CN105326624A - Rehabilitation training auxiliary equipment for spatial motion of upper/lower limbs - Google Patents

Abstract

The invention provides a set of auxiliary equipment for spatial movement rehabilitation training of upper limbs and lower limbs, which is used for assisting the rehabilitation training of upper limbs and lower limbs of hemiplegic patients, and is suitable for passive training mode. The present invention uses two planar mechanisms to realize space movement and reduces cost; adopts nested structure to transmit movement, so that three drive motors and reducers are installed in the box in the middle of the frame at the same time, which simplifies the weight and volume of the operating end; utilizes the connecting rod curve To achieve the requirements of different motion characteristics and trajectories. The equipment configuration is tailored according to the patient's rehabilitation training trajectory requirements to achieve personalized configuration. The basic configuration of rehabilitation equipment can be combined into nine different configurations by adopting different rack forms, transmission parts and working parts. Different combinations produce different spatial motion trajectories and different ranges of motion. The RFID motion trajectory acquisition system includes a reader, an antenna, a set of electronic tags and a data processing module.

Description

Upper limb/lower limb spatial movement rehabilitation training auxiliary equipment

technical field

The invention relates to an auxiliary equipment for upper limb/lower limb spatial motion rehabilitation training, and a related method for realizing spatial motion of a rehabilitation robot.

Background technique

Cardiovascular and cerebrovascular diseases will leave various sequelae, and hemiplegia is one of them. Rehabilitation training for hemiplegic patients, especially timely rehabilitation training in the early stage of onset, is very important for the rehabilitation of patients. The traditional rehabilitation training is that the rehabilitation therapist conducts hands-on guidance and auxiliary training for the patients. This mode of training is inefficient and often impossible due to a lack of qualified therapists. Another way currently used is to use rehabilitation robots to assist training, but this training mode is not widely used at present, one of the reasons is that the equipment is relatively expensive. The second reason is that the training effect is not ideal due to the lack of pertinence of the training mode. The third reason is the device itself. Each component of the currently designed spatial rehabilitation robot has an independent degree of freedom and needs to be equipped with a drive motor, which results in a bulky mechanism and requires the patient to maintain a sitting posture. These factors will cause inconvenience and psychological pressure for the patient. . Although some rehabilitation machines are structured as planar mechanisms, these mechanisms can only do planar movement, and the patient's movement is limited, which limits the rehabilitation training mode and is difficult to meet the needs of multiple movement modes during the rehabilitation process of the patient.

In view of the above problems, the present invention provides a rehabilitation training auxiliary device with simple structure and diversified exercise modes, which is configured according to the specific rehabilitation training needs of patients, and can realize the training device with a training mode tailored for the patient.

Contents of the invention

The purpose of the present invention is to provide a rehabilitation training auxiliary device with simple structure and diversified exercise modes, which can be configured according to the specific rehabilitation training needs of patients, and can realize the training mode tailored for the patient, so as to meet the requirements of different training modes for different patients. need.

The purpose of the present invention is achieved through the following technical solutions:

Simplify the structure of the rehabilitation training robot based on the planar linkage mechanism. Modular combination scheme is adopted, three main frame structures, three lower mechanisms, three upper mechanisms, and other parts adopt general structures, including connecting rods, transmission systems, and drive systems. The overall mechanism design is configured according to the specific trajectory requirements. Through the clamping of the sling, the upper or lower limbs of the human body can generate a synchronous motion trajectory curve with it to achieve the purpose of rehabilitation training. The reason why the present invention adopts the clamping mode of hoisting is to keep the patient at a certain distance from the equipment, which is helpful for psychological stability. There are two types of slings: flexible straps and rigid hangers with certain elasticity. It is advisable to use straps to clamp during initial rehabilitation, and hangers can be used after application. The patient can stay in bed for rehabilitation training. In addition, the present invention includes the acquisition of personalized patient rehabilitation mode, the rehabilitation teacher assists the patient in rehabilitation training, collects the patient's rehabilitation mode through the RFID (radio frequency identification) motion acquisition and processing system, and configures the equipment and determines the connecting rod curve form based on this.

It is characterized in that the structure of the rehabilitation training robot is completely composed of the basic components of the planar connecting rod, which is divided into upper and lower two parts, each of which has three types. Through the combination of the upper and lower parts, nine different mechanisms are produced, and the diversity of the connecting rod curves is used to achieve different functions. Space motion trajectory curve to meet the needs of different patients. Its lower mechanism has a crank slider mechanism, a crank rocker mechanism and a crank rocker mechanism, and the upper mechanism has a hinge five-bar mechanism, a double-moving pair five-bar mechanism and a crank-rocker mechanism. The lower mechanism is placed vertically, its driving and transmission system is placed in the middle chassis, and the upper mechanism is placed horizontally, its drive and transmission system are placed inside the middle chassis and the lower mechanism connecting rod, so that the appearance of the equipment is simple.

When the upper mechanism and the lower mechanism are combined, the upper mechanism is placed horizontally, the lower mechanism is vertically placed, and the frame of the upper mechanism is installed on the components of the lower mechanism. Through such a combination form, the spatial movement of the planar mechanism is realized.

Acquisition of personalized patient rehabilitation mode, the rehabilitation teacher assists the patient in rehabilitation training, collects the patient's rehabilitation mode through the RFID motion acquisition and processing system, and configures the equipment and determines the shape of the connecting rod curve based on this.

Due to the adoption of the above technical scheme, the present invention has the following advantages: 1. The design is simple, the cost is low, and the volume is small; 2. It can be used in lying and sitting positions, and can be used for the rehabilitation of upper and lower limbs, and can be clamped by one part or two parts Realize the movement mode suitable for the patient's individual condition; 3. The specific form and parameters of the two plane mechanisms can be tailored according to the specific situation of the patient, and the personalized movement track can be realized without changing the overall structure, so as to realize personalized rehabilitation train. The connecting rod adopts a porous rod, and the rod length of the connecting rod mechanism can be adjusted according to the specific motion trajectory to realize a mechanism configuration and a combination of multiple mechanism parameters to achieve different motion curve requirements.

According to one aspect of the present invention, there is provided an upper limb/lower limb space movement rehabilitation training auxiliary device, which is characterized in that it includes:

rack struts,

The box is used to place the driving and transmission mechanism and the control part,

lower body,

The upper mechanism is used to realize spatial movement together with the lower mechanism,

Upper mechanism, lower mechanism motion conversion and connecting components,

Slings for supporting and securing the user's upper or lower extremities to selected points on the superstructure,

in,

There are three types of frame pillars and lower mechanisms, which can be arbitrarily formed into 9 different combinations to adapt to the desired specific movement form and user preference.

Therefore, different motion modes can be adopted according to individual needs, the spatial motion can be realized by the planar mechanism, and the complex spatial motion track can be realized by the compound movement of the link curve of the planar mechanism.

Description of drawings

Figures 1a-1c show basic configurations of rehabilitation devices according to different embodiments of the invention.

Figures 2a-2c show the lower frame and the lower mechanism according to an embodiment of the present invention; Figures 2d-2f show schematic views of the frame base. Fig. 2g is a device configuration scheme, showing different combinations of rack forms and mechanism forms according to an embodiment of the present invention.

Figures 3a-3c show an upper mechanism according to the invention.

Figures 4a-4b show the way of clamping the upper and lower limbs in the auxiliary equipment for spatial exercise rehabilitation training of the upper and lower limbs according to the present invention.

Figures 5a-5c show the lower mechanism and upper mechanism drive and transmission configurations.

Figures 6A and 6B illustrate the transmission of motion of the active member of the superstructure according to the present invention.

Figure 7 shows the motion transmission of the active part of the lower mechanism according to the invention.

Figures 8a-8e show the method of converting the motion of the lower mechanism plane to the upper mechanism motion plane according to the present invention.

detailed description

The invention uses two planar mechanisms to realize space movement, utilizes connecting rod curves to realize various movement modes and movement trajectories, and reduces design and manufacturing costs; adopts nested structure to transmit movement, so that two or three drive motors and reducers can be installed at the same time In the box in the middle of the frame, the motion transmission mechanism at the operating end is simplified, and the weight and volume of the upper horizontal mechanism are reduced, making the appearance simple and beautiful. The equipment configuration is tailored according to the requirements of the patient's rehabilitation training exercise mode to achieve personalized configuration. As shown in 1a, 1b, the rehabilitation equipment according to one embodiment of the present invention includes a frame (110), a box body (114), a driving and transmission mechanism (inside the box body 114, not shown), a lower vertical link mechanism (111,112,113), upper horizontal link mechanism (121,122), connecting rod curve disc (124), and sling mount (123). Wherein a moving component (113) of the lower mechanism is assembled with the frame (121) of the upper mechanism. By adopting different frame forms and mechanism forms, it can be combined into nine different configuration forms; by selecting different installation positions of the sling, different motion modes and motion trajectories can be obtained. The combination of the lower mechanism is shown in Figure 2a, 2b, 2c. Different combinations produce different spatial motion trajectories and different motion ranges. The motion acquisition and processing system is shown in Figure 1c, including RFID electronic tags i1, i2, ... ii, ... in, antennas a1-a4, RFIDR/W reader, and data processing modules including middleware, database and algorithm modules.

Figures 1a-c show the basic configuration of rehabilitation equipment according to different embodiments of the present invention, which includes a frame (110), a box (114), a lower vertical mechanism (111, 112, 113), an upper horizontal mechanism (121 , 122), connecting rod curve disc (124), sling (123), motion acquisition system (1c).

Figures 2a-2c show a lower frame and lower mechanism according to one embodiment of the present invention.

As shown in Figures 2a-2c, the lower frame and the lower mechanism have three frame forms, including frame pillars (11 (110), 21, 31), boxes (14 (114), 24, 34), four Rod mechanism (12(112), 22, 32). A motor (not shown), a reducer (not shown), a transmission (not shown), and a control board (not shown) are housed in the box. Lower mechanism has three kinds of forms, comprises crank connecting rod mechanism (32), crank rocker mechanism (22), crank slider mechanism (12); User preference is determined and the various forms are components and interchangeable. Figure 2c is mainly applicable to upper limb rehabilitation, rehabilitation training based on horizontal movement. Figure 2b is suitable for lower limb rehabilitation, mainly rehabilitation training of calf flexion and extension. Figure 2a is used for upper limb and lower limb rehabilitation training, and is suitable for space-based training. The power plug (203) is located at the position of the cable box (202) of the chassis (211, 221, 231). The wires extend to the middle box (14, 24, 34) through the box base (211, 221, 231) and the hollow bracket (201). The start and stop of the movement is achieved by turning on and off the electromagnetic clutch (not shown), and the motor (not shown) drives the lower mechanism (12, 22, 32) through the transmission device (not shown). An electromagnetic clutch (not shown) is arranged between the mechanism input shaft and the motor. During the training process, when the mechanism needs to stop moving for a short time, the clutch is disconnected, and the motor still rotates. In Fig. 2a, the upper mechanism frame is the lower mechanism slider (13). In Fig. 2b, the upper mechanism frame is the lower mechanism rocker (23) or slide block, which is selected according to the motion mode during use: when the motion range is small and the motion track is an approximate arc, the rocker (23) can be used as the Frame; when the range of motion is large and the motion track is a non-circular curve, the slide block (13) can be used to make the upper mechanism frame.

2d, 2e, 2f are schematic diagrams of rack bases, chassis (211, 221, 231) are equipment chassis, supporting the entire equipment, 201 is a hollow tube, 202 is a cable box position, 203 is an electric wire, and 204, 205, 206 are auxiliary supports. According to one embodiment, the base has grooves, and the cables are placed in the grooves.

Fig. 2g is a device configuration scheme, showing different combinations of rack forms (rack 1, rack 2, rack 3) and mechanism forms according to an embodiment of the present invention.

Figures 3a-3c show an upper mechanism according to the invention.

As shown in Figures 3a-3c, the spatial movement of the rehabilitation device according to an embodiment of the present invention is realized jointly by two planar linkage mechanisms. Wherein, the upper mechanism is a horizontal link mechanism, which has three forms: a single-degree-of-freedom four-bar mechanism (310), a two-degree-of-freedom hinge five-bar mechanism (320), and a two-degree-of-freedom two-movement five-bar mechanism (330). The specific form is selected according to the rehabilitation exercise mode to be performed. Generally, the reciprocating motion mode selects the upper mechanism (311, 312, 313) shown in Figure 3a and the upper mechanism (321, 324, 325) shown in Figure 3b, and the circular motion mode selects the upper mechanism ( 331, 324). Reference numerals 313, 324, and 325 indicate the positions of the bracket hoisting frames.

In Figs. 3a-3c, the positions of the hoisting frames (313, 324, 325) are determined according to the trajectory shape of the rehabilitation movement.

Figures 4a-4b show the way of clamping the upper and lower limbs in the auxiliary equipment for spatial exercise rehabilitation training of the upper and lower limbs according to the present invention.

As shown in Figures 4a-4b, the rehabilitation device according to an embodiment of the present invention adopts a hoisting clamping method to keep a certain distance between the patient and the device. Among them, the sling (415) adopts one of two forms: a flexible strap and a hard hanger with certain elasticity. During use, the user's upper or lower limbs are supported by the bracket (414) and fixed to the upper body by the sling 415. Mechanisms (311, 321, 331) are fixed to the upper mechanism (Figs. 3a-3c) with hoisting brackets (313, 324, 325). The bracket (414) should be used to clamp the upper or lower limbs during initial rehabilitation, and the sling (415) can be used directly after application. The patient can stay in bed for rehabilitation training. A control system (not shown) is housed in the rack box body (14, 24, 34), and the speed and motion track, as well as the training time and the number of times can be selected through the control panel (416). A digital indicator (412) is arranged on the front of the equipment to display the training reciprocating times and time.

Figures 5a-5c show the lower mechanism and upper mechanism drive and transmission configurations.

As shown in Figures 5a-5c, in the rehabilitation equipment according to one embodiment of the present invention, the motor and the reducer are packaged in the middle box (14). In order to avoid excessive heat generation, the three motors (521, 531, 541 ) and reducers (522, 532, 542) are installed alternately in space (see Figure 5a) and cooling fans (not shown) are installed. The lower mechanism is driven by the lower mechanism motor (521), decelerated by the reducer (522), and transmits the motion to the lower moving mechanism, namely the drive shaft (12, 22, 32) through the transmission belt (523) and the bevel gear assembly (524) (525).

The upper mechanism motor (531) is installed in the frame middle box (14), therefore, it needs to transmit the motion from the lower part to the upper mechanism (311, 321, 331). Because the shafts of the upper mechanism active parts (301, 302, 303, 304) are moving, it is necessary to transfer the motor motion to the shafts of the upper mechanism active parts through the lower mechanism members. The driving and transmission system of the upper mechanism is configured in the box body (14) and in the connecting rod assembly (535, 543) of the lower mechanism. When the upper mechanism is a four-bar mechanism, the degree of freedom is 1, and it needs to be driven all the way. Its motion is driven by the motor (531), and the motion is transmitted to the lower part through the reducer (532), bevel gear transmission (533, and transmission belt (534) Mechanism crank and connecting rod rotate the shaft (536) relative to each other, and then further convert into horizontal motion.

When the upper mechanism is a five-bar mechanism, the mechanism has two degrees of freedom and requires two drives, one drive is realized by the above method, and the other drive is driven by the motor (541), through the reducer (542), bevel gear (544), The transmission belt (545) transmits the motion to the rocking bar and the connecting rod rotating shaft (546), which is further converted into horizontal motion.

motion transmission

The lower mechanism is driven by the motor 521, decelerated by the reducer 522, and then through two pairs of bevel gears (526, 527) steering and belt drive (523), the motion is transmitted to the lower mechanism crank (535) through the rotating shaft (525). The upper mechanism is composed of 2 Driven by two motors (531, 541) and reducers (532, 542) of the same type, the motion is transmitted to the lower crank idler shaft (533) and the rocker idler shaft (544) through bevel gears (551, 552) reversing. , and then through the belt (534) the motion will be transmitted to the shaft (536). When the upper mechanism is a four-bar mechanism, the motor 531 will transmit the motion to the The upper mechanism crank (301); when the upper mechanism is a five-bar mechanism, one of the driving parts (302 or 304) is transmitted through the above-mentioned method, and the other driving part (303 or 305) is transmitted in a similar manner, and the motor 532 passes through the reducer 542, bevel gear 552, shaft 544, belt drive (545), shaft (546) transmit the motion to the upper mechanism active part (303 or 305).All motors and reducers, bevel gears and lower mechanism belt drive are installed on the frame The movement of the upper mechanism (310, 320, 330) in the middle box (14) is transmitted by the crank assembly (535) and the rocker assembly (543) of the lower mechanism. According to one embodiment of the present invention, the belt drive is packaged in the corresponding inside the crank and rocker assembly

Figures 6A and 6B illustrate the transmission of motion of the active member of the superstructure according to the present invention.

According to an embodiment of the present invention, the movement of the upper mechanism is driven by the movement of the connecting rod and the connecting shaft of the lower mechanism. First, the bevel gear is used to convert the vertical plane motion to the horizontal plane motion, and then the motion can be transmitted to the horizontal link mechanism through belt transmission, or directly to the upper horizontal link mechanism, in order to adjust the size of the upper mechanism frame.

As shown in Figures 6A and 6B, in one embodiment according to the present invention, the transmission mode is: the motion of the motor (531), through the speed reducer (532), electromagnetic clutch (603), bevel gear transmission mechanism (533), Shaft assembly (605)-drive belt (534), shaft assembly (536), bevel gear transmission mechanism (609), upper mechanism shaft assembly (610)-drive belt (622), reach the upper mechanism connecting frame rod (621). Wherein, according to a specific embodiment of the present invention, the belt drive (534) is embedded inside the crank (or connecting rod) assembly (535) of the lower mechanism.

In another embodiment according to the present invention, the transmission mode is as follows: the upper mechanism link rod (621) is directly sleeved on the vertical shaft 610 without passing through the upper transmission belt (622).

Figure 7 shows the motion transmission of the active part of the lower mechanism according to the invention.

The reciprocating motion of the lower four-bar mechanism is realized by two four-bar mechanisms, and the continuous rotation of the motor is converted into the reciprocating motion of the active part of the lower mechanism. According to one embodiment of the present invention, as shown in Figure 7, the motion is transmitted to the shaft assembly (701) through the pulley (702) through the transmission belt (523), and through the bevel gear transmission (527), the connecting rod (704) to The motion is transferred to the lower mechanism linkage rod assembly (535). Motion transmission mode: motor (521)-reducer (522)-belt drive (523)-bevel gear (527)-connecting rod (704)-lower mechanism connecting rod (535)-lower mechanism four-bar mechanism (413) . Two series-connected four-bar mechanisms are used to realize the reciprocating swing motion of the lower mechanism, and the swing range of the upper link mechanism is enlarged through reverse series connection.

Figures 8a-8e show the method of converting the motion of the lower mechanism plane to the upper mechanism motion plane according to the present invention.

Since the two linkages move in the vertical and horizontal planes respectively, it is necessary to switch the direction of motion (Fig. 8a). According to an embodiment of the present invention, according to the required speed, two forms are adopted: bevel gear transmission (Fig. 8b), and worm gear transmission (Fig. 8c), the latter is used for slow speed movement rehabilitation, especially suitable for the elderly. The bevel gear transmission adopts two installation forms: directly drive the active part of the upper horizontal mechanism, or drive the active part of the upper horizontal mechanism through a primary belt drive. The difference between the two is that the size of the frame is different.

According to an embodiment of the present invention, as shown in Fig. 8a, the upper mechanism and the lower mechanism are connected by a link assembly (411). The lower mechanism active rod assembly (535), the lower mechanism driven rod assembly (543) and the lower mechanism link assembly (411) transmit the motion to the upper mechanism link rod (driver) (301 or 302 or 304) (Fig. 3a -3c).

Fig. 8 b has shown the motion conversion device of vertical plane motion and horizontal plane according to the present invention, wherein by a pair of bevel gears (812) and driving belt (622) the motion is transmitted to the upper mechanism connecting frame rod (driving member) (301 or 302 Or 303, the horizontal movement of Figs. 3a-3c).

Figure 8c shows the use of worm gears (822, 821, 823) to convert vertical plane motion into horizontal plane motion of the drive belt (622) according to the present invention.

Figure 8d shows the case where the upper mechanism linkage rod is integrated with the lower mechanism linkage assembly (411), and the linkage rods (301 and 306) according to the present invention. The configuration of the transmission belt (622) is determined according to the length of the frame.

Figure 8e shows the lower frame and shaft assembly (841, 842) according to the present invention. The shaft 841 is rotated by the belt drive (534) (see Fig. 5b), on which the lower mechanism member 535 idles. The shaft 842 is driven to rotate by a belt drive (545) (see Fig. 5c, correct), on which the lower mechanism member 543 idles. .

In the present invention, according to the needs of the patient's rehabilitation exercise, the space movement is realized by two planar mechanisms, and the structural composition includes: the lower vertical planar connecting rod, the upper horizontal planar connecting rod, the driving motor, the reducer, the transmission system, the control system and the motion acquisition system.

According to the rehabilitation training auxiliary equipment of the present invention, such working mode can be carried out:

(1) The rehabilitation therapist holds the patient's limbs and performs appropriate rehabilitation exercises according to the patient's mobility, and the movement trajectory is recorded by sensors and cameras;

(2) Reproduce the patient's spatial movement trajectory through the algorithm;

(3) Calculate the required 2 or 3 degrees of freedom input motion;

(4) 2 degrees of freedom or 3 degrees of freedom are driven by the motor to realize the predetermined trajectory of rehabilitation training.

(5) Mechanism design, according to the requirements of different rehabilitation motion trajectories, design three types of racks, three types of lower mechanisms, three types of upper horizontal mechanisms, and lower mechanism and upper mechanism motion conversion devices;

(6) The upper or lower limbs are clamped by the hanger to move.

Advantages and beneficial effects of the present invention:

The present invention utilizes two planar link mechanisms to realize spatial movement, and has the following advantages:

(1) Simple design, low cost and small volume;

(2) It can be used in lying and sitting positions, and can be used for the rehabilitation of upper and lower limbs. It can realize the exercise mode suitable for the individual disease condition of the patient by clamping one part or two parts;

(3) The specific form and parameters of the two planar mechanisms can be tailored according to the specific conditions of the patient, and the individualized movement trajectory can be realized without changing the overall structure, thereby realizing individualized rehabilitation training. The connecting rod adopts a porous rod, and the rod length of the connecting rod mechanism can be adjusted according to the specific motion trajectory to realize a mechanism configuration and a combination of multiple mechanism parameters to achieve different motion curve requirements.

Implementation method: The robot adopts a modular combination scheme, three main frame structures, three lower mechanisms, and three upper mechanisms, and other parts adopt a general structure, including connecting rods, transmission systems, and drive systems. Configure the overall mechanism design according to the specific trajectory requirements, a total of 9 configurations.

Claims (10)

1. An upper limb/lower limb space exercise rehabilitation training auxiliary device, characterized by comprising:

a frame support (11, 21, 31),

a housing (14, 24, 34) for housing the drive and transmission mechanism and control portion,

a lower mechanism (12, 22, 32),

an upper linkage (310, 320, 330) for spatial movement in cooperation with the lower linkage (12, 22, 32),

an upper mechanism and a lower mechanism motion conversion and connection frame (13, 23, 33),

a sling (414, 415) for holding and securing a user's upper or lower limb at a selected point (313, 324, 325) on the upper four-bar mechanism (310, 320, 330),

wherein,

the frame supports (11, 21, 31) and the lower mechanisms (12, 22, 32) are respectively in three forms, and can be randomly combined into 9 different combinations to adapt to the specific movement form and the preference of users,

therefore, different motion modes can be adopted according to individual requirements, the planar mechanism is used for realizing space motion, and the connecting rod curve (312) of the planar mechanism is used for realizing complex space motion trail.

2. The upper/lower limb spatial motor rehabilitation training aid of claim 1, wherein the upper mechanism housing is selected from one of the following forms:

-the upper mechanism frame is integral (13) with the lower slider-crank mechanism slide to accommodate the larger amplitude of motion and the non-circular curve of the motion trajectory,

-the upper mechanism frame is integral (23) with the lower mechanism crank rocker mechanism rocker to accommodate small motion amplitudes and motion trajectories that are approximately circular arcs.

-the upper mechanism frame is integral (33) with the lower crank-rocker mechanism link to accommodate the increased amplitude of motion.

3. The upper/lower limb spatial motor rehabilitation training aid of claim 1, wherein the upper mechanism can be selected from one of three forms: a single-degree-of-freedom four-bar mechanism (310), a two-degree-of-freedom hinge five-bar mechanism (320), and a two-degree-of-freedom five-bar mechanism (330) with two moving pairs,

wherein,

the single degree-of-freedom four-bar mechanism (310) is used for reciprocating motion and includes a hinged four-bar mechanism (311, 312, 313),

the two-degree-of-freedom hinge five-bar mechanism (320) is used for reciprocating motion and comprises hinge five-bar mechanisms (321, 324, 325),

the two-degree-of-freedom five-rod mechanism (330) with two moving pairs is used for circular motion and comprises five-rod mechanisms (331, 324) with moving pairs.

4. The upper/lower limb spatial motor rehabilitation training aid of claim 3, characterized in that

The four-bar hinge mechanism (310), the five-bar hinge mechanism (320) and the five-bar mechanism (330) with the moving pair are driven by first and second upper driving motors (531 and 541) through first and second speed reducers (532 and 542) and are all placed inside the box body.

Wherein

First and second upper drive motors (531, 541) are mounted in the middle box (14) of the boxes (14, 24, 34).

5. The upper/lower limb spatial motor rehabilitation training aid of claim 4, characterized in that

The hinged four-bar mechanism is a single-degree-of-freedom four-bar mechanism (310) which needs to be driven all the way, the motion of the hinged four-bar mechanism is driven by a first upper driving motor (531) through a first speed reducer (532),

the hinge five-bar mechanism and the five-bar mechanism with the sliding pair are driven by two paths, wherein one path of driving is driven by a first upper driving motor (531) through a first speed reducer (532), and the other path of driving is driven by a second upper driving motor (541) through a second speed reducer (542).

6. The upper/lower limb spatial motor rehabilitation training aid of claim 1, characterized in that

The three forms of lower mechanism (12, 22, 32) include a crank linkage (32), a crank rocker mechanism (22), a slider-crank mechanism (12) for accommodating specific desired forms of motion and user preferences.

7. The upper/lower limb spatial motor rehabilitation training aid of claim 6, characterized in that

The reciprocating swing motion of the lower mechanisms (12, 22, 32) is realized by adopting two four-bar mechanisms connected in series, and the swing range of the upper link mechanism is enlarged by connecting the four-bar mechanisms in series in the opposite direction.

8. The upper/lower limb spatial motor rehabilitation training aid of claim 1, characterized by further comprising:

the RFID system is used for collecting the real motion trail of the rehabilitation training of the patient to determine the motion mode,

the acquisition system comprises a reader-writer, an antenna, a group of electronic tags and a data processing module.

9. The upper/lower limb spatial motor rehabilitation training aid according to claim 3,

by utilizing the diversity of the link curves of the link mechanisms, a set of different spatial motions is realized by a combination of the horizontal link mechanism including the first to third upper motion mechanisms and the vertical link mechanism including the lower mechanism.

10. The upper/lower limb spatial motor rehabilitation training aid according to claim 3,

the four-bar linkage mechanism, the five-bar linkage mechanism, the transmission and driving part containing the five-bar linkage mechanism and the lower mechanism are all arranged in the box body in the middle of the frame, the motion of the four-bar linkage mechanism (310), the five-bar linkage mechanism (320) and the five-bar linkage mechanism (330) containing the moving pair is transmitted by the crank assembly (535) and the rocker assembly (543) of the lower mechanism, and the transmission belts (534, 545) are packaged in the corresponding crank (535) and rocker (543) assemblies.