CN111166630A

CN111166630A - Spring box rehabilitation robot

Info

Publication number: CN111166630A
Application number: CN202010058969.XA
Authority: CN
Inventors: 高学山; 郝亮超; 李健; 刘欢; 牛军道; 赵鹏; 车红娟
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-05-19

Abstract

The invention discloses a spring box rehabilitation robot which comprises a rack body, a lower limb exoskeleton, a spring box double-force-arm weight reducer, a multi-degree-of-freedom moving mechanism, a flexible fixed lifting platform and a suspension mechanism, wherein the spring box double-force-arm weight reducer, the multi-degree-of-freedom moving mechanism and the flexible fixed lifting platform are arranged on the rack body, the lower limb exoskeleton is connected with the flexible fixed lifting platform, and the suspension mechanism is connected with the multi-degree-of-freedom moving mechanism. The invention designs patients meeting most of lower limb walking engineering obstacles by adopting the flexible exoskeleton lifting platform and the spring box weight reduction structure as the basis, and has important significance for the pertinence of the patients with lower limb walking dysfunction.

Description

Spring box rehabilitation robot

Technical Field

The invention relates to the technical field of rehabilitation instruments, in particular to a spring box rehabilitation robot.

Background

The prior art mainly takes a rehabilitation robot to drive a patient to walk on a running machine in situ, and the patient cannot feel true walking feeling; the exoskeleton connecting the legs of the patient is heavy and cumbersome to wear; the gravity center regularly fluctuates when a normal person walks, and the existing rehabilitation robot is not well adapted to a patient; the existing rehabilitation weight reduction equipment mostly adopts the cooperation of a pulley and a tensioning mechanism, or adopts waist clamping to assist walking, the weight reduction equipment adopting the pulley mechanism is usually large in size and complex in structure, the stress on the waist is large by adopting the equipment for waist clamping to walk, and the whole weight reduction and pressure reduction of a human body cannot be realized. The traditional rehabilitation robot also adopts a winch to reduce the weight of a patient, but a steel cable of the winch generates transverse component force when being stretched, so that the service life of equipment is influenced, and the weight can be reduced only on two sides at the same time, so that the requirement of the patient with a sick leg cannot be met.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problem to be solved by the invention is to provide a spring box rehabilitation robot, which aims to overcome the defect that the transverse component force is generated in the process of weight reduction and pulling, and the sliding block is pulled to cause the transverse deformation of the linear sliding rail, the original linear sliding rail structure is improved, the degree of freedom along the direction of the force arm of the spring box is increased to offset the transverse force generated by the steel cable, the transverse deformation of the linear guide rail is reduced, the sliding block moves more smoothly, and the weight reduction precision of the weight reducer is improved; by adopting the spring box double-force arm weight reducer, the design of the lifting platform and the extension spring can reduce the gravity center of the whole rehabilitation robot, reduce the total height to adapt to more places and avoid the forward tilting of the whole rehabilitation robot during braking, the high, large and heavy robot can make people feel afraid, and the reduction of the gravity center can make the rehabilitation people and the robot better fuse; the flexible fixed lifting platform is adopted, the lower limb exoskeleton is connected with the rack through the upgrading platform, so that the height can be flexibly adjusted, and the problem that the center of gravity moves up and down when a human body walks can be solved.

The invention adopts the specific technical scheme that:

the utility model provides a recovered robot of spring box, includes frame body, low limbs ectoskeleton, the two arm of force of spring box subtracts heavy ware, multi freedom moving mechanism, flexible fixed lift platform, hangs the mechanism, and the two arm of force of spring box subtracts heavy ware, multi freedom moving mechanism, flexible fixed lift platform installation are on the frame body, and low limbs ectoskeleton is connected with flexible fixed lift platform, hangs the mechanism and is connected with multi freedom moving mechanism, wherein:

the spring box double-force-arm weight reducer comprises a shell, an L-shaped force arm, a linear guide rail device, a worm and gear speed-reducing motor and a spring box, wherein the linear guide rail device is fixed on the shell through a connecting block, a screw rod is arranged on the linear guide rail device, a sliding block is arranged on the screw rod, the worm and gear speed-reducing motor is fixedly connected with the linear guide rail device, the screw rod is connected with an output shaft of the worm and gear speed-reducing motor, and the worm and gear speed-reducing motor drives the screw rod to rotate so as to drive a sliding block to move on the screw rod; the spring box comprises an upper spring box, a lower spring box and an extension spring, wherein the upper spring box comprises an upper spring box side plate and an upper spring box top plate, two sides of the upper spring box top plate are respectively and fixedly connected with the upper spring box side plate, the upper spring box side plate is connected with a sliding block through a U-shaped connecting piece, and particularly, the upper spring box side plate is connected with the U-shaped connecting piece through a bearing, and the U-shaped connecting piece is fixedly connected with the sliding block; the lower spring box comprises a lower spring box side plate and a lifting table, and the lower spring box side plate is connected with the lifting table; the extension spring is arranged in the spring box, the upper end of the extension spring is connected with the top plate of the upper spring box, and the lower end of the extension spring is connected with the lifting platform, namely the upper spring box is connected with the lower spring box through the extension spring; the L-shaped force arm is provided with a force arm fixing end and a force arm rotating end, the lower spring box side plate is connected with the force arm fixing end through a bearing, and the force arm rotating end is connected with the shell through the bearing;

the multi-degree-of-freedom moving mechanism comprises a suspension connecting plate, a steering connecting plate, a Z-direction sliding block and a vertical sliding block, wherein the steering connecting plate is connected with the suspension connecting plate, a flanged edge bearing is installed in the middle of the steering connecting plate, a flanged edge of the flanged edge bearing is connected with a bearing connecting plate, the Z-direction sliding block is connected with the bearing connecting plate and installed on the bearing connecting plate, the Z-direction sliding block is connected with a Z-direction sliding rail in a sliding mode, and the Z-direction sliding rail is connected with an L-shaped force arm; the vertical sliding blocks are arranged at two ends of the steering connecting plate;

the flexible fixed lifting platform comprises an exoskeleton sliding block and a connecting piece, wherein the connecting piece is welded on the exoskeleton sliding block, a screw rod hole and an optical axis hole are symmetrically formed in the exoskeleton sliding block, a threaded screw rod is installed in the screw rod hole, and an optical axis A is installed in the optical axis hole; the two ends of the threaded screw rod are connected with connecting blocks A, and the two ends of the optical axis A are connected with connecting blocks B; the exoskeleton sliding block is provided with a boss, an optical axis B, an optical axis C and an optical axis D are installed on the boss side by side, the connecting piece is sleeved on the optical axis B, the optical axis C and the optical axis D, and compression springs are installed on the optical axis B and the optical axis D respectively below the connecting piece. The upgrading platform is welded with the rack through a connecting block A and a connecting block B, and the connecting piece is connected with the lower limb exoskeleton;

the suspension mechanism comprises a connection force arm, and the connection force arm is connected with the suspension connecting plate.

Further, go up the spring box and pass through the optical axis direction with lower spring box, specifically do the optical axis upper and lower both ends cup joint respectively in last optical axis mounting, lower optical axis mounting, and pass the optical axis lower extreme of same lower optical axis mounting and pass through the coupling joint, go up the optical axis mounting with go up the spring box curb plate and connect, down the optical axis mounting with the spring box curb plate is connected down.

Further, the bearing adopts the cross roller bearing, go up the spring box curb plate and be connected with U type connecting piece through the bearing and do: the U-shaped connecting piece is connected with the bearing inner ring through a screw, and the upper spring box side plate is connected with the bearing outer ring through a screw; the side plate of the lower spring box is fixed on the force arm through a bearing: the fixed end of the force arm is connected with the inner ring of the bearing through a screw, and the side plate of the lower spring box is connected with the outer ring of the bearing through a screw; the force arm rotation end is connected with the shell through a bearing: the shell is connected with the bearing inner ring through a screw, and the rotating end of the force arm is connected with the bearing outer ring through a screw.

Further, the elevating platform includes base, last mesa and cuts the fork subassembly down, two deflectors of parallel arrangement respectively are distinguished with last mesa below both sides above the base down, be equipped with the guide slot on the deflector, it has two sets to cut the fork subassembly, and every group is connected with the deflector through the fixed axle respectively including bracing piece A and the bracing piece B that is X swing joint, bracing piece A and bracing piece B one end, and the other end is connected with the loose axle, and the loose axle can be followed the guide slot back-and-forth movement, and wherein a set of dead axle and the loose axle that is located the coplanar are connected with fine setting nut respectively, fine setting nut cooperation is connected with the fine setting screw rod. The movable shaft can be adjusted to move back and forth along the guide groove by adjusting the fine adjustment nut and the fine adjustment screw rod, and then the lifting platform is adjusted to be lifted or lowered.

Furthermore, a cushion block is arranged between the vertical sliding block and the steering connecting plate, the vertical sliding block, the cushion block and the steering connecting plate are connected through bolts, and the vertical sliding block is installed on the inner sides of the two steering connecting plates.

Further, the volume of the connecting block A is larger than that of the connecting block B.

Further, optical axis C installs in the boss in the middle of, and optical axis B and optical axis D symmetry install on optical axis C both sides.

Further, the exoskeleton slider three-sided guide rail slider structure.

The invention has the beneficial effects that:

compared with the prior weight reducing structure, the weight reducing device has the advantages that the design of the lifting platform and the extension spring can reduce the gravity center of the whole rehabilitation robot, reduce the total height, adapt to more places and avoid the forward tilting of the whole vehicle during braking; the high, large and heavy robot can make people feel afraid, and the reduction of the center of gravity can make the recovered person and the robot have better integration. The invention increases the influence factors of the weight reduction effect, for example, a driving motor drives a rotating screw rod to cause a sliding block to move up and down on the inclined screw rod, the height of the screw rod sliding block changes, the spring variable is changed, and the change of a screw rod sliding table is used as a main influence factor; the lifting force arm is added into the design of the spring box, the height of the lifting platform is changed through the fine adjustment nut, and the variable of the spring is fine adjusted to achieve the pre-stage effect; the whole device is arranged on the back of a human body and is not in the visual field range of a rehabilitee, and the whole human-computer interaction feeling of the rehabilitee in the on-machine therapy is improved. And the double-force-arm output is adopted, so that the structural strength of the frame can be improved.

The weight reducer of the invention utilizes the force arm rotating end to be connected with the shell and rotates by taking the force arm rotating shaft of the force arm as the center, thereby enhancing the stability of the whole device, and the force arm fixing end is fixed with the side plate at the lower part of the spring box and utilizes the lever to transmit the torque.

The multi-degree-of-freedom moving mechanism is additionally provided with a force arm slide rail (the Z-direction slide rail is arranged on a force arm of a weight reducer), and the transverse force generated by stretching a steel cable is counteracted by utilizing the movement of the Z-direction slide block along the Z-direction slide rail and the rotation of the Z-direction slide block around a bearing, so that the deformation of the linear slide rail is reduced.

The multi-degree-of-freedom moving mechanism increases the precision of the weight reduction value of the left and right weight reduction arms through the two groups of sliding blocks and the motion coupling mode of rotating around the bearing and three directions, so that the movement of the sliding blocks becomes smooth, and the comfort of weight reduction is improved. And the motion path of the sliding block is precisely designed, so that the structure is compact and reasonable, and the installation is convenient.

The flexible fixed lifting platform is used for adjusting different heights by utilizing the movement flexibility of the screw rod slide block (the threaded screw rod and the exoskeleton slide block), namely, the upper and lower positions of the exoskeleton slide block on the screw rod are adjusted according to the height of a patient, so that the position of the connecting piece relative to the frame is adjusted.

The flexible fixed lifting platform is guided by the optical axis A and matched with the threaded screw rod, so that the running stability of the lifting platform is enhanced, the flexible fixed lifting platform can be flexibly adjusted according to the height of a human body through the matching of the screw rod and the slider structure, the stress condition of the flexible fixed lifting platform is fully considered by adopting a symmetrical design, and the flexible fixed lifting platform is reasonable and attractive in structural design.

In the use process of the flexible fixed lifting platform, the stress of the threaded screw rod is larger, the design that the connecting block A is larger than the connecting block B in size is adopted, the contact area between the connecting block A and the rack is larger, and the stability of the flexible fixed lifting platform is improved. And the exoskeleton sliding block adopts a three-surface guide rail sliding block design, so that the integral lifting platform is firmly attached to the straight support, and the stability is enhanced. The connecting piece is connected with the exoskeleton, when a human body walks, the connecting piece can move up and down along with the human body through the compression spring, so that the connecting piece is synchronous with the gravity center of the human body, the problem caused by the up-and-down movement of the gravity center of the human body is avoided, and the rehabilitation of a patient is facilitated. The flexible fixed lifting platform is designed by adopting the parts of the sliding block, the spring and the threaded screw rod, and is more stable and safe than the traditional rope pulling type design.

The flexible fixed lifting platform can be adjusted up and down manually or through a motor to adapt to the lengths of different legs of a person and is fixed on the crotch of the person, the crotch of the person fluctuates up and down when the person walks, and the exoskeleton and the flexible fixed lifting platform can slightly fluctuate along with the crotch of the person due to the damping spring.

The invention designs the patient meeting most of lower limb walking engineering obstacles by adopting the flexible exoskeleton lifting platform and the spring box weight reduction structure as the basis, and has important significance for the pertinence of the patient with the lower limb walking function obstacles.

The rehabilitation robot of the invention mainly pre-tensions the spring in the spring box, and can generate different tensions according to the severity of the illness of a patient to reduce the weight of the human body.

Drawings

FIG. 1 is a schematic structural diagram of a rehabilitation robot according to the present invention;

FIG. 2 is a schematic diagram of a dual force arm weight reducer;

FIG. 3 is an isometric view of FIG. 2;

FIG. 4 is an isometric view of a partial structure of the dual force arm weight reducer;

FIG. 5 is a schematic structural view of the lift table (with the table top removed);

FIG. 6 is a front view of FIG. 5;

FIG. 7 is a schematic structural diagram of a multi-degree-of-freedom moving mechanism;

FIG. 8 is a front view of FIG. 7;

FIG. 9 is a side view of FIG. 7;

fig. 10 is a partial structure schematic diagram of the rehabilitation robot;

fig. 11 is a schematic structural view of a flexible fixed lifting platform of the rehabilitation robot;

fig. 12 is a partial structural schematic view of a flexible fixed lifting platform of the rehabilitation robot;

fig. 13 is a schematic view of the structure of the suspension mechanism.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Example 1

The utility model provides a spring box rehabilitation robot, as shown in fig. 1, including frame body 1, lower limbs ectoskeleton 2, spring box double force arm subtracts heavy ware 3, multi freedom moving mechanism 4, flexible fixed lift platform 5, suspension mechanism 6, spring box double force arm subtracts heavy ware 3, multi freedom moving mechanism 4, flexible fixed lift platform 5 installs on frame body 1, what lower limbs ectoskeleton 2 adopted is current design, it is connected with flexible fixed lift platform 5, suspension mechanism 6 is connected with multi freedom moving mechanism 4, wherein:

as shown in fig. 2, the spring box double-force arm weight reducer 3 includes a housing 31, an L-shaped force arm 32, a linear guide rail device 33, a worm gear motor 34, and a spring box 35, specifically:

as shown in fig. 3, the linear guide device 33 is fixed on the housing 31 through a connecting block 36, a screw rod 331 is arranged on the linear guide device 33, a sliding block 332 is arranged on the screw rod 331, the worm gear reduction motor 334 is arranged on the linear guide device 33, the screw rod 331 is connected with an output shaft of the worm gear reduction motor 334, and the worm gear reduction motor 334 drives the screw rod 331 to rotate so as to drive the sliding block 332 to move on the screw rod;

as shown in fig. 3-4, the spring case 35 includes an upper spring case 351, a lower spring case 352, and an extension spring 353, the upper spring case 351 includes an upper spring case side plate 3511 and an upper spring case top plate 3512, two sides of the upper spring case top plate 3512 are respectively fixedly connected with the upper spring case side plate 3511, the upper spring case side plate 3511 is connected with the slider 332 through a U-shaped connecting member 7, specifically, the upper spring case side plate 3511 is connected with the U-shaped connecting member 37 through a bearing, and the U-shaped connecting member 37 is fixedly connected with the slider 332; the lower spring case 352 comprises a lower spring case side plate 3521 and a lift platform 3522, the lower spring case side plate 3521 is connected with the lift platform 3522; the extension spring 353 is installed in the spring box 35, the upper end of the extension spring 353 is connected with the upper spring box top plate 3512, and the lower end of the extension spring is connected with the lifting platform 3522, namely, the upper spring box 351 and the lower spring box 352 are connected through the extension spring 353 (the number of the springs can be increased and reduced according to different situations, or springs with different stiffness coefficients can be exchanged); the upper spring case 351 and the lower spring case 352 are guided by an optical axis 354, specifically, the upper and lower ends of the optical axis 354 are respectively sleeved in an upper optical axis fixing member 355 and a lower optical axis fixing member 356, and the lower ends of the optical axis passing through the same lower optical axis fixing member 356 are connected by a coupling, the upper optical axis fixing member 355 is connected with the upper spring case side plate 3511, and the lower optical axis fixing member 356 is connected with the lower spring case side plate 3521.

As shown in fig. 4, an arm fixing end 321 and an arm turning end 322 are disposed on the L-shaped arm 32, the lower spring box side plate 3521 is connected to the arm fixing end 321 through a bearing, the arm turning end 322 is connected to the housing 31 through a bearing, and the housing 31 is fixedly mounted on the frame body 1.

As shown in fig. 3 and 5, the lifting platform 3522 includes a lower base 35221, an upper table surface 35222 and a scissors assembly 35223, two guide plates 35224 are respectively disposed on the upper surface of the lower base 35221 and two sides of the lower portion of the upper table surface 35222 in parallel, guide grooves 35225 are disposed on the guide plates 35224, the scissors assembly 35223 has two sets, each set includes a support rod a35226 and a support rod B35227 movably connected in an X shape, one end of each of the support rods a35226 and B35227 is connected to the guide plate 35224 through a fixed shaft, the other end of each of the support rods a35226 and B35227 is connected to a movable shaft, the movable shaft can move back and forth along the guide grooves 35225, one set of the fixed shaft and the movable shaft located on the same plane are respectively connected to a fine adjustment nut 35228, and the. By adjusting the fine adjustment nut 35228 and the fine adjustment screw 35229, the movable shaft can be adjusted to move back and forth along the guide groove 35225, and then the lifting platform 3522 can be adjusted to be lifted or lowered.

As shown in fig. 7-9, the multi-degree-of-freedom moving mechanism 4 includes a suspension connecting plate 41, a steering connecting plate 42, a Z-direction slider 43, and a vertical slider 44, wherein the steering connecting plate 42 is connected to the suspension connecting plate 41, a flanged edge bearing 45 is installed in the middle of the steering connecting plate 42, a flanged edge of the flanged edge bearing 45 is connected to a bearing connecting plate 46, the Z-direction slider 43 is connected to the bearing connecting plate 46 and installed on the bearing connecting plate 46, the Z-direction slider 43 is slidably connected to a Z-direction slide rail 47, and the Z-direction slide rail 47 is connected to the L-shaped force arm 32; the vertical sliding blocks 44 are installed at the upper end and the lower end of the steering connecting plate 42, the multi-degree-of-freedom moving mechanism 4 is installed on the rack body 1 through the vertical sliding rails 7, as shown in fig. 1, specifically, the vertical sliding rails 7 are installed on the robot rack, and the vertical sliding blocks 44 are connected with the vertical sliding rails 7 in a sliding manner. The steering connecting plates 42 are mounted at two ends of the suspension connecting plate 41, the cushion blocks 8 are arranged between the vertical sliding blocks 44 and the steering connecting plates 42, the vertical sliding blocks 44, the cushion blocks 8 and the steering connecting plates 42 are connected through bolts, and the vertical sliding blocks 44 are mounted on the inner sides of the two steering connecting plates 42. The purpose of the cushion block 8 is to increase the space for installing the Z-direction slide block 43, the Z-direction slide rail 47 and the L-shaped force arm 32.

As shown in fig. 11 to 12, the flexibly fixed lifting platform 5 includes an exoskeleton sliding block 51 and a connecting member 52, the connecting member 52 is welded on the exoskeleton sliding block 51, a screw hole 511 and an optical axis hole 512 are symmetrically arranged on the exoskeleton sliding block 51, a threaded screw 513 is installed in the screw hole 511, and an optical axis a514 is installed in the optical axis hole 512; two ends of the threaded screw 513 are connected with a connecting block A515, and two ends of the optical axis A514 are connected with a connecting block B516; the exoskeleton sliding block 51 is provided with a boss 517, an optical axis B5171, an optical axis C5172 and an optical axis D5173 are mounted on the boss 517 side by side, the connecting piece 52 is sleeved on the optical axis B5171, the optical axis C5172 and the optical axis D5173, and compression springs 5174 are respectively mounted on the optical axis B5171 and the optical axis D172 below the connecting piece 52. As shown in fig. 1, the upgrade platform is welded to the frame body 1 through the connecting blocks a15 and B516, and the connecting member 52 is connected to the lower extremity exoskeleton 2.

As the preferable scheme of the embodiment, the volume of the connecting block A515 is larger than that of the connecting block B516, the contact area of the connecting block A515 and the rack is larger, and the stability of the connecting block A515 and the rack can be improved.

As a preferable scheme of the embodiment, the optical axis C5172 is arranged in the middle of the boss, and the optical axis B5171 and the optical axis D172 are symmetrically arranged at two sides of the optical axis C5172, so that the stress of the device is more uniform.

As a preferable scheme of this embodiment, the exoskeleton slide block 51 has a three-sided guide rail slide block structure, so that the overall lifting platform is firmly attached to the rack body 1 (as shown in fig. 1), thereby enhancing stability.

The rehabilitation robot of the invention can adopt the existing suspension mechanism 6 for installing the weight-reducing clothes, the suspension mechanism 6 adopted in the embodiment is connected with a force arm 61 as shown in fig. 10 and fig. 13, and the connection force arm 61 is connected with the suspension connecting plate 41; the lifting ring 62 is used for hanging the weight-reducing clothes; and is provided with a spring damper 63 having a cushioning effect on the direction of movement.

Claims

1. The utility model provides a recovered robot of spring box, its characterized in that, includes frame body, low limbs ectoskeleton, the two arm of spring box subtracts heavy ware, multi freedom moving mechanism, flexible fixed lift platform, hangs the mechanism, and the two arm of spring box subtracts heavy ware, multi freedom moving mechanism, flexible fixed lift platform install on the frame body, and the low limbs ectoskeleton is connected with flexible fixed lift platform, hangs the mechanism and is connected with multi freedom moving mechanism, wherein:

the spring box double-force-arm weight reducer comprises a shell, an L-shaped force arm, a linear guide rail device, a worm and gear speed-reducing motor and a spring box, wherein the linear guide rail device is fixed on the shell through a connecting block, a lead screw is arranged on the linear guide rail device, a sliding block is arranged on the lead screw, the worm and gear speed-reducing motor is fixedly connected with the linear guide rail device, the lead screw is connected with an output shaft of the worm and gear speed-reducing motor, and the worm and gear speed-reducing motor drives the lead screw to rotate so as to drive the sliding block to move on the; the spring box comprises an upper spring box, a lower spring box and an extension spring, wherein the upper spring box comprises an upper spring box side plate and an upper spring box top plate, two sides of the upper spring box top plate are respectively and fixedly connected with the upper spring box side plate, the upper spring box side plate is connected with a sliding block through a U-shaped connecting piece, specifically, the upper spring box side plate is connected with the U-shaped connecting piece through a bearing, and the U-shaped connecting piece is fixedly connected with the sliding block; the lower spring box comprises a lower spring box side plate and a lifting table, and the lower spring box side plate is connected with the lifting table; the extension spring is arranged in the spring box, the upper end of the extension spring is connected with the top plate of the upper spring box, and the lower end of the extension spring is connected with the lifting platform, namely the upper spring box is connected with the lower spring box through the extension spring; the L-shaped force arm is provided with a force arm fixing end and a force arm rotating end, the lower spring box side plate is connected with the force arm fixing end through a bearing, and the force arm rotating end is connected with the shell through the bearing;

the multi-degree-of-freedom moving mechanism comprises a suspension connecting plate, a steering connecting plate, a Z-direction slider and a vertical slider, wherein the steering connecting plate is connected with the suspension connecting plate, a flanged edge bearing is mounted in the middle of the steering connecting plate, a flanged edge of the flanged edge bearing is connected with a bearing connecting plate, the Z-direction slider is connected with the bearing connecting plate and mounted on the bearing connecting plate, the Z-direction slider is connected with a Z-direction sliding rail in a sliding manner, and the Z-direction sliding rail is connected with an L-shaped force arm; the vertical sliding blocks are arranged at two ends of the steering connecting plate;

2. The spring case rehabilitation robot as claimed in claim 1, wherein the upper spring case and the lower spring case are guided by an optical axis, specifically, the upper and lower ends of the optical axis are respectively sleeved in the upper optical axis fixing member and the lower optical axis fixing member, and the lower end of the optical axis passing through the same lower optical axis fixing member is connected by a coupling, the upper optical axis fixing member is connected with the upper spring case side plate, and the lower optical axis fixing member is connected with the lower spring case side plate.

3. The spring case rehabilitation robot as claimed in claim 1, wherein said bearing is a cross roller bearing, and said upper spring case side plate is connected to the U-shaped connecting member through the bearing as follows: the U-shaped connecting piece is connected with the bearing inner ring through a screw, and the upper spring box side plate is connected with the bearing outer ring through a screw; the side plate of the lower spring box is fixed on the force arm through a bearing: the fixed end of the force arm is connected with the inner ring of the bearing through a screw, and the side plate of the lower spring box is connected with the outer ring of the bearing through a screw; the force arm rotation end is connected with the shell through a bearing: the shell is connected with the bearing inner ring through a screw, and the rotating end of the force arm is connected with the bearing outer ring through a screw.

4. The spring box rehabilitation robot as claimed in claim 1, wherein the lifting table comprises a lower base, an upper table top and a scissor assembly, two guide plates are respectively arranged on the upper surface of the lower base and on two sides below the upper table top in parallel, guide grooves are formed in the guide plates, the scissor assembly comprises two groups, each group comprises a support rod A and a support rod B which are movably connected in an X-direction, one end of each of the support rods A and B is connected with the guide plate through a fixed shaft, the other end of each of the support rods A and B is connected with a movable shaft, the movable shaft can move back and forth along the guide grooves, one group of the fixed shaft and the movable shaft which are positioned on the same plane are respectively connected with a fine adjustment nut, and the fine adjustment nut. The movable shaft can be adjusted to move back and forth along the guide groove by adjusting the fine adjustment nut and the fine adjustment screw rod, and then the lifting platform is adjusted to be lifted or lowered.

5. The spring box rehabilitation robot as claimed in claim 1, wherein a cushion block is disposed between the vertical slider and the steering connecting plate, the vertical slider, the cushion block and the steering connecting plate are connected by bolts, and the vertical slider is mounted inside the two steering connecting plates.

6. The spring case rehabilitation robot of claim 1, wherein the volume of the connecting block a is larger than that of the connecting block B.

7. The spring case rehabilitation robot of claim 1, wherein the optical axis C is installed in the middle of the boss, and the optical axis B is symmetrically installed on both sides of the optical axis C with respect to the optical axis D.

8. The spring case rehabilitation robot of claim 1, wherein said exoskeleton slide three-sided rail slide configuration.