CN1258352C - Rehabilitation training robot for single joint movement of shoulder and elbow in patients with hemiplegia - Google Patents

Abstract

The invention relates to a rehabilitation training robot for shoulder and elbow single-joint movement of hemiplegic patients, and relates to a robot device for performing rehabilitation auxiliary training on the shoulder and elbow joints of stroke hemiplegic patients. The robot comprises a supporting device fixed on the base, a first driving device connected to the supporting device and capable of moving up and down along the slide rail, and a horizontal second driving shaft fixed on the first driving device The second drive unit on the upper, an auxiliary arm unit fixed on the fourth drive shaft. The present invention has the advantages of being able to realize various necessary actions for shoulder and elbow joint rehabilitation training, such as four basic training actions of the shoulder joint: forward lifting, abduction and adduction, horizontal abduction and adduction, internal rotation and external rotation, and It can realize a large range of motion for various training actions, and at the same time, it can ensure the safety of paralyzed limbs during training.

Description

Rehabilitation training robot for single joint movement of shoulder and elbow in patients with hemiplegia

technical field

The invention relates to a central nervous system rehabilitation auxiliary training device, in particular to an auxiliary training robot device for promoting the rehabilitation of the central nervous system by performing rehabilitation auxiliary training on a single upper limb joint of a stroke hemiplegia patient.

Background technique

At present, the rehabilitation training for hemiplegic patients is still based on the "one-on-one" training method between the therapist and the patient, that is, the therapist assists the patient to complete various training actions hand in hand. This training method is inefficient and difficult to detect the therapeutic effect, which is not conducive to the improvement of rehabilitation methods. In order to change this situation, it is necessary to introduce relatively mature electromechanical and intelligent technologies into the field of hemiplegia rehabilitation to improve work efficiency and rehabilitation effects.

There are precedents for the application of electromechanical devices in the rehabilitation of hemiplegia. US Patent No. 5,466,213 "Interactive robotic therapist (interactive robotic therapist)" applied by Hogan et al. discloses a hemiplegia rehabilitation training device, which uses a five-link mechanism, and the drive shafts of the two drive motors are arranged on the same On the axis, the movement range of the mechanism is the horizontal plane. During training, the device pulls the patient's wrist joint to complete various movements in a small range in the horizontal plane, including compound movements of the shoulder and elbow joints, as well as movements focusing on shoulder joint training or small-scale compound movements focusing on elbow joint training .

David J. Reinkensmeyer's US Patent No. 5,830,160 "Movement guidance system for quantifying diagnosing and treating impaired movement performance" (Movement guiding system for quantifying diagnosing and treating impaired movement performance) discloses a device for diagnosis and treatment of movement dysfunction. The device is a linear guide rail device, and its pitch angle can be adjusted. A slidable bracket is installed on the guide rail. The patient's wrist is fixed on the bracket and can move in a straight line along the guide rail. The entire paralyzed limb is a small-scale compound motion of the shoulder and elbow joints.

It can be seen that the existing equipment mainly focuses on the training of compound sports, and the range of motion is relatively small. However, for hemiplegic patients, especially those in the acute stage, in order to maintain the range of motion of the joints, clinically it is usually necessary to perform a single joint movement as large as possible. At the same time, the current law of hemiplegia rehabilitation is still in the exploratory stage. Which training method (compound exercise training or single-joint exercise training or a combination of the two) is more beneficial to hemiplegia rehabilitation remains to be further studied. Therefore, for single-joint assisted rehabilitation There is an urgent need for training equipment. From the perspective of human body structure, the movement of the shoulder and elbow joints is the basis for the completion of various movements of the upper arm of the human body. Therefore, the rehabilitation of the shoulder and elbow joints is the prerequisite for the rehabilitation of the patient's upper arm motor function; Therefore, it is very necessary to develop electromechanical equipment for shoulder and elbow joint training. In addition, the shoulder joint is one of the most flexible joints in the human body and has four basic movements, so the corresponding auxiliary training equipment should have the function of completing the four basic movements of auxiliary training; The most vulnerable joints, the normal muscle tone of the human body disappears after hemiplegia, and the possibility of injury is greater. Therefore, the auxiliary training robot should be able to ensure the safety of paralyzed limbs.

Therefore, the disadvantage of Hogan et al.'s invention is that it can only realize the movement of the shoulder joint and the elbow joint in the horizontal plane, and for the shoulder joint, it can only complete the action of horizontal abduction and adduction. In the clinical rehabilitation training of the shoulder joint of hemiplegic patients, at least four actions need to be realized: forward lifting, abduction and adduction, horizontal abduction and adduction, and internal rotation and external rotation. In addition, the invention of Hogan et al. does not have a large range of motion for a single joint, and the training action for the shoulder and elbow joints that this invention can provide is a small range of horizontal motion, so it cannot fully provide the motion stimulation required for central nervous rehabilitation. .

The disadvantage of David J. Reinkensmeyer's invention is that the wrist is limited to linear motion, so the shoulder joint and elbow joint can only be limited compound motion, the joint range of motion is limited, and the training method is single.

Contents of the invention

The purpose of the present invention is to address the deficiencies and defects of the prior art, and on the basis of fully considering the characteristics of the upper limb single joint, clinical training needs and safety, to provide a single-joint rehabilitation training robot for the upper limb of the hemiplegic patient, which can realize the rehabilitation of the paralyzed limb of the hemiplegic patient. Various basic movements of rehabilitation training can meet the large range of motion of training movements and ensure the safety of paralyzed limb training.

The purpose of the present invention is achieved through the following technical solutions: a rehabilitation training robot for hemiplegic patients with shoulder and elbow single joint movement, the robot includes:

a. A support device fixed on the base, which mainly includes a screw and a slide rail;

b. A first driving device that is connected to the supporting device and can move up and down along the slide rail; the driving device mainly includes a first driving motor, a vertical first driving shaft connected with the motor shaft, a horizontal The second drive shaft, the first drive shaft and the second drive shaft are connected by two bevel gears meshing with each other;

c. A second driving device fixed on the horizontal second driving shaft of the first driving device, which mainly includes a second driving motor, a vertical third driving shaft connected to the motor shaft, a third driving shaft connected to the third a fourth drive shaft parallel to the drive shaft, the third drive shaft and the fourth drive shaft are connected through a synchronous belt transmission;

d. An auxiliary arm device fixed on the fourth drive shaft, which mainly includes a large arm, a small arm and paralyzed limb support devices respectively arranged on the large arm and the small arm.

e. The rotation direction of the second drive device relative to the first drive device and the rotation direction of the auxiliary arm device relative to the second drive device are perpendicular to each other.

The second drive device also includes a shoulder joint support, which is a cantilever beam structure, and has a shoulder joint bearing seat at the end of the support, and the fourth drive shaft is fixed in the shoulder joint bearing seat through bearings.

The big arm in the auxiliary arm device of the present invention is composed of two parts, and the two parts are connected by a slide groove and a fixing bolt; the big arm and the small arm in the auxiliary arm device are connected by a fixable hinge.

The technical feature of the present invention is also that: the paralyzed limb support device includes an inner ring, a middle ring and an outer ring, and is connected with the big arm or the small arm through a connecting frame; wherein the centers of the inner ring, the middle ring and the outer ring are all at On the extension line of the rotating shaft of the second horizontal drive shaft; the outer ring is a full circle, the inner ring and the middle ring are 1/4 to 1/2 rings; the inner side of the outer ring has a circumferential boss, and the middle ring There is a groove on the outer side in the circumferential direction, and the groove on the middle ring cooperates with the boss on the outer ring; there is an axial groove on the inner side of the middle ring, and there is an axial boss on the outer side of the inner ring. The axial boss on the ring cooperates with the axial groove on the middle ring.

Compared with the prior art, the present invention has the following advantages and outstanding effects: ① Various necessary actions for shoulder joint rehabilitation training can be realized. In addition to realizing the four characteristic movements of clinical shoulder joint rehabilitation training: forward lifting, abduction and adduction, horizontal abduction and adduction, internal rotation and external rotation, it can also realize the shoulder joint in other directions in three-dimensional space. action. ② It can realize the range of motion required for shoulder joint rehabilitation training, and can assist the paralyzed limb to rotate within the range allowed by the human body. ③The design is based on the clinical needs of the rehabilitation of hemiplegic patients. During training, the auxiliary arm of the equipment is kept on the same axis as the rotation center of each joint of the paralyzed limb, which avoids pulling or restricting the paralyzed limb; the paralyzed limb support device allows the paralyzed limb to The necessary relative movement (circumferential movement and axial movement) with the auxiliary arm further reduces the possibility of damage to the paralyzed limb.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the supporting device of the present invention.

Fig. 3 is a schematic structural diagram of the first driving device of the present invention.

Fig. 4 shows a schematic structural view of the bearing support in the first driving device of the present invention.

Fig. 5 is a schematic structural diagram of the second driving device of the present invention.

Fig. 6A is a schematic structural view of the auxiliary arm device of the present invention.

Fig. 6B is a schematic diagram of a specific connection manner between the first part of the boom and the second part of the boom in the auxiliary arm device.

Fig. 6C is a schematic diagram of the specific connection manner of the large arm and the small arm in the auxiliary arm device.

Fig. 7 is a schematic structural view of the paralyzed limb supporting device of the present invention.

8A-8C are structural schematic diagrams of the middle ring and the inner ring of the auxiliary arm device of the present invention.

Fig. 9 is a schematic diagram of a patient receiving the auxiliary training of the present invention.

10A-10D are schematic diagrams of typical movements of a patient completing several shoulder joint rehabilitation exercises with the assistance of the present invention.

Fig. 11 is a schematic diagram of rehabilitation training in which the patient completes the flexion and extension of the elbow joint with the assistance of the present invention.

Detailed ways

Fig. 1 is the general structure of the present invention. It can be seen that the present invention generally includes: a support device 2 fixed on the base 1; a first drive device 3 connected to the support device 2; a second drive device 4 connected to the first drive device 3; And an auxiliary arm device 5 connected to the second drive device 4 . Wherein the first driving device 3 can move up and down relative to the support device 2, as shown by arrow A in the figure; the second driving device 4 can rotate in a vertical plane relative to the first driving device 3, as shown by arrow B in the figure; The device 5 can rotate relative to the second driving device in a plane perpendicular to the rotation plane of the second driving device, as shown by arrow D in the figure. During the training, the patient's paralyzed limb is connected with the auxiliary arm device 5, and the rehabilitation training action of the paralyzed limb is realized under the assistance of the robot.

2 shows the structure of the supporting device 2 of the present invention, which includes a supporting frame 21, a slide rail 22, a screw 23, a screw fixing plate 24, an end cover 26, a handle 25 and a roller bearing 27. The slide rail 22 is a rectangular plate fixed on the support frame 21, and the two sides are mating surfaces. Leading screw 23 is a trapezoidal thread leading screw, has self-locking function, and its lower end is installed on the base of support frame 21 by roller bearing 27, and the upper end is by the lead screw fixing plate 24 that is connected on the support frame 21, end cover 26 and bearing. (not shown in the figure) is fixed, and turning the handle 25 can drive the leading screw 23 to rotate.

FIG. 3 is a schematic structural diagram of the first driving device 3 of the present invention. As shown in the figure, the first driving device 3 includes a first driving motor 41, a speed reducer 42, a coupling 43, a bearing support 44, a vertical first driving shaft 45, a support plate 46, a A pair of intermeshing bevel gears 47 and 48, a second horizontal drive shaft 49, a flange 50 and four bearing arrangements 51 for supporting the first drive shaft and the second drive shaft respectively. A first reducer 42 is installed on the output end of the first driving motor 41 , and both the motor 41 and the reducer 42 are fixed on the bearing support 44 . Two bearing devices 51 are mounted on the bearing support 44 for supporting the first drive shaft 45 , while two other bearing devices 51 are mounted on the support plate 46 for supporting the second drive shaft 49 . The first drive motor 41 transmits power to the second drive shaft 49 through the reducer 42, the shaft coupling 43, the first drive shaft 45, the mutually meshing bevel gears 47 and 48 at right angles, and the drive is fixed on the second drive shaft 49 through the flange 50. The second driving device 4 on the end of the second driving shaft 49 makes the second driving device 4 and the auxiliary arm device 5 connected to the second driving device 4 rotate, as shown by arrow B in FIG. 1 .

FIG. 4 shows the structure of the bearing support 44 in the first driving device 3 . As shown in the figure, the bearing support 44 has a threaded hole 52 and a slide groove 53, wherein the threaded hole 52 cooperates with the lead screw 23 in the support device 2, and the slide groove 53 cooperates with the slide rail 22 in the support device 2, both realizing The connection between the first driving device 3 and the supporting device 2 ensures that the first driving device 3 can move up and down along the slide rail 22 by the screw transmission between the threaded hole 52 and the leading screw 23 when the leading screw 23 rotates (as shown in Fig. 1 as indicated by arrow A).

FIG. 5 shows the structure of the second driving device 4 of the present invention. As shown in the figure, the second drive device 4 includes a second drive motor 61, a speed reducer 62, a shaft coupling 63, a bearing housing box 64, a third drive shaft 65, a synchronous belt drive 66, A shoulder joint bearing 67 and a fourth drive shaft 68 parallel to the third drive shaft. A reducer 62 is installed on the output end of the second driving motor 61 , and both the motor 61 and the reducer 62 are fixed on the bearing housing box 64 . One end of the bearing seat box body 64 is fixed on the horizontal second drive shaft 49 of the first driving device 3 by the flange 50 and bolts, and rotates under the driving of the first driving device 3; a shoulder joint support is fixed on its other end. Seat 67, the end of bearing 67 has shoulder joint bearing seat 71, and the 4th drive shaft 68 is installed in the shoulder joint bearing seat 71 by bearing. Bearing housing housing 64 also provides support for third drive shaft 65 . The drive motor 61 transmits power to the fourth drive shaft 68 through the reducer 62, the shaft coupling 63, the third drive shaft 65 and the synchronous belt transmission 66, and drives the auxiliary arm device 5 fixed on the fourth drive shaft 68 to rotate. As shown by arrow D in Figure 1. It should be pointed out that the direction of rotation (B in FIG. 1 ) of the second drive unit 4 is always perpendicular to the direction of rotation (D in FIG. 1 ) of the auxiliary arm device 5, so that when the first and second drive motors 41 and 61 were driven simultaneously, The three-dimensional movement of the auxiliary arm device 5 can be realized, thereby assisting the training of the three-dimensional movement of the paralyzed limb; in addition, the shoulder joint support 67 is a cantilever beam structure, and the length of the cantilever is 150-200mm, and the fourth drive shaft 68 is installed After the shoulder joint bearing seat 71, it is driven by the third drive shaft through the synchronous belt transmission device 66. Obviously, the distance between the fourth drive shaft 68 and other parts of the first drive device 3 and the second drive device 4 is 1,000 mm. The cantilever length of seat 67, this distance is greater than the distance from the center of rotation of the shoulder joint of the paralyzed limb to the patient's back or to the outside of the upper arm of the paralyzed limb, which allows the shoulder joint rotation center of the auxiliary arm device 5 (i.e. the fourth drive) Axis 68) is aligned with the center of rotation of the shoulder joint of the paralyzed limb in the horizontal and vertical planes without causing interference between the robotic components and the patient's limb. After the rotation center of the shoulder joint of the robot is aligned with the rotation center of the shoulder joint of the paralyzed limb, the auxiliary arm device 5 provides auxiliary torque to the paralyzed limb while avoiding direct pulling or restriction on the paralyzed limb, reducing the tension and stress on the paralyzed limb. Possibility of injury due to pressure.

FIG. 6A is a detailed structure of the auxiliary arm device 5 of the present invention. As shown in the figure, the auxiliary arm device 5 includes a large arm 81 , a small arm 82 and two supporting devices 83 for paralyzed limbs. Wherein the boom includes a boom first part 84 and a boom second part 85 , and the two parts are connected by bolts 86 and slide grooves 88 . The first part 84 of the boom is fixedly connected to the fourth drive shaft 68 of the second drive device 4 , while the second part 85 of the boom is connected to the small arm 82 through bolts 91 and compression sleeves 93 . Two paralyzed limb supporting devices 83 are respectively mounted on the second part of the big arm 85 and the forearm 82, and their positions can be adjusted to suit the length and center of gravity of a specific patient's paralyzed limb.

FIG. 6B shows the specific connection manner of the first boom part 84 and the second boom part 85 of the boom 81 in the auxiliary arm device 5 . As shown in the figure, there is a chute 88 on the first part 84 of the boom, and there are two openings 89 on the second part 85 of the boom. Bolts 86 pass through the chute 88 and holes 89 and nuts pass through. After 87 is tightened, the first part 84 of the boom and the second part 85 of the boom can be fixed together; after the nut 87 is loosened, the bolt 86 and the second part 85 of the boom can be moved along the chute 88, and then the nut 87 can be tightened , the length of the whole big arm 81 can be changed to adapt to the length of the upper arm of the paralyzed limb of different patients.

FIG. 6C is a specific connection manner of the second part 85 of the large arm and the small arm 82 of the auxiliary arm device 5 . As shown in the figure, the arm 82 and the second part 85 of the arm are connected by a bolt 91 to form a hinge, so that the arm 82 can rotate relative to the second part 85 of the arm (as shown by arrow E in Figure 1); A compression sleeve 93 is concentrically installed on the 91, and the compression sleeve is simultaneously placed in a hole 90 on the end of the second part 85 of the big arm (as shown in Figure 6B); the lower surface of the compression sleeve 93 is in contact with the small When the nut 92 is in contact with the arm 82, when the nut 92 is tightened, the compression sleeve 93 will press the arm 82 tightly on the second part 85 of the arm, and the arm 82 and the second part 85 of the arm will be fixed by friction; loosen the nut After 92, the angle between the upper arm 81 and the forearm 82 can be adjusted so as to provide the most suitable training posture for the patient, and the training of the action of internal rotation and external rotation of the shoulder joint of the paralyzed limb can be realized (as shown in Figure 10) .

7 and 8 are schematic diagrams of a paralyzed limb supporting device 83 of the present invention. As shown in FIG. 7 , the paralyzed limb supporting device 83 includes a connecting piece 91 , an outer ring 92 , a middle ring 93 and an inner ring 94 . The connecting piece 91 connects the whole paralyzed limb supporting device 83 to the second part 85 of the big arm or the small arm 82 through bolts and nuts. When it is 180°, the centers of the outer ring 92, the middle ring 93 and the inner ring 94 of the two paralyzed limb supporting devices 83 are located on the extension line of the horizontal second driving shaft 49 of the first driving device 3. The outer ring 92 of the supporting device for paralyzed limbs 5 is an annular structure, and its upper end is fixedly connected with the connecting piece 91, and has a boss 101 in the circumferential direction inside. The middle circle 93 and the inner circle 94 are one-third circle, and the maximum is no more than one-half circle, and the minimum is no more than one-quarter circle, wherein the inner circle 94 is slightly longer than the middle circle 93, so that on the inner circle 94 Holes are punched on the edge, and paralyzed limbs are fixed with straps. There is a groove 102 in the circumferential direction on the outside of the middle ring 93 (Figure 8A). After the middle ring 93 is installed in the outer ring 94, the groove 102 on the middle ring 93 cooperates with the boss 101 on the outer ring 92, allowing The middle ring 93 slides relative to the outer ring 92 in the direction indicated by the arrow G in FIG. 7 , but cannot move axially. The inner side of the middle ring 93 has two axial grooves 103 (FIG. 8B). There are two axial bosses 104 on the outer side of the inner ring 94 (Fig. 8C). Cooperating with each other, the inner ring 94 is allowed to slide axially along the groove 103 (shown by arrow F in FIG. 7 ). In the process of rehabilitation training, the boss 101, the groove 102, the groove 103 and the boss 104 ensure that the robot can provide the necessary auxiliary motion to the paralyzed limbs without restricting the free movement of the paralyzed limbs, thereby ensuring the safety of the paralyzed limbs .

Referring to FIG. 9 , a brief description is given of the method of using the present invention to perform auxiliary rehabilitation training for hemiplegic patients. As shown in the figure, the patient 11 sits on a chair 12, the robot is arranged behind the side of the chair 12, and the upper arm and the forearm of the patient's 11 paralyzed limbs are respectively placed on the inner circles 94 of the two paralyzed limb support devices 83; adjust the chair 12 relative At the position of the robot base 1, the horizontal rotation center of the patient's paralyzed limb shoulder joint and the robot shoulder joint rotation center (the fourth drive shaft 68 of the second driving device 4) remain on the same axis, as shown in Figure 9, I-I line; Drive the first driving motor 1 to rotate 90 °, then by rotating the handle 25 of the support device 2, adjust the center of rotation of the shoulder joint of the robot and the center of rotation of the shoulder joint of the paralyzed limb to be on the same axis in the vertical plane, as shown in line II-II in Figure 10A ; After the above adjustments, the position of the hemiplegic patient on the chair is determined, and then the patient is properly fixed with a strap; The length of the arm (the relative position between the first part 84 of the big arm and the second part 85 of the big arm) and the position of the paralyzed limb support device 83 on the second part 85 and the small arm 82 of the robot make it suitable for a particular Hemiplegic patients; after all structural adjustments are completed, fix together with the inner ring 94 in an appropriate manner, and try to make the paralyzed limb arm be in the center of the paralyzed limb supporting device 84, so as to better keep the robot auxiliary arm device 5 and the paralyzed limb The consistency of the arm movement; then adjust the angle between the robot arm 81 and the forearm 83 according to the action to be trained and the paralyzed limb situation; finally start the first and second drive motors 41,61 to drive the robot auxiliary arm device 5 Complete rehabilitation assistance training.

Fig. 10A-10D shows the typical action that the patient completes several shoulder joint rehabilitation trainings under the assistance of the present invention, including the front (Fig. 10A), abduction and adduction (Fig. 10B), horizontal abduction and adduction (Fig. 10C) and internal and external rotation (Fig. 10D). As shown in the figure, when the auxiliary action of raising the front is completed, the rotating shaft of the second driving motor 61 is located in the horizontal plane, and the driving of the auxiliary arm device 5 is completed independently. When the auxiliary action of abduction and adduction is completed, the rotating shaft of the second driving motor 61 is located in the vertical plane, and is driven solely by the first driving motor 41 . When the horizontal abduction and adduction action is completed, the rotating shaft of the second driving motor 61 is located in the vertical plane, and it drives the auxiliary arm device 5 independently. When performing shoulder joint internal rotation and external rotation ( FIG. 10D ) training, the angle between the second part 85 of the large arm of the auxiliary arm device 5 and the small arm 82 is adjusted to an angle less than 180°, typically 90°. , now the first drive motor 41 is driven separately to realize the rotation of the auxiliary arm device 5 and the paralyzed limb. Although shown in the figure are several typical training actions that the shoulder joint completes under the assistance of the present invention, it should be understood that the present invention can also assist the shoulder joint of paralyzed limbs to complete other motion tracks through the auxiliary arm device 5. At this time, the first The driving motor 41 and the second driving motor 61 are driven in cooperation.

When it is necessary to carry out auxiliary rehabilitation training to the elbow joint of the paralyzed limb, the forearm 82 in the auxiliary arm device 5 and the paralyzed limb supporting device 83 on it can be removed, and only the big arm 81 and the paralyzed limb supporting device 83 on it are kept . As shown in Figure 11, move chair 12, adjust the position of patient 11, make the center of rotation of robot shoulder joint (the fourth driving shaft 68 of the second driving device 4) and the center of rotation of paralyzed limb elbow joint align in horizontal plane (at this moment Elbow joints of paralyzed limbs need to be supported in addition, such as supported by other brackets), the second drive motor 61 drives the third drive shaft 65 independently, drives the fourth drive shaft 68 to rotate through the synchronous belt transmission device 66, thereby drives the auxiliary arm device 5, Rehabilitation training for assisting the elbow joint of the paralyzed limb to achieve flexion and extension.

Claims (6)

1. A rehabilitation training robot for shoulder and elbow single joint motion of hemiplegic patients, characterized in that: the robot includes: a. A support device (2) fixed on the base (1), which mainly includes a lead screw (23) and a slide rail (22); b. A first driving device (3) that is connected to the supporting device and can move up and down along the slide rail; the device mainly includes a first driving motor (41), a vertical first driving device connected to the motor shaft; Drive shaft (45), a horizontal second drive shaft (49), the first drive shaft and the second drive shaft are connected by two bevel gears (47, 48) meshing with each other; c. A second drive device (4) fixed on the horizontal second drive shaft of the first drive device, which mainly includes a second drive motor (61), a vertical third drive motor (61) connected to the motor shaft Drive shaft (65), a fourth drive shaft (68) parallel to the third drive shaft, the third drive shaft and the fourth drive shaft are connected by a synchronous belt transmission (66); d. an auxiliary arm device (5) fixed on the fourth drive shaft, which mainly includes a large arm (81), a small arm (82) and a paralyzed limb support device (83) respectively arranged on the large arm and the small arm ); e. The rotation direction of the second drive device relative to the first drive device and the rotation direction of the auxiliary arm device relative to the second drive device are perpendicular to each other. 2. according to the rehabilitation training robot described in claim 1, it is characterized in that: described second driving device also comprises a shoulder joint bearing (67), and this bearing is a cantilever beam structure, and at this bearing end The part has a shoulder joint bearing seat (71), and the fourth drive shaft is fixed in the shoulder joint bearing seat by a bearing. 3. The rehabilitation training robot according to claim 2, characterized in that the length of the shoulder joint support is 150-200 mm. 4. According to the rehabilitation training robot described in claim 1, it is characterized in that: the big arm in the described auxiliary arm device (5) is made up of two parts, and these two parts are connected by chute (88) and fixing bolt. 5. The shoulder-elbow single-joint rehabilitation training robot according to claim 1 or 4, characterized in that: the big arm and the small arm in the auxiliary arm device are connected by a fixable hinge. 6. according to the rehabilitation training robot described in claim 1, it is characterized in that: described paralyzed limb supporting device (83) comprises inner ring (94), middle ring (93) and outer ring (92), and is connected by The frame is connected with the boom and the small arm respectively; wherein the center of circle of the inner ring, the middle ring and the outer ring is all on the extension line of the rotating shaft of the second horizontal drive shaft (49); the outer ring is a complete circle, and the inner ring and the middle ring are 1 /4～1/2 ring; there is a boss (101) in the circumferential direction on the inner side of the outer ring, and a groove (102) in the circumferential direction on the outer side of the middle ring. There is an axial groove (103) on the inner side of the middle ring, and an axial boss (104) on the outer side of the inner ring. The axial boss on the inner ring matches the axial groove on the middle ring. Groove fit.

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