limb fixing parts of the arm treatment unit; the at least two sets of winding assemblies are used to provide traction force for the upper limb after the upper limb fixing parts are worn.

2. The upper limb training mechanism according to claim 1, characterized in that: The suspended traction assembly of each arm treatment unit further comprises: a mounting box (2), wherein the at least two sets of winding assemblies are mounted in the mounting box (2), and the hanging end of the sling (1) on each set of the winding assemblies passes through the bottom of the mounting box (2) to the outside of the mounting box (2).

3. The upper limb training mechanism according to claim 1, characterized in that: Each group of arm treatment units also includes: a main controller, a rope length detector and a winding driver, the winding driver and the rope length detector are both electrically connected to the main controller, the winding driver is used to drive at least two sets of winding components of the group of arm treatment units to wind up or release the sling (1); the rope length detector is used to detect the released length of the sling (1).

4. The upper limb training mechanism according to claim 3, characterized in that: Each arm therapy unit also includes: A traction force detector, wherein the traction force detection sensor is electrically connected to the main controller, and the traction force detector is used to detect the traction force applied by each sling (1) to the upper limb fixing member, and the traction force detector is also used to upload the detected traction force applied by each sling (1) to the upper limb fixing member to the main controller; An upper limb position detection module is communicatively connected to the main controller. After the upper limb fixing device is worn on the patient's upper limb, the upper limb position detection module is used to detect the patient's upper limb position when performing training. The upper limb position detection module is also used to upload the detected upper limb position to the main controller.

5. The upper limb training mechanism according to claim 4, characterized in that: The upper limb position detection module includes: an accelerometer and a gyroscope. The accelerometer and the gyroscope are both wirelessly connected to the main controller, and the accelerometer and the gyroscope are both installed on the upper limb fixing member.

6. The upper limb training mechanism according to claim 1, characterized in that: The bracket comprises: a movable base (3) and a vertical pole (4) connected to the middle of the movable base (3); a crossbeam (5) is provided on the top of the vertical pole (4); the two groups of arm treatment units are both mounted on the ends of the vertical pole (4); and the two groups of arm treatment units are both located directly above the movable base (3).

7. The upper limb training mechanism according to claim 1, characterized in that: The upper limb fixing device comprises: two straps (8), the two straps (8) are connected via an arm support insert (9), and a plurality of rings (10) are provided on the outside of the straps (8), and the rings (10) are used to be connected to the hanging end of the sling (1).

8. A rehabilitation robot, characterized in that: The robot comprises: The upper limb training mechanism according to any one of claims 1 to 7; A PC host, the PC host being communicatively connected to a main controller of each arm treatment unit of the upper limb training mechanism; A human-computer interaction unit comprises: a display (6) and an input peripheral (7); the display (6) and the input peripheral (7) are both electrically connected to the PC host; the input peripheral (7) comprises at least: a keyboard and a mouse.

9. The rehabilitation robot according to claim 8, characterized in that: A first rotating frame and a second rotating frame are provided on the bracket of the upper limb training mechanism, the input peripheral device (7) is installed on the first rotating frame, and the display (6) is installed on the second rotating frame.

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