CN104000706B - A kind of many positions upper and lower extremities linkage healing robot - Google Patents

Abstract

The present invention provides a multi-position upper and lower limb linkage rehabilitation robot, which includes a rotating bed module, an upper limb movement support module, a lower limb movement support module and a lower limb joint driver, wherein: the upper limb movement support module is fixed on the head end of the rotation bed module; The lower limb movement support module is connected to the tail of the rotating bed backrest support in the rotating bed module; the lower limb joint drivers are respectively installed under the support hip joint and support knee joint in the lower limb movement support module through the fixing holes to drive the lower limbs for gait movement. The robot described in the present invention can help patients with walking disabilities to carry out gait movements during the early bed rest stage, and under the protection of the suspension system and the support of the rotating bed, the patients can achieve multiple postures and gait accompanied by swinging arms Rehabilitation exercise, so as to improve the effect of rehabilitation.

Description

A Multi-Position Upper and Lower Limb Linkage Rehabilitation Robot

technical field

The invention relates to a device in the technical field of rehabilitation robots, in particular to a multi-position upper and lower limb linkage rehabilitation robot.

Background technique

At present, there are nearly 7 million stroke patients in my country, with 1.5 million new stroke cases and more than 100,000 new cases of spinal cord injury each year. With the improvement of economic construction and diagnosis and treatment, the mortality rate of patients with central nervous system injury has decreased significantly, but more than 80% of them are still disabled in the end, and motor dysfunction is the most common. The function of the lower limbs directly determines the patient's ability to stand, transfer and walk, thereby determining the scope of the patient's life activities, the scope of social participation and the quality of life. Therefore, for patients with central nervous system injuries, the recovery of walking ability is the primary goal of their participation in rehabilitation training one. When humans walk normally, the arms swing in coordination with the movement of the lower limbs. Although arm swing does not provide a direct thrust function for walking, from a kinematic point of view, arm swing during gait improves gait stability and improves energy efficiency. According to the targeted principle of rehabilitation training, gait training must be a body movement similar to normal walking. Then when the patient is performing gait training, the upper arm should also swing in coordination. In addition, the start time of rehabilitation training is also important. Current research shows that rehabilitation should start from the acute stage. As long as the treatment is not hindered, the earlier rehabilitation training starts, the greater the possibility of functional recovery and the better the prognosis. In view of the fact that the vast majority of patients after hemiplegia or paraplegia cannot train to walk for a long time, and some can only lie on their backs, gait rehabilitation equipment should ensure that patients can participate in training in multiple positions from lying down to upright. Thereby promoting the effect of rehabilitation and helping patients build confidence in life.

After searching the prior art, it was found that the Chinese patent application number 201320502166.4, title: active training rehabilitation device for upper and lower limbs, the technology includes a frame, a rotating device and a damping device. This system allows the user to sit and perform circular movements of the hands or feet, rather than the simultaneous movement of the upper and lower limbs, so the training efficiency of this patent is low. Chinese patent with application number 201220021483.X, title: upper and lower limb rehabilitation machine for paralyzed patients, the technology includes upper limb rehabilitation machine, lower limb rehabilitation machine and bed body. The upper limb rehabilitation machine and the lower limb rehabilitation machine can simultaneously drive the circular rotation of the hands and feet. Although this achieves the purpose of exercising the upper and lower limbs, our daily movements rarely involve the way the upper and lower limbs rotate in circles. In addition, the flat state of the bed keeps the patient confined to the lying-down rehabilitation training position, and our daily activities rarely require lying down. So the motion training trajectory and the training posture of this patent need to be improved.

Contents of the invention

In view of the defects in the prior art, the purpose of the present invention is to provide a multi-position upper and lower limb linkage rehabilitation robot, which can enable patients in the early stage or even in the bedridden stage to start stepping training in which the upper and lower limbs move together to promote functional rehabilitation.

In order to achieve the above objectives, the present invention provides a multi-position upper and lower limb linkage rehabilitation robot, including a rotating bed module, an upper limb movement support module, a lower limb movement support module and a lower limb joint driver module, wherein: the rotating bed module is provided with a rotating bed push rod motor And the backrest support of the rotating bed, the upper limb exercise support module is provided with a support shoulder joint rotation motor, the lower limb exercise support module is provided with a support hip joint and a support knee joint, and the rotating bed module realizes any position from lying flat to upright under the rotating bed push rod motor Position; the upper limb movement support module is fixed on the head end of the rotating bed module and is driven by the shoulder joint rotation motor of the support to perform arm swing movement; the lower limb movement support module is connected to the tail of the rotating bed backrest support, and the lower limb joint driver module is fixed on the support Under the hip joint and brace the knee joint to drive the lower limbs for gait movement;

The multi-position upper and lower limb linkage rehabilitation robot controls the movement of the robot through the rotary bed push rod motor of the rotary bed module, the bracket shoulder joint rotary motor of the upper limb movement support module, and the rotary motor of the lower limb joint driver module. The push rod motor changes the position of the rotary bed, the lower limb joint drive module of both lower limbs converts the rotary motion of the rotary motor into linear motion, the lower limb joint driver module is installed under the hip joint to drive the hip joint, and the lower limb joint driver module of both lower limbs is installed The knee joint is driven under the knee joint to accurately control the stepping movement of the lower limbs. The shoulder joint rotation motor of the bracket of the upper limbs controls the arm swing movement of the upper limbs, and finally realizes the gait rehabilitation training of multi-position upper and lower limb linkage.

Preferably, the rotating bed module includes: suspension brackets, outer frame of the rotating bed, liftable flat boards on the left and right sides of the bed body, back support of the rotating bed, hip joint connection holes, hip joint driver connection holes, rotating bed support base , rotary bed push rod motor, push rod motor fixing plate, rotary bed shaft, rotary bed foot board and foot support guide rail, wherein: the suspension bracket and the rotary bed backrest bracket are fixed on the rotary bed frame; the rotary bed frame is in Under the thrust of the left and right two rotary bed push rod motors, it rotates around the rotating shaft of the rotary bed to an upright state; the left and right sides of the bed can be lifted and flattened and fixed on the support base of the rotary bed; the tail of the backrest bracket of the rotary bed is provided. The hip joint connection hole of the bracket module, the hip joint connection hole is connected with the bracket hip joint in the lower limb sports bracket module; the bottom side of the rear part of the rotating bed backrest bracket is provided with the hip joint driver connection hole for installing the lower limb sports bracket module, the hip joint driver The connection hole and the hip joint driver tail end connection hole in the lower limb exercise bracket module are used to install the hip joint driver; the left and right two rotating bed push rod motors are installed on the push rod motor fixing plate; the rotating bed outer frame can support the base on the rotating bed It can be kept flat under the support of the two rotary bed push rod motors, or rotate around the rotary bed shaft to the upright state under the thrust of the two rotary bed push rod motors; The height plays a supporting role.

Preferably, the upper limb movement support module includes: shoulder support support, shoulder joint height adjustment button, support shoulder joint rotation motor, upper arm support and patient upper arm distance adjustment button, upper arm support, upper arm support length adjustment button, support elbow joint , forearm support, forearm support length adjustment button and hand fixed support, wherein: the upper limb movement support module is fixed on the side of the rotating bed frame in the rotating bed module through the shoulder support support; the shoulder joint height adjustment button is used for fine-tuning the shoulder The height of the joint from the rotating bed; the bracket shoulder joint rotation motor is used to drive the shoulder joint to do forward and backward arm swing in normal gait; the upper arm support is used to fix the patient's upper arm; the bracket elbow joint is aligned with the patient's elbow joint and allows the patient to The elbow joint bends naturally; the forearm support is used to fix the patient's forearm; the hand fixed support fixes the patient's hand; the distance adjustment button between the upper arm support and the patient's upper arm, the length adjustment button of the upper arm support and the length adjustment button of the forearm support are used to adjust the size of each support part In order to achieve the synchronous movement of the patient's arm close to the upper limb movement bracket module.

Preferably, the lower limb exercise support module includes: support hip joint, thigh support, thigh support length adjustment button, hip joint drive tail end connection hole, knee joint drive head end connection hole, support knee joint, calf support, calf support Length Adjustment Button, Knee Drive Tail Connection Hole, Bracket Ankle, Sole Bracket and Sole Bracket Wheels, Where: Bracket Hip Joint Connects to Hip Joint Hole of Rotating Table Module; Thigh Bracket Used to Support Patient's Thigh; Thigh Bracket Length The adjustment button is used to adjust the length of the thigh support; the connecting hole at the end of the hip drive and the connecting hole at the hip drive of the rotating bed module are used to install the hip drive; the connecting hole at the head end of the knee drive and the connecting hole at the end of the knee drive For installing the knee joint driver; the calf support is used to support the patient's calf; the calf support length adjustment button is used to adjust the length of the calf support; the sole support is used to support the patient's foot; the thigh support length adjustment button and the calf support length adjustment button adjust the movement of the lower limbs The frame module components are sized so that the patient's knee and ankle are aligned with the frame knee and frame ankle, respectively; the sole frame wheels allow the patient's feet to roll back and forth on the plantar support rails in the rotating bed module; the hip drive And under the action of the knee joint driver, the entire lower limb motion bracket module helps the patient's lower limbs to realize stepping motion on the plantar support rail.

Preferably, the lower limb joint driver module includes: a rotating motor, a motor fixing plate, a coupling, a driver head end fixing hole, a lead screw, a lead screw nut, a guide rod, a push rod, a lead screw fixing plate, a push rod fixing plate and the fixing hole at the tail end of the driver, wherein: the rotating motor is installed on the motor fixing plate; the coupling connects the rotating rod of the rotating motor and one end of the lead screw; Fixed on the lead screw fixing plate; one end of the push rod is fixed on the lead screw nut, and the other end is fixed on the push rod fixing plate; the driver head fixing hole in the lower limb joint driver module is connected to the hip joint driver connection hole in the rotating bed module , the driver tail end fixing hole in the lower limb joint driver module is connected with the hip joint driver tail end connection hole in the lower limb motion bracket module to drive the hip joint, which is called the hip joint driver; the driver head end of the lower limb joint driver module is fixed The hole is connected with the connecting hole at the head end of the knee joint driver in the lower limb exercise bracket module, and the driver tail end fixing hole of the lower limb joint driver module is connected with the tail end connection hole of the knee joint driver in the lower limb exercise bracket module to realize driving of the knee joint.

The robot described in the present invention can make the patient realize the stepping movement with the arm pendulum in any position from lying flat to upright.

When the present invention works, at first measure patient's upper body width length and thickness, shoulder joint height, the length of upper arm and forearm, thigh and shank length and hip joint width size, and adjust the length of each parts of upper limb motion bracket module and lower limb motion bracket module to The size of the patient is suitable; then the upper body of the patient lies on the backrest support of the rotating bed module, and its hip joints are aligned with the support hip joints in the lower limb movement support module, and the patient's shoulder joints, elbow joints, knee joints and ankle joints correspond to those of the robot. The rotation axis is aligned, and the patient's upper and lower limbs are fixed with the upper and lower limb movement support modules through straps, and the patient's feet are placed on the shoe sole support. The whole body of the patient is fixed on the suspension bracket of the rotating bed module by straps. Then put down the left and right sides of the bed body and lift the flat board. Start the bracket shoulder joint rotation motor of the upper limb movement bracket module and the rotation motor in the lower limb joint driver module to realize the similar stepping motion of both upper and lower limbs. According to the patient's needs, the rotary bed push rod motor of the rotary bed module can be started, so that the rotary bed and the patient can reach any position from flat to upright, and stepping exercise can be trained. The present invention controls the movement of the robot through six rotating motors (i.e. two support shoulder joint rotating motors in the upper limb movement support module, four rotating motors in the lower limb joint driver module) and one rotating bed push rod motor in the rotating bed module. sports. The hip joint driver and knee joint driver of the lower limbs can accurately control the stepping movement of the lower limbs; the shoulder joint rotation motor of the bracket of the upper limbs can control the arm swing movement of the upper limbs; the push rod motor of the rotating bed can change the position of the rotating bed, and finally realize multi The gait rehabilitation training of the upper and lower extremity linkage of the body position.

Compared with the prior art, the present invention has the following beneficial effects:

The rotating bed module in the present invention provides a safe training device for patients without independent standing ability, including paraplegia and hemiplegia patients, which increases the application population of the invention; the present invention can move both upper and lower limbs, and can be used according to the needs of patients According to the needs, choose the training position and exercise plan; the invention allows the upper arm of the patient to move along with the gait training, which improves the training efficiency and promotes the rehabilitation effect, which is of great significance to the application of rehabilitation robots in the medical field.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

1 is a schematic diagram of the overall structure of the multi-position upper and lower limb linkage rehabilitation robot assembly of the present invention;

Fig. 2 is a schematic structural view of the rotating bed module shown in Fig. 1;

Fig. 3 is a schematic structural diagram of the upper limb exercise support module shown in Fig. 1;

Fig. 4 is a schematic structural diagram of the lower limb exercise support module shown in Fig. 1;

Fig. 5 is a schematic structural diagram of the lower limb joint driver module shown in Fig. 1;

In the picture:

Rotating bed module 1, upper limb movement support module 2, lower limb movement support module 3, lower limb joint driver module 4;

Suspension bracket 10, rotating bed frame 11, left and right sides of the bed body can be raised and lowered flat plate 12, rotating bed backrest bracket 13, hip joint connection hole 14, hip joint drive connection hole 15, rotating bed support base 16, rotating bed pusher Rod motor 17, push rod motor fixing plate 18, rotating bed shaft 19, rotating bed tail plate 110, sole support guide rail 111;

Shoulder support bearing 20, shoulder joint height adjustment button 21, support shoulder joint rotation motor 22, upper arm support and patient upper arm distance adjustment button 23, upper arm support 24, upper arm support length adjustment button 25, support elbow joint 26, forearm support 27, Forearm support length adjustment button 28, hand fixed support 29;

Support hip joint 30, thigh support 31, thigh support length adjustment button 32, hip joint drive tail end connection hole 33, knee joint drive head end connection hole 34, support knee joint 35, calf support 36, calf support length adjustment button 37, Knee joint drive tail end connection hole 38, support ankle joint 39, sole support 310, sole support wheel 311;

Rotating motor 40, motor fixing plate 41, shaft coupling 42, driver head end fixing hole 43, leading screw 44, leading screw nut 45, guide rod 46, push rod 47, leading screw fixing plate 48, push rod fixing plate 49, The fixing hole 410 at the rear end of the driver.

detailed description

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 1, this embodiment provides a multi-position upper and lower limb linkage rehabilitation robot, including: a rotating bed module 1, an upper limb movement support module 2, a lower limb movement support module 3 and a lower limb joint driver module 4, wherein: an upper limb movement support module The module 2 is fixed on the head end of the rotary bed module 1 through the shoulder bracket support 20 provided; the lower limb movement support module 3 is connected to the tail of the rotary bed backrest bracket 13 of the rotary bed module 1 through the hip joint shaft; the lower limb joint driver module 4 are respectively installed under the support hip joint 30 and the support knee joint 35 of the lower limb movement support module 3 to drive the lower limbs for gait movement.

As shown in Figure 2, the main body module 1 of the rotating bed includes: a suspension bracket 10, an outer frame of the rotating bed 11, a liftable flat board 12 on the left and right sides of the bed body (in order to facilitate the display of the bottom side structure of the bed in Figure 2, the right The side liftable flat board is hidden), the backrest bracket of the rotating bed 13, the hip joint connection hole 14, the hip joint drive connection hole 15, the rotating bed support base 16, the rotating bed push rod motor 17, the push rod motor fixing plate 18, the rotating bed Bed rotating shaft 19, rotating bed footboard 110 and foot support guide rail 111, wherein: suspension bracket 10 and rotating bed backrest bracket 13 are all fixed on rotating bed frame 11; Under the thrust of the motor 17, it rotates to the upright state around the rotating shaft of the rotating bed; Install the hip joint driver connection hole 15 of the lower limbs movement support module 3; the left and right sides of the bed body can be lifted and placed horizontally. The two rotating bed push rod motors 17 on the left and right are installed on the push rod motor fixing plate 18; Under the thrust of a rotary bed push rod motor 17, it rotates around the rotary bed shaft 19 to an upright state; the rotary bed footboard 110 can be adjusted in length according to the patient's height, so that the patient's foot can step forward and backward on the sole support guide rail 111, and finally Play the role of supporting the patient's weight.

As shown in Figure 3, described upper limb motion support module 2 comprises: shoulder support support 20, shoulder joint height adjustment button 21, support shoulder joint rotation motor 22, upper arm support and patient's upper arm distance adjustment button 23, upper arm support 24, Upper arm support length adjustment button 25, support elbow joint 26, forearm support 27, forearm support length adjustment button 28 and hand fixed support 29, wherein: the whole upper limb movement support module 2 is fixed in the rotation of the rotating bed module by the shoulder support support 20 On the side of the bed frame 11; the shoulder joint height adjustment button 21 is used to fine-tune the height of the shoulder joint from the rotating bed so as to be suitable for patients of various physiques; the support shoulder joint rotation motor 22 drives the shoulder joint to do forward and backward swing in normal gait Arm movement; because the width of the patient's upper body is different, the upper arm support and the patient's upper arm distance adjustment button 23 are used to fine-tune the distance between the upper arm support 24 and the patient's upper arm, so that the patient's arm is close to the upper arm support 24 for synchronous movement; the upper arm support 24 is used for fixing The upper arm of the patient; the upper arm support length adjustment button 25 is used to adjust the overall length of the upper arm support 24 according to the size of the patient's upper arm; the support elbow joint 26 is aligned with the patient's elbow joint, allowing the patient's elbow joint to bend naturally during training; the forearm support 27 is used for fixing Patient's forearm; the forearm support length adjustment button 28 is used to adjust the overall length of the forearm support 27 according to the patient's forearm size; because the rotational movement of the wrist in normal walking is very small, so the rotational movement of the wrist on the forearm support 27 is neglected, and the fixed support 29 is passed through the hand Drive the patient's hand to swing naturally.

As shown in Figure 4, the described lower limb movement support module 3 comprises: support hip joint 30, thigh support 31, thigh support length adjustment button 32, hip joint drive tail end connection hole 33, knee joint drive head end connection hole 34, Support knee joint 35, calf support 36, calf support length adjustment button 37, knee joint drive tail end connection hole 38, support ankle joint 39, sole support 310 and sole support wheels 311, wherein: support hip joint 30 and the main module of the rotating bed The hip joint connection holes 14 in 1 are aligned and connected; the thigh support 31 is used to support the patient's thigh; the thigh support length adjustment button 32 is used to adjust the length of the thigh support 31; the hip joint drive tail end connection hole 33 is used to fix the hip joint drive Tail end; knee joint driver head end connection hole 34 is used to fix the knee joint driver head end; bracket knee joint 35 is aligned with the patient's knee joint; calf support 36 is used to support the patient's calf; calf support length adjustment button 37 adjusts the calf support 36 Length; Knee driver tail end connection hole 38 is used to connect knee joint driver tail end; Bracket ankle joint 39 is aligned with patient's ankle joint; Sole support 310 is used to support patient's foot; Shoe support wheel 311 allows patient's foot to rotate bed Roll back and forth on the sole support guide rail 111 in the module 1 to realize stepping motion.

As shown in Figure 5, the lower limb joint driver module 4 includes: a rotating motor 40, a motor fixing plate 41, a coupling 42, a driver head end fixing hole 43, a lead screw 44, a lead screw nut 45, a guide rod 46, Push rod 47, lead screw fixing plate 48, push rod fixing plate 49 and driver tail end fixing hole 410, wherein: the rotating motor 40 is installed on the motor fixing plate 41, and the shaft coupling 42 connects the rotating rod and the leading screw of the rotating motor 40 One end of 44; guide rod 46 passes lead screw nut 45, and one end is fixed on motor fixed plate 41, and one end is fixed on lead screw fixed plate 48; One end of push rod 47 is fixed on lead screw nut 45, and one end is fixed on push rod On the fixing plate 49; the driver head end fixing hole 43 in the lower limb joint driver module 4 is connected to the hip joint driver connecting hole 15 in the rotating bed module 1, and the driver tail end fixing hole 410 in the lower limb joint driver module 4 is connected to the lower limb movement support The tail-end connection hole 33 of the hip joint driver in module 3 is connected to realize driving the hip joint, which is called the hip joint driver; The head end connection hole 34 is connected, and the driver tail end fixing hole 410 of the lower limb joint driver module 4 is connected with the knee joint driver tail end connection hole 38 in the lower limb movement support module 3 to realize driving the knee joint, which is called a knee joint driver.

The working mode of the lower limb joint driver module 4: the rotating motor 40 drives the lead screw 44 to rotate, the lead screw nut 45 moves linearly on the lead screw 44 under the guidance of the guide rod 46, and the push rod 47 also moves along with the straight line, that is, The rotary motion of the rotary motor 40 is converted into the linear motion of the entire driver module. When the lower limb joint driver module 4 drives the knee joint, the entire driver module is connected to the knee joint driver head fixing hole 34 through the driver head fixing hole 43, and the driver tail fixing hole 410 is connected to the knee joint driver tail connecting hole 38. The linear motion of the lower limb joint driver module 4 drives the swing of the support knee joint 35 . The way that the lower limb joint driver module 4 drives the support hip joint 30 is similar to this.

When this embodiment is in use, first measure the width, length and thickness of the patient's upper body, the height of the shoulder joint, the length of the upper arm and the forearm, the length of the thigh and the calf and the width of the hip joint, and adjust the upper limb exercise support module 2 and the lower limb exercise support module 3 respectively The length of the parts is suitable for the size of the patient; then the upper body of the patient lies on the backrest support 13 of the rotating bed, and its hip joints are aligned with the support hip joints 30 in the lower limb movement support module 3, and the upper limbs are placed on the left and right sides of the bed body and can be lifted and placed flat On the board 12, both lower limbs are placed on the lower limb movement support module 3; the patient's shoulder joints, elbow joints, knee joints and ankle joints are aligned with the corresponding rotation axes of the robot, and the patient's upper and lower limbs are aligned with the upper and lower limb movement support modules 2, 3 fixed by straps, the patient's feet are placed on the shoe sole support 310. The whole body of the patient is fixed on the suspension bracket 10 by straps. Then put down the left and right sides of the bed body and lift the flat plate 12. Start the rotary motor 22 of the support shoulder joint and the rotary motor 40 of the lower limb support driver to realize the similar stepping motion of both upper and lower limbs. According to the needs of the patient, the rotary bed push rod motor 17 can be started, so that the rotary bed and the patient can reach any position from lying flat to upright, so as to train the stepping motion.

This embodiment is pushed by six rotating motors (i.e. two support shoulder joint rotating motors 22 in the upper limb movement support module 2, four rotating motors 40 in the lower limb joint driver module 3) and a rotating bed in the rotating bed module 1. Rod motor 17 to control the movement of the robot. The hip joint driver and knee joint driver of both lower limbs can accurately control the stepping movement of both lower limbs; the bracket shoulder joint rotation motor 22 can control the arm swing movement of the upper limbs; the rotating bed push rod motor 17 can change the position of the rotating bed, and finally realize multi-position Gait rehabilitation training for upper and lower extremity linkage.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (6)

1. the linkage of position upper and lower extremities more than kind healing robot, it is characterised in that include revolving bed module, upper extremity exercise Rack module, lower extremity movement rack module and joint of the lower extremity Drive Module, wherein: revolving bed module is provided with revolving bed Push-rod electric machine and revolving bed back bracket, upper extremity exercise rack module is provided with support shoulder joint electric rotating machine, lower extremity movement Rack module is provided with support hip joint and support knee joint, and revolving bed push-rod electric machine drives revolving bed module to turn to lie low To upright any position；Upper extremity exercise rack module is fixed on the something or somebody to fall back on end of revolving bed module and revolves in support shoulder joint Rotating motor makees swing arm motion under driving；Lower extremity movement rack module is connected to the afterbody of revolving bed back bracket, joint of the lower extremity Drive Module is separately fixed at below support hip joint and support knee joint to drive lower limb to do gait motion；

Described many positions upper and lower extremities linkage healing robot is propped up by the revolving bed push-rod electric machine of revolving bed module, upper extremity exercise The support shoulder joint electric rotating machine of frame module and the electric rotating machine of joint of the lower extremity Drive Module control the motion of robot, The revolving bed push-rod electric machine of revolving bed module changes the position of revolving bed, is fixed on the joint of the lower extremity below support knee joint and drives The rotary motion of electric rotating machine is converted into linear motion by dynamic device module, is fixed on the joint of the lower extremity below support hip joint and drives Dynamic device module drive hip joint, is fixed on the joint of the lower extremity Drive Module below support knee joint and drives knee joint, thus Accurately controlling the step movement of double lower limb, the support shoulder joint electric rotating machine of double upper limb controls the arm pendular motion of upper limb, finally Realize the gait rehabilitation training of the upper and lower extremities linkage of many positions.

One many positions upper and lower extremities the most according to claim 1 linkage healing robot, it is characterised in that described Revolving bed module include: pipe-hanging hook, revolving bed housing, bed body left and right sides liftable keep flat plate, revolving bed backrest props up Frame, hip joint connecting hole, hip joint driver connecting hole, revolving bed support base, revolving bed push-rod electric machine, push rod electricity Machine fixed plate, revolving bed rotating shaft, revolving bed tailgate and vola supporting guide, wherein: pipe-hanging hook and revolving bed backrest prop up Frame is both secured on revolving bed housing；Revolving bed housing under the thrust of two the revolving bed push-rod electric machines in left and right around revolving bed Axis of rotation is to erectility；Bed body left and right sides liftable keeps flat plate and is fixed on revolving bed support base；Revolving bed backrest The afterbody of support is provided with the hip joint connecting hole for installing lower extremity movement rack module, and hip joint connecting hole is transported with lower limb Support hip joint in dynamic rack module is connected；The afterbody bottom side of revolving bed back bracket is provided with for installing lower extremity movement The hip joint driver connecting hole of rack module, the hip joint in hip joint driver connecting hole and lower extremity movement rack module Driver tail end connecting hole is used for installing hip joint driver；It is solid that two, left and right revolving bed push-rod electric machine is arranged on push-rod electric machine Determine on plate；Revolving bed housing can keep lying status under revolving bed supports the support of base, or pushes away at two revolving beies Around revolving bed axis of rotation to erectility under the thrust of bar motor；Revolving bed tailgate can be long according to the height of patient Degree regulation, so that vola supporting guide is suitably highly playing a supportive role.

One many positions upper and lower extremities the most according to claim 1 linkage healing robot, it is characterised in that described Upper extremity exercise rack module include: shoulder support bearing, shoulder joint height adjusting button, support shoulder joint electric rotating machine, Overarm brace and patient's upper arm distance regulation button, overarm brace, overarm brace length adjustment button, support elbow joint, Front arm support, forearm stent length regulation button and hands fixed support, wherein: upper extremity exercise rack module is by shoulder support Bearing is fixed on the side of the revolving bed housing in revolving bed module；Shoulder joint height adjusting button is used for finely tuning shoulder joint Height from revolving bed；Support shoulder joint electric rotating machine be used for driving shoulder joint to do in normal gait before and after swing arm motion； Overarm brace is used for immobilized patients upper arm；Support elbow joint aligns with patient's elbow joint and allows patient's elbow joint when training Natural torsion action；Front arm support is used for immobilized patients forearm；The hand of hands fixed support immobilized patients；Overarm brace with Patient's upper arm distance regulation button, overarm brace length adjustment button and forearm stent length regulation button are used for regulating each Frame portion size is close to upper extremity exercise rack module and is synchronized with the movement reaching patient's arm.

One many positions upper and lower extremities the most according to claim 2 linkage healing robot, it is characterised in that described Lower extremity movement rack module include: support hip joint, thigh support frame, thigh support frame length adjustment button, hip joint drive Dynamic device tail end connecting hole, knee joint driver head end connecting hole, support knee joint, little leg support, shank stent length are adjusted Joint button, knee joint driver tail end connecting hole, support ankle joint, sole support and sole support wheel, wherein: Frame hip joint is connected with the hip joint connecting hole of revolving bed module；Thigh support frame is used for supporting patient thigh；Thigh support frame is long Degree regulation button is for regulating the length of thigh support frame；Hip joint driver tail end connecting hole and the hip joint of revolving bed module Driver connecting hole is used for installing hip joint driver；Knee joint driver head end connecting hole and knee joint driver tail end are even Connect hole for installing knee joint driver；Little leg support is used for supporting patient's shank；Shank stent length regulation button is used for Regulate the length of little leg support；Sole support is for supporting the foot of patient；Thigh support frame length adjustment button and little leg support Length adjustment button regulation each part length of lower extremity movement rack module so that the knee joint of patient and ankle joint respectively with Frame knee joint and the alignment of support ankle joint；Sole support wheel allows the vola support in revolving bed module of the foot of patient to lead Roll around on rail；Under the effect of hip joint driver and knee joint driver, whole lower extremity movement rack module helps The lower limb of patient realize step movement on the supporting guide of vola.

One many positions upper and lower extremities the most according to claim 4 linkage healing robot, it is characterised in that described Joint of the lower extremity Drive Module include: electric rotating machine, motor fixing plate, shaft coupling, driver head end fixing hole, silk Thick stick, feed screw nut, guide rod, push rod, leading screw fixed plate, ejector pin retaining plate and driver tail end fixing hole, wherein: rotation Rotating motor is arranged on motor fixing plate；Shaft coupling connects swingle and one end of leading screw of electric rotating machine；Guide rod passes Feed screw nut one end is fixed on motor fixing plate, one end is fixed in leading screw fixed plate；Push rod one end is fixed on leading screw spiral shell On mother, one end is fixed on ejector pin retaining plate；Driver head end fixing hole in joint of the lower extremity Drive Module and revolving bed Hip joint driver connecting hole in module is connected, the driver tail end fixing hole in joint of the lower extremity Drive Module and lower limb Hip joint driver tail end connecting hole in motion bracket module is connected, it is achieved drive hip joint, is referred to as hip joint and drives Device；Driver head end fixing hole in joint of the lower extremity Drive Module and the knee joint driver in lower extremity movement rack module Head end connecting hole is connected, the driver tail end fixing hole of joint of the lower extremity Drive Module and the knee joint in lower extremity movement rack module Joint driver tail end connecting hole is connected, it is achieved drives knee joint, is referred to as knee joint driver.

6., according to the one many positions upper and lower extremities linkage healing robot described in any one of claim 1-5, its feature exists In, described robot can make patient from the upright any position that lies low, it is achieved the step movement of armed pendulum.