Patent Publication Number: US-11382819-B2

Title: Wire-driven wrist three-degree-freedom training mechanism for rehabilitation of upper limbs

Description:
TECHNICAL FIELD 
     The invention relates to the field of upper limbs rehabilitation mechanism, in particular to the wire-driven wrist three-degree-freedom training mechanism for rehabilitation of upper limbs. 
     BACKGROUND 
     With the advancement of science and technology and the development of the times, the rehabilitation and care work for the elderly and stroke patients has gradually been replaced by more intelligent and more convenient rehabilitation robots. As the traditional upper limb rehabilitation nursing tools of the prior art, most of them focus on the upper limb shoulder and elbow rehabilitation training, but there are not many rehabilitation exercises for the wrist, mainly because the wrist has more degrees of freedom and performs relatively less obvious movements. The rotation overlap between the wrist and the training device in the passive training mode is difficult to control. Therefore, most of the wrist training mechanism design adopts active training method, but the active training method has certain limitations. For those cases where the residual muscle strength is not enough to support the patient&#39;s active training, the active training method will not help the patient in effectively restore muscle strength. At the same time, the arm rest of the traditional rehabilitation robot arm is inconvenient to adjust, and the overlap between the patient&#39;s arm center and the equipment rotation center is not enough during use, not only the training effect is poor, but the user experience is not good. In addition, each joint of the traditional rehabilitation manipulator needs to be equipped with a motor, which not only increases the burden of the rehabilitation manipulator, but also the huge volume and the radiation and noise of the motor at each joint will also cause psychological pressure to the patient. 
     Therefore, those skilled in the art devote themselves into developing a rope-driven wrist three-degree-freedom training mechanism for upper limb rehabilitation. The mechanism can use passive training for upper limb rehabilitation training. It has a position compensation mechanism that can adapt to the individual differences of different patients and improve the training effect and user experience of the patients. The mechanism is simple, the motor radiation and noise are low, and the patient&#39;s psychological pressure can be reduced. 
     SUMMARY OF THE INVENTION 
     In view of the above-mentioned deficiencies of the prior art, the main technical problem to be solved by the present invention is that the existing passive training upper limb rehabilitation training mechanism cannot adapt to individual differences of patients, the training effect and user experience of the patient are not good, the mechanism is complicated, and the motor radiation and the noise is high, and the psychological pressure on the patient is heavy. 
     To achieve the above objective, the present invention provides a wire-driven wrist three-degree-freedom training mechanism for rehabilitation of upper limbs, comprising a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism, and an elbow linking mechanism; the wrist executing mechanism includes a handle, a handle supporting frame, a wrist end wire roulette, a bearing screw, an “L” shaped wrist support plate, a wrist end forward pulling wire, and a wrist end reverse pulling wire; the wrist linking mechanism includes wrist joint driven wire roulette, wrist joint outer fixation plate, wrist joint forward pulling wire, wrist joint reverse pulling wire, wrist joint inner fixation plate, wrist joint connection shaft, wrist joint auxiliary wire roulette; the forearm mechanism comprises a forearm linking rod, an arm supporting adjusting block and a arc-shaped arm rest; the elbow linking mechanism comprises an elbow joint linking block, an elbow joint forearm outer linking plate, an elbow joint upper arm outer linking plate, an elbow joint type I wire roulette, elbow joint main wire roulette, upper arm connector, elbow joint type II wire roulette, elbow joint upper arm inner linking plate, elbow joint forearm inner linking plate, elbow joint linking shaft. 
     The two ends of the grip handle are fixedly installed on the handle bracket, the handle bracket is fixedly installed on the lower end surface of the wrist end wire roulette, and the center axis of the wrist end wire roulette intersect perpendicularly the central axis of the grip handle, the central axis of the wrist end wire roulette coincides with the central axis of the bearing screw, the wrist end wire roulette and the bearing screw constitute a rotating pair, the free end of the “L”-shaped wrist support plate is arranged above the wrist end wire roulette, a gap is arranged between the upper end surface of the wrist end wire roulette and the free end of the “L”-shaped wrist support plate, the free end of the “L”-shaped wrist support plate is fixedly connected to the upper part of the bearing screw, and the outer circumference of the wrist end wire roulette is provided with a wrist end forward wire channel and a wrist end reverse wire channel, the fixed end of the forward pulling wire at the end of the wrist is fixedly arranged on the forward wire channel at the end of the wrist, and the fixed end of the reverse pulling wire at the end of the wrist is fixedly arranged on the reverse wire channel at the end of the wrist. 
     The wrist joint driven wire roulette is fixedly mounted on the wrist joint connection shaft, the wrist joint auxiliary wire roulette is movably mounted on the wrist joint connection shaft, the wrist joint auxiliary wire roulette, the wrist joint driven wire roulette coincides with the central axis of the wrist joint connection shaft, the wrist joint auxiliary wire roulette and the wrist joint connection shaft constitute a rotation pair, and the upper end of the wrist joint connection shaft is connected and the outer fixed plate of the wrist joint constitutes a rotating pair, the lower end of the wrist joint linking shaft and the inner fixed plate of the wrist joint constitute a rotating pair, the fixed end of the “L” shaped wrist support plate is fixedly mounted on the wrist joint linking shaft, The wrist joint auxiliary wire roulette is provided with a wrist joint auxiliary forward wire channel and a wrist joint auxiliary reverse wire channel on the outer circumference, and the wrist joint driven wire roulette is provided with a wrist joint forward wire channel and a wrist joint auxiliary reverse wire channel on the outer circumference, the fixed end of the wrist joint forward pulling wire is fixedly arranged on the wrist joint forward wire channel, and the fixed end of the wrist joint reverse pulling wire is fixedly arranged on the wrist joint on the wrist joint reverse wire channel, the wrist end forward pulling wire is set in the wrist joint auxiliary forward wire channel, and the wrist end reverse pulling wire is set in the wrist joint auxiliary reverse wire channel. 
     The inner fixed plate of the wrist joint and the outer fixed plate of the wrist joint are respectively fixedly installed on the front end of the forearm link, the lower end surface of the arm support adjustment pad is fixedly installed on the forearm linking rod, and the upper end surface of the adjusting pad is fixedly connected with the arc-shaped arm support. 
     The front end of the elbow joint linking block is fixedly connected to the rear end of the forearm linking rod, one end of the outer forearm linking rod of the elbow joint is fixedly connected to the outer side of the rear end of the elbow joint linking block, and one end of the inner side of the elbow joint forearm plate is fixedly connected to the inner side of the rear end of the elbow joint linking block, the elbow joint main wire roulette is arranged between the outer forearm linking plate of the elbow joint and the inner linking plate of the elbow joint forearm, and the elbow joint linking shaft passes through the other end of the elbow joint forearm inner linking plate, the elbow joint main wire roulette and the other end of the elbow joint forearm outer linking plate, the elbow joint linking shaft is fixedly connected to the elbow joint forearm inner linking plate, the central axis of the elbow joint connection shaft is colinear with the central axis of the elbow joint main wire roulette, the elbow joint connection shaft is fixedly connected to the elbow joint main wire roulette, the elbow joint linking shaft is fixedly connected to the other end of the outer forearm linking plate of the elbow joint, the outer upper arm linking plate of the elbow joint is arranged on the outer side of the outer forearm linking plate of the elbow joint, and the outer upper arm linking plate of the elbow joint and the elbow joint connection shaft constitutes a rotation pair, the inner side linking plate of the upper arm of the elbow joint is arranged on the inner side of the inner side linking plate of the forearm of the elbow joint, the inner side linking plate of the upper arm of the elbow joint and the elbow joint connection shaft constitute a rotation pair, the elbow joint type I roulette is arranged on the outer side of the upper arm of the elbow joint, the central axis of the elbow joint I roulette coincides with the central axis of the elbow joint linking shaft, the elbow joint type I wire roulette and the elbow joint connection shaft constitute a rotating pair, the elbow joint type II wire roulette is arranged on the inside of the inner linking plate of the upper arm of the elbow joint, and the central axis of the elbow joint type II wire roulette coincides to the central axis of the linking shaft of the elbow joint, the elbow joint type II wire roulette and the elbow joint connection shaft constitute a rotating pair, and the outer circumference of the elbow joint type I wire roulette is provided with a first wire channel and a second wire channel, the outer circumference of the elbow joint type II wire roulette is provided with a third wire channel and a fourth wire channel. 
     Further, the wrist executing mechanism comprises a copper sleeve, a fastening washer, and a lock nut, and the copper sleeve is arranged between the lower surface of the free end of the “L”-shaped wrist support plate and the upper end surface of the wrist end wire roulette, the fastening washer is arranged on upper surface of the free end of the “L”-shaped wrist support plate, the bearing screw passes through in order the copper sleeve, the free end of the “L”-shaped wrist support plate and the fastening washer to form a threaded connection with the lock nut. 
     Further, the wrist executing mechanism comprises a limiting pin, one end of the limiting pin is fixedly installed on the fastening washer, a limiting groove is arranged on the upper surface of the wrist end wire roulette, the limiting groove is arc-shaped, the arc of the limiting groove is not greater than 160°, and the circle center of the center wire of the limiting groove is on the rotation center wire of the wire roulette at the end of the wrist, the other end of the limiting pin passes through the free end of the “L”-shaped wrist support plate, and the other end of the limiting pin is movably arranged inside the limiting groove. 
     Further, the wrist executing mechanism comprises a type I wire reversing roulette, a type II wire reversing roulette, type I wire reversing roulette supporting frame, and type II wire reversing roulette supporting frame, the type I wire reversing roulette supporting frame and the type II wire reversing roulette supporting frame are fixedly arranged on the corner of the “L”-shaped wrist supporting plate, At the corner of the supporting plate, the type I wire reversing roulette supporting frame is provided with the type I wire reversing roulette, and the opening of the type II wire reversing roulette supporting frame is provided with the type II wire reversing roulette, the roulette groove of the type I wire reversing roulette is located on the tangent plane at the outlet position of the reverse wire channel at the end of the wrist, and the roulette groove of the type II wire reversing roulette is located on a tangent plane at the exit position of the forward wire channel. 
     Further, the thickness of the arm rest adjustment pad is adjustable, the central axis of the arc-shaped arm rest is parallel to the central axis of the bearing screw, the central axis of the arc-shaped arm rest is perpendicular to the thickness adjustment direction of the arm rest adjustment pad, and the central axis of the arc-shaped arm rest is parallel to the plane formed by the central axis of the bearing screw and the thickness adjustment direction of the arm rest adjustment pad. 
     Further, the forearm mechanism further comprises a forward tension pulley block, a reverse tension pulley block, a tension screw, a plug screw, the forearm linking rod is provided with a first set of waist-shaped holes and a second set of waist-shaped holes, and the length directions of the first set of waist-shaped holes and the second set of waist-shaped holes are arranged along the forearm linking rod, the depth directions of the first block of waist-shaped holes and the second block of waist-shaped holes penetrate through the upper and lower surfaces of the forearm linking rod, and the number of waist-shaped holes of the first block of waist-shaped holes is greater than or equal to 2, the number of waist-shaped holes of the second block of waist-shaped holes is greater than or equal to 2, and each of the waist-shaped hole is provided with a corresponding tension threaded through hole, and the tension threaded through holes are provided on the left and right sides of the forearm linking rod, the central axis of the tensioning threaded through hole intersects the two central axes of the corresponding waist-shaped hole perpendicularly, and the forward tensioning pulley block is fixedly installed at the first set of waist-shaped holes of the forearm linking rod through the plug screw, the reverse tension pulley set is fixedly installed at the second set of waist-shaped holes of the forearm linking rod by the plug screws, the tension screw is arranged in the tension threaded through hole, the tension screw and the tension threaded through hole form a threaded connection, and the bottom surface of the tension screw is in contact with the plug screw. 
     Further, the forward tension pulley set comprises a type I forward tension pulley supporting frame, a forward tension pulley, and a type II forward tension pulley supporting frame, the reverse tension pulley block includes a type I reverse tension pulley supporting frame, a reverse tension pulley, a type II reverse tension pulley supporting frame, the type I forward tension pulley supporting frame is arranged on the upper surface of the forearm linking rod, the type II forward tension pulley supporting frame is arranged on the lower surface of the forearm linking rod, the type I reverse tension pulley supporting frame is arranged on the upper surface of the forearm linking rod, and the type II reverse tension pulley supporting frame is arranged on the lower surface of the forearm linking rod, the forward tension pulley is arranged between the type I forward tension pulley supporting frame and the type II forward tension pulley supporting frame, the reverse tension pulley is arranged between the type I reverse tension pulley supporting frame and the type II reverse tension pulley supporting frame. 
     Further, the three-degree-freedom training mechanism for rehabilitation of upper limbs comprises a socket set screw, a crimping piece, a first drive motor, and a second drive motor, the fix ends of the forward pulling wire and the reverse pulling wire of the wrist end are fixedly installed on the wrist end wire roulette by the socket set screw and the crimping piece, and the fix ends of the forward pulling wire and the reverse pulling wire of the wrist joint are fixedly installed on the wrist joint driven wire roulette by the socket set screw and the crimping piece, the first drive motor and the second drive motor are arranged away from the wrist joint. 
     Further, the wire winding directions of the forward pulling wire and the reverse pulling wire of the wrist end are opposite, and the winding length of the wrist end forward pulling wire on the wrist end forward wire channel is ¾ of the circumference of the wrist end wire roulette, the winding length of the wrist end reverse pulling wire on the reverse wire channel of the wrist end is ¾ of the circumference of the wrist end wire roulette; the wrist end forward pulling wire is winded around the auxiliary forward wire channel at the wrist joint for one round after changing its direction through the type II reversing roulette, the wrist end forward pulling wire has the same direction entering and exiting the auxiliary forward wire channel at the wrist joint, the wrist end reverse pulling wire is winded around the auxiliary reverse wire channel at the wrist joint for one round after changing its direction through the type I reversing roulette, the wrist end reverse pulling wire has the same direction entering and exiting the auxiliary reverse wire channel at the wrist joint, the wire winding directions of the wrist end forward pulling wire and the wrist end reverse pulling wire of the wrist end are opposite. 
     The forward pulling wire at the end of the wrist wind around the reverse tension pulley and the forward tension pully in an inverted “Z” manner after leaving the wrist joint auxiliary wire roulette, the direction in which the forward pulling wire enters the reverse tension pulley is the same as the direction from which it leaves the forward tension pulley, the forward pulling wire at the end of the wrist wind around the forward tension pulley and the forward tension pully in an inverted “Z” manner after leaving the wrist joint auxiliary wire roulette, the direction in which the reverse pulling wire enters the forward tension pulley is the same as the direction from which it leaves the reverse tension pulley. 
     The forward pulling wire at the end of the wrist wind around the third wire channel of the elbow joint type II wire roulette after leaving the forward tension pulley, and the number of winding rounds the wrist end forward pulling wire has in the third wire channel is greater than or equal to 1, the wrist end forward pulling wire enters and exits the third wire channel in the same direction, and the wrist end reverse pulling wire wind around the first wire channel of the elbow joint type I wire roulette after leaving the reverse tension pulley, the number of winding rounds the wrist end reverse pulling wire has in the first wire channel is greater than or equal to 1, the wrist end reverse pulling wire enters and exits the first wire channel in the same direction; the free end of the forward pulling wire at the end of the wrist and the free end of the reverse pulling wire at the end of the wrist are jointly connected to the output shaft of the first driving motor. 
     The winding directions of the wrist joint forward pulling wire and the wrist joint reverse pulling wire in the wrist joint driven wire roulette are opposite, the winding length of the wrist end forward pulling wire on the wrist end forward wire channel is ¾ of the circumference of the wrist joint driven wire roulette, the winding length of the wrist end reverse pulling wire on the reverse wire channel of the wrist end is ¾ of the circumference of the wrist joint driven wire roulette; the forward pulling wire at the wrist joint wind around the second wire channel of the elbow joint type I wire roulette after leaving the wrist joint driven wire roulette, and the number of winding rounds the wrist joint forward pulling wire has in the second wire channel is greater than or equal to 1, the wrist end forward pulling wire enters and exits the second wire channel in the same direction; and the wrist joint reverse pulling wire wind around the fourth wire channel of the elbow joint type II wire roulette after leaving the wrist joint driven wire roulette, the number of winding rounds the wrist end reverse pulling wire has in the fourth wire channel is greater than or equal to 1, the wrist joint reverse pulling wire enters and exits the fourth wire channel in the same direction; and the free end of the wrist joint forward pulling wire and the free end of the wrist joint reverse pulling wire are jointly connected to the output shaft of the second driving motor. 
     The winding directions of the wrist end reverse pulling wire and the wrist end forward pulling wire at the elbow joint type I wire roulette are opposite, and the wrist end forward pulling wire and the wrist end reverse pulling wire at the elbow joint type II wire roulette are opposite. 
     Further, the elbow joint main wire roulette further comprises an elbow joint wire roulette inner wire channel, an elbow joint wire roulette outer wire channel, a locating hole, the elbow joint wire roulette inner wire channel, and the elbow joint wire roulette outer wire channel are arranged on the outer circumference of the elbow joint main wire roulette, and the locating holes are arranged on the end face of the elbow joint main wire roulette. 
     In a preferred embodiment of the present invention, the wrist forward wire and the wrist reverse wire maintain an initial position for driving the wrist end during the wrist valgus/inversion motion training, driving a forward pulling wire and a reverse pulling wire of the end of the wrist, so that the end of the wrist wire roulette rotates to drive the grip handle and then drive the wrist to complete the inversion/valgus action, and the upper limit pin arranged on the fastening pad is always kept inside the limiting groove to limit the rotation angle of the inversion/valgus action so as to prevent excessive movement of the wrist inversion/valgus action causing secondary injury to the user. 
     In the same preferred embodiment of the present invention, when the wrist is flexed/deflected, the wrist end forward pulling wire and the wrist end reverse pulling wire are driven to rotate the wrist end wire roulette so as to drive the grip handle to rotate, and the center wire of the grip handle is parallel with the “L” shaped wrist support plate bending section to drive the wrist joint forward pulling wire and the wrist joint reverse pulling wire, incurring the wrist joint driven roulette to drive the wrist executing mechanism to perform a reciprocating rotation to drive the wrist to complete the palmar/dorsiflexion. 
     In the same preferred embodiment of the present invention, when the invention is used for wrist adduction/abduction exercise training, the wrist end forward pulling wire and the wrist end reverse pulling wire are driven to drive the wrist end wire roulette to rotate grip handle, and the center axis of the grip handle is perpendicular to the bent portion of the “L” shaped wrist support plate, driving the wrist joint forward pulling wire and the wrist joint reverse pulling wire incurring the wrist joint driven roulette to drive the wrist executing mechanism to perform a reciprocating rotation to drive the wrist to complete the wrist adduction/abduction. 
     Compared with the prior art, the present invention has the following beneficial effects:
     1. The invention breaks through the defect that the traditional rehabilitation mechanical arm is limited to active training of the wrist. Through the comprehensive application of the two rotating pairs in the training mechanism by the wire driving, the passive training of the three degrees of freedom of the wrist controlled by two motors is realized, and the wrist valgus/inversion, wrist flexion/dorsiflexion, and wrist adduction/abduction three-degree-freedom training can be realized   2. The invention overcomes the shortcomings of poor experience and poor training effects of traditional rehabilitation mechanical arms by further adjusting the spatial position of the arc-shaped arm rest, the overlap between the center of the arm and the rotation center of the device is improved, which is beneficial to user experience. It is also conducive to body functions recovery;   3. The invention overcomes the disadvantages of large volume, strong motor radiation, and loud noise of traditional rehabilitation mechanical arms. The mechanical structure is simplified through the structural design of complete wire driving, the overall volume of the training mechanism is reduced, and the drive motor far away from the joint reduces motor radiation and noise, which greatly reduces the negative impact on patients during the training process and has improved user experience.   

     The concept, specific structure and technical effects of the present invention will be further described in the following with reference to the accompanying drawings to fully illustrate the purpose, features and effects of the present invention. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram of the overall module structure of a preferred embodiment of the present invention; 
         FIG. 2  is a schematic structural view of a wrist executing mechanism of a preferred embodiment of the present invention; 
         FIG. 3  is a schematic structural diagram of a wrist connection mechanism of a preferred embodiment of the present invention; 
         FIG. 4  is a schematic diagram of the forearm mechanism of a preferred embodiment of the present invention; 
         FIG. 5  is a schematic structural diagram of an elbow linking mechanism of a preferred embodiment of the present invention; 
         FIG. 6  is a schematic diagram of the forearm wiring structure of a preferred embodiment of the present invention; 
         FIG. 7  is a schematic diagram of the structure of the elbow joint main wire roulette of a preferred embodiment of the present invention; 
         FIG. 8  is a schematic diagram of the forearm linking rod structure of a preferred embodiment of the present invention; 
         FIG. 9  is a schematic view of a wrist limiting structure of a preferred embodiment of the present invention. 
     
    
    
     Among them,  100  is the wrist executing mechanism,  101  is the grip handle,  102  is the grip handle bracket,  103  is the fastening washer,  103 - 1  is the limit pin,  104  is the bearing screw,  105  is the lock nut, and  106  is the wrist end wire roulette,  106 - 1  is the arc-shaped limit slot,  107  is the type I wire reversing roulette,  108  is the type II wire reversing roulette,  109  is the “L”-shaped wrist support plate, and  110  is the type II pulling wire reversing roulette bracket,  111  is the type I wire reversing roulette bracket,  112  is the forward pulling wire at the end of the wrist,  113  is the reverse pulling wire at the end of the wrist,  114  is the copper sleeve,  200  is the wrist connection mechanism,  201  is the wrist joint driven wire roulette,  202  is the outer wrist joint fixed plate,  203  is the wrist joint forward pulling wire,  204  is the wrist joint reverse pulling wire,  205  is the wrist joint inner fixed plate,  206  is the bearing, and  207  is the wrist joint connection shaft,  208  is the wrist auxiliary wire roulette,  300  is the forearm mechanism,  301  is the forearm linking rod,  301 - 1  is the threaded blind hole,  301 - 2  is the waist-shaped hole,  301 - 3  is the threaded through hole, and  302  is the arm support adjustment pad,  303  is an arc-shaped arm support,  304  is a forward tension pulley block,  304 - 1  is a type I forward tension pulley bracket,  304 - 2  is a forward tension pulley, and  304 - 3  is a type II Forward tension pulley bracket,  305  is a reverse tension pulley block,  305 - 1  is a reverse tension pulley,  305 - 2  is a type I reverse tension pulley bracket, and  305 - 3  is a type II reverse tension pulley bracket,  306  is a tension screw,  307  is a plug screw,  400  is an elbow connection mechanism,  401  is an elbow joint connection block,  402  is an elbow joint forearm outer connection plate,  403  is an elbow joint upper arm outer connection plate,  404  is an elbow joint Type I wire roulette,  405  is the elbow joint main wire roulette,  405 - 1  is the inner wire channel of the elbow joint wire roulette,  405 - 2  is the outer wire of the elbow joint wire roulette,  405 - 3  is the locating hole, and  406  is the upper arm connector.  407  is the elbow joint type II wire roulette,  408  is the inner linking plate of the upper arm of the elbow joint,  409  is the inner linking plate of the forearm of the elbow joint,  501  is the fastening screw, and  502  is the crimping piece. 
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Some of the preferred embodiments of the present invention will be introduced in the following with reference to the accompanying drawings in the specification to make the technical content clearer and easier to understand. The present invention can be embodied by many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text. 
     In the drawings, components with the same structure are represented by the same numerals, and components with similar structures or functions are represented by similar numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings. 
     In a preferred embodiment of the present invention, a wire-driven wrist three-degree-freedom training mechanism for upper limb rehabilitation includes a wrist executing mechanism  100 , a wrist connection mechanism  200 , a forearm mechanism  300 , and an elbow connection mechanism  400 . As shown in  FIG. 1 . The wrist executing mechanism  100  includes a grip handle  101 , a grip handle bracket  102 , a fastening washer  103 , a bearing screw  104 , a lock nut  105 , a wire roulette  106  at the end of the wrist, a type I wire reversing roulette  107 , and a type II wire reversing roulette  108 , “L”-shaped wrist support plate  109 , type II wire reversing roulette bracket  110 , type I wire reversing roulette bracket  111 , wrist end forward pulling wire  112 , wrist end reverse pulling wire  113 , as shown in  FIG. 2 ; limit pin  103 - 1 , arc-shaped limit slot  106 - 1 , copper sleeve  114 , as shown in  FIG. 9 . Wrist connection mechanism  200  includes wrist joint driven wire roulette  201 , wrist joint outer fixing plate  202 , wrist joint forward pulling wire  203 , wrist joint reverse pulling wire  204 , wrist joint inner fixing plate  205 , bearing  206 , wrist joint linking shaft  207  and the auxiliary wire roulette  208  of the wrist joint are shown in  FIG. 3 . The forearm mechanism  300  includes a forearm linking rod  301 , an arm support adjustment pad  302 , an arc-shaped arm support  303 , a forward tension pulley block  304 , a reverse tension pulley block  305 , and a tension screw  306 , as shown in  FIG. 4 ; Tension pulley bracket  304 - 1 , tension pulley  304 - 2 , type II forward tension pulley bracket  304 - 3 , reverse tension pulley  305 - 1 , type I reverse tension pulley bracket  305 - 2 , type II reverse tension pulley bracket  305 - 3 , plug screw  307 , as shown in  FIG. 6 ; threaded blind hole  301 - 1 , waist-shaped hole  301 - 2 , threaded through hole  301 - 3 , as shown in  FIG. 8 . The elbow linking mechanism  400  includes an elbow joint linking block  401 , an elbow joint forearm outer linking plate  402 , an elbow joint upper arm outer linking plate  403 , an elbow joint type I roulette  404 , an elbow joint main roulette  405 , an upper arm linking head  406 , and an elbow joint type II wire roulette  407 , elbow joint upper arm inner linking plate  408 , elbow joint forearm inner linking plate  409 , elbow joint linking shaft (not shown in the figure), as shown in  FIG. 5 ; elbow joint wire inner wire  405 - 1 , elbow joint wire roulette outer wire  405 - 2 , locating hole  405 - 3 , set screw  501 , crimping piece  502 , as shown in  FIG. 7 . The wrist executing mechanism  100  and the wrist linking mechanism  200  are connected by a wrist joint linking shaft  207 , the wrist linking mechanism  200  and the forearm mechanism  300  are connected by a forearm linking rod  301 , and the forearm mechanism  300  and the elbow linking mechanism  400  are connected by an elbow joint linking block  401  Connected. The “L”-shaped wrist support plate  109  is placed between the wrist joint driven roulette  201  and the wrist joint auxiliary roulette  208  and fixedly mounted on the wrist joint linking shaft  207  by screws. The “L”-shaped wrist support plate  109  rotates with the wrist joint driven wire roulette  201 , the free end of the “L”-shaped wrist support plate  109  is provided with a wrist end wire roulette  106 , and is fixedly installed on the “L”-shaped wrist by a bearing screw  104  at the free end of the support plate  109 , the wrist end wire roulette  106  and the bearing screw  104  constitute a rotating pair. In this embodiment, a deep groove ball bearing is preferably provided between the wrist end wire roulette  106  and the bearing screw  104 , so that the wrist end wire roulette  106  and the “L”-shaped wrist support plate  109  are relatively rotatable. At the end of the bearing screw  104 , it is fixedly connected by a locknut  105  equipped with a fastening washer  103 , and a copper sleeve  114  is sleeved on the bearing screw  104  and is located between the “L”-shaped wrist support plate  109  and the wrist end wire roulette  106 . The handle bracket  102  is fixedly connected to the lower surface of the wrist end wire roulette  106  by screws. The grip  101  is pin-connected to the handle at the end of the bracket  102 , the two components are composed of a grip. The wrist end forward pulling wire  112  and the wrist end reverse pulling wire  113  are placed in two channels of the wrist end wire roulette  106  with opposite winding directions. And the winding length is ¾ of the circumference of the wrist end wire roulette  106 , and the end of the wire is fixed to the wrist end roulette  106  by the crimping piece  502 , which is used to ensure that the wire will not fail in the normal range of motion and prevent Excessive winding occurs and affects movement; at the openings of type I wire reversing roulette support  111  and type II wire reversing roulette support  110 , there are set type I wire reversing roulette  107  and type II wire reversing roulette  108 . They are respectively and fixedly connected to the corners of the “L”-shaped wrist support plate  109  by bolts, and the forward pulling wire  112  at the end of the wrist changes the routing direction through the type II wire reversing roulette  108 , and the auxiliary wire around the wrist joint roulette  208  makes a round, and the direction of the wire is consistent with the direction of the wire. The reverse pulling wire  113  at the end of the wrist changes the routing direction through the type I wire reversing roulette  107 , and it goes around the auxiliary wire roulette  208  of the wrist joint. Keep the wire in the same direction; both ends of the wrist joint linking shaft  207  are connected to the wrist joint outer fixing plate  202  and wrist joint inner fixing plate  205  through bearings  206 , and the wrist joint inner/outer fixing plate is fixedly connected to the forearm linking rod  301  by screws, There are threaded blind holes  301 - 1  and two sets of waist-shaped holes  301 - 2  on the side of the forearm linking rod  301 , and a pair of threaded through holes  301 - 3  are respectively provided on the upper and lower sides. The threaded through holes  301 - 3  correspond to the two sets of waist-shaped holes  301 - 2  respectively. 
     The arm support adjustment pad  302  is in fixed connection with the arc-shaped arm support  303  and the forearm linking rod  301  by bolts. The forward tension pulley block  304  and the reverse tension pulley block  305  arranged on the forearm linking rod  301  are symmetrical to the center, and are fixedly connected to the location of the waist-shaped hole  301 - 2  through the plug screw  307 . The tension screw  306  works together with the threaded through hole  301 - 3  to fasten the plug screw  307 . Elbow joint linking block  401 , the front end of the elbow joint linking block  401  is fixedly connected to the rear end of the forearm linking rod  301 , one end of the elbow joint forearm outer linking plate  402  is fixedly connected to the outer side of the rear end of the elbow joint linking block  401 , and the inner linking plate of the elbow joint forearm inner linking plate  409  is fixedly connected to the inner side of the rear end of the elbow joint linking block  401 , the elbow joint main wire roulette  405  is arranged between the elbow joint forearm outer linking plate  402  and the elbow joint forearm inner linking plate  409 , and the elbow joint linking shaft passes through the other end of the elbow joint inner forearm linking plate  409 , the elbow joint main wire roulette  405  and the other end of the elbow joint forearm outer linking plate  402  in order, the elbow joint connection shaft is fixedly connected to the other end of the elbow joint forearm inner linking plate  409 , and the central axis of the elbow joint connection shaft is colinear with the central axis of the elbow joint main wire roulette  405 , the elbow joint connection shaft is fixedly connected to the elbow joint main wire roulette  405 , the elbow joint connection shaft is fixedly connected to the other end of the elbow joint forearm outer side linking plate  402 , and the outer linking plate  403  of the elbow joint upper arm is arranged on the outer side of the outer linking plate  402  of the elbow joint forearm, the elbow joint upper arm outer linking plate  403  and the elbow joint linking shaft constitute a rotating pair, the elbow joint upper arm inner linking plate  408  is arranged on the inner side of the elbow joint forearm inner linking plate  409 , the elbow joint upper arm inner linking plate  408  and the elbow joint linking shaft constitute a rotation pair, the elbow joint type I wire roulette  404  is arranged on the outer side the elbow joint upper arm outer linking plate  403 , the center axis of the elbow joint type I wire roulette  404  coincides with the central axis of the elbow joint linking shaft, the elbow joint type I wire roulette  404  and the elbow joint linking shaft form a rotating pair, the elbow joint type II wire roulette  407  is arranged on the inside of the elbow joint upper arm inner linking plate  408 , and the central axis of the elbow joint type II wire roulette  407  coincides with the central axis of the elbow joint linking shaft, the elbow joint type II wire roulette  407  and the elbow joint linking shaft form a rotating pair, and the outer circumference of the elbow joint type I wire roulette  404  is provided with a first wire channel and the second wire channel, the outer circumference of the elbow joint type II wire roulette  407  is provided with a third wire channel and a fourth wire channel, the elbow joint forearm outer linking plate  402  and the elbow joint forearm inner linking plate  409  turns after the elbow joint main wire roulette  405 , 
     As shown in  FIG. 2 , the groove of the type I wire reversing roulette  107  is located on the tangent plane of the wire roulette  106  at the end of the wrist to ensure that the reverse wire at the end of the wrist receives tangential force along the wire to prevent the wire from falling off due to oblique pulling; the groove of the type II wire reversing roulette  108  is located on the tangent plane at the exit position of the wire roulette  106  at the end of the wrist to ensure that the forward wire at the end of the wrist receives tangential force along the wire to prevent the wire from falling off due to oblique pulling. 
     As shown in  FIG. 6 , the forward pulling wire  112  at the end of the wrist is wound in a “Z” shape around the forward tensioning pulley block  304 , and passes through the reverse tensioning pulley  305 - 2  and the forward tensioning pulley  304 - 2  in order, and the direction of entering and exiting for the wire are the same, the wrist end reverse pulling wire  113  is wound around the reverse tension pulley  305  in a “Z” shape, and then passes through the forward tension pulley  304 - 2  and the reverse tension pulley  305 - 2  in order, and the direction of entering and exiting for the wire are the same. 
     As shown in  FIG. 7 , the elbow joint main wire roulette  405  has two wire channels, namely the elbow joint wire roulette inner wire channel  405 - 1  and the elbow joint wire roulette outer wire channel  405 - 2 , and the elbow joint main wire roulette  405  is provided with a set screw  501 , a wire pressing piece  502 , and a locating hole  405 - 3  at the center symmetrical position. 
     As shown in  FIG. 8 , on the side of the forearm linking rod  301 , there are 4 left-right symmetrical, up-and-down symmetrical threaded blind holes  301 - 1  and two sets of waist-shaped holes  301 - 2 , waist-shaped holes  301 - 2 , a pair of threaded through holes  301 - 3  are respectively provided on the upper and lower sides of the forearm linking rod  301 , the upper threaded through hole  301 - 3  corresponds to the upper side waist-shaped hole  301 - 2 , and the lower threaded through hole  301 - 3  corresponds to the lower side waist-shaped hole  301 - 2 . 
     As shown in  FIG. 9 , a tightening screw  501  and a crimping piece  502  are provided at the notch on the wrist end wire roulette  106 , and a fastening washer  103  is provided parallel to the surface of the wrist end wire roulette  106 . The fastening washer  103  is provided with a limiting pin  103 - 1 , and the side of the wire roulette  106  at the end of the wrist is provided with an arc-shaped limit slot  106 - 1 . The arc of the arc-shaped limit slot is not more than 160°, and the limit pin  103 - 1  is always kept in the arc-shaped limit slot  106 - 1 . 
     The wire setting plan of this embodiment is as follows: 
     The direction of winding of the wrist end forward pulling wire  112  and the wrist end reverse pulling wire  113  in the wrist end roulette  106  is opposite, and the winding length of the forward pulling wire  112  at the end of the wrist on the forward wire channel at the wrist end is ¾ of the circumference of the wire roulette  106  of the wrist, and the winding length of the reverse pulling wire  113  at the end of the wrist on the reverse wire channel at the wrist end is ¾ of the circumference of the wire roulette  106  of the wrist; the wrist end forward pulling wire  112  is reversed through the groove of the type II wire reversing roulette  108  and then wound around the wrist joint auxiliary forward wire channel for one round. The wrist end forward pulling wire  112  enters and exits the wrist joint auxiliary forward wire channel in the same direction. The wrist end reverse pulling wire  113  is reversed through the groove of the type I wire reversing roulette  107  and then wound around the wrist joint auxiliary reverse wire for one round. The wrist end reverse pulling wire  113  enters and exits the wrist joint auxiliary reverse wire channel in the same direction. The winding directions of the wrist end forward pulling wire  112  and the wrist end reverse pulling wire  113  on the wrist joint auxiliary roulette  208  are opposite; 
     After the wrist end forward pulling wire  112  leaves the wrist joint auxiliary wire roulette  208 , it is wound around the reverse tension pulley  305 - 1  and the forward tension pulley  304 - 2  in an inverted “Z” shape. The direction in which the wrist end forward pulling wire  112  enters the reverse tension pulley and leaves the forward tension pulley  304 - 2  are the same. The wrist end forward pulling wire  112  leaves the wrist joint auxiliary wire roulette  208  and then wrap around the forward tension pulley  304 - 2  and the reverse tension pulley  305 - 1  in order in an inverted “Z” shape. The direction in which the wrist end reverse pulling wire  113  enters the forward tension pulley  304 - 2  and leaves the reverse tension pulley  305 - 1  are the same; 
     The wrist end forward pulling wire  112  leaves the forward tension pulley  304 - 2  and then is wound in the third wire channel of the elbow joint type II roulette  407 . The number of winding turns of the wrist end forward pulling wire  112  in the third wire channel is greater than or equal to 1, the direction of the wrist end forward pulling wire  112  enters and exits the third wire channel are the same, and the wrist end reverse pulling wire  113  leaves the reverse tension pulley  305 - 1  and then is wound around the first wire channel of the elbow joint type I wire roulette  404 , the number of winding turns of the wrist end reverse pulling wire  113  in the first wire channel is greater than or equal to 1, the wrist end reverse pulling wire  113  enters and exits the first wire channel in the same direction; the free end of the wrist end of the forward pulling wire  112  and the free end of the reverse pulling wire  113  at the end of the wrist are jointly connected to the output shaft of the first drive motor; 
     The winding direction of the wrist joint forward pulling wire  203  and the wrist joint reverse pulling wire  204  in the wrist driven roulette  201  is opposite, and the winding length of the wrist joint forward pulling wire  203  on the wrist joint forward wire channel is ¾ the circumference of the wrist driven roulette  201 , the winding length of the wrist reverse pulling wire  204  on the reverse wire channel of the wrist is ¾ the circumference of the wrist driven roulette  201 ; after the wrist joint forward pulling wire  203  leaves the wrist joint driven roulette  201 , it winds around in the second wire channel of the elbow joint type I wire roulette  404 , the number of winding turns of the wrist joint forward pulling wire  203  in the second wire channel equals to 1, and the wrist joint forward pulling wire  203  enters and exits the second wire channel in the same direction; the wrist joint reverse pulling wire  204  leaves the wrist joint driven roulette  201  and then winds in the fourth wire channel of the elbow joint type II wire roulette  407 , the number of winding turns the wrist joint reverse pulling wire  204  in the fourth wire equals to 1, the direction of the wrist joint reverse pulling wire  204  enters and exits the fourth wire channel in the same direction, the free end of the wrist joint forward pulling wire  203  and the free end of the wrist joint reverse pulling wire  204  are both connected to the output shaft of the second drive motor; 
     The winding direction of the wrist end reverse pulling wire  113  and the wrist joint forward pulling wire  203  in the elbow joint type I wire roulette  404  are opposite, the winding direction of the wrist end forward pulling wire  112  and the wrist joint reverse pulling wire  204  in the elbow joint type II wire roulette  407  are opposite. 
     The diameter of the first wire channel and the second wire channel of the elbow joint type I roulette  404  are the same, the diameter of the third wire channel and the fourth wire channel of the elbow joint type II wire roulette  407  are the same, and the diameter of the first wire channel of the wrist joint driven roulette  201  and the wire channel of the wrist joint auxiliary wire roulette  208  are the same. 
     In the actual use of this embodiment, as shown in  FIG. 2 , when this embodiment is used for wrist flexion/dorsiflexion exercise training, the wrist end forward/reverse pulling wire is driven to make the wrist end wire roulette  106  drive the grip handle to rotate and keep the center axis of the grip handle parallel to the bending section of the “L”-shaped wrist support plate  109 , and the wrist joint forward/reverse pulling wire is driven to make the wrist joint driven wire roulette  201  drive the wrist executing mechanism  100  in reciprocity to drive the wrist to complete palm flexion/dorsiflexion movements. 
     As shown in  FIG. 9 , when this embodiment is used for wrist valgus/inversion exercise training, the wrist joint forward/reverse pulling wire maintains the initial position, and the wrist end forward/reverse pulling wire is driven to make the wrist end wire roulette  106  drive the grip handle to reciprocate and then drive the wrist to complete the inversion/eversion action. The limit pin  103 - 1  provided on the fastening washer  103  is always kept inside the arc-shaped limit slot  106 - 1  to limit the angle of the inversion/eversion action to prevent excessive movement of the wrist in the valgus/valgus action. 
     When this embodiment is used for wrist adduction/extraction exercise training, the wrist end forward/reverse pulling wire is driven so that the wrist end wire roulette  106  drives the grip handle to rotate and the center axis of the grip handle is perpendicular to the bending section of the “L”-shaped wrist support plate  109 , and the wrist joint forward/reverse pulling wire is driven to make the wrist joint driven wire roulette  201  drive the wrist executing mechanism  100  to move in reciprocity and drive the wrist to complete the adduction/abduction movement. 
     Although the embodiments of the invention have been shown and described, those of ordinary skill in the art shall understand that the embodiments can be subjected to various changes, modifications, replacement and variations on the premise of not deviating from the principle and the spirit of the invention. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention and the prior art should fall within the protection scope defined by the claims.