CN111700767A

CN111700767A - Multifunctional rehabilitation robot training mechanism and method

Info

Publication number: CN111700767A
Application number: CN202010467660.6A
Authority: CN
Inventors: 曹佃国; 王京琛; 武玉强; 解学军; 张中才; 陈威; 苑尧尧
Original assignee: Qufu Normal University
Current assignee: Qufu Normal University
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-09-25
Anticipated expiration: 2040-05-28
Also published as: CN111700767B

Abstract

The utility model relates to a multifunctional rehabilitation robot training mechanism and a method, belonging to the technical field of auxiliary medical appliances, wherein the mechanism comprises a first portal frame and a second portal frame; the portal frame comprises two upright posts and a cross beam arranged between the two upright posts, and a first longitudinal beam capable of moving in the length direction of the cross beam is arranged between the two cross beams; the first longitudinal beam is provided with a first rope winder capable of moving along the length direction of the first longitudinal beam; the first rope winder comprises two rope winding wheels; the two rope winding wheels are arranged on two sides of the first longitudinal beam in the length direction; a second longitudinal beam capable of moving along the length direction of the upright post is arranged between the two upright posts of the door-shaped frame; the second longitudinal beam is provided with a second rope winder capable of moving in the length direction of the longitudinal beam; the tops of the upright columns of the two door-shaped frames are connected through a third longitudinal beam; and a third rope winder capable of moving in the length direction of the third longitudinal beam is arranged on the third longitudinal beam. Can realize carrying out the omnidirectional rehabilitation in order to reach better recovered effect to patient's limbs through this mechanism.

Description

Multifunctional rehabilitation robot training mechanism and method

Technical Field

The disclosure belongs to the technical field of auxiliary medical instruments, and particularly relates to a multifunctional rehabilitation robot training mechanism and a training method.

Background

The rehabilitation training instrument can be used by hospitals, old people care institutions, rehabilitation institutions, patient families and the like, the disabled hemiplegic people who cause the reasons such as cerebral apoplexy, spinal cord injury, cerebral trauma can be better rehabilitated through the rehabilitation training instrument, the rehabilitation is accelerated, but the existing rehabilitation training device has the following defects:

1) the function is single. In the rehabilitation of limb joints, most of the existing rehabilitation robot training mechanisms can only be applied to the single-joint or double-joint rehabilitation training of upper limbs or lower limbs, and the requirements of patients on multi-limb and multi-joint rehabilitation cannot be met far away, so that the cost of the rehabilitation training is increased.

2) The training posture is single. In the aspect of limb posture adjustment, most of the existing training mechanisms require patients to adopt a fixed or lying, sitting or standing single posture for rehabilitation training, and along with the extension of training time and the improvement of the rehabilitation state of the body, the fixed training posture easily causes the secondary injury of the body and reduces the active participation of the patients, so that the rehabilitation effect on the affected limb is poor in the practical application.

3) Has small application range and short applicable rehabilitation time. The existing training mechanism has single function and single posture, so that the application range is small, namely the existing training mechanism can only carry out rehabilitation training aiming at specific parts and can not carry out all-around systematic rehabilitation training, and the defect of 'headache and foot pain of a headache doctor' exists; on the other hand, a certain training mechanism can only function in a certain stage of rehabilitation training, and other training mechanisms need to be replaced in other stages.

4) There is a lack of active training mode based on human-computer interaction. In the setting of the training mode, most of the existing training mechanisms adopt a mode of performing passive training on a patient, namely, reciprocating training is performed on the body of the patient by using a set program and a set training track, a matching mode aiming at different rehabilitation states is lacked, important information such as motor intention, fatigue state, anxiety, initiative strength and the like from the patient in the training process is ignored, and unknown risks in the human-computer interaction process are increased.

5) In the design of a mechanical structure, due to the lack of tracking research on the rehabilitation state of a patient, the existing rehabilitation robot training mechanism has the defects of simple structure, single linkage mode, low precision degree, poor safety, low intellectualization and expansibility and the like, and cannot provide harmonious and efficient human-computer experience in the use process, so that the training risk and cost are increased.

Disclosure of Invention

Aiming at the defects in the prior art, the purpose of the disclosure is to provide a multifunctional rehabilitation robot training mechanism and a method.

In order to achieve the above purpose, the present disclosure is achieved by the following technical solutions:

at least one embodiment of the present disclosure provides a multifunctional rehabilitation robot training mechanism, which includes a first portal frame and a second portal frame; the portal frame comprises two upright posts and a cross beam arranged between the two upright posts, and a first longitudinal beam capable of moving in the length direction of the cross beam is arranged between the two cross beams; the first longitudinal beam is provided with a first rope winder capable of moving along the length direction of the first longitudinal beam; the first rope winder comprises two rope winding wheels; the two rope winding wheels are arranged on two sides of the first longitudinal beam in the length direction; a second longitudinal beam capable of moving along the length direction of the upright post is arranged between the two upright posts of the door-shaped frame; the second longitudinal beam is provided with a second rope winder capable of moving in the length direction of the longitudinal beam; the tops of the upright columns of the two door-shaped frames are connected through a third longitudinal beam; and a third rope winder capable of moving in the length direction of the third longitudinal beam is arranged on the third longitudinal beam.

Furthermore, the outer wall surfaces of the first longitudinal beam, the second longitudinal beam and the third longitudinal beam are provided with first sliding grooves; belt wheels are arranged at two ends in the longitudinal beam; a conveying belt is connected between the belt wheels; a sliding block assembly which can slide on the first sliding groove is connected on the conveyor belt; the sliding block assembly is connected with the rope winder.

Further, the rope winder comprises a main body frame, a rope winding wheel arranged on the main body frame and a rope guide wheel used for adjusting the rope angle; the main body frame is detachably fixed on the sliding block assembly; the rope winding wheel is driven by a direct current motor; the rope guide wheel is arranged below the rope winding wheel and fixed on the rope angle adjusting frame; the rope guide wheel is connected with the encoder and used for detecting the telescopic length of the rope.

Furthermore, a second sliding groove is formed in the outer wall surfaces of the cross beam and the upright post; ball screws are arranged in the cross beam and the upright post; one end of the ball screw is connected with the turbine; the ball screw is connected with a slide block nut; the longitudinal beam is connected with the sliding block nut through a sliding plate; the slide plate slides on the second slide groove.

Furthermore, an intermediate transmission system for connecting the worms in the two upright columns or the cross beams is arranged between the two door-shaped frames so as to realize the synchronous rotation of the ball screws in the two upright columns or the cross beams; the intermediate transmission system is fixed on the third longitudinal beam.

Further, the training mechanism also comprises a lower controller and a wireless control screen; inputting the height, leg length and weight parameters of the patient on a wireless control screen, and selecting corresponding rehabilitation joints and actions; the information is sent to a lower controller in a wireless transmission mode; the lower computer controller analyzes and calculates the information after receiving the information, forms a corresponding control instruction and sends the control instruction to the bus in a data format mode of the CAN bus; the servo motor carries out corresponding action according to the received data to drive the tail end of the binding band pulled by the rope rolling mechanism to move, and then carries out multi-dimensional rehabilitation training on the lower limb.

At least one embodiment of the present disclosure further provides a training method of the multifunctional rehabilitation robot training mechanism based on any one of the above, the method includes prone lower limb combined joint training

The rope winding mechanism on the second longitudinal beam releases the traction rope to be fixed on the waist of the patient to complete body fixation; the rope rolling mechanism of the third longitudinal beam releases the traction rope, the traction rope is fixed at the ankle joint of a single leg or the ankle joints of two legs, and the setting of the traction position is completed by the aid of the rope rolling mechanism on the first longitudinal beam;

the bending and stretching training of the hip joint is realized through the cooperative control of the third longitudinal beam servo motor and the rope winding mechanism; the hip joint adduction and abduction training is realized through the cooperative control of the beam servo motor and the rope winding mechanism; the knee joint bending and stretching training is realized through the cooperative control of the first longitudinal beam servo motor and the rope winding mechanism.

At least one embodiment of the disclosure also provides a training method of the multifunctional rehabilitation robot training mechanism based on any one of the above items, and the method comprises the step of training the lower limb combined joint in a sitting posture

The body of the patient is fixed on the chair; the traction rope is released by the rope rolling mechanism on the third longitudinal beam and fixed at the tail end of the hip joint at the upper part of the knee of the patient, and the traction rope is released by the rope rolling mechanism on the first longitudinal beam and fixed at the ankle joint of the patient;

At least one embodiment of the present disclosure further provides a training method of a multifunctional rehabilitation robot training mechanism based on any one of the above, the method including prone upper limb combination joint training:

the rope winding mechanism on the second longitudinal beam releases the traction rope to be fixed on the waist of the patient, and body fixing operation is completed; the rope rolling mechanism on the third longitudinal beam releases the traction rope to be fixed at the tail end of the big arm of the patient, and the first longitudinal beam rope rolling mechanism releases the traction rope to be fixed at the wrist joint;

the bending and stretching training of the shoulder joint is realized through the cooperative control of the servo motor of the third longitudinal beam and the rope winding mechanism; the shoulder joint adduction and abduction training is realized through the cooperative control of the beam servo motor and the rope winding mechanism; the bending and stretching training of the elbow joint is realized through the cooperative control of the first longitudinal beam servo motor and the rope winding mechanism.

At least one embodiment of the present disclosure further provides a training method of a multifunctional rehabilitation robot training mechanism based on any one of the above, the method including sitting posture upper limb combination joint training:

the rope winding mechanism on the third longitudinal beam releases a traction rope to be fixed at the tail end of the large arm, and the rope winding mechanism on the first longitudinal beam releases the traction rope to be fixed at the wrist joint;

and the bending and stretching training of the shoulder joint is realized through the cooperative control of the servo motor and the rope winding mechanism on the third longitudinal beam. The shoulder joint adduction and abduction training is realized through the cooperative control of the beam servo motor and the rope winding mechanism. The bending and stretching training of the elbow joint is realized through the cooperative control of the first longitudinal beam servo motor and the rope winding mechanism.

The beneficial effects of the above-mentioned embodiments of the present disclosure are as follows:

(1) the utility model discloses a "multi-functional" rehabilitation robot training mechanism. Compared with the prior art, the structure can provide multifunctional limb joint rehabilitation training, and the multifunctional limb joint rehabilitation training device comprises single-joint and multi-joint combined three-dimensional space motion of upper limb shoulder joints, upper limb elbow joints, lower limb hip joints, lower limb knee joints, ankle joints and the like, can more comprehensively meet the training requirements of different limb rehabilitation patients, and reduces the rehabilitation cost.

(2) Compare prior art this disclosed training structure can provide the rehabilitation training of multi-posture. Training postures such as horizontal type, sitting type, vertical type are freely selected according to different rehabilitation states of the body of a patient and the adaptation condition of the joint of the affected limb, diversified training tasks can be developed aiming at different training postures, the active participation degree of the patient is effectively improved, and the secondary damage of the body in the training process is avoided.

(3) Compared with the prior art, the structure can provide comprehensive and full-period rehabilitation training, the multi-functional, multi-posture and multi-mode optimal combination in (1) and (2) can provide the rehabilitation training requirements of the whole body and limbs of the patient, the different stages of the full period such as the early stage of rehabilitation, the middle stage of rehabilitation and the later stage of rehabilitation, and further the continuous rehabilitation of the affected limb can be realized.

(4) The structure adopts a multi-servo-rope driving cooperative control scheme, and 8 groups of stepping servo motors respectively drive synchronous belts and screws in the longitudinal beam and the transverse beam to move, so that the cooperative motion of the dragged rope winding mechanism is realized. The 6 groups of direct current speed reducing motors respectively drive the rope winding mechanism to realize the coordinated winding and unwinding of the ropes, and then the rehabilitation exercise of the limb joints drawn by the tail ends of the ropes is completed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

FIG. 1 is a schematic diagram of an overall architecture of a training mechanism provided in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a column drive section of an exercise mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a column dragging portion of a training mechanism according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of the trailing beam drive and drag portions of the training mechanism of an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a cord reel for use in an exercise mechanism according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a cross-beam drive portion of a training mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a beam dragging portion of a training mechanism according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a dual-reel cord retractor of the exercise mechanism of the present disclosure;

FIG. 9 is a schematic diagram of a control scheme of a training mechanism in accordance with an embodiment of the present disclosure;

in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.

01. Column and transmission part, 02, column and dragging part, 03, stringer and transmission and dragging part, 04, rope winder, 05, beam and transmission part, 06, duplex rope winder, 07, beam and dragging part, 1.1, stepping motor, 1.2, motor base, 1.3, coupling sleeve, 1.4, angular contact bearing, 1.5, front column, 1.6, ball screw and bearing base assembly, 1.7, ball screw, 1.8, worm gear, 1.9, worm, 1.10, bearing base assembly, 1.11, quincuncial coupling, 1.12, transmission shaft, 1.13, quincuncial coupling, 1.14, transmission shaft and bearing base assembly, 1.15, transmission shaft, 1.16, quincuncial coupling, 1.17, bearing base assembly, 1.18, ball screw, 1.19, worm, 1.20, bearing base assembly, 1.21, worm gear, 1.22, column upper cover, 1.23, rear column, 2.1, outer rolling wheel plate, 2.2.3, hexagonal rolling bearing, 3.3, 2.4, a rolling bearing, 2.5, a rolling screw nut seat body, 2.6, a guide block, 2.7, a rolling screw nut, 2.8, a sliding plate, 3.1, a stepping motor, 3.2, a motor seat, 3.3, a driving spiral bevel gear, 3.4, a driven spiral bevel gear, 3.5, a synchronous pulley, 3.6, a conical roller bearing assembly, 3.7, an open synchronous belt, 3.8, a rolling slider assembly, 3.9, a tensioning synchronous pulley, 3.10, a synchronous belt tensioning device, 3.11, a longitudinal beam, 3.12, a longitudinal beam end cover, 4.1, an encoder flange, 4.2, an encoder, 4.3, a rope angle adjusting frame, 4.4, a rope guide wheel, 4.5, a flat-end top screw, 4.6, a cylindrical end top screw, 4.7, a main body frame, 4.8, a direct current motor, 4.9, a thrust bearing, 4.10, a rotating shaft, 4.11, a rope guide wheel, 4.12, a rope top screw, a sliding plate, a rope top screw group, 4.13, a rolling bearing seat, 16.15, a rolling bearing seat, 4.17, a rope winding wheel, 4.18, a worm gear reducer, 5.1, a worm bearing seat assembly, 5.2, a worm gear, 5.3, a ball screw, 5.4, a worm, 5.5, a plum coupling, 5.6, a transmission shaft, 5.7, a plum coupling, 5.8, a transmission shaft bearing seat assembly, 5.9, a transmission shaft, 5.10, a plum coupling, 5.11, a worm bearing seat assembly, 5.12, a worm gear, 5.13, a worm, 5.14, a ball screw, 5.15, a cross beam, 5.16, a stepping motor, 5.17, a motor seat assembly, 5.18, a ball bearing seat assembly, 5.19, a worm bearing seat assembly, 5.20, a ball bearing seat assembly, 5.21, a cross beam, 6.1, a thrust bearing, 6.2, a rotating shaft, 6.3, a bearing seat, 6.4, a sliding plate, 6.5, a right rope winder, 6.6, an end block, 6.7, a cylindrical top connector, a ball screw nut, a left nut, a nut, 3, a nut, a, Sliding plate, 7.4, cushion, 7.5, hex bolts, 7.6, guide block, 7.7, hex bolts.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the disclosure expressly states otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.

The terms "mounted", "connected", "fixed", and the like in the present disclosure are to be understood broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and specific meanings of the above terms in the present disclosure can be understood by those skilled in the art according to specific situations.

In a typical embodiment of the present disclosure, as shown in fig. 1, an overall structural schematic diagram of a multifunctional rehabilitation robot training mechanism of the present disclosure includes a column and a transmission part 01; a drag portion 02; a longitudinal beam and transmission, dragging part 03; a rope winder 04; a beam and drive section 05; a duplex rope winder 06; beam and drag portion 07.

The stand and the transmission part 01 are stand and transmission part, totally 4 sets, main function: the longitudinal beams on two sides of the supporting longitudinal beam and the transmission and dragging part 03 and the auxiliary components on two sides of the vertical dragging longitudinal beam and the transmission and dragging part 03.

The dragging part 02, totally 4 sets, set up respectively on four stands, main function: dragging the longitudinal beam to move vertically.

The longitudinal beam and the transmission and dragging

part

03, 5 sets, according to the position: the upper longitudinal beam 2, the upper middle longitudinal beam 1 and the lower longitudinal beam 2 are sleeved. The main functions are as follows: dragging the rope winder to realize longitudinal reciprocating movement.

The rope winder 04 comprises 2 sets of right-arranged motor rope winders and 2 sets of left-arranged motor rope winders, and the two sets of the left-arranged motor rope winders are respectively installed on the longitudinal beams on the upper two sides and the longitudinal beams on the lower two sides. The main functions are as follows: the limbs are drawn by the rope for rehabilitation exercise.

Crossbeam and drive part 05, totally 2 sets, the main function: the motor drive is configured in parallel with the transmission shaft.

The duplex rope winder 06 is 1 set, and is formed by combining a right-arranged motor rope winder and a left-arranged motor rope winder. The main functions are as follows: the limbs are drawn by the rope for rehabilitation exercise.

Crossbeam and drive

part

07, 2 sets altogether, the main function: the synchronization effects a lateral reciprocating movement of the upper and middle stringers in the component 3.

As a further technical solution, as shown in fig. 2, a transmission mechanism for connecting the longitudinal beam and the transmission and dragging part 03 is provided in the transmission part 01 of the upright column, and the transmission mechanism mainly comprises a stepping motor 1.1; a motor base 1.2; a coupling sleeve 1.3; angular contact bearings 1.4; a front upright post 1.5; a ball screw bearing seat assembly 1.6; 1.7 of ball screw; a worm gear 1.8; a worm 1.9; a bearing block assembly 1.10; a plum coupling 1.11; a drive shaft 1.12; a plum coupling 1.13; a transmission shaft bearing block assembly 1.14; a drive shaft 1.15; a plum coupling 1.16; a bearing block assembly 1.17; 1.18 parts of a ball screw; a worm 1.19; a bearing block assembly 1.20; a worm wheel 1.21; the upright post upper cover 1.22; rear pillar 1.23.

Specifically, a stepping motor 1.1 in the column transmission part in this example is fixed on the front side surface of a front column 1.5 through a motor base 1.2, a worm gear and worm transmission system is arranged inside the front column, wherein two ends of a worm 1.9 are respectively fixed in the front column 1.5 through angular contact bearings 1.4, an output shaft of the stepping motor 1.1 is connected with the worm 1.9 through a coupling sleeve 1.3, so that the rotation of the worm is driven by the stepping motor, meanwhile, two ends of a ball screw 1.7 and a ball screw 1.7 are respectively fixed through a ball screw and bearing base assembly 1.6 in the longitudinal direction inside the column, and a worm gear 1.8 matched with the worm 1.9 is mounted at the top end of the ball screw, so that the ball screw rotates in the front column through the worm gear and worm transmission system. Because the longitudinal beam and the transmission and dragging part 03 realize vertical sliding between the two upright posts, the other end of the worm 1.9 in the embodiment penetrates through the upright posts 1.5, passes through the bearing seat assembly 1.10 arranged on the upright posts, and passes through the plum coupler 1.11, the transmission shaft 1.12, the plum coupler 1.13 and the transmission shaft bearing seat assembly 1.14; the transmission shaft 1.15, the plum blossom coupling 1.16 and the bearing seat assembly 1.17 are connected with the opposite rear upright post 1.23, wherein the transmission shaft and bearing seat assembly 1.14 is installed on a longitudinal beam at the top of the upright post, a worm and turbine transmission system which is the same as that in the front upright post is also arranged in the rear upright post 1.23, and a worm 1.19 is fixed in the rear upright post 1.23 through the bearing seat assembly 1.17 and the bearing seat assembly 1.20 and is matched with an internal worm wheel 1.21, so that a ball screw 1.18 is driven to rotate. Thus, the synchronous rotation of the roller screws in the front upright 1.5 and the rear upright 1.23 is realized.

Further, as shown in fig. 3, which is a schematic structural diagram of the dragging part 02 in the present embodiment, in order to make the longitudinal beam move up and down on the roller screw in the upright, the roller screw in the upright is provided with a roller screw nut seat body 2.5, the up and down movement of the bar nut seat body 2.5 can be realized by the rotation of the roller screw, wherein the nut seat body 2.5 is provided with a rolling bearing 2.4, the bearing 2.4 can roll along the inner wall of the upright post (1.5, 1.23), it is noted that one surface of the upright post is provided with a sliding groove in the embodiment, the longitudinal beam and the longitudinal beam in the transmission and dragging part 03 slide on the outer surface of the upright post (1.5, 1.23) through a sliding plate 2.8, the longitudinal beam is connected with the sliding plate through a hexagon bolt 2.3, and the sliding plate is connected with a nut seat body 2.5 in the upright post through a guide block 2.6, and the guide block slides on a sliding groove on the upright post, so that the sliding positioning in the vertical sliding process of the longitudinal beam in the upright post is realized. In order to counteract the weight of the longitudinal beam, the lower part of the longitudinal beam is provided with an outer rolling wheel plate 2.1 on the sliding plate for supporting the longitudinal beam, and the outer rolling wheel plate 2.1 is provided with a rolling bearing 2.2, and the bearing 2.2 can roll along the outer wall of the upright post.

The rope winder 04 is arranged on the longitudinal beam in the embodiment, the rope winder 04 pulls limbs through ropes to perform rehabilitation exercise, the rope winder 04 can move up and down along with the longitudinal beam and can also move horizontally on the longitudinal beam, as shown in fig. 4, a set of transmission system for transmitting the rope winder 04 is arranged in the longitudinal beam 3.11 in the embodiment, specifically, a stepping motor 3.1 is arranged at one end of the longitudinal beam 3.11 and fixed at one end of the longitudinal beam through a motor base 3.2, the motor base 3.2 is installed in a square hole at the end part of the longitudinal beam 3.11 and fixed through a hexagon screw, and the shaft diameter of the stepping motor 3.1 is installed in a hole of the driving spiral bevel gear 3.3 and connected through a common flat key. The driven spiral conical gear 3.4 is in meshed transmission with the driving spiral conical gear 3.3, and the driven spiral conical gear 3.4 is fixed on a longitudinal beam on the side face of the motor end of the longitudinal beam through a tapered roller bearing assembly 3.6. Further, a 5M synchronous pulley 3.5 is coaxially mounted with the driven helical bevel gear 3.4 and the tapered roller bearing assembly 3.6. The tapered roller bearing assembly 3.6 is fixed on the side face of the end of the longitudinal beam motor. 5M opening hold-in range 3.7 suit constitutes synchronous belt drive system on 5M synchronous pulley 3.5 and 5M tensioning synchronous pulley 3.9, and 5M tensioning synchronous pulley 3.9 installs on the hold-in range overspeed device tensioner, adjusts the screw rod on the hold-in range overspeed device tensioner, can adjust 5M opening hold-in range 3.7 to appropriate tension. Two end parts of the 5M opening synchronous belt 3.7 are fixed on the rolling type sliding block assembly 3.8 by a pressing plate and screws, so that the rolling type sliding block assembly 3.8 is driven to horizontally move on the longitudinal beam through the transmission of the 5M opening synchronous belt, and the bottom surface of the longitudinal beam is also provided with a sliding groove for realizing the sliding of the sliding block assembly 3.8, and an external rope winder is just connected with the sliding block assembly 3.8. The longitudinal beam end cover 3.12 is mounted at the end of the longitudinal beam 3.11.

As shown in fig. 5, which is a schematic structural diagram of the rope winder 04 in the present embodiment, the rope winder is composed of three parts: (1) the cord is wound and unwound. (2) The rope is wound and released to the length detecting portion. (3) The working direction following part of the rope winder. The rope winding and releasing part mainly comprises a main body frame 4.7 fixed on the longitudinal beam rolling type sliding block assembly 3.8, a worm gear reducer 4.18, a rope winding wheel 4.17 and a direct current motor 4.8. The direct current motor 4.8 is adopted to facilitate the control of the rotation direction of the rope winding wheel 4.17. Specifically, a direct current motor 4.8 drives a worm gear reducer 4.18, an output shaft of the worm gear reducer 4.18 is coaxially and fixedly connected with a rope winding wheel 4.17, and the outdoor end of a rope set 4.13 is fixed in the rope winding wheel 4.17 by pressing a flat-end top screw 4.5 to fix the rope.

Furthermore, the rope winding and releasing length detection part mainly comprises an encoder flange 4.1, an encoder 4.2, a rope angle adjusting frame 4.3, a rope guide wheel 4.4, a rope group 4.13, a rolling bearing 4.15 and a flat-end top screw 4.16, wherein two ends of the rope guide wheel 4.4 are supported by the rolling bearing arranged on the rope angle adjusting frame 4.3. The encoder 4.2 is fixed on the encoder flange 4.1, and 4.2 axles of the encoder are inserted into 4.4 holes of the rope guide wheel and are tightly pressed by flat-end top screws 4.16, and the encoder flange 4.1 is fixed on the side surface of the rope angle adjusting frame 4.3. Two ends of a mandrel of the rolling bearing 4.15 are arranged in long holes at two sides of the rope angle adjusting frame 4.3, the rolling bearing 4.15 can move radially, and when the rope angle adjusting frame works, two flat-end top screws 4.14 can apply pressure to two ends of the mandrel of the rolling bearing 4.15 to adjust the radial displacement of the rolling bearing, so that the friction force of a rope on a rope guide wheel 4.4 is adjusted.

Further, the rope winder working orientation following part comprises: a cylindrical end top screw 4.6, a thrust bearing 4.9, a rotating shaft 4.10, a bearing seat 4.11 and a sliding plate 4.12. 2 thrust bearing 4.9 are installed in the upper and lower step hole of bearing frame 4.11, it is downthehole that 2 thrust bearing 4.9 are installed to pivot 4.10 interpolation, in 4.7 upper threads part screw in main part frame screws of 4.10 lower extreme screw portions of pivot, the dynamics of screwing is convenient for adjust in 4.10 upper end square groove of pivot, in 4.7 side screw in main part frame screws of cylinder end top screw 4.6, cylinder end top screw 4.6 cylinder head inserts in 4.10 screw thread end round holes of pivot, roll formula slider assembly 3.8 is connected through the bolt in bearing frame 4.11 and the longeron simultaneously, just so realized rotating 5M tensioning hold-in range through the longeron and drive ropewinder 04 and carry out horizontal migration on the bottom surface of longeron.

As mentioned above, the longitudinal beam and the transmission and dragging part 03 of the present disclosure have 5 sets, and are divided into: the upper longitudinal beam 2, the upper middle longitudinal beam 1 and the lower longitudinal beam 2 are sleeved. For the upper and middle longitudinal beams which are arranged between the two cross beams and slide on the cross beams, as shown in fig. 6, the cross beams and the dragging part in the embodiment are shown, a stepping motor 5.16 is connected with a motor base assembly 5.17 and fixed on the cross beams 5.15, a motor shaft is connected with a worm 5.13 (see the connection diagram of the stepping motor in fig. 1 in detail), and the worm 5.13 is in meshing transmission with a worm wheel 5.12 arranged on a ball screw 5.14. The ball screw bearing seat assembly 5.18 is 2 sets in all, is sleeved at two ends of the ball screw 5.14 to support the screw to rotate, and a shell of the ball screw bearing seat assembly is fixedly installed with the cross beam 5.15. The worm bearing seat assembly 5.11 is sleeved on the shaft diameter of the output end of the worm 5.13, and a shell of the worm bearing seat assembly is fixedly connected with the cross beam 5.15. The output end of the worm 5.13 is connected with a transmission shaft 5.9 through a plum coupling 5.10, and the transmission shaft 5.9 is supported by a transmission shaft bearing seat assembly 5.8 to rotate. The plum blossom coupling 5.7 is connected with the transmission shafts 5.6 and 5.9, and the plum blossom coupling 5.5 is connected with the transmission shaft 5.6 and a worm 5.4 in the other beam 5.21. The worm 5.4 is meshed with a worm wheel arranged on a ball screw 5.3 in the other cross beam 5.21 to rotate, two ends of the ball screw 5.3 are also sleeved with ball screw bearing seat assemblies 2.20, the worm bearing seat assemblies 5.1 and 5.19 are sleeved at two ends of the worm 5.2, and an outer shell of the worm is fixedly arranged with the cross beam 5.21.

Like the longitudinal beams and the vertical columns, the upper surface of the cross beam in this embodiment is also provided with grooves for the longitudinal beams to move, as shown in fig. 7, the cross beam and the dragging part 07 of this embodiment have 2 sets, and have the main functions: the upper and middle longitudinal beams in the component 3 synchronously realize the transverse reciprocating movement on the cross beam, and the sliding plate 7.3, the guide block 7.6 and the ball screw nut seat 7.2 are fixedly connected together by the hexagon bolt 7.7. The sliding plate 7.3 can slide on the upper wall surface of the cross beam (5.15, 5.21), and the ball screw nut seat 7.2 can slide with the inner wall of the cross beam. The longitudinal beam 3.11, the cushion block 7.4 and the sliding plate 7.3 are fixedly connected together through the hexagon bolt 7.5.

Unlike the upper and lower side rails, the rope winder in the upper and lower side rails in this embodiment includes two parts, as shown in fig. 8, a right rope winder 6.5 and a left rope winder 6.8, where the right rope winder 6.5 and the left rope winder 6.8 are connected through a coupling block 6.6, the working direction following part of the rope winder includes a thrust bearing 6.1, a rotating shaft 6.2, a bearing block 6.3, and a sliding plate 6.4, the rotating shaft 6.2 is fixed in a bolt hole of the coupling block 6.6 and fixed by a cylindrical end top screw 6.7, the rotating shaft 6.2 is fixed on the sliding plate through the thrust bearing 6.1 and the bearing block 6.3, and finally the sliding plate 6.4 is fixed on a rolling slider group 3.8, where the rope winder and the left rope winder are the same as the rope winder of fig. 5. And will not be described in further detail herein.

In order to realize the intellectualization of the training mechanism, the multifunctional rehabilitation robot training mechanism disclosed in the embodiment further comprises a lower controller and a wireless control screen, the specific control scheme is as shown in fig. 9, basic parameters of height, leg length, weight and the like of a patient are input through the wireless control screen, corresponding rehabilitation joints and actions are selected, the rehabilitation robot system is initialized, and the like, and the information is sent to the controller for further analysis and operation through a formulated Bluetooth data transmission protocol. And secondly, the lower computer controller analyzes and calculates the data after receiving the data to form a corresponding control instruction, and sends the control instruction to the bus in a data format mode of the CAN bus. And finally, all the servo motors perform corresponding actions according to the received data to drive the tail end of the binding band pulled by the rope winding mechanism to move, so that the lower limb is subjected to multi-dimensional rehabilitation training, meanwhile, the servo motors feed back the position, the speed, the acceleration, the moment, the running state and the like to the controller in real time for monitoring and displaying, and the position and the posture of the tail end of the limb can be further calculated according to the position and the speed information fed back by the motors. And next, a control scheme of the robot based on the multifunctional rehabilitation robot training mechanism in the figure 9 is improved, a human-computer interaction system based on multi-source physiological signals is developed, and technologies such as movement intention recognition, fatigue estimation, anxiety emotion analysis and the like are applied to the lower limb rehabilitation robot system, so that more harmonious rehabilitation experience is realized.

The following describes the training method of the multifunctional rehabilitation robot training mechanism specifically:

taking the exercise effect of different joints of the limb as an example, the following is introduced:

the lower limb rehabilitation training based on the training mechanism mainly comprises prone position lower limb training and standing position lower limb training, and the upper limb rehabilitation training based on the training mechanism mainly comprises prone position upper limb training and sitting position upper limb training.

(1) Training the prone lower limbs:

1) and (3) training the hip joint of the prone lower limb:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed on the waist of a patient, so that the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper longitudinal beams and is fixed at the ankle joint of a single leg or the ankle joint of two legs (depending on the actual affected limb of a patient), and the setting of the traction position is completed through the assistance of the rope rolling mechanisms on the upper middle longitudinal beams.

Secondly, the bending, stretching, adduction and abduction training of the hip joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and then the bending and stretching actions of the hip joint of the lower limb are completed by the traction of the rope winding mechanism. The transverse reciprocating motion of the beam rope coiling mechanism is realized by controlling the beam servo motor, and then the hip joint adduction and abduction actions are completed by the traction of the rope coiling mechanism. Through the cooperative control of the upper two longitudinal beams, the cross beam servo motor and the rope winding mechanism, the combined action training of the hip joint can be further realized.

2) Training the knee joint of the prone lower limb:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed at the tail ends of thighs of a patient, so that the thighs and the bed surface form a 45-degree angle, and the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper longitudinal beams and is fixed at the ankle joint of a single leg or the ankle joint of two legs (depending on the actual affected limb of a patient), and the setting of the traction position is completed through the assistance of the rope rolling mechanisms on the upper middle longitudinal beams.

Secondly, the bending and stretching training of the knee joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and then the bending and stretching actions of the knee joints of the lower limbs are completed by the traction of the rope winding mechanism.

3) Training the prone lower limb combined joint:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed on the waist of a patient, so that the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper two longitudinal beams and is fixed at the tail ends of the thighs, and the traction rope is released through the rope rolling mechanisms on the upper middle longitudinal beam and is fixed at the ankle joints.

Secondly, the combined training of the hip joint and the knee joint is completed. The bending and stretching training of the hip joint can be realized by the cooperative control of the servo motors of the upper two longitudinal beams and the rope winding mechanism. By means of cooperative control of the beam servo motor and the rope winding mechanism, hip joint adduction and abduction training can be achieved. The knee joint can be bent and stretched through the cooperative control of the upper middle longitudinal beam servo motor and the rope winding mechanism. Furthermore, the simulation of the lower limb space motion and gait is realized through the combination of the hip and knee joint training actions.

(2) Training the lower limbs in a sitting posture:

1) sitting posture lower limb hip joint training:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through the rope rolling mechanisms on the upper middle longitudinal beam, the left and right upper longitudinal beams and the left and right lower longitudinal beams and is fixed at the tail end of the hip joint at the upper part of the knee of the patient, and the setting of the traction position is completed.

Secondly, the training of bending, stretching, adduction, abduction and the like of the hip joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and then the bending and stretching actions of the hip joint are completed by traction. Through the control of the beam servo motor, the transverse reciprocating motion of the beam rope coiling mechanism is realized, and then the hip joint adduction and abduction actions are completed through traction. Through the cooperative control of the lower two longitudinal beams, the cross beam servo motor and the rope winding mechanism, the combined action training of the hip joint can be further realized.

2) Sitting posture lower limb knee joint training:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed at the tail end of the hip joint of the patient to be parallel to the ground; the traction rope is released through the rope rolling mechanisms on the upper longitudinal beams and is fixed at the ankle joint, and the traction position is set through the rope rolling mechanism on the upper middle longitudinal beam.

Secondly, the bending and stretching training of the knee joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, so that the bending and stretching actions of the knee joint are further completed.

3) Training the lower limb combined joints in a sitting posture:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through the rope rolling mechanisms on the upper longitudinal beams and is fixed at the tail end of the hip joint at the upper part of the knee, and the traction rope is released through the rope rolling mechanisms on the upper middle longitudinal beams and is fixed at the ankle joint.

Secondly, the combined training of the hip joint and the knee joint is completed. The bending and stretching training of the hip joint can be realized by the cooperative control of the servo motors of the upper two longitudinal beams and the rope winding mechanism. By means of cooperative control of the beam servo motor and the rope winding mechanism, hip joint adduction and abduction training can be achieved. The knee joint can be bent and stretched through the cooperative control of the upper middle longitudinal beam servo motor and the rope winding mechanism. Further, spatial movement of the upper limbs is realized by a combination of hip and knee training movements.

(3) Standing and training the lower limbs:

for patients with lower limb movement dysfunction, gait training can be further performed in addition to the action training of the hip and knee joints of the lower limbs.

Firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam, the upper longitudinal beam and the lower longitudinal beam and is respectively fixed on the shoulder and the waist of a patient to finish body fixing operation; the hauling cable is released through the cable rolling mechanism on the upper middle longitudinal beam and is fixed at the tail end of the thigh.

And secondly, auxiliary force is provided in the process that the patient actively carries out lower limb gait walking to assist the patient in completing gait training. The upper and middle longitudinal beam servo motors and the rope winding mechanism are cooperatively controlled to pull the lower limbs of the patient and provide auxiliary force for alternate actions such as leg lifting and stepping, so that gait training is completed.

(4) Training the prone upper limb:

1) training the upper limb shoulder joint in the prone position:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed on the waist of a patient, so that the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper longitudinal beams and fixed at the wrist joint, and the traction position is set through the rope rolling mechanisms on the upper middle longitudinal beams.

And secondly, completing the training of bending, stretching, adduction, abduction and the like of the shoulder joint. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and then the bending and stretching actions of the shoulder joint are completed by the traction of the rope winding mechanism. Through the control of the beam servo motor, the transverse reciprocating motion of the beam rope coiling mechanism is realized, and then the shoulder joint adduction and abduction actions are completed through the traction of the rope coiling mechanism. Through the cooperative control of the upper two longitudinal beams, the cross beam servo motor and the rope winding mechanism, the combined action training of the shoulder joints can be further realized.

2) Training the elbow joint of the prone upper limb:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed at the tail end of the big arm of the patient, so that the traction rope is parallel to the bed surface, and the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper two longitudinal beams and fixed on the wrist, and the traction position is set under the assistance of the rope rolling mechanisms on the upper middle longitudinal beam.

Secondly, the bending and stretching training of the elbow joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and the elbow joint bending and stretching actions are further completed by the traction of the rope winding mechanism.

3) Training the upper limb combined joint in the prone position:

firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed on the waist of a patient, so that the body fixing operation is completed; the traction rope is released through the rope rolling mechanisms on the upper two longitudinal beams and fixed at the tail end of the large arm, and the traction rope is released through the rope rolling mechanisms on the upper middle longitudinal beam and fixed at the wrist joint.

Secondly, the combined training of the shoulder joints and the elbow joints is completed. Through the cooperative control of the servo motors of the upper two longitudinal beams and the rope winding mechanism, the bending and stretching training of the shoulder joint can be realized. Through the cooperative control of the beam servo motor and the rope winding mechanism, the shoulder joint adduction and abduction training can be realized. The bending and stretching training of the elbow joint can be realized through the cooperative control of the upper and middle longitudinal beam servo motors and the rope winding mechanism. Furthermore, spatial movement of the upper limbs is achieved by a combination of shoulder and elbow joint training movements.

(5) Sitting posture upper limb training:

the process of sitting posture upper limb training is similar to the process of lying posture upper limb training, and mainly comprises sitting posture upper limb shoulder joint training, sitting posture upper limb elbow joint training and sitting posture upper limb combined joint training.

1) Training the upper limb shoulder joint in a sitting posture:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through the rope coiling mechanisms on the upper middle longitudinal beam, the left longitudinal beam, the right longitudinal beam, the upper left longitudinal beam and the lower left longitudinal beam, and is fixed on the wrist of the patient, so that the traction position is set.

And secondly, completing the training of bending, stretching, adduction, abduction, encirclement and the like of the shoulder joint. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, and then the bending and stretching actions of the shoulder joint are completed by dragging. Through the control of the beam servo motor, the transverse reciprocating motion of the beam rope winding mechanism is realized, and then the shoulder joint adduction and abduction actions are completed through traction. The surrounding action training of the shoulder joints can be further realized through the cooperative control of the lower two longitudinal beams, the cross beam servo motor and the rope winding mechanism.

2) Training elbow joints of sitting-posture upper limbs:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through rope rolling mechanisms on the left longitudinal beam, the right longitudinal beam and the lower longitudinal beam and is fixed at the tail end of the big arm of the patient to be parallel to the bed surface; the traction rope is released through the rope rolling mechanisms on the upper two longitudinal beams and fixed on the wrist, and the traction position is set under the assistance of the rope rolling mechanisms on the upper middle longitudinal beam.

Secondly, the bending and stretching training of the elbow joint is completed. The longitudinal reciprocating motion of the rope winding mechanism dragged by the synchronous belt is realized by controlling the servo motors of the upper two longitudinal beams, so that the bending and stretching actions of the elbow joint are further completed.

3) Training the upper limb combined joints in a sitting posture:

first, a preparation operation before training is performed on the body and the limbs of the patient, and the body of the patient is fixed to the seat. The traction rope is released through the rope rolling mechanisms on the upper two longitudinal beams and fixed at the tail end of the large arm, and the traction rope is released through the rope rolling mechanisms on the upper middle longitudinal beam and fixed at the wrist joint.

(6) Standing upper limb training:

for patients with lower degrees of upper limb motor dysfunction, in addition to exercise training of the upper limb elbow and shoulder joints, assistance, resistance strength training, and the like can be further performed.

Firstly, the body and the limbs of the patient are prepared before training, and the fixation of the body and the traction ropes is mainly completed. The traction rope is released through the rope rolling mechanisms on the lower two longitudinal beams and is fixed on the waist of the patient, so that the body fixing operation is completed; the hauling cable is released through the cable rolling mechanisms on the upper middle longitudinal beam and the left and right upper longitudinal beams and is respectively fixed at the tail end of the large arm and the wrist joint.

Secondly, the auxiliary force or the proper resistance force is provided during the process of the patient actively performing the upper limb movement training, and then the auxiliary force training or the resistance force training is performed on the patient. The rope winding mechanism is controlled to apply corresponding positive or negative power to the upper limb through a human-computer interaction mode based on physiological signals, a force feedback technology and the like, so that the effects of assisting the active action of the limb in the training process and resisting the active action of the limb are achieved.

The above is the training method with the training mechanism disclosed in this embodiment, and the method can freely select the horizontal, sitting, vertical and other training postures according to different rehabilitation states of the patient's body and the adaptation conditions of the affected limb joint, and can develop diversified training tasks for different training postures, thereby effectively improving the active participation of the patient and avoiding the secondary injury of the body during the training process. Can meet the rehabilitation training requirements of the whole body and limbs of the patient, meet the rehabilitation training requirements of different stages of the whole period such as the initial stage of rehabilitation, the middle stage of rehabilitation, the later stage of rehabilitation and the like, and further can realize the continuous rehabilitation of the affected limb.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A multifunctional rehabilitation robot training mechanism comprises a first portal frame and a second portal frame; the portal frame comprises two upright posts and a cross beam arranged between the two upright posts, and is characterized in that a first longitudinal beam capable of moving in the length direction of the cross beam is arranged between the two cross beams; the first longitudinal beam is provided with a first rope winder capable of moving along the length direction of the first longitudinal beam; the first rope winder comprises two rope winding wheels; the two rope winding wheels are arranged on two sides of the first longitudinal beam in the length direction; a second longitudinal beam capable of moving along the length direction of the upright post is arranged between the two upright posts of the door-shaped frame; the second longitudinal beam is provided with a second rope winder capable of moving in the length direction of the longitudinal beam; the tops of the upright columns of the two door-shaped frames are connected through a third longitudinal beam; and a third rope winder capable of moving in the length direction of the third longitudinal beam is arranged on the third longitudinal beam.

2. The multifunctional rehabilitation robot training mechanism of claim 1, wherein the outer wall surfaces of the first longitudinal beam, the second longitudinal beam and the third longitudinal beam are provided with first sliding grooves; belt wheels are arranged at two ends in the longitudinal beam; a conveying belt is connected between the belt wheels; a sliding block assembly which can slide on the first sliding groove is connected on the conveyor belt; the sliding block assembly is connected with the rope winder.

3. The multifunctional rehabilitation robot training mechanism of claim 2, wherein the rope winder comprises a main body frame, a rope winding wheel arranged on the main body frame, and a rope guide wheel for adjusting the rope angle; the main body frame is detachably fixed on the sliding block assembly; the rope winding wheel is driven by a direct current motor; the rope guide wheel is arranged below the rope winding wheel and fixed on the rope angle adjusting frame; the rope guide wheel is connected with the encoder and used for detecting the telescopic length of the rope.

4. The multifunctional rehabilitation robot training mechanism of claim 1, wherein the outer wall surfaces of the cross beam and the upright post are provided with second sliding grooves; ball screws are arranged in the cross beam and the upright post; one end of the ball screw is connected with the turbine; the ball screw is connected with a slide block nut; the longitudinal beam is connected with the sliding block nut through a sliding plate; the slide plate slides on the second slide groove.

5. The multifunctional rehabilitation robot training mechanism of claim 4, wherein an intermediate transmission system connecting the worm screws in the two vertical columns or the two transverse beams is arranged between the two portal frames to realize the synchronous rotation of the ball screws in the two vertical columns or the two transverse beams; the intermediate transmission system is fixed on the third longitudinal beam.

6. The multifunctional rehabilitation robot training mechanism of claims 1-5, wherein the training mechanism further comprises a lower controller and a wireless control screen; inputting the height, leg length and weight parameters of the patient on a wireless control screen, and selecting corresponding rehabilitation joints and actions; the information is sent to a lower controller in a wireless transmission mode; the lower computer controller analyzes and calculates the information after receiving the information, forms a corresponding control instruction and sends the control instruction to the bus in a data format mode of the CAN bus; a servo motor in the training mechanism performs corresponding actions according to the received data to drive the tail end of a binding band pulled by the rope rolling mechanism to move, and then multi-dimensional rehabilitation training is performed on the lower limb.

7. A training method of a multifunctional rehabilitation robot training mechanism based on any one of the claims 1-5, characterized in that: comprises the training of the prone lower limb combined joint:

8. A training method of a multifunctional rehabilitation robot training mechanism based on any one of the claims 1-5, characterized in that: the method comprises the following steps of sitting posture lower limb combined joint training:

9. A training method of a multifunctional rehabilitation robot training mechanism based on any one of the claims 1-5, characterized in that: comprises the training of the upper limb combined joint in the prone position:

10. A training method of a multifunctional rehabilitation robot training mechanism based on any one of the claims 1-5, characterized in that: including the training of position of sitting upper limbs combination joint: