CN115253191A

CN115253191A - Comprehensive rehabilitation training platform

Info

Publication number: CN115253191A
Application number: CN202210861456.1A
Authority: CN
Inventors: 陈天聪; 王志芬; 白世龙; 赵文杰; 许行; 牛振江
Original assignee: Zhongyuan Institute Of Science And Technology
Current assignee: Zhongyuan Institute Of Science And Technology
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-11-01

Abstract

The invention relates to a comprehensive rehabilitation training platform, which comprises an underframe, a lower limb rehabilitation mechanism, a lifting seat and an upper limb rehabilitation mechanism, wherein the lower limb rehabilitation mechanism is arranged on the underframe; the lower limb rehabilitation mechanism is arranged at the front end of the underframe and comprises two groups of lower limb units arranged at two sides of the underframe, and each group of lower limb units comprises a foot guide rail, a foot slide block and a pedal plate with a binding band; the foot guide rail is provided with a sliding foot block in a sliding way, and the upper part of the sliding foot block is connected with the pedal plate in a switching way; the lifting seat is arranged in the middle of the underframe; the upper limb rehabilitation mechanism is arranged at the rear end of the underframe and used for performing rehabilitation training of upper limb actions, the upper limb rehabilitation mechanism comprises two groups of upper limb units arranged on two sides of the underframe, the distance between the two groups of upper limb units is adjustable, and the two groups of upper limb units are arranged on two sides of the lifting seat; the invention has the advantages of upper limb training and lower limb training, provides a multi-degree-of-freedom training mechanism, and ensures the flexibility of the training of the affected limb of the patient.

Description

Comprehensive rehabilitation training platform

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a comprehensive rehabilitation training platform.

Background

The high incidence of nervous system diseases such as cerebral apoplexy and the like, and sequelae of cerebral apoplexy and hemiplegia patients are mostly accompanied with limb movement dysfunction, and the sequelae have a golden treatment period and urgently need various rehabilitation means. The existing rehabilitation means are mainly physiotherapy by a rehabilitation therapist or auxiliary rehabilitation by adopting rehabilitation equipment, and the rehabilitation therapist has low artificial rehabilitation efficiency, small popularity and high labor cost; the rehabilitation products on the market are irregular, various and unbalanced in development.

At present most recovered apparatus is the recovered equipment of special item, like finger recovered equipment, upper limbs recovered equipment, low limbs recovered equipment etc. split type equipment can carry out the training of pertinence to patient's affected limb, but its training mode is single, if when needing omnidirectional rehabilitation training, then need add different recovered equipment, and the patient comes and goes to carry out the rehabilitation training of many positions between the recovered equipment of difference, has certain inconvenience.

There is also rehabilitation equipment that possesses upper limbs and lower limbs training function simultaneously, like the upper limbs and lower limbs motion rehabilitation training machine that the authorized bulletin number CN213311404U disclosed, through simulating the mode of both legs and both hands alternating motion forward, realize carrying out the rehabilitation motion training to upper limbs and lower limbs in step, its equipment mechanism is succinct, can realize multi-functional comprehensive rehabilitation, but its mechanism is too simple, the training mode of alternating motion forward is single, patient's affected limb training flexibility ratio does not reach, can't carry out the rehabilitation training of multi freedom to patient's affected limb.

Disclosure of Invention

The invention aims to solve the problems that the training mode of the existing rehabilitation equipment is single and the training flexibility of the affected limb is poor, provides a comprehensive rehabilitation training platform, synthesizes the rehabilitation training of the upper limb and the lower limb, provides a multi-degree-of-freedom training mechanism and ensures the training flexibility of the affected limb of a patient.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the comprehensive rehabilitation training platform comprises a bottom frame, a lower limb rehabilitation mechanism, a lifting seat and an upper limb rehabilitation mechanism, wherein the bottom frame is a supporting base of the whole training platform, and the bottom frame is connected with each mechanism in a supporting way;

the lower limb rehabilitation mechanism is arranged at the front end of the underframe and used for performing lower limb action rehabilitation training, and comprises two groups of lower limb units arranged on two sides of the underframe, wherein each group of lower limb units comprises a foot guide rail, a foot slide block and a pedal plate with a binding band;

a foot guide rail is provided with a sliding pin sliding block in a sliding way, a lower resistance adjusting assembly and a sliding limiting assembly are arranged between the foot sliding block and the foot guide rail, the pedal plate is connected above the foot sliding block in a switching way, and an upper resistance adjusting assembly and a rotating limiting assembly are arranged between the pedal plate and the foot sliding block;

the lifting seat is arranged in the middle of the underframe and is in sliding connection with the underframe, the lifting seat bears a patient, the front and back positions and the height position of the lifting seat can be adjusted to adapt to patients with different heights, and the training platform adopts sitting posture rehabilitation when the inconvenience in movement of the patient is considered;

the upper limb rehabilitation mechanism is arranged at the rear end of the underframe and is used for rehabilitation training of upper limb actions, the upper limb rehabilitation mechanism comprises two groups of upper limb units arranged on two sides of the underframe, the distance between the two groups of upper limb units is adjustable, and the two groups of upper limb units are arranged on two sides of the lifting seat;

each group of upper limb units comprises a lifting rod, a fixing sleeve arranged on the lifting rod, a shoulder joint plate horizontally connected to the fixing sleeve, an exoskeleton large arm unit vertically connected to the shoulder joint plate, an exoskeleton small arm unit horizontally connected to the exoskeleton large arm unit, and a wrist joint unit horizontally connected to the exoskeleton small arm unit.

Furthermore, the underframe is composed of rectangular steel beams, has good mechanical properties, ensures the strength, rigidity and stability of the supporting structure, and is provided with rubber material ground feet at the tail ends of the steel beams so as to increase the contact friction force with the ground and ensure the stability of the product;

the underframe comprises a front frame and a rear frame which are connected by a front bolt and a rear bolt, the front frame is T-shaped, and a lower limb rehabilitation mechanism and a lifting seat are sequentially arranged on the front frame; the rear frame is I-shaped, and the upper limb rehabilitation mechanism is arranged on the rear frame.

Furthermore, the section of the foot guide rail is T-shaped, a plurality of limiting holes which are arranged in a straight line shape at intervals are formed in the foot guide rail, and the foot guide rail is matched with the foot sliding block;

the lower resistance adjusting assembly comprises a damping plate and a damping bolt, the inner wall of the foot sliding block is movably connected with the damping plate, the damping bolt is distributed on the foot sliding block, the head of the damping bolt tightly abuts against the damping plate, and the damping plate tightly abuts against the foot guide rail; the foot part can reciprocate along the foot guide rail, the damping is arranged between the foot sliding block and the foot guide rail, and the damping is adjustable so as to meet the requirement of resistance training suitable for different people;

the sliding limiting assembly is a limiting bolt and is inserted into the limiting hole to limit.

Furthermore, the foot slide block is of a hollow structure, the upper resistance adjusting assembly comprises a threaded column, an adjusting plate and tension springs, the threaded column is vertically and adjustably connected with the adjusting plate, the two ends of the adjusting plate extend out of the foot slide block, and the tension springs are respectively arranged between the two ends of the adjusting plate and the pedal; the tension spring provides tension to perform resistance training, the vertical height of the adjusting plate is adjustable, and the pretightening force of the tension spring is changed to adapt to different requirements;

the rotating position of the pedal plate is provided with a limiting ring, the foot sliding block is provided with the rotating limiting assembly, the rotating limiting assembly is a limiting bolt, and the rotating limiting assembly is inserted into the limiting ring for limiting.

Further, an adjustable sliding assembly is arranged between the lifting seat and the underframe for sliding connection; the support is arranged on two sides of the rear end of the underframe and used for supporting the upper limb unit, the upper limb unit is arranged on two sides of the support in a sliding mode, and the adjustable sliding assembly is arranged between the support and the upper limb unit in a sliding mode.

Furthermore, the adjustable sliding assembly comprises two single sliding rails and a single sliding block which is connected to the single sliding rails in a sliding manner, the section of each single sliding rail is U-shaped, a plurality of rectangular clamping blocks are arranged on two sides of each single sliding rail respectively, and a clamping groove is formed between every two adjacent clamping blocks;

the single slider and the cooperation of single slide rail, the switching has adjustment handle between the single slider of both sides, adjustment handle is "nearly" font shaft-like, adjustment handle both ends for cylindricly stretch into in the single slider and with the draw-in groove joint, through the convenient gliding locking and the unblock of realization of adjustment handle's rotation.

Furthermore, a damping switching assembly is arranged between the upper end of the shoulder joint plate and the fixed sleeve for switching, a first locking button is arranged at the upper end of the shoulder joint plate for limiting, a damping switching assembly is arranged between the lower end of the shoulder joint plate and the exoskeleton large arm unit for switching, a second locking button is arranged at the lower end of the shoulder joint plate for limiting, and the first locking button and the second locking button are installed in an inserting mode.

Furthermore, the exoskeleton large arm unit comprises a telescopic arm, a large arm support strap and a large arm frame, wherein the large arm support strap and the large arm frame are arranged on the telescopic arm;

the exoskeleton forearm unit comprises a forearm main frame, a forearm auxiliary frame which is adjustably connected in the forearm main frame in a sliding manner, and a forearm supporting binding band arranged in the forearm auxiliary frame, and the length of the exoskeleton forearm unit is adjustable and matched with patients with different arm lengths;

the wrist joint unit comprises a wrist frame and a hand-holding ring which is connected in front of the wrist frame in an adapting way, and the wrist joint unit is held on the hand-holding ring by hand and carries out the bending and stretching rehabilitation training of the wrist by the active movement of the wrist;

a damping switching assembly is arranged between the small arm main frame and the large arm frame for switching, a first locking knob is arranged between the small arm main frame and the large arm frame for limiting, a locking stud is arranged on the small arm auxiliary frame, and the locking stud penetrates through the small arm main frame and is connected with a second locking knob for locking; and a damping switching assembly is arranged between the small arm auxiliary frame and the wrist frame for switching.

Furthermore, damping switching subassembly includes adjusting bolt and the damping ring of cover on adjusting bolt, and the hexagonal groove has been seted up so that rotate to the adjusting bolt afterbody, provides the resistance for the action of each degree of freedom of upper limbs unit through damping switching subassembly, provides the anti training that hinders of adaptation.

Through the technical scheme, the invention has the beneficial effects that:

the multifunctional comprehensive rehabilitation training device is reasonable in structural design, can respectively perform multifunctional comprehensive rehabilitation training on one position, can realize multiple rehabilitation actions, and can realize the rehabilitation training of muscles of different parts of a patient, such as the big arm, the small arm, the wrist, the lower limb, the ankle and the like, and is high in comprehensive degree and comprehensive in function.

The multifunctional rehabilitation training device has various training functions, solves the problem of single function of the traditional rehabilitation training equipment, avoids the condition that a patient rolls a plurality of stations for training, occupies small space, can bring great convenience to the patient who is inconvenient to move, realizes more efficient rehabilitation training, can ensure the effect of rehabilitation training to the greatest extent, and has both the rehabilitation training efficiency and the training effect.

The upper limb rehabilitation mechanism of the invention realizes five rehabilitation actions: the upper arm bends and extends, the upper arm is contracted and extended, the lower arm bends and extends, the lower arm rotates inwards and outwards, and the wrist bends and extends. The upper limb rehabilitation mechanism adopts a bionic structure and is designed according to the structure of a human body, the perfection of rehabilitation action can be guaranteed, the arm fixation can also be guaranteed to be firm, the layout position of the damping switching assembly is overlapped with the height of the human body joint, the main joint has a locking function and a damping adjusting function, the action standard of rehabilitation training is guaranteed, and the rehabilitation effect is improved. The length of the exoskeleton large arm unit and the exoskeleton small arm unit can be adjusted to adapt to different patients, the large arm and the small arm are supported by the arc support bandage, the shape of the arm is attached, the fixing effect is good, and the body feeling comfort level of the patients is guaranteed.

The lower limb rehabilitation mechanism of the invention realizes two rehabilitation actions: knee flexion and extension and ankle dorsiflexion. The lower limb rehabilitation mechanism integrates knee joint rehabilitation and ankle joint rehabilitation into a rehabilitation mechanism, the knee joint bending is converted into translational motion of the mechanism, the lower limb rehabilitation mechanism has a quick locking function, the knee joint rehabilitation is provided with a lower damping adjusting component, and the damping of the translational motion can be adjusted. Resistance is provided by the tension spring for ankle joint rehabilitation, and resistance training is carried out; the foot is fixed fast by running-board cooperation bandage, uses convenient operation.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the comprehensive rehabilitation training platform.

Fig. 2 is an isometric view of a lower limb rehabilitation facility of the integrated rehabilitation training platform of the present invention.

Fig. 3 is a front view of a lower limb unit of the integrated rehabilitation training platform of the present invention.

Fig. 4 is a cross-sectional view of a lower limb unit of the integrated rehabilitation training platform, wherein the rotation limiting assembly is locked with a limiting ring.

Fig. 5 is a second cross-sectional view of a lower limb unit of the integrated rehabilitation training platform of the present invention, wherein the rotation limiting component is unlocked from the limiting ring.

Figure 6 is a front view of an adjustable slide assembly of the integrated rehabilitation training platform of the present invention.

Figure 7 is a cross-sectional view of an adjustable slide assembly of the integrated rehabilitation training platform of the present invention.

Fig. 8 is a schematic view of the installation of a single slide rail and a single slide block of the integrated rehabilitation training platform of the invention.

FIG. 9 is a schematic diagram showing the detachment of a single slide rail and a single slide block of the integrated rehabilitation training platform.

Figure 10 is an isometric view of an upper limb rehabilitation facility of the integrated rehabilitation training platform of the present invention.

Figure 11 is an isometric view of an upper limb unit of the integrated rehabilitation training platform of the present invention.

Figure 12 is an exploded view of the upper extremity unit of the integrated rehabilitation training platform of the present invention.

Figure 13 is an isometric view of the exoskeleton large arm unit of the integrated rehabilitation training platform of the present invention.

Figure 14 is an isometric view of an exoskeleton forearm unit of the integrated rehabilitation training platform of the present invention.

Figure 15 is a schematic view of the locking knob of the integrated rehabilitation training platform of the present invention.

Figure 16 is an installed cross-sectional view of the locking knob of the integrated rehabilitation training platform of the present invention.

FIG. 17 is a schematic illustration showing a first locking knob and an arc-shaped groove of the integrated rehabilitation training platform of the invention being disassembled.

FIG. 18 is a diagram of a comprehensive rehabilitation training platform according to a second embodiment of the present invention.

Fig. 19 is an installation schematic diagram of a ball head pair movement mechanism in the third embodiment of the comprehensive rehabilitation training platform.

Fig. 20 is a schematic view of a third ball head pair movement mechanism in the embodiment of the comprehensive rehabilitation training platform.

Fig. 21 is an exploded view of a ball head pair motion mechanism in the third embodiment of the integrated rehabilitation training platform of the invention.

FIG. 22 is a schematic view of a third embodiment of a locking plate of the integrated rehabilitation training platform of the present invention.

Fig. 23 is one of the cross-sectional views of the ball joint motion mechanism in the third embodiment of the integrated rehabilitation training platform of the invention.

Fig. 24 is a second cross-sectional view of the ball joint motion mechanism in the third embodiment of the integrated rehabilitation training platform of the present invention.

Fig. 25 is a schematic view of the connection between the sliding block and the upper limb strap in the third embodiment of the integrated rehabilitation training platform.

The reference numbers in the drawings are as follows: 1 is a front frame, 2 is a rear frame, 3 is a lifting seat, 4 is a foot guide rail, 5 is a foot slider, 6 is a foot pedal, 71 is a damping plate, 72 is a damping bolt, 8 is a sliding limiting component, 9 is a limiting hole, 101 is a threaded column, 102 is an adjusting plate, 103 is a tension spring, 11 is a nut, 12 is a rotating limiting component, 13 is a limiting ring, 141 is a single slide rail, 142 is a single slider, 15 is a clamping block, 16 is a clamping groove, 17 is an adjusting handle, 18 is a cylindrical block, 19 is a bracket, 20 is a lifting rod, 21 is a fixing sleeve, 22 is a shoulder joint plate, 23 is an exoskeleton large arm unit, 231 is a telescopic arm, 232 is a large arm supporting bandage, 233 is a large arm frame, 24 is an exoskeleton small arm unit, 241 is a small arm main frame, 242 is a small arm auxiliary frame, 243 is a small arm supporting bandage, 25 is a wrist joint unit, 251 is a frame, 252 is a hand-holding ring, 26 is a damping adapter, 261 is an adjusting bolt, 262 is a damping ring, 27 is a locking button one, 28 is a slot, 29 is a locking button two, 30 is a locking knob one, 31 is an arc block, 32 is an arc groove, 33 is a waist-shaped groove, 34 is a waist-shaped plate, 35 is a locking stud, 36 is a locking knob two, 37 is a holding frame, 38 is a worm, 39 is a side plate groove, 40 is a leg side plate, 41 is an upper tension spring, 42 is a ball joint pair movement mechanism, 43 is a fixed seat, 44 is a ball head seat, 45 is a ball head, 46 is a locking plate, 47 is a bending groove, 48 is an extension groove, 49 is a bending guide groove, 50 is an extension guide groove, 51 is a large arm connecting column, 52 is 8978 zft 8978, 521 is a locking column, 522 is a locking ring, 53 is an extension column, 54 is an upper turn, 55 is a lower turn, 56 is a locking groove, 57 is an upper limb connecting block, 58 is a sliding block, and 59 is a resistance bolt.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings in which:

the first embodiment is as follows:

as shown in fig. 1 to 17, the integrated rehabilitation training platform includes a bottom frame, which is used as a bearing base of the integrated rehabilitation training platform and has sufficient strength to support each training mechanism. The chassis includes fore-stock 1 and after-frame 2, and fore-stock 1 is "T" shape, and after-frame 2 is "worker" font, lays in proper order around fore-stock 1 and after-frame 2, and adopts the bolted connection installation, and bolted connection position is in after-frame 2 middle parts.

In this embodiment, the lower limb rehabilitation mechanism, the lifting seat 3 and the upper limb rehabilitation mechanism are further included. The lower limb rehabilitation mechanism is arranged at the front end of the underframe, the lifting seat 3 is arranged in the middle of the underframe, namely the lower limb rehabilitation mechanism and the lifting seat 3 are sequentially arranged on the front frame 1. The upper limb rehabilitation mechanism is arranged at the rear end of the underframe, namely the upper limb rehabilitation mechanism is arranged on the rear frame 2. The overall layout of the integrated rehabilitation training platform is shown in fig. 1.

The lower limb rehabilitation mechanism comprises two groups of lower limb units which are arranged on two sides of the underframe, wherein the two groups of lower limb units respectively correspond to two lower limbs of a patient, as shown in figure 2. The lower limb unit is required to have the functions of knee joint extension and flexion and ankle adduction and abduction.

Each set of lower limb units comprises a foot rail 4, a foot slider 5 and a foot board 6 with straps, as shown in fig. 3. The cross section of the foot guide rail 4 is T-shaped, the foot guide rail 4 is provided with the sliding foot slider 5 in a sliding way, the foot guide rail 4 is matched with the foot slider 5, the foot slider 5 can slide along the foot guide rail 4, and the pedal plate 6 is arranged above the foot slider 5, so that the knee joint of the patient can be subjected to flexion and extension training, as shown in figure 4.

In order to adjust the sliding force of the foot slider 5, a lower resistance adjustment assembly is provided between the foot slider 5 and the foot guide rail 4. The lower resistance adjusting assembly comprises a damping plate 71 and a damping bolt 72, the inner wall of the foot sliding block 5 is movably connected with the damping plate 71, namely, a groove is formed in the inner wall of the foot sliding block 5, the damping plate 71 is filled in the groove, and a gap exists between the damping plate 71 and the groove.

Damping bolts 72 are arranged on the foot sliders 5, the heads of the damping bolts 72 are tightly abutted against the damping plates 71, and the damping plates 71 are tightly abutted against the foot guide rails 4. By screwing the damping bolt 72, the extrusion force to the damping plate 71 can be adjusted, and further, the damping plate 71 generates a certain friction force to the contact of the side wall of the foot guide rail 4, so that the sliding resistance of the foot slider 5 can be conveniently adjusted, as shown in fig. 5.

In order to realize the fixation of the foot sliding block 5, a sliding limiting component 8 is arranged between the foot sliding block 5 and the foot guide rail 4, and the sliding limiting component 8 is a limiting bolt. Set up a plurality of spacing holes 9 that a style of calligraphy interval was arranged on foot guide rail 4, insert spacing hole 9 when the spacing subassembly 8 that slides, can form spacingly, the fixed nonskid of foot slider 5 this moment, break away from spacing hole 9 when the spacing subassembly 8 that slides, the foot slider 5 can slide smoothly this moment.

In order to train the ankle joint, a foot plate 6 is connected above the foot slide block 5, and the foot can swing back and forth when placed on the foot plate 6, so that the ankle joint can be trained.

An upper resistance adjusting component is arranged between the pedal plate 6 and the foot sliding block 5, and the ankle training effect can be improved by the upper resistance adjusting component. The upper resistance adjusting assembly comprises a threaded column 101, an adjusting plate 102 and a tension spring 103, the foot sliding block 5 is of a hollow structure, namely a through groove is formed in the middle of the foot sliding block 5, the threaded column 101 is vertically arranged in the through groove, the threaded column 101 is vertically and adjustably connected with the adjusting plate 102, namely the adjusting plate 102 is sleeved on the threaded column 101, nuts 11 are respectively arranged on the threaded columns 101 above and below the adjusting plate 102, and the adjusting plate 102 can be fixed in position.

The two ends of the adjusting plate 102 extend out of the foot slide block 5, tension springs 103 are respectively arranged between the two ends of the adjusting plate 102 and the pedal plate 6, and resistance is provided for the pedal plate 6 to swing back and forth under the action of the tension springs 103. By changing the height of the adjusting plate 102 and further changing the extension amount of the tension spring 103, the resistance can be adjusted, and the ankle training effect can be improved.

A rotation limiting component 12 is arranged between the pedal 6 and the foot sliding block 5, the rotation limiting component 12 is used for limiting the swing of the pedal 6, the pedal 6 is ensured to be in a fixed state, and at the moment, the pedal 6 can only move back and forth along the underframe to train the flexion and extension of the knee joint.

Specifically, a limit ring 13 is arranged at the rotating position of the pedal 6, a rotating limit component 12 is arranged on the foot sliding block 5, the rotating limit component 12 is a limit bolt, the rotating limit component 12 is inserted into the limit ring 13 for limiting, and at the moment, the pedal 6 cannot rotate, as shown in fig. 4; when the rotation limiting member 12 is disengaged from the limiting ring 13, the footrest 6 can swing as shown in fig. 5.

In this embodiment, the lifting seat 3 has a front-rear position adjusting function and a lifting height adjusting function, and the lifting seat 3 is slidably connected to the chassis, so that the lifting seat 3 can slide back and forth along the chassis. In order to facilitate the sliding of the lifting seat 3, an adjustable sliding assembly is provided between the lifting seat 3 and the underframe for sliding connection.

The adjustable sliding assembly comprises two single sliding rails 141 and a single sliding block 142 connected to each single sliding rail 141 in a sliding manner, the section of each single sliding rail 141 is U-shaped, two sides of the upper portion of each single sliding rail 141 are horizontally bent to support the corresponding single sliding block 142, two sides of each single sliding rail 141 are respectively provided with a plurality of rectangular clamping blocks 15, and a clamping groove 16 is formed between every two adjacent clamping blocks 15, as shown in fig. 6.

The single sliding block 142 is matched with the single sliding rail 141, an adjusting handle 17 is connected between the single sliding blocks 142 on the two sides in a switching mode, the adjusting handle 17 is used for limiting the rotation of the single sliding block 142, the adjusting handle 17 is in a shape of a Chinese character 'ji', the two ends of the adjusting handle 17 are cylindrical, extend into the single sliding block 142 and are clamped with the clamping grooves 16, and the structure is shown in fig. 7.

The cross-section of both sides of adjustment handle 17 is "F" shape, and it has two horizontal cylinder pieces 18, and a cylinder piece 18 of adjustment handle 17 is used for the rotation of adjustment handle 17 to be connected, and it and single slide rail 141 interference fit, and then rotate adjustment handle 17 and need certain external force, and interference fit can guarantee again that adjustment handle 17 is fixed after the rotation simultaneously. The other cylindrical block 18 of the adjusting handle 17 is used for being clamped into the clamping groove 16 and limiting the sliding of the single sliding block 142.

By rotating the adjusting handle 17 forward and backward, the cylindrical block 18 at the head of the adjusting handle 17 can be inserted into the slot 16 or separated from the slot 16, and the single sliding block 142 is further controlled to be fixed or slide, as shown in fig. 8 to 9.

When the patient carries out lower limb rehabilitation training: the patient sits on lift seat 3, and the foot is placed on running-board 6, and the unblock of slip spacing subassembly 8 and foot guide rail 4 rotates spacing subassembly 12 and running-board 6 locking, can make running-board 6 along foot guide rail 4 reciprocating motion all around through applying force in running-board 6, drives the knee joint motion, reaches the crooked recovered training purpose that extends of knee joint. The damping size of the damping plate 71 to the foot guide rail 4 is changed by adjusting the damping bolt 72, so that the anti-resistance training suitable for different people is met.

After the sliding limiting component 8 is inserted into the limiting hole 9, the foot sliding block 5 is fixed, and after the rotating limiting component 12 is separated from the limiting ring 13, the foot pedal 6 can swing, so that the patient can do bending and stretching movement of the ankle joint. The resistance of the ankle resistance training is provided by the tension springs 103, under normal conditions, the pedal plate 6 is in a horizontal state under the tension of the two tension springs 103, when the ankle is trained, the pedal plate 6 rotates under the pressure, one tension spring 103 is stretched, the other tension spring 103 is released, and the resistance training can be carried out. The initial pretightening force of the tension spring 103 is changed by changing the height of the adjusting plate 102 so as to adapt to different requirements.

The upper limb rehabilitation mechanism is used for rehabilitation training of two upper limbs of a patient, and comprises two groups of upper limb units arranged on two sides of the bottom frame, and two groups of upper limb units are arranged on two sides of the lifting seat 3. When the upper limb units are installed, the brackets 19 are arranged on two sides of the rear end of the underframe, namely the brackets 19 are arranged on two sides of the rear frame 2, the cross section of each bracket 19 is inverted Y-shaped, the upper limb units are arranged between the brackets 19 on the two sides in a sliding mode, and the distance between the two groups of upper limb units is adjustable, as shown in fig. 10.

Specifically, an adjustable sliding assembly is arranged between the bracket 19 and the upper limb unit to be in sliding connection, the structure of the adjustable sliding assembly is as above, the single sliding block 142 can be controlled to move or be fixed relative to the single sliding rail 141 by controlling the rotation of the adjusting handle 17, and the upper limb unit and the lifting seat 3 both adopt the same sliding structure, namely the adjustable sliding assembly.

The upper limb unit has the functions of adduction and abduction of the upper arm, lifting of the upper arm, arm rotation, extension and flexion of the elbow joint and adduction and abduction of the wrist.

Each set of upper limb unit comprises a lifting rod 20, a fixing sleeve 21 arranged on the lifting rod 20, a shoulder joint plate 22 horizontally connected to the fixing sleeve 21, an exoskeleton big arm unit 23 vertically connected to the shoulder joint plate 22, an exoskeleton small arm unit 24 horizontally connected to the exoskeleton big arm unit 23, and a wrist joint unit 25 horizontally connected to the exoskeleton small arm unit 24, as shown in fig. 11-12.

Lifter 20 has the height control function, and it includes pole, the cover is established and is gone up and down the outer pole of pole and be used for adjusting pole and the flexible bolt of the outer pole of going up and down in going up and down, and pole is L shape pole in going up and down, and lifter 20 is prior art, and here is no longer repeated.

Shoulder joint board 22 is right angle platelike structure, is provided with damping switching subassembly 26 between shoulder joint board 22 upper end and the fixed cover 21 in order to the switching, and then shoulder joint board 22 can carry out the rotation of horizontal direction for fixed cover 21, and shoulder joint board 22 upper end is provided with locking button 27 with spacing, and the grafting locking button 27 on shoulder joint board 22, offers slot 28 on fixed cover 21, and locking button 27 cooperates slot 28 to realize shoulder joint board 22's fixed.

A damping switching assembly 26 is arranged between the lower end of the shoulder joint plate 22 and the exoskeleton big arm unit 23 for switching, so that the exoskeleton big arm unit 23 can rotate vertically relative to the shoulder joint plate 22, a locking button II 29 is arranged at the lower end of the shoulder joint plate 22 for limiting, the shoulder joint plate 22 is inserted with the locking button II 29, the exoskeleton big arm unit 23 is also provided with a slot 28, and the locking button II 29 is matched with the slot 28 to realize the fixation of the exoskeleton big arm unit 23.

In this embodiment, the exoskeleton arm unit 23 is used for supporting the arm of the patient, and the exoskeleton arm unit 23 comprises a telescopic arm 231, and an arm support strap 232 and an arm frame 233 which are arranged on the telescopic arm 231, as shown in fig. 13.

The telescopic arm 231 and the lifting rod 20 are of the same structure, and the telescopic arm 231 has a length telescopic function and is suitable for patients with different arm lengths. The boom support strap 232 and the boom frame 233 are movable along with the telescopic boom 231, and the boom frame 233 has a C-shaped cross section.

The exoskeleton arm unit 24 is used for supporting the arm of the patient, and the exoskeleton arm unit 24 comprises an arm main frame 241, an arm sub-frame 242 adjustably sliding in the arm main frame 241, and an arm support strap 243 arranged in the arm sub-frame 242, as shown in fig. 14.

The section of the small arm main frame 241 is C-shaped, and can be better connected with the large arm frame 233, specifically, a damping adapter assembly 26 is arranged between the small arm main frame 241 and the large arm frame 233 for adapting, the damping adapter assembly 26 is arranged at the lower end of the C-shaped frame, and then the exoskeleton small arm unit 24 can rotate horizontally relative to the exoskeleton large arm unit 23.

Meanwhile, a first locking knob 30 is arranged between the small arm main frame 241 and the large arm frame 233 for limiting, and the first locking knob 30 is positioned at the upper end of the C-shaped frame. The locking knob 30 is of a spool structure, semicircular arc-shaped blocks 31 are arranged on two sides of the middle of the locking knob 30, the height of each arc-shaped block 31 is half of that of the locking knob 30, semicircular arc-shaped grooves 32 are formed in the upper end of the large arm frame 233 and the upper end of the small arm main frame 241, the arc-shaped grooves 32 are matched with the arc-shaped blocks 31, and then the exoskeleton small arm unit 24 cannot rotate. The locking knob I30 is pulled out upwards, the arc-shaped block 31 is separated from the arc-shaped groove 32, and then the exoskeleton arm unit 24 can rotate, as shown in figures 15-17.

The section of the forearm auxiliary frame 242 is C-shaped, the forearm auxiliary frame 242 is matched with the forearm main frame 241 in and out, and the forearm auxiliary frame 242 can move along the forearm main frame 241 to adapt to patients with different arm lengths. Waist-shaped grooves 33 are formed in the upper side and the lower side of the forearm main frame 241, waist-shaped plates 34 are arranged on the upper side and the lower side of the forearm auxiliary frame 242, and the waist-shaped plates 34 can be arranged in the waist-shaped grooves 33 to slide.

In order to realize sliding locking, a locking stud 35 is arranged on the waist-shaped plate 34 above the forearm sub-frame 242, and the locking stud 35 passes through the waist-shaped groove 33 of the forearm main frame 241 and is connected with a second locking knob 36 for locking. And the locking knob II 36 is unscrewed, the small arm auxiliary frame 242 can slide, and the locking knob II 36 is screwed, so that the small arm auxiliary frame 242 cannot slide.

The wrist joint unit 25 includes a wrist frame 251 and a hand-holding ring 252 connected to the front of the wrist frame 251, a damping connection assembly 26 is disposed between the forearm sub-frame 242 and the wrist frame 251 for connection, so that the wrist frame 251 can rotate horizontally relative to the forearm sub-frame 242, the wrist frame 251 is a Y-shaped frame structure bent in an arc shape, and the hand-holding ring 252 has a D-shaped cross section for holding the hand of the patient.

In this embodiment, damping adapter assembly 26 includes adjusting bolt 261 and the damping ring 262 of cover on adjusting bolt 261, and six arris grooves have been seted up to adjusting bolt 261 afterbody so that rotate, and damping ring 262 is the annular lamellar body of circle, and it is placed between two adjacent parts, makes two parts press from both sides tight damping ring 262 through screwing up adjusting bolt 261, and then changes the turning force size of two adjacent parts.

Certain resistance is added to the limbs of the patient through the damping adapter assembly 26, so that the patient can overcome the resistance to train in the using process, the body vitality of the patient can be enhanced, and the exercise capacity can be recovered.

When the patient carries out upper limb rehabilitation training: when a patient sits on the lifting seat 3, the upper limb of the patient is worn in the upper limb unit, the first locking button 27 is unlocked, the shoulder joint plate 22 can rotate in the horizontal direction, and the adduction-abduction movement of the upper arm can be further carried out. The first locking button 27 and the second unlocking button 29 are locked, and the exoskeleton big arm unit 23 can rotate in the vertical direction, so that the big arm can be bent and stretched.

Unlocking the first locking knob 30, the exoskeleton arm unit 24 can rotate in the horizontal direction, and then the bending and stretching movement of the arm can be carried out. The hand is held on the hand ring 252, and the small arm can rotate the hand ring 252 by the small arm power to perform the internal rotation and external rotation of the small arm. Rotation of the wrist support 19 allows rotation training of the wrist.

The comprehensive rehabilitation training platform is an active training instrument, namely rehabilitation training is carried out by providing power for a user, the function of the rehabilitation training mechanism is to limit the range of motion of the user, and the user moves according to a path limited by a mechanical structure. The comprehensive rehabilitation training device is not provided with a power element and a transmission system, and the movement speed of the device is consistent with the movement speed of the human body.

The comprehensive rehabilitation training platform can improve the rehabilitation effect and efficiency of patients, has high comprehensiveness and more complete functions, and is not the original function singleness of rehabilitation equipment any more. The comprehensive rehabilitation training platform can realize the rehabilitation training of arm muscles and wrists, also has the rehabilitation training of ankle and leg muscles, has more comprehensive functions and improves the rehabilitation efficiency.

This synthesize rehabilitation training platform location and be used for patient's middle and later stage rehabilitation training, this stage patient is after rehabilitation physical therapist's rehabilitation training, has possessed the activity function of limbs, but its affected limb still can't normal free activity, so need the unnecessary degree of freedom of its affected limb of recovered equipment restriction, realize the rehabilitation training of the muscle at positions such as patient's big arm, forearm, wrist, low limbs, ankle, comprehensive high, convenient to use provides abundant help for them.

Example two:

the present embodiment is substantially the same as the first embodiment, and the same parts are not described again, but the differences are: as shown in fig. 18, in this embodiment, a holding frame 37 is disposed at the front end of the front frame 1, the holding frame 37 is located in front of the lifting seat 3, and holding rods 38 are disposed on two sides above the holding frame 37, so that when a patient performs lower limb rehabilitation training alone, the hand of the patient is placed at a certain position, and the hand of the patient grips the holding rods 38, thereby improving the stability of the patient's rehabilitation training.

Side plate grooves 39 are formed in two sides of the lower portion of the supporting frame 37, leg side plates 40 are connected in the side plate grooves 39 in a rotating mode, the two leg side plates 40 are located on two sides of the lifting seat 3, the leg side plates 40 are connected through bolts when being installed, and the leg side plates 40 are rotated or fixed through tightness of adjusting bolts. After a part of patients sit on the lifting chair 3, the legs can be involuntarily turned outwards, and then the feet can not be stably placed on the pedal plates 6, the legs of the patients are limited by the leg side plates 40 at the two sides, and the legs are prevented from turning outwards and inclining towards the two sides.

Meanwhile, an upper tension spring 41 is arranged between the lower end of the shoulder joint plate 22 and the exoskeleton large arm unit 23, the upper tension spring 41 is connected between the shoulder joint plate 22 and the telescopic arm 231, and the upper tension spring 41 provides certain traction force for the flexion and extension movement of the large arm, so that the rehabilitation training effect of the patient is improved.

Example three:

the present embodiment is substantially the same as the first embodiment, and the same parts are not described again, but the differences are: in order to conveniently realize the extension, flexion, adduction and abduction of the upper limb, as shown in fig. 19, in this embodiment, a ball head auxiliary motion mechanism 42 is disposed between the lifting rod 20 and the exoskeleton arm unit 23, and the ball head auxiliary motion mechanism 42 is adopted to replace a connection structure between the original lifting rod 20 and the exoskeleton arm unit 23, so as to more conveniently perform upper limb rehabilitation motion.

As shown in fig. 20 to 21, the ball head pair movement mechanism 42 includes a fixing base 43, a ball head seat 44, a ball head 45 and a locking plate 46, one end of the fixing base 43 is disposed on the lifting rod 20, and the other end of the fixing base 43 is disposed on the ball head seat 44. One end of the ball head seat 44 is a hollow prism and is inserted into the fixing seat 43, the other end of the ball head seat 44 is a hollow sphere and extends out of the fixing seat 43, and the ball head seat 44 is of a detachable two-petal structure, so that the ball head 45 can be conveniently installed.

The spherical surface of the ball seat 44 is provided with a flexion groove 47 and an extension groove 48, the length of the flexion groove 47 and the length of the extension groove 48 are both one fourth of the circumference of the spherical surface of the ball seat 44, the width of the flexion groove 47 is consistent with that of the extension groove 48, and the flexion groove 47 and the extension groove 48 are vertically arranged and are communicated with each other.

A flexion and extension guide groove 49 and an extension guide groove 50 are further formed in the spherical surface of the ball cup 44, the flexion and extension guide groove 49 and the extension guide groove 50 are the same in width, the flexion and extension groove 47 and the flexion and extension guide groove 49 vertically correspond to each other, the width of the flexion and extension groove 47 is larger than that of the flexion and extension guide groove 49, and the extension groove 48 and the extension guide groove 50 correspond to each other left and right.

The ball head 45 is arranged in the ball head seat 44, the ball head 45 is a spherical body, the ball head 45 can rotate in the ball head seat 44, the ball head 45 is provided with a large arm connecting column 51, the large arm connecting column 51 can move in the bending and stretching groove 47 and can also move in the stretching groove 48, the rotating direction of the ball head 45 is further limited, and in an initial state, the large arm connecting column 51 is located at the junction position of the bending and stretching groove 47 and the stretching groove 48. One end of the large arm connecting column 51 extends out of the ball head seat 44 and is connected with the telescopic arm 231, so that the exoskeleton large arm unit 23 can rotate along with the ball head 45.

The ball head 45 is also provided with Qu Shenzhu and an extension column 53, qu Shenzhu slides along the flexion and extension guide groove 49, and the extension column 53 slides along the extension guide groove 50. The flexion-extension column 52 comprises a lock column 521 fixedly arranged on the ball head 45 and a lock ring 522 detachably arranged on the lock column 521, the lock column 521 extends out of the ball head seat 44 to connect with the lock ring 522, the connection combination of the lock column 521 and the lock ring 522 is in a T shape, and the extension column 53 and the Qu Shenzhu are identical in structure.

As shown in fig. 22, the locking plate 46 is disposed on the fixed base 43 in a cross-sectional shape of a "zigzag", one end of the locking plate 46 extends to the position of the ball seat 44, and an upper torque 54 and a lower torque 55 are respectively rotatably disposed on both sides of the locking plate 46. One end of the upper knob 54 and one end of the lower knob 55 both extend into the inner side of the locking plate 46, and the upper knob 54 and the lower knob 55 extending into the inner side of the locking plate 46 are both provided with a U-shaped locking groove 56. The locking groove 56 on the upper turn knob 54 engages the extension post 53 and the locking groove 56 on the lower turn knob 55 engages the flexion post 52.

Thus, the ball-head pair movement mechanism 42 can perform adduction-abduction and flexion-extension movements of the upper limb. Specifically, on the premise that the lifting rod 20 is fixed, the exoskeleton large arm unit 23 is connected and mounted with the lifting rod 20 through the ball joint pair movement mechanism 42.

When the exoskeleton arm unit 23 needs to flex and extend vertically, that is, the exoskeleton arm unit 23 needs to move along the flexing and extending slot 47. Specifically, the upper turn knob 54 is rotated to adjust the opening direction of the locking groove 56, so as to limit the position of the extension column 53, and ensure that the extension column 53 cannot move along the extension guide groove 50, and further the large arm connecting column 51 cannot move into the extension groove 48; the lower torque 55 is rotated to adjust the opening direction of the locking slot 56, so that the flexion column 52 can move along the flexion and extension guiding slot 49, and the large arm connecting column 51 can move in the flexion and extension slot 47. After the upper limb is combined with the exoskeleton big arm unit 23, the exoskeleton big arm unit 23 is driven by the upper limb to reciprocate along the flexion-extension slot 47, so that flexion-extension movement of the upper limb is carried out.

When the exoskeleton arm unit 23 needs to be adducted and abducted in the left-right horizontal direction, the exoskeleton arm unit 23 needs to move along the extension slot 48. Specifically, the upper knob 54 is rotated reversely so that the opening direction of the locking groove 56 is opposite to the original direction, and the extending column 53 is not restricted any more, and the extending column 53 can move along the extending guide groove 50; the lower torque 55 is rotated reversely to make the opening direction of the locking slot 56 opposite to the original one, so as to limit the position of the flexion-extension column 52, further the Qu Shenzhu will not move along the flexion-extension guiding slot 49, and the large arm connecting column 51 will not move into the flexion-extension slot 47. After the upper limb is combined with the exoskeleton big arm unit 23, the exoskeleton big arm unit 23 is driven by the upper limb to reciprocate along the extension groove 48, so that the upper limb adduction and abduction movement is carried out.

When the upper limb of the patient actually performs adduction-abduction exercise, since the rotation center of the upper limb, i.e., the rotation center of the shoulder joint and the ball head 45, which are the rotation centers of the ball head pair motion mechanism 42, are spaced and the two rotation centers do not coincide with each other, the upper limb performs adduction-abduction exercise with the motion interference of the upper limb unit, as shown in fig. 25, a represents the ball head rotation center, and B represents the upper limb rotation center. To eliminate the above interference, a slide block 58 is connected to the upper limb of the patient via an upper limb strap 57, and the slide block 58 is moved along the exoskeleton arm unit 23 to form a sliding pair. As an installation method, a slide rail may be installed on the telescopic arm 231, and the slide block 58 slides along the slide rail, so that the slide block 58 moves on the exoskeleton arm unit 23. When the upper limb rotates around the shoulder joint and the ball joint pair motion mechanism 42 rotates around the respective center of the ball head 45 in the horizontal direction, the upper limb moves relative to the upper limb unit in the rotation process, the interference condition is coordinated through the moving pair, the interference is eliminated, and the smooth development of the adduction-abduction motion is ensured.

In order to optimize the product structure and provide certain resistance for flexion, extension, adduction and abduction of the upper limb, the fixed seat 43 is provided with the resistance bolt 59, the head of the resistance bolt 59 extends into the ball head seat 44 and is abutted on the ball head 45, different pressures are applied to the ball head 45 by adjusting the screwing degree of the resistance bolt 59, the required force for rotating the ball head 45 is adjusted, and the rehabilitation training effect is improved.

The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.

Claims

1. The comprehensive rehabilitation training platform comprises an underframe, and is characterized by also comprising a lower limb rehabilitation mechanism, a lifting seat (3) and an upper limb rehabilitation mechanism;

the lower limb rehabilitation mechanism is arranged at the front end of the underframe and comprises two groups of lower limb units arranged at two sides of the underframe, and each group of lower limb units comprises a foot guide rail (4), a foot slide block (5) and a pedal plate (6) with a binding band;

the foot guide rail (4) is provided with an upper sliding pin sliding block (5), a lower resistance adjusting component and a sliding limiting component (8) are arranged between the foot sliding block (5) and the foot guide rail (4), the upper part of the foot sliding block (5) is connected with the pedal plate (6) in a switching way, and an upper resistance adjusting component and a rotating limiting component (12) are arranged between the pedal plate (6) and the foot sliding block (5);

the lifting seat (3) is arranged in the middle of the underframe, and the lifting seat (3) is connected with the underframe in a sliding manner;

the upper limb rehabilitation mechanism is arranged at the rear end of the underframe and comprises two groups of upper limb units arranged at two sides of the underframe, the distance between the two groups of upper limb units is adjustable, and the two groups of upper limb units are arranged at two sides of the lifting seat (3);

each group of upper limb units comprises a lifting rod (20), a fixing sleeve (21) arranged on the lifting rod (20), a shoulder joint plate (22) horizontally connected to the fixing sleeve (21), an exoskeleton large arm unit (23) vertically connected to the shoulder joint plate (22), an exoskeleton small arm unit (24) horizontally connected to the exoskeleton large arm unit (23) and a wrist joint unit (25) horizontally connected to the exoskeleton small arm unit (24).

2. The comprehensive rehabilitation training platform according to claim 1, wherein the underframe comprises a front frame (1) and a rear frame (2) which are connected by bolts, the front frame (1) is T-shaped, and a lower limb rehabilitation mechanism and a lifting seat (3) are sequentially arranged on the front frame (1); the rear frame (2) is I-shaped, and the upper limb rehabilitation mechanism is arranged on the rear frame (2).

3. The comprehensive rehabilitation training platform according to claim 1, wherein the cross section of the foot guide rail (4) is T-shaped, a plurality of limiting holes (9) which are arranged in a straight line shape at intervals are formed in the foot guide rail (4), and the foot guide rail (4) is matched with the foot sliding block (5);

the lower resistance adjusting assembly comprises a damping plate (71) and a damping bolt (72), the damping plate (71) is movably connected to the inner wall of the foot sliding block (5), the damping bolt (72) is distributed on the foot sliding block (5), the head of the damping bolt (72) is tightly propped against the damping plate (71), and the damping plate (71) is tightly propped against the foot guide rail (4);

the sliding limiting component (8) is a limiting bolt, and the sliding limiting component (8) is inserted into the limiting hole (9) to limit.

4. The comprehensive rehabilitation training platform according to claim 1, wherein the foot slide block (5) is of a hollow structure, the upper resistance adjusting component comprises a threaded column (101), an adjusting plate (102) and a tension spring (103), the adjusting plate (102) is connected to the threaded column (101) in an up-down adjustable manner, two ends of the adjusting plate (102) extend out of the foot slide block (5), and the tension spring (103) is arranged between two ends of the adjusting plate (102) and the pedal (6);

the limiting ring (13) is arranged at the rotating position of the pedal (6), the rotating limiting component (12) is arranged on the foot sliding block (5), the rotating limiting component (12) is a limiting bolt, and the rotating limiting component (12) is inserted into the limiting ring (13) for limiting.

5. The integrated rehabilitation training platform according to claim 1, wherein an adjustable sliding assembly is arranged between the lifting seat (3) and the underframe for sliding connection;

the utility model discloses a support, including chassis, upper limbs unit, adjustable slide assembly, chassis rear end both sides are provided with support (19), and both sides slide between support (19) and be provided with adjustable slide assembly in order to slide between the upper limbs unit.

6. The comprehensive rehabilitation training platform according to claim 5, wherein the adjustable sliding assembly comprises two single sliding rails (141) and a single sliding block (142) slidably connected to the single sliding rails (141), the section of each single sliding rail (141) is U-shaped, a plurality of rectangular clamping blocks (15) are respectively arranged on two sides of each single sliding rail (141), and a clamping groove (16) is formed between every two adjacent clamping blocks (15);

single slider (142) and single slide rail (141) cooperation, the switching has adjustment handle (17) between single slider (142) of both sides, adjustment handle (17) are "nearly" font is shaft-like, adjustment handle (17) both ends for cylindric stretching into in single slider (142) and with draw-in groove (16) joint.

7. The integrated rehabilitation training platform according to claim 1, wherein a damping adapter assembly (26) is arranged between the upper end of the shoulder joint plate (22) and the fixing sleeve (21) for switching, a first locking button (27) is arranged at the upper end of the shoulder joint plate (22) for limiting, a damping adapter assembly (26) is arranged between the lower end of the shoulder joint plate (22) and the exoskeleton arm unit (23) for switching, and a second locking button (29) is arranged at the lower end of the shoulder joint plate (22) for limiting.

8. The integrated rehabilitation training platform of claim 1, wherein the exoskeleton macro arm unit (23) comprises a telescopic arm (231) and a macro arm support strap (232) and a macro arm frame (233) disposed on the telescopic arm (231);

the exoskeleton small arm unit (24) comprises a small arm main frame (241), a small arm auxiliary frame (242) which can be adjustably and slidably connected into the small arm main frame (241), and a small arm supporting strap (243) arranged in the small arm auxiliary frame (242);

the wrist joint unit (25) comprises a wrist frame (251) and a hand grip ring (252) which is connected in front of the wrist frame (251);

a damping switching assembly (26) is arranged between the small arm main frame (241) and the large arm frame (233) for switching, a locking knob I (30) is further arranged between the small arm main frame (241) and the large arm frame (233) for limiting, a locking stud (35) is arranged on the small arm auxiliary frame (242), and the locking stud (35) penetrates through the small arm main frame (241) and is connected with a locking knob II (36) for locking; a damping adapter assembly (26) is arranged between the small arm subframe (242) and the wrist frame (251) for adapting.

9. The integrated rehabilitation training platform of claim 7 or 8, wherein the damping adapter assembly (26) comprises an adjusting bolt (261) and a damping ring (262) sleeved on the adjusting bolt (261), and the tail of the adjusting bolt (261) is provided with a hexagonal groove for rotation.