CN113144533A - Upper limb rehabilitation training device - Google Patents

Abstract

The invention discloses an upper limb rehabilitation training device, which comprises a mechanical arm training module, a central processing unit, a display and at least one angle sensor, wherein the arm of a user is supported on the mechanical arm training module for rehabilitation training, the angle sensor is used for detecting the activity angle of each joint of the mechanical arm training module, the mechanical arm training module comprises an upper arm part of a mechanical arm, a front arm part of the mechanical arm and a ulnar part of the mechanical arm, the upper arm part of the mechanical arm supports the upper arm of the user, the front arm part of the mechanical arm supports the front arm of the user, the palm of the user grasps a grip strength detector of the ulnar part of the mechanical arm, the grip strength of the user is detected by the grip strength detector, data detected by the angle sensor and the grip strength detector are sent to the central processing unit for analysis and processing, the upper limb dysfunction grade of the user is obtained, and the assessment data of the upper limb dysfunction grade are fed back by the display, the intelligent feedback system is used for users to check, so that intelligent feedback is realized.

Description

Upper limb rehabilitation training device

Technical Field

The invention relates to the field of rehabilitation training robots, in particular to an upper limb rehabilitation training device.

Background

At present, the aging phenomenon of the population is increasingly severe, the number of users suffering from stroke symptoms is increased year by year, and the users are mainly embodied as upper limb dysfunction. In the field of upper limb rehabilitation training applied to human bodies, the upper limb rehabilitation equipment structure and the training system at the present stage are single, and lack of complete functional modules; the user needs frequent change accessory module in the use, lacks interactive intelligent feedback, and the user does not know the effect of training at the training process.

Disclosure of Invention

The invention aims to solve at least one technical problem in the prior art and provides an upper limb rehabilitation training device with intelligent feedback.

According to an embodiment of the present invention, there is provided an upper limb rehabilitation training device including: the mechanical arm training module comprises an upper arm part, a forearm part and a ulnar part which are sequentially connected, wherein the upper arm part comprises an upper arm support used for supporting the upper arm of a user, the forearm part comprises a forearm support used for supporting the forearm of the user, and the ulnar part comprises a grip strength detector used for being grasped by the palm of the user and detecting the grip strength; the angle sensor is used for detecting the movable angle of each joint of the mechanical arm training module; the central processing unit is respectively in communication connection with the grip strength detector and the angle sensor and is used for receiving grip strength data detected by the grip strength detector and angle data detected by the angle sensor and evaluating the upper limb dysfunction grade of the user according to the grip strength data and the angle data; and the display is in communication connection with the central processing unit and is used for displaying the assessment data of the upper limb dysfunction grade.

The upper limb rehabilitation training device at least has the following beneficial effects: the arm of the user supports and carries out rehabilitation training on the mechanical arm training module, each joint activity angle of the mechanical arm training module is detected through the angle sensor, the mechanical arm training module comprises an upper arm part of the mechanical arm, a front arm part of the mechanical arm and a ulnar part of the mechanical arm, the upper arm of the user is supported by the upper arm part of the mechanical arm, the front arm of the user is supported by the front arm part of the mechanical arm, the palm of the user grasps a grip strength detector of the ulnar part of the mechanical arm, the grip strength of the user is detected through the grip strength detector, data detected by the angle sensor and the grip strength detector are sent to the central processing unit to be analyzed and processed, the grade of upper limb dysfunction of the user is obtained, the evaluation data of the grade of the upper limb dysfunction is fed back through the display and is checked by the user, so that intelligent feedback is realized, and whether the rehabilitation training is carried out again can be determined according to the prompt of the display by the user.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the grip strength detector is internally provided with the vibrator, and the vibrator is used for giving feedback vibration to the palm of the user when the grip strength detected by the grip strength detector reaches a preset value.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the mechanical arm ulnar component comprises a supporting plate, a rotating frame and a detector mounting plate, the supporting plate is connected with the mechanical arm forearm component, the rotating frame is rotatably mounted on the supporting plate, the grip detector is mounted on the detector mounting plate, the detector mounting plate is rotatably mounted on the rotating frame, the angle sensor comprises a first angle sensor and a second angle sensor, the first angle sensor is used for detecting the rotating angle of the detector mounting plate, and the second angle sensor is used for detecting the rotating angle of the rotating frame.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the mechanical arm ulnar radial component comprises a first sliding block, the grip strength detector is fixedly connected with the first sliding block, and the first sliding block is in sliding connection with the detector mounting plate and used for adjusting the position of the grip strength detector on the detector mounting plate.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the upper arm part of the mechanical arm comprises a first supporting arm and an installation positioning rod, the installation positioning rod is arranged on the first supporting arm, and the upper arm support is detachably connected with the left side or the right side of the installation positioning rod and used for switching and supporting the left arm or the right arm of a user.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the mechanical arm forearm part comprises a second supporting arm and a second sliding block, the second supporting arm is movably connected with the mechanical arm upper arm part, the forearm support is fixedly connected with the second sliding block, and the second sliding block is connected with the second supporting arm in a sliding manner so as to adjust the position of the forearm support on the second supporting arm.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the second slider can be detached or installed along the second supporting arm in a sliding manner, so that the forearm arm support is installed on the left side or the right side of the second supporting arm, and the left arm or the right arm of a user can be supported in a switching manner.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the mechanical arm ulnar radial component comprises a supporting plate, the second sliding block is provided with a mounting hole, and the supporting plate is detachably matched with the mounting hole in an inserted manner.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the upper arm part of the mechanical arm comprises a first load adjuster, the front arm part of the mechanical arm comprises a second load adjuster, the first load adjuster is used for adjusting the load of the first supporting arm, and the second load adjuster is used for adjusting the load of the second supporting arm.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the upper limb rehabilitation training device further comprises a main support, the mechanical arm training module further comprises a mechanical arm suspension and a connecting frame, one end of the connecting frame is connected with the upper arm part of the mechanical arm, the other end of the connecting frame is movably connected with the mechanical arm suspension, and the mechanical arm suspension is connected with the main support in a sliding manner so as to adjust the left and right positions of the mechanical arm training module on the main support.

According to the upper limb rehabilitation training device provided by the embodiment of the invention, the connecting rod is arranged between the mechanical arm suspension and the connecting frame, one end of the connecting rod is rotatably connected with the connecting frame, and the other end of the connecting rod is rotatably connected with the mechanical arm suspension to adjust the upper arm part of the mechanical arm, the front arm part of the mechanical arm and the ulnar part of the mechanical arm to be on the left side or the right side of the mechanical arm suspension.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

fig. 1 is a schematic overall structure diagram of an upper limb rehabilitation training device according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a robotic arm training module according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a portion of a robot arm training module in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of the forearm component of a robotic arm in accordance with an embodiment of the invention;

FIG. 5 is a schematic view of the radial radius of the arm of an embodiment of the present invention;

FIG. 6 is a system block diagram of an upper limb rehabilitation training device according to an embodiment of the present invention;

reference numerals: thechair 100, the robotarm training module 200, therobot arm suspension 210, thelink 220, thelink rod 230, thefirst positioning pin 231, thesecond positioning pin 232, the robot armupper arm member 240, theupper arm rest 241, thefirst support arm 242, themounting positioning rod 243, the first weight adjuster 244, the robotarm forearm member 250, theforearm rest 251, thesecond support arm 252, thesecond slider 253, thethird positioning pin 254, the second weight adjuster 255, the robot arm chi-radial member 260, thegrip strength detector 261, thesupport plate 262, theseventh positioning pin 2621, theswivel mount 263, thedetector mounting plate 264, thefirst angle sensor 265, thesecond angle sensor 266, thefourth positioning pin 267, thefifth positioning pin 268, thefirst slider 269, thesixth positioning pin 2691, thedisplay 300, thelogic processing computer 400, the support stand 500, themain stand 600, thebase 700, and thelifting column 800.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 6, an embodiment of the present invention provides an upper limb rehabilitation training device, including aseat 100, a robotarm training module 200, a central processing unit, adisplay 300 and at least one angle sensor, the angle sensor is used for detecting the activity angle of each joint of the mechanicalarm training module 200, the mechanicalarm training module 200 comprises anupper arm part 240, aforearm part 250 and aulnar part 260 which are connected in sequence, theupper arm part 240 comprises anupper arm support 241 for supporting the upper arm of a user, theforearm part 250 comprises aforearm support 251 for supporting the forearm of the user, theupper arm support 241 and theforearm support 251 are respectively provided with a binding band, theulnar part 260 comprises agrip detector 261, thegrip detector 261 is used for the palm of the user to grasp and detect the grip, and a pressure sensor is arranged in thegrip detector 261; the central processing unit is respectively in communication connection with thegrip strength detector 261 and the angle sensor, and is used for receiving grip strength data detected by thegrip strength detector 261 and angle data detected by the angle sensor and evaluating the upper limb dysfunction level of the user according to the grip strength data and the angle data; thedisplay 300 is connected to the central processor for displaying the grade of the upper limb dysfunction, the central processor is disposed on thelogic processing computer 400, and thedisplay 300 and thelogic processing computer 400 are mounted on thesupport frame 500.

The upper limb rehabilitation training device of the embodiment, a user end sits on thechair 100, an arm is supported on the mechanicalarm training module 200 for rehabilitation training, the angle sensor detects the activity angle of each joint of the mechanicalarm training module 200, the mechanicalarm training module 200 comprises anupper arm part 240, aforearm part 250 and aulnar part 260, wherein theupper arm part 240 supports the upper arm of the user, theforearm part 250 supports the forearm of the user, the palm of the user grasps thegrip force detector 261 of theulnar part 260, thegrip force detector 261 detects the grip force of the user, the data detected by the angle sensor and thegrip force detector 261 are sent to the central processing unit for analysis processing, the upper limb dysfunction grade of the user is obtained, the evaluation data of the upper limb dysfunction grade is fed back through thedisplay 300 for the user to check, so as to realize intelligent feedback, the user can know the specific condition of the upper limb training and decide whether to perform the rehabilitation training again according to the prompt of thedisplay 300.

In some embodiments, thegrip strength detector 261 is provided with a vibrator, the user can preset a palm grip test rehabilitation training target, and when the grip strength detected by thegrip strength detector 261 reaches a predetermined value, the cpu feeds back an electric signal to thegrip strength detector 261 to vibrate the vibrator, so as to give immediate feedback of vibration to the palm of the user.

In some embodiments, the upper limb rehabilitation training device further comprises amain support 600, abase 700 and a lifting upright 800, the mechanicalarm training module 200 further comprises amechanical arm suspension 210, wherein the lower end of the lifting upright 800 is connected with thebase 700, thebase 700 is provided with a plurality of travelling wheels for moving, themain support 600 is connected with the upper end of the lifting upright 800, and the lifting upright 800 can be adjusted in a lifting manner to adjust the height of themain support 600, so that the mechanicalarm training module 200 can adapt to the height of a human body; therobot arm suspension 210 is slidably coupled to themain support 600 to adjust left and right positions of the robotarm training module 200 on the main support 600 (the "left" and "right" refer to left and right sides of the user sitting on the chair 100), so that the robotarm training module 200 can be moved to the left or right side of the user to perform rehabilitation training of the left or right arm, the sliding of therobot arm suspension 210 on themain support 600 can be locked and released by a positioning pin, the positioning pin is released when the position needs to be adjusted, and the locking is performed after the adjustment is completed.

In some embodiments, the robotarm training module 200 further includes a connectingframe 220, one end of the connectingframe 220 is connected to theupper arm part 240 of the robot arm, and the other end of the connectingframe 220 is movably connected to thesuspension 210 of the robot arm, specifically, a connectingrod 230 is disposed between thesuspension 210 of the robot arm and the connectingframe 220, one end of theconnecting rod 230 is rotatably connected to the connectingframe 220, and the other end of theconnecting rod 230 is rotatably connected to thesuspension 210 of the robot arm, so as to adjust theupper arm part 240 of the robot arm, theforearm part 250 of the robot arm, and theulnar part 260 of the robot arm on the left side or the right side of thesuspension 210 of the robot arm, so that the user can perform rehabilitation training on the left arm or the right arm. The rotational connection of the connectingrod 230 to thelink frame 220 may be locked and released by afirst positioning pin 231, and the rotational connection of the connectingrod 230 to therobot arm suspension 210 may be locked and released by asecond positioning pin 232.

In some embodiments, theupper arm part 240 includes afirst support arm 242 and amounting positioning rod 243, thefirst support arm 242 is connected to the connectingframe 220, themounting positioning rod 243 is disposed on thefirst support arm 242, and theupper arm bracket 241 is detachably connected to the left or right side of themounting positioning rod 243 for switching and supporting the left or right arm of the user.

Further, thefirst support arm 242 adopts a parallelogram linkage structure, and thefirst support arm 242 is telescopically adjustable so that the length of thefirst support arm 242 and the position of theupper arm support 241 are adapted to the length of the upper arm of the user.

In some embodiments, thearm forearm component 250 includes asecond support arm 252 and asecond slider 253, thesecond support arm 252 is movably connected to thefirst support arm 242, theforearm support 251 is fixedly connected to thesecond slider 253, thesecond slider 253 is slidably connected to the bottom of thesecond support arm 252 to adjust the position of theforearm support 251 on thesecond support arm 252 so that the position of theforearm support 251 is adapted to the length of the forearm of the user, and the sliding of thesecond slider 253 on thesecond support arm 252 can be locked and released by thethird positioning pin 254.

Further, thesecond slider 253 is slidably removed from or attached to the front end along thesecond support arm 252 so that theforearm rest 251 is attached to the left or right side of thesecond support arm 252 to switch the left or right arm supporting the user.

In some embodiments, theupper arm part 240 further includes afirst weight adjuster 244, theforearm part 250 further includes asecond weight adjuster 255, thefirst weight adjuster 244 is configured to adjust the weight of thefirst support arm 242, and thesecond weight adjuster 255 is configured to adjust the weight of thesecond support arm 252, specifically, each of thefirst weight adjuster 244 and thesecond weight adjuster 255 has a spring device built therein, so that thefirst support arm 242 and thesecond support arm 252 can reach a horizontal position without applying any external force, and the weight can be adjusted to achieve the effect of increasing or reducing the arm load, thereby achieving the effect of increasing or reducing the training strength.

In some embodiments, thearm radius assembly 260 includes asupport plate 262, arotation frame 263 and adetector mounting plate 264, thesupport plate 262 is connected to the armfront arm assembly 250, thesupport plate 262 is shaped like a Chinese character 'ao', therotation frame 263 is rotatably mounted on thesupport plate 262, thegrip detector 261 is mounted on thedetector mounting plate 264, thedetector mounting plate 264 is rotatably mounted on therotation frame 263, the angle sensor includes afirst angle sensor 265 and asecond angle sensor 266, thefirst angle sensor 265 is used for detecting the rotation angle of thedetector mounting plate 264, and thesecond angle sensor 266 is used for detecting the rotation angle of therotation frame 263. The rotation of thedetector mounting plate 264 on therotary frame 263 can be locked and released by afourth positioning pin 267, and the rotation of therotary frame 263 on thesupport plate 262 can be locked and released by afifth positioning pin 268, in which the rotation of therotary frame 263 is rotation around the axis of the forearm in the longitudinal direction, the rotation of thedetector mounting plate 264 is rotation of the wrist joint in the side-to-side rocking motion, and the angle of the wrist joint can be detected by thefirst angle sensor 265 and thesecond angle sensor 266.

The training of the wrist and the palm is realized through the mechanical arm ulnarradial component 260, the wrist flexibility and the palm grip strength are trained, the first training mode of the wrist flexibility is a motion mode that thefourth positioning pin 267 is loosened, the palm grips thegrip strength detector 261, the palm and thegrip strength detector 261 keep relatively static and rotate left and right around thefirst angle sensor 265, and the motion mode can train the wrist to swing left and right along the horizontal direction; the second training mode of wrist flexibility is a mode of motion in which thefourth positioning pin 267 is locked, thefifth positioning pin 268 is released, the palm grips thegrip detector 261, the palm and thegrip detector 261 are kept relatively stationary, and the wrist is rotated around thesecond angle sensor 266, and this mode of motion can train the wrist to rotate around the axis in the length direction of the forearm.

Further, the mechanicalarm ulnar assembly 260 includes afirst slider 269, thegrip force detector 261 is fixedly connected to thefirst slider 269, thefirst slider 269 is slidably connected to thedetector mounting plate 264 to adjust the position of thegrip force detector 261 on thedetector mounting plate 264 so that the position of thegrip force detector 261 is adapted to the length of the palm of the user, and thefirst slider 269 can be locked and released from sliding on thedetector mounting plate 264 by asixth positioning pin 2691.

In some embodiments, thesecond slider 253 of theforearm assembly 250 of the robot arm is provided with a mounting hole, and the rear end of thesupport plate 262 is detachably inserted into the mounting hole and locked and released by theseventh positioning pin 2621, so as to integrally detach and mount theulnar assembly 260 of the robot arm.

The working process of the upper limb rehabilitation training device of the embodiment is as follows:

(1) adjusting each part position of the mechanicalarm training module 200, making the mechanicalarm training module 200 suitable for training of the left arm or the right arm of the user, here using the mode suitable for training of the right arm of the user to convert into the mode suitable for training of the left arm as an example: detaching theupper arm rest 241 and mounting theupper arm rest 241 on the left side of thefirst support arm 242; loosening theseventh positioning pin 2621, taking out the mechanical armulnar radius component 260 in the horizontal direction, then loosening thethird positioning pin 254, taking out thesecond slider 253 and theforearm arm support 251 from thesecond support arm 252, horizontally rotating theforearm arm support 251 by 180 degrees to change the direction, then inserting thesecond slider 253 into thesecond support arm 252, locking thethird positioning pin 254, inserting the mechanical armulnar radius component 260 into thesecond slider 253, and locking theseventh positioning pin 2621, thereby completing the switching of theforearm arm support 251 and the mechanical armulnar radius component 260 from the right side to the left side; thefirst positioning pin 231 and thesecond positioning pin 232 are loosened, and the connectingrod 230 is horizontally rotated with themechanical arm suspension 210 as a fulcrum, so that the whole of theconnecting frame 220, the mechanical armupper arm part 240, the mechanical arm forearmpart 250 and the mechanicalarm ulnar part 260 is rotated from the right side to the left side; finally, the positioning pin on themechanical arm suspension 210 is loosened, and themechanical arm suspension 210 is moved from the right side to the left side; therefore, the switching of the left hand and the right hand of the user in the upper limb rehabilitation training is completed, and the operation is simple.

(2) And adjusting the height of the liftingupright column 800 to enable the height of the mechanicalarm training module 200 to be adapted to the body type of the user.

(3) The user end sits on theseat 100, and the lengths of the three parts of the mechanicalarm training module 200 are adjusted according to the length of the arm of the user: adjusting thefirst support arm 242 to extend or contract to a length corresponding to the length of the upper arm of the user; loosening thethird positioning pin 254, and slidably adjusting the positions of thesecond slider 253 and theforearm arm support 251 on thesecond support arm 252, so that the position of theforearm arm support 251 is adapted to the length of the forearm of the user; thesixth positioning pin 2691 is released and thegrip strength detector 261 and thefirst slider 269 are slidably adjusted in position on thedetector mounting plate 264 so that the position of thegrip strength detector 261 is adapted to the length of the palm of the user.

(4) And adjusting the weight of first weight-adjuster 244 and second weight-adjuster 255.

(5) The arms of the user are trained in a movement mode, the movement angles of the arms are detected through the angle sensors at the joints, the grip strength of the user is grasped through thegrip strength detector 261, relevant detection data are transmitted to the central processing unit in real time, the central processing unit transmits analog signals to thedisplay 300 after analyzing and calculating, assessment data of the upper limb dysfunction grade are displayed through thedisplay 300, and the user conducts adaptive training according to the assessment data.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (10)

1. An upper limb rehabilitation training device, comprising:

the mechanical arm training module comprises an upper arm part, a forearm part and a ulnar part which are sequentially connected, wherein the upper arm part comprises an upper arm support used for supporting the upper arm of a user, the forearm part comprises a forearm support used for supporting the forearm of the user, and the ulnar part comprises a grip strength detector used for being grasped by the palm of the user and detecting the grip strength;

the angle sensor is used for detecting the movable angle of each joint of the mechanical arm training module;

the central processing unit is respectively in communication connection with the grip strength detector and the angle sensor and is used for receiving grip strength data detected by the grip strength detector and angle data detected by the angle sensor and evaluating the upper limb dysfunction grade of the user according to the grip strength data and the angle data; and

and the display is in communication connection with the central processing unit and is used for displaying the assessment data of the upper limb dysfunction grade.

2. The upper limb rehabilitation training device of claim 1, wherein: the gripping force detector is internally provided with a vibrator, and the vibrator is used for giving feedback vibration to the palm of the user when the gripping force detected by the gripping force detector reaches a preset value.

3. The upper limb rehabilitation training device of claim 1, wherein: arm chi radial part includes backup pad, swivel mount and detector mounting panel, the backup pad with arm forearm part connects, the swivel mount is rotationally installed in the backup pad, grip detector install in on the detector mounting panel, the detector mounting panel rotationally install in on the swivel mount, angle sensor is including first angle sensor and second angle sensor, first angle sensor is used for detecting the rotation angle of detector mounting panel, second angle sensor is used for detecting the rotation angle of swivel mount.

4. The upper limb rehabilitation training device of claim 3, wherein: the mechanical arm radius part comprises a first sliding block, the grip strength detector is fixedly connected with the first sliding block, and the first sliding block is connected with the detector mounting plate in a sliding mode and used for adjusting the position of the grip strength detector on the detector mounting plate.

5. The upper limb rehabilitation training device of claim 1, wherein: arm upper arm part includes first supporting arm and installation locating lever, the installation locating lever sets up on the first supporting arm, upper arm holds in the palm detachably connects the left side or the right side of installation locating lever for switch support user's left arm or right arm.

6. The upper limb rehabilitation training device of claim 5, wherein: the arm forearm portion of arm includes second support arm and second slider, the second support arm with arm upper arm portion swing joint, the forearm portion hold in the palm with second slider fixed connection, the second slider with second support arm sliding connection is used for adjusting the forearm portion holds in the palm the position on the second support arm.

7. The upper limb rehabilitation training device of claim 6, wherein: the second slider can be detached or installed along the second supporting arm in a sliding mode, so that the front arm support is installed on the left side or the right side of the second supporting arm, and a user's left arm or right arm can be supported in a switching mode.

8. The upper limb rehabilitation training device of claim 7, wherein: the mechanical arm radius part comprises a supporting plate, a mounting hole is formed in the second sliding block, and the supporting plate is detachably connected with the mounting hole in an inserting mode.

9. The upper limb rehabilitation training device of claim 6, wherein: the arm upper arm member includes a first weight adjuster, the arm forearm member includes a second weight adjuster, the first weight adjuster is for adjusting a weight of the first support arm, the second weight adjuster is for adjusting a weight of the second support arm.

10. The upper limb rehabilitation training device of claim 1, wherein: the upper limb rehabilitation training device further comprises a main support, the mechanical arm training module further comprises a mechanical arm suspension and a connecting frame, one end of the connecting frame is connected with the mechanical arm upper arm part, the other end of the connecting frame is movably connected with the mechanical arm suspension, and the mechanical arm suspension is in sliding connection with the main support to adjust the left position and the right position of the mechanical arm training module on the main support.

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