CN104473751A - Left-hand/right-hand dual-purpose upper limb rehabilitation robot - Google Patents

Abstract

The object of the present invention is to provide a dual-purpose upper limb rehabilitation robot, including a height-adjusting column, a shoulder adjustment mechanism, a shoulder joint movement unit, a large arm length adjustment mechanism, an elbow joint movement unit, a forearm length adjustment mechanism, and a wrist joint movement unit. unit. The shoulder adjustment mechanism can move left and right, adjust the shoulder width according to different trainers, and provide an installation position for the arm rehabilitation mechanism. The shoulder joint motion unit has two degrees of freedom for the shoulder to rotate horizontally and the upper arm to swing up and down. The invention has a compact structure and has two rehabilitation training modes for the left hand and the right hand. A set of robot system realizes the rehabilitation training of the shoulder, elbow and wrist joints of the left hand or the right hand. The "one machine with two functions" reduces the cost of medical rehabilitation equipment.

Description

A dual-purpose upper limb rehabilitation robot

technical field

The invention relates to a rehabilitation device, specifically an upper limb rehabilitation device.

Background technique

With the increasing number of patients with hemiplegia and stroke and the trend of rejuvenation, the rehabilitation training and gradual recovery of life ability of this group of people have become the focus of research at home and abroad. A large number of studies have shown that more than half of limb motor dysfunction can be improved to a certain extent through rehabilitation training, and upper limb rehabilitation training equipment is an important means to relieve patients' pain and gradually restore their self-care ability and motor function. Therefore, it is of great significance to design a robot system that can help the disabled arm to perform muscle motor function exercise and nerve function recovery, and can realize the rehabilitation training of each joint and muscle group of the arm.

At present, there are many related patents at home and abroad, and the functions are similar. A three-degree-of-freedom hybrid upper limb rehabilitation robot (application number 201310020668.8), which proposes an upper limb rehabilitation method based on a parallel mechanism and a series rotating pair, and can choose different driving methods according to needs to realize rehabilitation training of the wrist joint and forearm . An upper limb rehabilitation training system with active and passive modes (application number 201110365004.6), designed an upper limb rehabilitation device with active and passive training modes. An upper limb rehabilitation training robot (application number 201210554494.9) proposes a mobile exoskeleton upper limb rehabilitation device, but the arm rehabilitation device can only realize rehabilitation training for the right hand. An upper limb rehabilitation training robot (application number 201110237855.4) proposes an arm rehabilitation device based on a crank-link mechanism that can realize 6 degrees of freedom, but the rehabilitation robot is only suitable for left-handed patients. Although there are many institutions or devices for upper limb rehabilitation training, they are all only rehabilitation training devices for the left hand or right hand, while there are very few rehabilitation devices suitable for both left and right hands.

Contents of the invention

The purpose of the present invention is to provide a dual-purpose upper limb rehabilitation robot for right and left hands, which is convenient for different patients to carry out rehabilitation training and realizes the dual-purpose function of one machine.

The purpose of the present invention is achieved like this:

The present invention is a dual-purpose upper limb rehabilitation robot, which is characterized in that it includes a height-adjusting column, a shoulder adjustment mechanism, a shoulder joint movement unit, a large arm length adjustment mechanism, an elbow joint movement unit, a forearm length adjustment mechanism, and a wrist joint movement unit;

Wheels are installed at the bottom of the height-adjustable column;

The shoulder adjustment mechanism includes a slide rail, a slide rail mounting plate, a slider, a slider fixing plate, a hand wheel, and a shoulder mounting frame. The slide rail mounting plate is fixed on the top of the height adjustment column, and the slide rail is fixed on the slide rail mounting plate. The slider is installed on the slide rail, and the hollow shoulder mounting frame is connected to the slider through the slider fixing plate. Bearing seats that limit the limit position of the slider are installed on both sides of the slide rail mounting plate, and the middle of the slider fixing plate is threaded. Hole, the middle part of the screw goes through the threaded hole of the slider fixing plate and cooperates with it, the two ends of the screw are installed on the two bearing seats and the handwheel is installed;

The shoulder joint motion unit includes a shoulder rotary motor, an L-shaped reducer, an L-shaped rotary shoulder, a U-shaped boom mounting frame, a boom swing motor and a T-shaped reducer, and the connected shoulder rotary motor and L-shaped reducer are all set In the shoulder mounting frame, the side of the L-shaped rotary shoulder is fixed to the U-shaped boom mounting frame, the top surface of the L-shaped rotary shoulder is fixed to the output flange of the L-shaped reducer, and the boom swing motor is connected to the T-shaped reducer. The U-shaped boom mounting frame is provided with a U-shaped opening to accommodate the boom swing motor and the T-shaped reducer, and the output flange of the T-shaped reducer is fixedly connected to the U-shaped boom mounting frame;

The boom length adjustment mechanism includes a boom guide rod, a boom guide rod fixing block, a boom screw, a boom rotation nut, a boom screw positioning block and a boom elbow joint. Both the arm guide rod fixing block and the boom screw positioning block have through holes, and the boom rotating nut includes a connected boom nut rotation section and a boom nut thread section, and the boom nut thread section is located at the bottom of the boom screw positioning block. The first end of the boom screw is fixed on the elbow joint of the boom, and the second end of the boom screw is located in the threaded section of the boom nut and cooperates with it. The first end of the guide rod is fixed on the elbow joint of the upper arm, and the second end of the guide rod of the upper arm is located in the through hole of the fixed block of the guide rod of the upper arm;

The forearm length-adjusting mechanism comprises a forearm elbow joint, a forearm guide rod, a forearm adjustment nut, a forearm screw, and a forearm wrist joint. The forearm elbow joint is respectively provided with through holes matched with the forearm adjustment nut and the forearm guide rod. The forearm adjustment nut includes a connected The rotating section of the forearm nut and the threaded section of the forearm nut. The threaded section of the forearm nut is located in the corresponding through hole of the forearm adjusting nut and forms a rotating pair with the forearm elbow joint. The first end of the forearm screw is fixed on the forearm wrist joint. The second end is located in the forearm adjusting nut and cooperates with it, the first end of the forearm guide rod is fixed on the forearm wrist joint, and the second end of the forearm guide rod is located in the through hole matched with it;

Wrist joint motion unit includes wrist joint motor, first synchronous pulley, second synchronous pulley, wrist joint handle, wrist joint motor is installed in forearm wrist joint, first synchronous belt pulley and second synchronous pulley are installed in forearm wrist Outside the joint, the second synchronous pulley is fixedly connected to the handle of the wrist joint, the motor of the wrist joint is connected to the first synchronous pulley, and the first synchronous belt is wound on the first synchronous pulley and the second synchronous pulley;

The elbow motion unit includes the elbow motor, the third synchronous pulley, and the fourth synchronous pulley. The elbow motor is installed in the elbow joint of the arm, and the third synchronous pulley and the fourth synchronous pulley are installed outside the elbow joint of the arm. , the fourth synchronous pulley is fixedly connected with the elbow joint of the forearm, the elbow joint motor is connected with the third synchronous pulley, and the second synchronous belt is wound on the third synchronous pulley and the fourth synchronous pulley.

The present invention may also include:

1. A boom screw positioning hole is set on the boom screw positioning block, and at least one boom nut positioning hole matching with the boom screw positioning hole is set on the boom nut thread section of the boom rotating nut. The big arm set screw that is matched with the big arm lead screw positioning hole and the big arm nut positioning hole is installed in the positioning hole.

2. A forearm positioning hole is provided on the forearm elbow joint, and at least one forearm nut positioning hole matching the forearm positioning hole is provided on the forearm nut thread section of the forearm adjusting nut. set screw.

3. The arm rest, the forearm rest and the hand rest are respectively installed in the elbow joint of the upper arm, the elbow joint of the forearm and the wrist joint of the forearm.

The advantage of the present invention is that: the present invention has two modes of left hand and right hand, as long as the switching between the left and right hand modes can be realized through simple operations, it is convenient for different patients to carry out arm rehabilitation training, and the robot system is simple and compact in structure, operable good.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram when the present invention is not working;

Fig. 2 is the front view when the present invention is not working;

Fig. 3 is a structural schematic diagram of the shoulder adjustment mechanism and the shoulder motion unit of the present invention;

Fig. 4 is a schematic diagram of the right hand rehabilitation mode of the present invention;

Fig. 5 is a schematic diagram of the left hand rehabilitation mode of the present invention.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

1-5, the present invention is mainly composed of a height-adjusting column, a shoulder adjustment mechanism, a shoulder joint motion unit, a large arm length adjustment mechanism, an elbow joint motion unit, a forearm length adjustment mechanism, a wrist joint motion unit, and the like.

The shoulder adjustment mechanism is installed on the height adjustment column, the shoulder joint movement unit is connected to the shoulder adjustment mechanism, the arm length adjustment mechanism is connected to the shoulder joint movement unit, the elbow joint movement unit is connected to the upper arm length adjustment mechanism, and the forearm length is adjusted The mechanism is connected to the elbow joint motion unit, and the wrist joint motion unit is connected to the forearm length adjustment mechanism. The user can adjust the size of the upper limb rehabilitation mechanism according to the height, the length of the upper arm and the length of the forearm, so that the patient can be in a more comfortable position.

The shoulder adjustment mechanism is composed of a slide rail mounting plate, a slide rail, a slider, a slider fixing plate, a hand wheel, a bearing seat, a lead screw, and a shoulder mounting frame. The slide rail mounting plate is fixed on the top of the height adjustment column by bolts, and the two slide rails are fixed on the slide rail mounting plate by screws; the two slide blocks are connected to the slide block fixing plate by screws, and the slide blocks cooperate with the slide rails Installation; the upper end of the slider fixing plate is installed with a shoulder mounting frame, which is a hollow rectangular tube. In order to ensure the beauty of the upper limb rehabilitation robot, the shoulder horizontal rotary motor is installed in the hollow rectangular tube; on the slide rail mounting plate Two bearing housings are installed at both ends and in the middle of the two slide rails. On the one hand, the bearing housing provides a rotating pair for the screw rotation, and on the other hand, it provides left and right limit for the slider; a hole is drilled in the middle of the slider fixing plate and tapped Cooperating with the lead screw, the two ends of the lead screw pass through the bearing seat and are consolidated with the hand wheel. By turning the hand wheel, the position of the shoulder mounting bracket in the left and right directions can be changed, thereby achieving the purpose of changing the shoulder width.

The shoulder joint motion unit is mainly composed of shoulder rotary motor, L-shaped reducer, L-shaped rotary shoulder, U-shaped arm mounting frame, arm swing motor and T-shaped reducer. The shoulder slewing motor and the L-shaped reducer are connected by bolts, and the L-shaped reducer is matched with the positioning hole of the shoulder mounting frame and hidden inside the shoulder mounting frame; the L-shaped slewing shoulder is an L-shaped component at 90 degrees. The component is straight, and the U-shaped boom mounting bracket is a U-shaped component; the top side of the L-shaped swivel shoulder is consolidated with the output flange of the L-shaped reducer, and the side of the L-shaped swivel shoulder is connected to the inverted U-shaped boom The mounting bracket is solid. Drill holes at the opening end of the U-shaped boom mounting frame to provide a mounting position for the boom swing motor. The boom swing motor is connected to the T-shaped reducer through a flange, and the output flange of the T-shaped reducer is connected to the U-shaped boom mounting frame. The light hole of the T-type reducer is fixed by screws, the shell of the T-type reducer is connected with the boom length adjustment mechanism, and the boom swing motor can rotate around the axis of the output flange of the T-type reducer; the depth of the U-type boom mounting frame must be greater than The distance from the axis of the output flange of the T-type reducer to the tail of the motor.

The working principle of the dual-purpose upper limb rehabilitation robot is as follows: when not working, the upper limb rehabilitation robot naturally droops (vertical to the ground, 0 degrees), and the L-shaped rotating shoulder turns to the bottom of the waist mounting frame and is flush with the waist mounting frame (0 degrees); when the left hand rehabilitation mode is required, the L-shaped swivel shoulder rotates 90 degrees clockwise (perpendicular to the plane of the shoulder mounting frame), and the arm swing motor rotates 90 degrees counterclockwise (the upper limb rehabilitation device is parallel to the ground) , so as to switch to the left-hand rehabilitation mode; when the right-hand rehabilitation mode is required, the L-shaped swivel shoulder rotates 90 degrees counterclockwise (perpendicular to the plane of the shoulder mounting frame), and at the same time, the swing motor of the upper arm rotates 90 degrees counterclockwise (the upper limb rehabilitation device and the parallel to the ground) to switch to right-hand rehabilitation mode. The upper limb rehabilitation robot only needs to set two buttons, and the switching between the left and right hand rehabilitation modes can be realized through the servo control of the shoulder slewing motor and the arm swing motor. The operation is simple, safe and reliable.

The present invention carries out and implements arm rehabilitation training like this.

Combining Figures 1 to 3, the shoulder adjustment mechanism consists of a slide rail mounting plate 11, a slide rail 2, a slider 10, a slider fixing plate 5, a hand wheel 3, a bearing seat 9, a lead screw 4, a shoulder mounting frame 6, etc. constitute. The slide rail mounting plate 11 is fixed on the top of the height adjustment column 1 by bolts, and the two slide rails 2 are fixed on the slide rail mounting plate 11 by screws; the two slide blocks 10 are connected to the slide block fixing plate 5 by screws, The slider 10 is installed in cooperation with the slide rail 2; the upper end of the slider fixing plate 5 is equipped with a shoulder mounting frame 6, which is a hollow rectangular tube, and the shoulder horizontal rotary motor 17 and the L-shaped reducer 18 are installed Inside the hollow rectangular tube; two bearing seats 9 are respectively installed at both ends of the slide rail mounting plate 11 and in the middle of the two slide rails 2. The bearing seats 9 provide the rotating pair for the screw 4 on the one hand, and the slider 10 Move to provide left and right limit; Open a hole in the middle of the slider fixing plate 5 and tap the thread to cooperate with the lead screw 4. The two ends of the lead screw 4 pass through the bearing seat 9 and consolidate with the hand wheel 3. By turning the hand wheel 3 The position change of the shoulder installation frame 6 in the left and right direction can be realized, so as to achieve the purpose of changing the shoulder width.

3, the shoulder joint motion unit is mainly composed of a shoulder rotary motor 17, an L-shaped reducer 18, an L-shaped rotary shoulder 7, a U-shaped boom mounting frame 16, a boom swing motor 19, and a T-shaped reducer 20. Since the proposed upper limb rehabilitation mechanism can realize the rehabilitation training of the left and right hands at the same time, this requires the upper limb rehabilitation robot to have a certain structural symmetry, so the L-shaped rotary shoulder 7 and the U-shaped big arm mounting frame 16 must be straight rods, so The lifting angle of the big arm swing motor 17 is just less than 90 degrees, and the lifting angle of the arm of the present invention is 80 degrees. The shoulder rotary motor 17 and the L-shaped reducer 18 are connected by bolts, and the L-shaped reducer 18 cooperates with the fixed mounting hole of the shoulder mounting frame 6 and is hidden inside the shoulder mounting frame 6; the L-shaped rotary shoulder 7 is a It is an L-shaped component with a 90-degree angle, and the U-shaped boom mounting frame 16 is a U-shaped component; the top side of the L-shaped rotary shoulder 7 is consolidated with the output flange of the L-shaped reducer 18, and the side of the L-shaped rotary shoulder 7 is inverted. The U-shaped boom mounting frame 16 is consolidated. The U-shaped arm mounting frame 16 open end drills a light hole to provide a mounting position for the arm swing motor 19. The arm swing motor 19 is connected to the T-type reducer 20 by a flange, and the output flange of the T-type reducer 20 is connected to the U-shaped reducer. The light hole of the type boom mounting frame 16 is consolidated by screws, the shell of the T-type reducer 20 is connected with the boom length-adjusting mechanism 12, and the boom swing motor 19 can rotate around the axis of the output flange of the T-type reducer 20; In order to protect the boom swing motor 19 and the encoder, the motor cover 8 is placed outside the boom swing motor 19 and the T-shaped reducer 20, so the depth of the U-shaped boom mounting frame 16 must be greater than the output flange of the T-shaped reducer 20 The distance from the axis to the motor cover 8 afterbody.

The shoulder adjustment mechanism is installed on the height adjustment column 1, the shoulder joint motion unit is connected to the shoulder adjustment mechanism, and can realize the horizontal rotation and up and down swing of the big arm; the big arm length adjustment mechanism 12 is connected to the shoulder joint motion unit, the elbow joint The motion unit 13 is connected to the arm length adjustment mechanism 12 , the forearm length adjustment mechanism 14 is connected to the elbow joint motion unit 13 , and the wrist joint motion unit 15 is connected to the forearm length adjustment mechanism 14 . The user can adjust the size of the upper limb rehabilitation mechanism according to the height, the length of the upper arm and the length of the forearm, so that the patient can be in a more comfortable position.

The present invention works like this: when not working, the upper limb rehabilitation robot naturally droops and is 0 degrees perpendicular to the ground. During the left-hand rehabilitation mode, the L-shaped rotary shoulder 7 rotates 90 degrees clockwise under the drive of the shoulder rotary motor 17, and is perpendicular to the side plane of the shoulder mounting frame 6, while the large arm swing motor 19 drives the large arm length adjustment mechanism 12 and Rehabilitation training devices such as the forearm length adjustment mechanism 14 rotate 90 degrees counterclockwise, thereby switching to the left hand rehabilitation mode; when adopting the right hand rehabilitation mode, the L-shaped rotary shoulder 7 is driven by the shoulder rotary motor 17. It is perpendicular to the side plane of the shoulder mount 6, and at the same time, the big arm swing motor 19 rotates 90 degrees counterclockwise, thereby switching to the right hand rehabilitation mode. The upper limb rehabilitation robot can switch between the left and right hand rehabilitation modes only through the servo control of the shoulder rotation motor 17 and the arm swing motor 19, and the operation is simple, safe and reliable.

The present invention is a dual-purpose upper limb rehabilitation robot, which mainly includes a height-adjusting column, a shoulder adjustment mechanism, a shoulder joint movement unit, a large arm length adjustment mechanism, an elbow joint movement unit, a forearm length adjustment mechanism, a wrist joint movement unit, etc. . The shoulder adjustment mechanism is composed of a slide rail mounting plate, a slide rail, a slider, a slider fixing plate, a hand wheel, a bearing seat, a lead screw, and a shoulder mounting frame. The shoulder joint motion unit is composed of shoulder rotary motor, L-shaped reducer, L-shaped rotary shoulder, U-shaped boom mounting frame, boom swing motor, T-shaped reducer, etc.; the shoulder rotary motor and L-shaped reducer are consolidated , the L-shaped rotary shoulder is consolidated with the output flange of the L-shaped reducer, and the L-shaped rotary shoulder is fixedly connected with the side of the U-shaped boom mounting frame; the opening end of the U-shaped boom mounting frame has a mounting hole, and the boom swing motor It is fixedly connected with the T-type reducer, and the two ends of the T-type reducer are in the form of output flanges, and is connected with the installation hole at the opening end of the U-shaped boom mounting frame through screws. The shell of the T-type reducer is connected with the boom length adjustment mechanism connect. The arm length adjustment mechanism is connected to the arm swing motor, one end of the elbow joint motion unit is connected to the arm length adjustment mechanism, the other end of the elbow joint motion unit is connected to the forearm length adjustment mechanism, and the wrist joint motion unit is connected to the forearm length adjustment mechanism. Long body connection.

According to the symmetry of the upper limb rehabilitation robot mechanism, the two mounting surfaces of the L-shaped rotary shoulder are straight and installed at 90 degrees to the U-shaped arm mounting frame.

The boom swing motor rotates around the axis of the output flange of the T-shaped reducer in the U-shaped mounting frame. The depth of the U-shaped boom mounting frame must be greater than the encoder tail at the tail of the boom swing motor and the output method of the T-shaped reducer. Lan axis distance.

The lifting angle of the upper limb rehabilitation robot is less than 90 degrees, and the rotation angle range of the big arm swing motor is between 0 and 170 degrees.

The L-shaped swivel shoulder rotates 90 degrees counterclockwise, and the arm swing motor rotates 90 degrees counterclockwise. At this time, it is the right-hand rehabilitation mode; the L-shaped swivel shoulder rotates 90 degrees clockwise, and the arm swing motor rotates 90 degrees counterclockwise. Left hand rehabilitation mode.

Claims (5)

1. A dual-purpose upper limb rehabilitation robot with left and right hands is characterized in that it includes a height-adjusting column, a shoulder adjustment mechanism, a shoulder joint movement unit, a large arm length adjustment mechanism, an elbow joint movement unit, a forearm length adjustment mechanism, and a wrist joint movement unit; Wheels are installed at the bottom of the height-adjustable column; The shoulder adjustment mechanism includes a slide rail, a slide rail mounting plate, a slider, a slider fixing plate, a hand wheel, and a shoulder mounting frame. The slide rail mounting plate is fixed on the top of the height adjustment column, and the slide rail is fixed on the slide rail mounting plate. The slider is installed on the slide rail, and the hollow shoulder mounting frame is connected to the slider through the slider fixing plate. Bearing seats that limit the limit position of the slider are installed on both sides of the slide rail mounting plate, and the middle of the slider fixing plate is threaded. Hole, the middle part of the screw goes through the threaded hole of the slider fixing plate and cooperates with it, the two ends of the screw are installed on the two bearing seats and the handwheel is installed; The shoulder joint motion unit includes a shoulder rotary motor, an L-shaped reducer, an L-shaped rotary shoulder, a U-shaped boom mounting frame, a boom swing motor and a T-shaped reducer, and the connected shoulder rotary motor and L-shaped reducer are all set In the shoulder mounting frame, the side of the L-shaped rotary shoulder is fixed to the U-shaped boom mounting frame, the top surface of the L-shaped rotary shoulder is fixed to the output flange of the L-shaped reducer, and the boom swing motor is connected to the T-shaped reducer. The U-shaped boom mounting frame is provided with a U-shaped opening to accommodate the boom swing motor and the T-shaped reducer, and the output flange of the T-shaped reducer is fixedly connected to the U-shaped boom mounting frame; The boom length adjustment mechanism includes a boom guide rod, a boom guide rod fixing block, a boom screw, a boom rotation nut, a boom screw positioning block and a boom elbow joint. Both the arm guide rod fixing block and the boom screw positioning block have through holes, and the boom rotating nut includes a connected boom nut rotation section and a boom nut thread section, and the boom nut thread section is located at the bottom of the boom screw positioning block. The first end of the boom screw is fixed on the elbow joint of the boom, and the second end of the boom screw is located in the threaded section of the boom nut and cooperates with it. The first end of the guide rod is fixed on the elbow joint of the upper arm, and the second end of the guide rod of the upper arm is located in the through hole of the fixed block of the guide rod of the upper arm; The forearm length-adjusting mechanism comprises a forearm elbow joint, a forearm guide rod, a forearm adjustment nut, a forearm screw, and a forearm wrist joint. The forearm elbow joint is respectively provided with through holes matched with the forearm adjustment nut and the forearm guide rod. The forearm adjustment nut includes a connected The rotating section of the forearm nut and the threaded section of the forearm nut. The threaded section of the forearm nut is located in the corresponding through hole of the forearm adjusting nut and forms a rotating pair with the forearm elbow joint. The first end of the forearm screw is fixed on the forearm wrist joint. The second end is located in the forearm adjusting nut and cooperates with it, the first end of the forearm guide rod is fixed on the forearm wrist joint, and the second end of the forearm guide rod is located in the through hole matched with it; Wrist joint motion unit includes wrist joint motor, first synchronous pulley, second synchronous pulley, wrist joint handle, wrist joint motor is installed in forearm wrist joint, first synchronous belt pulley and second synchronous pulley are installed in forearm wrist Outside the joint, the second synchronous pulley is fixedly connected to the handle of the wrist joint, the motor of the wrist joint is connected to the first synchronous pulley, and the first synchronous belt is wound on the first synchronous pulley and the second synchronous pulley; The elbow motion unit includes the elbow motor, the third synchronous pulley, and the fourth synchronous pulley. The elbow motor is installed in the elbow joint of the arm, and the third synchronous pulley and the fourth synchronous pulley are installed outside the elbow joint of the arm. , the fourth synchronous pulley is fixedly connected with the elbow joint of the forearm, the elbow joint motor is connected with the third synchronous pulley, and the second synchronous belt is wound on the third synchronous pulley and the fourth synchronous pulley. 2. A dual-purpose upper limb rehabilitation robot according to claim 1, characterized in that: a boom screw positioning hole is set on the boom screw positioning block, and a boom nut thread section of the boom rotation nut is set At least one boom nut locating hole matched with the boom screw locating hole, the boom set screw cooperating with the boom screw locating hole and the boom nut locating hole is installed in the boom screw locating hole. 3. A dual-purpose upper limb rehabilitation robot according to claim 1 or 2, characterized in that: a forearm positioning hole is set on the forearm elbow joint, and at least one forearm positioning hole is set on the forearm nut threaded section of the forearm adjustment nut Cooperating forearm nut locating hole, the forearm set screw that coordinates with forearm locating hole and forearm nut positioning is installed in the forearm locating hole. 4. A dual-purpose upper limb rehabilitation robot according to claim 1 or 2, characterized in that: a large arm support, a forearm support and a hand support are respectively installed in the elbow joint of the upper arm, the elbow joint of the forearm, and the wrist joint of the forearm. 5. A dual-purpose upper limb rehabilitation robot according to claim 3, characterized in that: a large arm support, a forearm support and a hand support are respectively installed in the elbow joint of the upper arm, the elbow joint of the forearm, and the wrist joint of the forearm.