Upper limb rehabilitation training device

Abstract

The utility model relates to an upper limb rehabilitation training equipment, including first direction movement subassembly and second direction subassembly, first direction movement subassembly is located below second direction subassembly, first direction movement subassembly includes first direction sliding frame and guide mechanism, the second direction subassembly of upper layer and the first direction subassembly of lower layer are connected through the sliding frame, the sliding frame includes side plate and bottom plate, the upper limb rehabilitation training equipment still includes bottom shell, side shell and apron, first direction movement subassembly is installed on the bottom shell, at least one side shell is equipped with the open slot, and first direction sliding frame passes out from the open slot, so that the sliding frame can reciprocate in the length range of open slot. The equipment open slot is not parallel with the equipment movement plane, and the structure is reasonable, and the motion performance is good, and the safety is high, and the use is convenient, and the adaptability is strong, can be effectively used for upper limb rehabilitation training.

Description

Technical Field

[0001] This utility model relates to rehabilitation medical equipment, and more particularly to upper limb rehabilitation training equipment. Background Technology

[0002] Statistics show that there are over ten million stroke patients in China. Post-stroke motor dysfunction significantly impacts patients' quality of life, especially upper limb dysfunction, which severely affects their daily lives. With the continuous advancement of robotics technology, some upper limb rehabilitation robots, particularly end-effector traction rehabilitation robots, have been developed to replace traditional one-on-one therapy with rehabilitation therapists.

[0003] Patent CN 217339901U discloses an upper limb planar device. The device usually adopts an upper and lower layer structure, which realizes movement in one direction. The lower layer carries the upper layer to slide back and forth in the plane along the track, and the upper layer carries the arm support or other devices connected to the limb to move back and forth.

[0004] Currently, these common devices typically have an upper layer positioned above a lower slider. The upper shell of the lower layer has grooves to allow the upper layer to move in the opposite direction as driven by the lower layer. Users with weaker upper limb muscles tend to lean forward habitually. When the machine is guiding a patient through training, the patient will instinctively place their hands on the upper shell of the lower layer for support. This structure and usage scenario make it easy for the patient to place their hands into the grooves on the upper shell, posing a risk of squeezing their fingers or getting their hands caught in the lower transmission mechanism, potentially causing secondary injury. Utility Model Content

[0005] In view of the above-mentioned deficiencies of the prior art, the present invention provides an upper limb rehabilitation training device, characterized in that it includes a first direction movement component and a second direction component, the first direction movement component being located below the second direction component; the first direction movement component includes a first direction sliding frame and a guide mechanism, the upper second direction component and the lower first direction component being connected through the sliding frame; the sliding frame includes a side plate and a bottom plate; the upper limb rehabilitation training device also includes a side shell, at least one side shell having an opening slot, the first direction sliding frame passing through the opening slot, thereby the sliding frame can reciprocate within the length range of the opening slot;

[0006] Furthermore, the first directional guiding mechanism includes two sets of parallel guide rails. The sliding frame is slidably mounted on the guide rails and can move along the guide rails.

[0007] Furthermore, the first direction guide mechanism is an optical axis or a linear guide rail, and a slider that slides along the guide mechanism is provided on the guide mechanism. The slider is provided with mounting holes, and the sliding bracket is installed on the slider.

[0008] Furthermore, the upper limb rehabilitation training device also includes a base shell and a cover plate, with the first directional movement component mounted on the base shell; the cover plate separates the first directional movement component from the second directional component.

[0009] Furthermore, the bottom plate and side plate of the first direction sliding frame are arranged in an L-shape or a U-shape.

[0010] Furthermore, the inner side of the side shell also includes a shielding part to shield the opening slot on the side shell.

[0011] Furthermore, the lower-level first-direction motion component also includes a drive component, which further includes a motor, a synchronous belt, a drive pulley, and a driven pulley that are matched with each set of guide rails. The motor is fixed to the guide rail or the bottom shell through a motor mounting bracket. After the synchronous belt passes around the drive pulley and the driven pulley, its two ends are fixed to the bottom plate of the sliding frame, so that the sliding frame can reciprocate along the guide rail in the first direction under the drive of the motor and the synchronous belt.

[0012] Furthermore, the upper second-direction assembly includes a second-direction guiding mechanism and a drive assembly; the second-direction guiding mechanism includes two parallel guide rails, which are perpendicular to the guide rails in the first-direction guiding mechanism; the guide rails are fixed to the sliding frame; a second-direction sliding seat plate is provided between the two guide rails; the second-direction sliding seat plate slides with the two guide rails respectively through two sliders thereon; the second-direction drive assembly includes a second-direction motor, a driving wheel, a driven wheel, and a transmission belt.

[0013] Furthermore, it also includes a grip and a top cover box disposed on the second direction assembly. The top cover box has a second direction opening slot, through which the grip bar of the grip passes. Thus, the grip can reciprocate within the length range of the second direction opening slot, while the second direction assembly and the top cover box as a whole can reciprocate in the first direction above the slotless cover plate.

[0014] Furthermore, the height t of the opening slot on the side shell is greater than the thickness of the base plate of the first direction sliding frame, and the length L of the opening slot on the side shell is greater than the range of motion L1 plus the length of the base plate of the first direction sliding frame, thereby ensuring that when the first direction sliding frame is at its extreme positions at both ends, there are still a certain distance L2 and L3 to the edge of the slot.

[0015] The upper limb rehabilitation training device of this utility model has the following technical effects:

[0016] Reasonable structural design

[0017] Reasonable layered structure and connection method: The device adopts an upper and lower layer structure, with the upper layer being the X-direction motion component and the lower layer being the Y-direction motion component. They are connected by Y-direction sliding frames on both sides of the device. This structural design enables the device to achieve two-dimensional motion in a plane, meeting the needs of upper limb rehabilitation training.

[0018] The components fit together tightly: the Y-axis sliding frame includes a side plate and a bottom plate. The bottom plate passes through the Y-axis opening groove on the side plate of the chassis box, and the side plates form the left and right side plates of the top cover box. This design ensures that the components fit together tightly, guaranteeing the integrity and stability of the equipment.

[0019] Good athletic performance

[0020] The guiding and driving components are well-developed: the lower Y-direction motion component includes two sets of parallel guide rails as guiding mechanisms, and a driving component including a Y-direction motor, synchronous belt, drive pulley, and driven pulley, ensuring the synchronicity and stability of the lower-level motion; the upper X-direction motion component includes two parallel guide rails as guiding mechanisms and a driving component including a motor, drive pulley, driven pulley, and transmission belt, ensuring the accuracy of the upper-level motion.

[0021] Smooth and precise movement: Through reasonable design and coordination, the various motion components enable the grip to move in any position and along any trajectory within the plane, providing diverse movement modes for upper limb rehabilitation training and helping to improve the effectiveness of rehabilitation training.

[0022] High security

[0023] To avoid the risk of pinching injuries: The traditional upper Y-shaped slot has been changed to a side slot, that is, a Y-shaped opening slot is opened on the side plate of the chassis box. The height and length of the Y-shaped opening slot are reasonably designed to prevent patients from accidentally putting their limbs into the slot during the operation of the equipment and causing compression. At the same time, it also avoids opening slots and sliding parts in positions that patients can easily access on the equipment, thus reducing the risk of pinching injuries to the human body.

[0024] A shielding device can be provided: In some embodiments, the device also includes a shielding device placed inside the slot of the side panel to shield the slot, prevent foreign objects from falling into the slot, and better prevent patients' fingers from being inserted, thereby further improving the safety of the device.

[0025] Highly convenient to use

[0026] The grip is reasonably designed: the grip includes a grip bar and a grip sleeve. The grip sleeve can rotate around the grip bar. The grip assembly also includes a grip base. The grip bar is fixed to the grip base by a threaded connection, which ensures that the X-axis sliding plate can transmit force to the grip bar when it moves. This design conforms to the principles of ergonomics and is convenient for patients to hold and use.

[0027] Easy to assemble and maintain: The design of each component facilitates modular assembly and maintenance. For example, the Y-axis motor is fixed to the motor mounting bracket, and then the motor mounting bracket is fixed to the corresponding guide rail. The various parts of the drive assembly can also be pre-installed as a complete component before assembly, which simplifies the assembly process and facilitates subsequent disassembly.

[0028] Highly adaptable

[0029] Motor type is optional: X-axis and Y-axis motors can be stepper motors or servo motors, etc. The appropriate motor type can be selected according to actual needs to meet different rehabilitation training requirements.

[0030] Transmission belts come in various structures: they can be synchronous belts, open-ended belts, or closed-ended ring belts. The appropriate transmission belt structure can be selected according to the actual situation to adapt to different application scenarios.

[0031] The following will further explain the concept, specific structure and technical effects of this utility model in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of this utility model. Attached Figure Description

[0032] Figure 1 This is a perspective view of an upper limb rehabilitation training device in a preferred embodiment of the present invention;

[0033] Figure 2 yes Figure 1 Front view of the upper limb rehabilitation training equipment in the picture;

[0034] Figure 3 This is a 3D view of the motion component in the Y direction;

[0035] Figure 4 yes Figure 3 A stereoscopic view of the Y-direction motion component from the reverse side;

[0036] Figure 5 This is a 3D view of the X-direction motion component.

[0037] Figure 6 This is a schematic diagram of the chassis box installation;

[0038] Figure 7 This is a diagram showing the installation of the cover plate;

[0039] Figure 8 This is a diagram showing the installation of the top cover box;

[0040] Figure 9 This is a schematic diagram showing the size relationship between the Y-direction opening slot and the Y-direction sliding frame;

[0041] Figure 10 This is a schematic diagram of another embodiment of the present invention. Detailed Implementation

[0042] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0043] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and this invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0044] like Figure 1 As shown, an upper limb rehabilitation training device aims to drive the patient's upper limbs to perform planar rehabilitation training. During use, the patient needs to hold the handle 1 of the rehabilitation device with the affected hand. The device guides the patient's hand through two-dimensional (X and Y directions) planar movements. By guiding the patient through different movements and trajectories, it helps to train the joints of the upper limbs and promotes rehabilitation.

[0045] like Figure 2 As shown, the device includes a second-direction (X-direction) component 100 and a first-direction (Y-direction) motion component 200, with the second-direction component 100 located on the upper layer and the first-direction motion component 200 located on the lower layer. The upper-layer X-direction component 100 and the lower-layer Y-direction motion component 200 are connected by Y-direction sliding frames 300 on both sides. The X-direction component 100 is used to drive the grip 1 to move in the X-direction (left-right direction of the patient), and the Y-direction motion component 200 is used to drive the grip 1 to move in the Y-direction (back-forward direction of the patient). By combining the movements of the upper and lower layers of the X-direction component 100 and the Y-direction motion component 200, the grip 1 can move at any position and along any trajectory in the plane.

[0046] The lower-level Y-direction motion component 200 includes two sets of Y-direction guide mechanisms and a Y-direction drive component. For example... Figure 1-3 As shown, the Y-direction guiding mechanism consists of two sets of parallel guide rails 201 to ensure the synchronicity of the movement of the lower Y-direction motion component 200 and the stability of the movement of the upper X-direction motion component 100. The Y-direction drive component also includes a Y-direction motor 202 that matches each set of guide rails 201. The Y-direction motor 202 is fixed to the motor mounting bracket 203, and then the motor mounting bracket 203 is fixed to the corresponding guide rail 201. This ensures the relative position of the motor and the guide rail, facilitates modular assembly and maintenance, and simplifies the assembly process.

[0047] The Y-axis drive assembly includes a synchronous belt 204, a drive pulley 205, and a driven pulley 206. The drive pulley 205 is fixed to the output shaft of the Y-axis motor 202, ensuring synchronous movement with the motor. The drive assembly also includes two driven pulley mounting brackets 207, which are detachably fixed to the guide rail 201. Each bracket 207 has openings for securing the driven pulleys 206. The symmetrical arrangement of the two driven pulleys 206 ensures that uneven force distribution occurs when they are subjected to load. Furthermore, during machine assembly and disassembly, the guide rail, motor, drive pulley, and driven pulley can be pre-assembled as a complete unit, simplifying the assembly process and facilitating subsequent disassembly. Simultaneously, installation based on the guide rail makes it easier to ensure the relative positions of the drive pulley, driven pulley, and motor shaft are on the same plane, improving motion accuracy and extending the lifespan of moving parts.

[0048] like Figure 3 , Figure 4 and Figure 6 As shown, the guide rail 201 of the first directional motion component 200 is a square tube, and guide rails 208 are respectively provided on the left and right sides of the square tube. The sliding frame 300 includes a base plate 301 and a side plate 302. The side shell is vertically arranged on the outside of the first directional motion component for movement and limb health protection. The guide rail in the first directional motion component is fixed to the base shell, and the side shell is provided with an opening slot 501.

[0049] The side shell plane is generally not parallel to or coincides with the XY motion plane, thus ensuring that the side shell slot can be set on a non-XY motion plane. This ensures that the patient does not come into contact with the slot during device movement, reducing safety risks.

[0050] In other embodiments, the side shells are arranged vertically and are an integral structure with the bottom shell, which facilitates installation.

[0051] One end of the base plate 301 of the sliding frame 300 extends through the opening slot 501 of the side shell and connects to the side plate. The base plate 301 has openings for positioning and fixing the roller assembly. The four rollers 209 of the roller assembly are symmetrically distributed on the outer sides of the guide rails 208 on the left and right sides of the guide rail 201, and the rollers 209 are in contact with the guide rails 208, thus ensuring stable sliding of the first-direction sliding frame 300 on the guide rail 201 with consistent resistance. The synchronous belt 204 of the first-direction motion assembly 200 passes over the driving wheel 205, the inner cavity of the guide rail 209, and the driven wheel 206, and its two ends 210 are fixed to the base plate 301 of the sliding frame 300. During movement, the first-direction motor 202 drives the synchronous belt 204 through the driving wheel 205, and the synchronous belt 204 drives the first-direction sliding frame 300 to reciprocate.

[0052] In a more specific embodiment, the number of rollers can be at least 3, or 6, or any other number higher than 3; when the number is even, they are generally arranged symmetrically to ensure that each roller is subjected to uniform force and improve its lifespan. The rollers can be made of one of the following materials: rubber, silicone, nylon, plastic, metal, etc.

[0053] In other embodiments, the lower motion assembly may further include a first slider, which can move on the guide rail 201 and has mounting holes. The sliding frame base plate is fixed to the slider. This facilitates the separation of the pulley assembly from the sliding frame, making assembly and disassembly more convenient.

[0054] The upper X-direction component 100 includes an X-direction guiding mechanism and an X-direction drive component. For example... Figure 5 As shown, the X-axis guiding mechanism includes two parallel guide rails 101, which are perpendicular to the guide rail 201 in the Y-axis guiding mechanism. Both ends of the guide rails 101 are fixed to the side plates 302 of the Y-axis sliding frame 300 via guide rail fixing brackets 102. An X-axis sliding seat plate 400 is provided between the two optical axes 101. The X-axis sliding seat plate 400 slides with the two guide rails via two sliders 401 on it.

[0055] The X-axis drive assembly includes an X-axis motor 103, a drive pulley 104, a driven pulley 105, and a drive belt 106. For example... Figure 5 As shown, the X-axis motor 103 and three driven wheels 105 are fixed to the side plate 302 of the Y-axis sliding frame 300 via a fixing bracket 107, and the driving wheel 104 is fixed to the output shaft of the X-axis motor 103. The grip 1 is mounted on the X-axis sliding base plate 400 via a mounting base 3, and the two ends 107 of the transmission belt 106, which passes over the driving wheel 104 and each driven wheel 105, are also fixed to the mounting base 3. Thus, driven by the motor and the transmission belt, the X-axis sliding base plate 400 and the grip 1 can reciprocate along the guide rail in the X direction.

[0056] The grip 1 includes a grip bar and a grip sleeve. The grip sleeve can rotate around the grip bar. The grip assembly also includes a grip base. The grip base is fixed to the X-axis sliding plate 400. The grip bar is fixed to the grip base, which ensures that the X-axis sliding plate 400 can transmit force to the grip bar when it moves.

[0057] The grip assembly also includes an arm support rod and an arm support 2, with the arm support 2 fixed to the arm support rod. The arm support rod is fixed to a flange, which is fixed to a bearing. The grip bar passes around the rotation center of the flange, bearing, and arm support rod.

[0058] Positioning devices can also be installed at the ends of the travel strokes of the upper X-direction motion component 100 and the lower Y-direction motion component 200. Before each training session or power-on, a motion reference positioning of the equipment is performed. After positioning, an encoder is used to detect the movement distance between the upper and lower layers to determine the specific movement position of the machine. The positioning device can be a microswitch. When the slider moves to the microswitch position, the microswitch is triggered, defining the current position of the equipment as the reference position.

[0059] In a more specific embodiment, the X-axis and Y-axis motors can be stepper motors or servo motors, etc.

[0060] In a more specific embodiment, the X-axis transmission assembly includes only one driving wheel and one driven wheel. The driving wheel is fixed to the motor, and the driven wheel is fixed to the side plate on the other side by a fixing bracket. The conveyor belt is directly fixed to the X-axis sliding plate by a transmission belt fixing member, without needing to bypass the bearing housing; the transmission belt fixing member is directly fixed to the X-axis sliding plate.

[0061] In some embodiments, both the upper and lower transmission belts are synchronous belts, and both the driving pulley and the driven pulley are synchronous belt pulleys.

[0062] In some embodiments, the conveyor belt has an open structure;

[0063] In other embodiments, the conveyor belt can be a closed annular structure, with the upper part of its annular surface fixed to the lower bottom surface of the sliding seat plate, thereby driving the sliding seat plate to move.

[0064] In some embodiments, the handlebar can be directly fixed to the sliding base plate;

[0065] In some other embodiments, a force sensor may be placed between the grip bar and the base to detect the force applied by the user on the grip bar, thereby determining the patient's movement intention and providing corresponding rehabilitation training.

[0066] In some embodiments, the positioning device may be one of the following: a micro switch, a photoelectric detection switch, a collision switch, a push button switch, or other triggerable positioning schemes.

[0067] like Figure 6 As shown, the guide rail in the first direction motion component is fixed to the bottom shell, and the bottom shell and the side plate are an integral structure, which facilitates installation.

[0068] In a more specific embodiment, the side panel and the bottom panel can be an integral or separate structure. When it is a separate structure, the side panel is fixed to the bottom panel, and both can be detached and installed. This allows for easy and complete separation of the upper and lower layers during assembly and disassembly.

[0069] like Figure 7As shown, a cover plate 600 separates the X-direction motion component 100 and the Y-direction motion component 200.

[0070] In some embodiments, the upper part of the cover plate is arranged opposite to the bottom plate, and the cover plate and the bottom plate are connected by a side shell to form a closed box to protect the first direction moving component.

[0071] like Figure 8 As shown, a top cover box 700 is provided on the X-direction assembly 100. The top cover box 700 has an X-direction opening slot 701. The grip rod of the handle 1 passes through the X-direction opening slot 701, so that the handle 1 can reciprocate within the length range of the X-direction opening slot 701. In the embodiment shown in the figure, the side plates 302 of the sliding frame 300 constitute the left and right side plates of the top cover box 700.

[0072] like Figure 9 As shown, the height t of the Y-direction opening slot 501 is greater than the thickness of the base plate 301 of the Y-direction sliding frame 300, and the length L of the Y-direction opening slot 501 is greater than the range of motion L1 plus the length of the base plate of the Y-direction sliding frame 300. This ensures that when the Y-direction sliding frame 300 is at its extreme positions at both ends, there are still certain distances L2 and L3 from the edge of the slot. This prevents objects in the chute or patients from accidentally placing their limbs into the chute during operation, which could cause compression when the equipment reaches its extreme positions. Generally, its height t is set according to medical testing regulations. Furthermore, it is generally designed not to exceed the average diameter of a human finger to prevent fingers from being inserted into the slot and being compressed.

[0073] This design changes the traditional top Y-axis slot to a side slot, avoiding the need for slots and sliding parts in areas easily accessible to patients, thus reducing the risk of pinching injuries. It is also more aesthetically pleasing.

[0074] In some embodiments, the inner side of the side shell also includes a shielding portion to block the opening slot on the side shell. The shielding portion can be a brush and is fixed to the side shell to prevent foreign objects or limbs from entering the lower shell without affecting the sliding of the sliding frame base plate.

[0075] In some other embodiments, the shielding part can also be made of elastic material, with one end fixed to the side shell and another part fixed to the sliding frame. As the sliding frame slides, the slot can be shielded during the sliding process.

[0076] In other embodiments, a detection device may be provided in the shielding part, which detects and provides a corresponding signal to the device when a foreign object or limb enters.

[0077] In some embodiments, such as Figure 10As shown, the bottom plate and side plate of the first-direction sliding frame are arranged in a U-shape. The side plate passes through the opening slot in the side shell and forms a side plate upward. The bottom plate and side plate are parallel, and the upper motion component is fixed to the side plate.

[0078] In this embodiment, the specific directions of the first direction and the second direction are not limited, such as Figure 1 The first direction shown is the Y-axis, which is perpendicular to the coronal plane of the human body, and the second direction is the X-axis shown in the figure, which is perpendicular to the Y-axis.

[0079] In another embodiment, the direction perpendicular to the coronal plane of the human body can be set as the second direction, and the direction perpendicular to the second direction can be set as the first direction. That is, the second direction is the Y-direction of movement towards and away from the human body (and...). Figure 1 The structure shown is vertical.

[0080] In other embodiments, the first and second movement directions are not perpendicular.

[0081] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An upper limb rehabilitation training device, characterized in that, It includes a first direction motion component and a second direction component, with the first direction motion component located below the second direction component; The first direction motion component includes a first direction sliding frame and a guide mechanism. The upper second direction component and the lower first direction component are connected by the sliding frame. The sliding frame includes a side plate and a bottom plate. The upper limb rehabilitation training equipment also includes a side shell; at least one side shell is provided with an opening slot, through which a first-direction sliding frame extends, so that the sliding frame can reciprocate within the length range of the opening slot.

2. The upper limb rehabilitation training device as described in claim 1, wherein, The first directional guiding mechanism includes two sets of parallel guide rails; the sliding frame is slidably mounted on the guide rails and can move along the guide rails.

3. The upper limb rehabilitation training device as described in claim 2, wherein, The first direction guide mechanism is an optical axis or a linear guide rail. The guide mechanism is equipped with a slider that slides along the guide mechanism. The slider is equipped with mounting holes, and the sliding bracket is mounted on the slider.

4. The upper limb rehabilitation training device as described in claim 1, wherein, It also includes a bottom shell and a cover plate, with the first directional motion component mounted on the bottom shell; the cover plate separates the first directional motion component and the second directional component.

5. The upper limb rehabilitation training device as described in claim 1, wherein, The base plate and side plates of the first direction sliding frame are L-shaped or U-shaped.

6. The upper limb rehabilitation training device as described in claim 1, wherein, The inner side of the side shell also includes a shielding part to shield the opening slot on the side shell.

7. The upper limb rehabilitation training device as described in claim 1, wherein, The lower first-direction motion component also includes a drive component, which includes a motor, a timing belt, a drive pulley, and a driven pulley that are matched with each set of guide rails. The motor is fixed to the guide rail or the bottom shell by a motor mounting bracket. After the timing belt passes around the drive pulley and the driven pulley, its two ends are fixed to the bottom plate of the sliding frame, so that the sliding frame can reciprocate along the guide rail in the first direction under the drive of the motor and the timing belt.

8. The upper limb rehabilitation training device as described in claim 1, wherein, The upper second-direction assembly includes a second-direction guiding mechanism and a drive assembly; the second-direction guiding mechanism includes two parallel guide rails, which are perpendicular to the guide rails in the first-direction guiding mechanism; the guide rails are fixed to a sliding frame; a second-direction sliding seat plate is provided between the two guide rails; the second-direction sliding seat plate slides with the two guide rails respectively through two sliders on it; the second-direction drive assembly includes a second-direction motor, a driving wheel, a driven wheel, and a transmission belt.

9. The upper limb rehabilitation training device as described in claim 1, wherein, It also includes a grip and a top cover box disposed on the second direction assembly. The top cover box has a second direction opening slot, through which the grip bar of the grip passes. Thus, the grip can reciprocate within the length of the second direction opening slot, while the second direction assembly and the top cover box as a whole can reciprocate in the first direction above the slotless cover plate.

10. The upper limb rehabilitation training device as described in claim 1, wherein, The height t of the slot on the side shell is greater than the thickness of the base plate of the first direction sliding frame, and the length L of the slot on the side shell is greater than the range of motion L1 plus the length of the base plate of the first direction sliding frame, so as to ensure that when the first direction sliding frame is at the extreme positions at both ends, there are still distances L2 and L3 to the edge of the slot.

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