CN112773629B

CN112773629B - A multi-posture gait training rehabilitation robot

Info

Publication number: CN112773629B
Application number: CN202110113063.8A
Authority: CN
Inventors: 潘海鸿; 莫俊飞; 卢美铭; 梁旭斌; 陈琳; 蓝敏; 许纪湖; 陆祖嘉; 韦海霞; 张琦伟; 黄荣国; 刘远才
Original assignee: Guangxi Anbote Intelligent Technology Co ltd
Current assignee: Guangxi Anbote Intelligent Technology Co ltd
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2025-09-30
Anticipated expiration: 2041-01-27
Also published as: CN112773629A

Abstract

The present invention discloses a multi-position gait training rehabilitation robot, comprising a cabinet, a training bed connected to one side of the cabinet, a cabinet chassis located at the bottom of the cabinet, and a display cabinet located beside the training bed and connected to the cabinet via electrical wires. Operations on the display cabinet control the cabinet to drive the training bed for lifting, flipping, or gait training. The present invention integrates multiple functions, including assisted movement, standing, flipping, lower limb flexion and extension, and gait training, to meet the diverse needs of patients at different stages of rehabilitation and provide patients with different training modes, achieving optimal rehabilitation training.

Description

Multi-pose gait training rehabilitation robot

Technical Field

The invention relates to the field of rehabilitation medical appliances, in particular to a robot for helping a patient to perform lower limb rehabilitation training.

Background

Patients suffering from lower limb dyskinesia caused by aging degree of population, traffic accidents, industrial injury accidents, sports injury and other various injury-causing factors are increasing, and besides operation and medication, the patients need to recover the walking ability of the lower limb through scientific rehabilitation training, and the continuously passive exercise is helpful for recovering or improving the lost nerve function.

At present, most of traditional rehabilitation training is to assist patients to stand and walk through medical staff or family members, but the training mode is high in working intensity, single in mode and poor in effect, consistency of rehabilitation training movement is difficult to ensure, requirements of patients in different rehabilitation stages cannot be met, labor cost is high, and therefore rehabilitation robot technology for specially helping patients with walking disorder on lower limbs to perform standardized gait rehabilitation training gradually becomes a research hot spot.

Disclosure of Invention

The invention aims to provide a robot for lower limb rehabilitation training, which can provide different training modes for patients and achieve the aim of better rehabilitation training.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

A multi-pose gait training rehabilitation robot comprises a cabinet, a training bed connected to one side of the cabinet, a cabinet chassis arranged at the bottom of the cabinet, and a display cabinet standing on one side of the training bed and connected with the cabinet through an electric wire, wherein the cabinet can be controlled to drive the training bed to lift, overturn or gait training through operation on the display cabinet.

The machine cabinet comprises a cabinet body, a lifting mechanism arranged on the front surface of the cabinet body and used for driving the training bed to lift, a lifting balancing weight arranged on the back surface of the cabinet body, a pulley block arranged on the top of the cabinet body, an electrical cabinet arranged beside the cabinet body and a steel wire rope, wherein one end of the steel wire rope is connected with the lifting balancing weight, and the other end of the steel wire rope bypasses the pulley block on the top and is connected to the lifting mechanism;

The lifting mechanism comprises a motor positioned at the bottom, a screw rod vertically arranged and driven by the motor, a nut capable of moving on the screw rod, lifting slide rails vertically arranged at two sides of the screw rod and parallel to the screw rod, a sliding block capable of sliding up and down along the lifting slide rails, and a mounting plate, wherein the motor, the screw rod and the nut form a worm wheel screw lifter, the nut and the sliding block are respectively fixed at the back of the mounting plate, the front of the mounting plate is connected with the training bed, and when the motor drives the screw rod to rotate through a worm wheel, the nut matched with the screw rod moves linearly up and down along the screw rod, so that the training bed is driven to move up and down along the vertical direction of the lifting slide rails;

the back of the mounting plate is provided with a hook for connecting the steel wire rope, and the worm gear screw lifter is also provided with a hand wheel.

The training bed comprises a support frame, a bed body frame connected with the support frame, a bed body foam-rubber cushion arranged on the front surface of the bed body frame, a hip joint width adjusting mechanism and a leg training mechanism which are connected to the lower end of the bed body frame, wherein the support frame is connected to the mounting plate on one hand and hinged with the back surface of the bed body frame through a shaft on the other hand, a bed body overturning motor and a bed body auxiliary gas spring are arranged between the support frame and the bed body frame, the output end of the bed body overturning motor and a piston rod of the bed body auxiliary gas spring are hinged with the back surface of the bed body frame, a binding band fixing support is arranged above the head of a patient, and armrests and emergency stop switches are respectively arranged at the left side and the right side of the waist of the patient.

The leg training mechanism comprises a hip joint, a knee joint, a pedal plate, a thigh supporting rod connected between the hip joint and the knee joint and a shank supporting rod connected between the knee joint and the pedal plate, wherein a thigh bracket is arranged on the thigh supporting rod, a shank bracket is arranged on the shank supporting rod, a hip joint motor and a sensor are arranged at the hip joint, and a knee joint motor and a sensor are arranged at the knee joint.

The thigh bracket comprises an arc-shaped plate, an adjusting block, an L-shaped bracket, an adjustable position fixing handle and a self-locking positioning spring pin, wherein the arc-shaped plate is attached to the surface of the thigh, the adjusting block is used for adjusting the position of the thigh bracket, the arc-shaped plate is connected to the L-shaped bracket of the adjusting block, the adjustable position fixing handle and the self-locking positioning spring pin are arranged on the adjusting block, a U-shaped groove capable of sliding on a thigh supporting rod and a vertical groove perpendicular to the opening direction of the U-shaped groove are formed in the adjusting block respectively, the horizontal end of the L-shaped bracket is fixed to the back surface of the arc-shaped plate, the vertical end of the L-shaped bracket penetrates through the vertical groove of the adjusting block, a row of adjusting holes are formed in the vertical end of the L-shaped bracket, a screw rod of the adjustable position fixing handle penetrates through the U-shaped groove and the vertical groove of the adjusting block from the bottom of the thigh supporting rod, and the self-locking positioning spring pin penetrates through the adjusting block from the bottom and is matched with the positioning screw hole.

The utility model discloses a shank bracket, including shank bracket, shank support rod, adjusting block, self-locking positioning spring pin, U type groove, arc, locating screw, the arc is equipped with the arc that laminates mutually with shank bracket surface, is used for adjusting shank bracket position and installs adjustable tight handle and the self-locking positioning spring pin on the adjusting block, be equipped with on the adjusting block and slide on the shank support rod, the arc is connected the adjusting block side, be equipped with a row of locating screw on the shank support rod, self-locking positioning spring pin on the adjusting block with locating screw cooperatees fixed position.

The knee joint is provided with an adjusting block, an adjustable positioning tightening handle and a self-locking positioning spring pin, the upper half part of the adjusting block forms a U-shaped groove used for sliding at the lower end of the thigh supporting rod, the lower half part of the adjusting block is used for fixing the knee joint motor, the output end of the knee joint motor is connected with the upper end of the shank supporting rod, the lower end part of the thigh supporting rod is provided with a row of positioning screw holes, and the adjusting block is fixed at different positions of the thigh supporting rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions;

The pedal is provided with an adjusting block at the side edge of the ankle position, the adjusting block is provided with a U-shaped groove sliding on the shank supporting rod, an adjustable positioning tightening handle and a self-locking positioning spring pin, a row of positioning screw holes are arranged on the bottom surface of the lower end of the shank supporting rod, and the adjusting block is fixed at different positions of the thigh supporting rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions.

The hip joint width adjusting mechanism comprises two mounting seats, two screw rods, two sets of guide rods, nuts, two sliding seats and hip joint width adjusting rocking handles, wherein the two mounting seats, the two screw rods, the two guide rods and the hip joint width adjusting rocking handles are respectively arranged at the left side and the right side of the hip part of the training bed, the nuts, the two sliding seats and the hip joint width adjusting rocking handles are arranged on the screw rods, the nuts are matched with the screw rods, the two sliding seats are connected to the outer ends of the screw rods, the mounting seats are respectively fixed at the left side and the right side of the bed body frame, the two screw rods are respectively connected to the two mounting seats through bearing seats, the upper half parts of the sliding seats are connected to the nuts of the screw rods, the lower half parts of the sliding seats are respectively connected to the left hip joint and the right hip joint, guide rods parallel to the screw rod direction are further arranged on the mounting seats, the middle part of the guide rods passes through the upper parts of the sliding seats, the two ends of the guide rods are fixed on the mounting seats through the guide rod seats, the sliding seats can slide along the direction of the guide rods, limiting blocks are further arranged on the guide rods, the guide rods are connected through couplings, and the thread directions of the two screw rods are opposite.

The display cabinet is provided with a display and a camera in the direction facing the training bed, a hand controller for controlling the turning and lifting functions of the bed body is further arranged on the cabinet body, and a touch screen, a power-on button, a power-off button and an emergency stop button which are provided with an AI interface for medical staff to operate are further arranged.

After the technical scheme is adopted, compared with the background technology, the invention has the following advantages:

1. The invention realizes multiple functions of integrated auxiliary movement, standing, overturning, lower limb bending and stretching and gait training, realizes multi-pose gait rehabilitation training and meets different requirements of patients in different rehabilitation stages.

2. The adjustable position tightening handles are respectively arranged on the thighs, the knee joints, the shanks and the ankles, can be adjusted according to different postures and leg lengths of people, is suitable for patients with different heights and weights, and is simple and convenient in adjustment mode and easy to operate.

Drawings

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

FIG. 2 is a schematic view from the back of the cabinet;

FIG. 3 is a schematic view from the back of the exercise bed;

FIG. 4 is a schematic view of a hip joint width adjustment mechanism;

FIG. 5 is a schematic view of a leg training mechanism;

FIG. 6 is a schematic rear view of the thigh bracket;

FIG. 7 is a schematic view of a strap mount;

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Examples

Referring to fig. 1, the invention discloses a multi-pose gait training rehabilitation robot, which comprises a cabinet 1, a training bed 2 connected to one side of the cabinet 1, a cabinet chassis 3 positioned at the bottom of the cabinet 1, and a display cabinet 4 facing the training bed 2 and connected with the cabinet 1.

Referring to fig. 2, the cabinet 1 includes a cabinet body 11, a lifting mechanism arranged on the front surface of the cabinet body 11 and used for driving the training bed 2 to lift, a lifting balancing weight 12 arranged on the back surface of the cabinet body 11, a pulley block 13 arranged on the top of the cabinet body 11, a steel wire rope (not shown in the figure) and an electrical cabinet 14 arranged beside the cabinet body 11, wherein one end of the steel wire rope is connected with the lifting balancing weight 12, and the other end of the steel wire rope bypasses the pulley block 13 on the top and is connected to the lifting mechanism.

The lifting mechanism comprises a worm gear screw lifter, lifting slide rails 16 and a mounting plate 17, wherein the worm gear screw lifter is composed of a motor 15 positioned at the bottom, a screw 18 vertically arranged and driven by the motor 15, and nuts moving up and down on the screw 18, the two lifting slide rails 16 are respectively vertically arranged at two sides of the screw 18 and parallel to the screw 18, sliding blocks capable of sliding up and down along the lifting slide rails 16 are respectively arranged on the lifting slide rails 16, the sliding blocks are respectively fixed at the back of the mounting plate 17, the mounting plate 17 can slide along the direction of the lifting slide rails 16, meanwhile, the back of the mounting plate 17 is connected with the nuts of the worm gear screw lifter, when the motor 15 of the worm gear screw lifter rotates through the worm gear driving screw 18, the nuts matched with the screw 18 do up-down rectilinear motion along the screw 18, and accordingly the training bed 2 is driven to do lifting motion along the vertical direction of the lifting slide rails 16. The bed body can be lowered to the height of about 420mm, the height of the lowered bed surface is just similar to that of the wheelchair, and patients can get on and off the bed conveniently without other auxiliary settings.

The back of mounting panel 17 is equipped with the couple that is used for connecting wire rope one end, and the lift balancing weight 12 of wire rope other end connection can be used to help alleviateing training bed 2's load, reduce motor power, and worm wheel screw lift still is furnished with hand wheel 19, plays reserve effect, and when motor 15 breaks down unable lift, accessible hand wheel 19 shakes training bed 2 down from the eminence.

The training bed 2 comprises a support frame 21, a bed body frame 22 connected with the support frame 21, a bed body foam cushion 28 arranged on the front surface of the bed body frame 22, a leg training mechanism and a hip joint width adjusting mechanism which are connected to the lower end of the bed body frame 22, wherein in fig. 3, the support frame 21 is connected to a mounting plate 17, meanwhile, the edge of the support frame 21 is hinged with the back surface of the bed body frame 22 through a shaft, a bed body overturning motor 23 and a bed body auxiliary air spring 24 are arranged between the support frame 21 and the bed body frame 22, the output end of the bed body overturning motor 23 is hinged with the back surface of the bed body frame 22, the purpose of inclining the bed body frame 22 is achieved through telescopic movement, the bed body can realize 0-90 DEG overturning, a piston rod of the bed body auxiliary air spring 24 is hinged with the back surface of the bed body frame 22, and the bed body auxiliary air spring 24 is used for assisting and buffering when the bed body is overturned.

The training bed 2 is provided with a strap fixing bracket 25 at a position above the head of the patient for fixing the strap on the patient and reducing the weight of the lower limb during the training.

As shown in fig. 7, two strap fixing members 29 are mounted on the strap fixing support 25, the strap fixing members 29 are mainly composed of two half-rings fastened together, wherein a hanging lug 45 extends from the half-rings towards the front of the machine body for connecting the strap, an adjustable position fixing handle 46 is arranged at the part of the two half-rings extending out of the back of the machine body, screws of the adjustable position fixing handle 46 penetrate through the two half-rings to fix the two half-rings, the two half-rings can be rotated to release the two half-rings, the strap fixing members 29 can slide freely on the strap fixing support 25, when the strap fixing members 29 move to a proper position, the adjustable position fixing handle 46 is rotated in the opposite direction to lock the two half-rings of the strap fixing members 29 again, and therefore the position and the interval between the two strap fixing members 29 can be adjusted.

The training bed 2 is provided with a left handrail 26, a right handrail 26 and a scram switch 27 at the left side and the right side of the waist of the patient, which is convenient for the patient to grab and borrow force in the training process, the weight of the lower limb is reduced, and the scram switch 27 is arranged beside the handrail 26, which is also convenient for playing a scram role in emergency.

Referring to fig. 2, the leg training mechanism includes a left leg training mechanism and a right leg training mechanism, each of which includes a hip joint 31, a knee joint 32, a foot board 33, a thigh support rod 34 connected between the hip joint 31 and the knee joint 32, a shank support rod 35 connected between the knee joint 32 and the foot board 33, a thigh bracket 36 mounted on the thigh support rod 34, a shank bracket 37 mounted on the shank support rod 35, a hip joint motor 38 mounted at the hip joint 31 for powering the hip joint movement to control the rotation of the thigh support rod 34, a knee joint motor 39 mounted at the knee joint 32 for powering the knee joint movement to control the rotation of the shank support rod 35, and sensors mounted at the joints.

The back of the training bed 2 is provided with a hip joint width adjusting mechanism, the hip joint width adjusting mechanism comprises two mounting seats 51, two screw rods 52, two sets of guide rods 55, nuts 53 arranged on the screw rods 52, two sliding seats 54 and hip joint width adjusting rocking handles 58 connected to the outer ends of the screw rods 52, the two mounting seats 51 are respectively fixed below the left side and the right side of the bed body frame 22, the screw rods 52 are connected below the mounting seats 51 through bearing seats, the upper half parts of the sliding seats 54 are connected on the nuts 53 of the screw rods 52, the lower half parts are respectively connected to the left hip joint 31 and the right hip joint 31, the mounting seats 51 are also provided with guide rods 55 parallel to the direction of the screw rods 52, the middle of the guide rods 55 passes through the upper parts of the sliding seats 54, the two ends of the guide rods are fixed on the mounting seats 51 through the guide rod seats, the sliding seats 54 can slide along the direction of the guide rods 55, the two ends of the guide rods 55 are also provided with limiting blocks 56, and the limiting blocks 56 are sleeves made of PU material and have a buffering effect and are used for limiting the moving stroke of the guide rods 54 on the guide rods 55.

The left and right screw rods 52 are connected through a coupler 57, the screw thread directions of the screw rods 52 are opposite, when the hip joint width adjusting rocking handle 58 is rotated to drive the screw rods 52 to rotate in the same direction, the two nuts 53 matched with the screw rods drive the two sliding seats 54 to linearly move in different directions respectively, and the two sliding seats simultaneously move towards the middle to reduce the distance or simultaneously move towards the two sides to increase the distance, so that the distance between the two hip joints is changed, and the effect of adjusting the hip joint width is achieved.

As shown in fig. 5 and 6, the thigh bracket 36 comprises an arc plate 61 attached to the surface of the thigh, an adjusting block 62 for adjusting the position of the thigh bracket 36, an L-shaped bracket 64 for connecting the arc plate 61 to the adjusting block 62, and a self-locking positioning spring pin 63 arranged on the adjusting block 62, an adjustable positioning tightening handle 65, and a self-locking positioning spring pin 66, wherein the adjusting block 62 is respectively formed with a U-shaped groove capable of sliding on the thigh supporting rod 34 and a vertical groove perpendicular to the opening direction of the U-shaped groove, the horizontal end of the L-shaped bracket 64 is fixed on the back surface of the arc plate 61, the vertical end of the L-shaped bracket 64 passes through the vertical groove of the adjusting block 62, and a row of adjusting holes 67 are arranged on the vertical end of the L-shaped bracket 64, the self-locking positioning spring pin 63 on the adjusting block 62 is clamped on the adjusting holes 67 of different heights, the height position adjustment of the arc plate 61 can be realized, the screw rod of the adjustable positioning tightening handle 65 penetrates through the U-shaped groove and the vertical groove of the adjusting block 62 from the bottom of the thigh supporting rod 34, the adjustable positioning handle 65 is rotated, the upper end of the adjusting screw hole 65 is positioned on the inner side of the adjusting block 62 is positioned at the bottom of the adjusting block 62, the bottom of the adjusting pin 68 is also positioned at the same time, and the bottom of the self-locking positioning spring pin 68 is positioned at the bottom of the adjusting block is positioned at the bottom of the adjusting screw hole 68, and the bottom of the adjusting pin is released by pulling the adjusting pin 68, and the self-locking positioning pin is positioned inside the adjusting pin 62, and the self-locking pin is positioned at the bottom of the position of the adjusting screw hole 68, and the self-locking bolt is positioned inside the self-locking bolt is positioned at the proper position, and the bottom of the position of the adjusting bolt 68, and the position of the self-locking bolt is moved. The notches of the U-shaped groove and the vertical groove are tightened, the U-shaped groove clamps the thigh support bar 34, and the vertical groove clamps the vertical end of the L-shaped bracket 64, so that the thigh bracket 36 is quickly positioned and adjusted.

Referring to fig. 5, the lower leg bracket 37 is similar to the thigh bracket 36 in structure, and is also provided with an arc 70 attached to the lower leg surface, an adjusting block 71 for adjusting the position of the lower leg bracket 37, an adjustable positioning tightening handle 72 mounted on the adjusting block 71, and a self-locking positioning spring pin 73, wherein the adjusting block 71 is provided with only a U-shaped groove capable of sliding on the lower leg supporting rod 35 because the lower leg is not adjusted in height, the arc 70 is directly connected to the side surface of the adjusting block 71, the lower leg supporting rod 35 is provided with a row of positioning screw holes 74, and the self-locking positioning spring pin 73 on the adjusting block 71 is matched with the positioning screw holes 74, and the position of the lower leg bracket 37 on the lower leg supporting rod 35 is changed and fixed through the self-locking positioning spring pin 73 and the adjustable positioning tightening handle 72.

The back of arc 61 and 70 forms the longitudinal notch of multichannel, makes things convenient for bandage (not shown in the figure) to pass the notch from the back and fixes on the arc, and the both ends opening of bandage is equipped with the magic subsides, and the thigh is hugged closely at the arc during the use, winds the bandage on the thigh through the magic subsides fixed.

The knee joint 32 and the ankle joint can be adjusted by adjusting the positioning tight handle and the self-locking positioning spring pin, the upper half part of the adjusting block 80 at the knee joint 32 forms a U-shaped groove for sliding at the lower end of the thigh supporting rod 34, the lower half part is used for fixing the knee joint motor 39, the output of the knee joint motor 39 is connected with the upper end of the shank supporting rod 35, a row of positioning screw holes 81 are arranged on the side surface of the lower end part of the thigh supporting rod 34, the adjusting block 80 is fixed at different positions of the thigh supporting rod 34 by matching the self-locking positioning spring pin 82 on the adjusting block 80 with the positioning screw holes 81 at different positions, and then the adjusting block 80 is locked by the positioning tight handle 83, so that the position of the knee joint can be changed according to the different knee positions of different crowds.

The foot pedal 33 is integrally formed with a similar-structured adjustment block 84 on the side of the ankle position, the adjustment block 84 having a U-shaped groove sliding on the shank support bar 35 and an adjustable positioning tightening handle 85 and a self-locking positioning spring pin 86, the bottom surface of the lower end of the shank support bar 35 being provided with a set positioning screw hole, the position of the adjustment block 84 being adjusted and locked by the adjustable tightening handle 85 and the self-locking positioning spring pin 86, thereby changing the position of the foot pedal 33 on the end of the shank support bar 35 to accommodate different leg lengths.

The cabinet body of the display cabinet 4 is provided with a display 41 in the direction facing the training bed 2 for displaying a virtual training scene interface, a camera is also arranged in the direction facing the training bed for capturing action figures of a patient during training and feeding back training actions of a human body to a VR scene, a hand controller 42 is also arranged on the cabinet body for controlling the turning and lifting functions of the bed body, a touch screen 43 is provided with an AI interface for a medical staff to operate, a training mode can be selected, and a start button, a shutdown button and an emergency stop button are also arranged on the cabinet body.

The cabinet chassis 3 is used for supporting the weight of the cabinet 1 and the training bed 2, and a plurality of casters are arranged at the bottom of the cabinet chassis, so that the equipment can be conveniently moved and locked.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A multi-posture gait training rehabilitation robot, characterized in that it comprises a cabinet, a training bed connected to one side of the cabinet, a cabinet chassis arranged at the bottom of the cabinet, and a display cabinet standing on one side of the training bed and connected to the cabinet through wires; the display cabinet is provided with a display and a camera in the direction facing the training bed, and a hand controller for controlling the flipping and lifting functions of the bed is also provided on the cabinet body, and a touch screen with an AI interface for medical personnel to operate, a power button, a power off button and an emergency stop button are also provided; by operating on the display cabinet, the cabinet can be controlled to drive the training bed to perform lifting, flipping or gait training; the cabinet comprises a cabinet body, a lifting mechanism arranged on the front of the cabinet body for driving the training bed to lift and lower, a lifting counterweight block arranged at the back of the cabinet body, a pulley block arranged on the top of the cabinet body, an electrical cabinet arranged next to the cabinet body and a wire rope; one side of the wire rope Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

The L-shaped bracket is fixed to the upper part of the support frame, and the L-shaped bracket has a U-shaped groove and a vertical groove perpendicular to the opening direction of the U-shaped groove. The horizontal end of the L-shaped bracket is fixed to the back of the curved plate, and the vertical end of the L-shaped bracket passes through the vertical groove of the adjusting block, and a row of adjusting holes is provided on the vertical end of the L-shaped bracket. The screw of the adjustable tightening handle passes through the U-shaped groove and the vertical groove of the adjusting block from the bottom of the thigh support rod. The adjustable tightening handle is rotated to rotate the screw to clamp The U-shaped groove of the adjusting block on the thigh support rod is loosened, and the lock can be released; the bottom of the thigh support rod is provided with a row of positioning screw holes, and is also provided with a self-locking positioning spring pin that passes through the adjusting block from the bottom and cooperates with the screw holes, and the self-locking positioning spring pin passes through the adjusting block from the bottom and cooperates with the positioning screw holes; the self-locking positioning spring pin has a built-in spring and a latch; when the adjusting block is moved to the appropriate screw hole position, the latch is stuck in the new screw hole under the action of the spring, and the adjustable tightening handle is tightened at the same time, so that the notches of the U-shaped groove and the vertical groove are tightened, the U-shaped groove clamps the thigh support rod, and the vertical groove clamps the vertical end of the L-shaped bracket, thus realizing rapid positioning and adjustment of the thigh bracket; the self-locking positioning spring pin is stuck on the adjustment holes at different heights, which can realize the height position adjustment of the arc plate.

2. A multi-posture gait training rehabilitation robot according to claim 1, characterized in that: the training bed includes a support frame, a bed frame connected to the support frame, a bed sponge pad arranged on the front of the bed frame, a hip joint width adjustment mechanism and a leg training mechanism connected to the lower end of the bed frame; the support frame is connected to the mounting plate on the one hand, and is hinged to the back of the bed frame through an axis on the other hand, and a bed flipping motor and a bed auxiliary gas spring are installed between the support frame and the bed frame, and the bed auxiliary gas spring is used to assist and buffer when the bed is flipped, and the output end of the bed flipping motor and the piston rod of the bed auxiliary gas spring are hinged to the back of the bed frame; the training bed is provided with a strap fixing bracket at a position above the patient's head, and armrests and emergency stop switches are respectively provided at the left and right sides of the patient's waist.

3. A multi-posture gait training rehabilitation robot as described in claim 2, characterized in that: the leg training mechanism includes a hip joint, a knee joint, a foot pedal, a thigh support rod connected between the hip joint and the knee joint, and a calf support rod connected between the knee joint and the foot pedal; a thigh bracket is installed on the thigh support rod, a calf bracket is installed on the calf support rod, a hip joint motor and sensor are installed at the hip joint, and a knee joint motor and sensor are installed at the knee joint.

4. A multi-posture gait training rehabilitation robot as described in claim 3, characterized in that: the calf support is provided with an arc-shaped plate that fits the surface of the calf, an adjustment block for adjusting the position of the calf support, and an adjustable tightening handle and a self-locking spring pin installed on the adjustment block, the adjustment block is provided with a U-shaped groove that can slide on the calf support rod, the arc-shaped plate is connected to the side of the adjustment block, the calf support rod is provided with a row of positioning screw holes, and the self-locking spring pins on the adjustment block cooperate with the positioning screw holes to fix the position.

5. A multi-posture gait training rehabilitation robot according to claim 3, characterized in that: the knee joint is equipped with an adjustment block, an adjustable tightening handle and a self-locking spring pin, the upper half of the adjustment block forms a U-shaped groove for sliding at the lower end of the thigh support rod, and the lower half is used to fix the knee joint motor, the output end of the knee joint motor is connected to the upper end of the calf support rod, and the lower end portion of the thigh support rod is provided with a row of positioning screw holes, and the adjustment block is fixed to different positions of the thigh support rod through the cooperation of the self-locking spring pin on the adjustment block and the positioning screw holes at different positions;

The foot pedal is integrally formed with an adjustment block on the side of the ankle position, and the adjustment block has a U-shaped groove sliding on the calf support rod, an adjustable tightening handle and a self-locking spring pin. The bottom surface of the lower end of the calf support rod is provided with a row of positioning screw holes, and the adjustment block is fixed to different positions of the thigh support rod by cooperating with the self-locking spring pins on the adjustment block and the positioning screw holes at different positions.

6. A multi-posture gait training rehabilitation robot as described in claim 2, characterized in that: the hip joint width adjustment mechanism includes two mounting seats, two screw rods, two sets of guide rods, nuts arranged on the screw rods, two sliding seats and a hip joint width adjustment crank connected to the outer ends of the screw rods, respectively arranged on the left and right sides of the hip of the training bed, the mounting seats are fixed on the left and right sides of the bed frame, the two screw rods are respectively connected to the bottom of the two mounting seats through bearing seats, the upper half of the sliding seat is connected to the nut of the screw rod, and the lower half is respectively connected to the left and right hip joints, the mounting seat is also provided with a guide rod parallel to the direction of the screw rod, the middle of the guide rod passes through the upper part of the sliding seat and the two ends are fixed to the mounting seat by guide rod seats, so that the sliding seat can slide along the direction of the guide rod, the guide rod is also provided with a limit block, the two screw rods are connected by a coupling, and the thread directions of the two screw rods are opposite.