CN113230087B

CN113230087B - Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles

Info

Publication number: CN113230087B
Application number: CN202110472406.XA
Authority: CN
Inventors: 王�华; 高哲轩; 朱为国; 师访
Original assignee: Nanjing Tech University
Current assignee: Nanjing Tech University
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2022-06-24
Anticipated expiration: 2041-04-29
Also published as: CN113230087A

Abstract

The invention provides a pneumatic muscle-driven flexible wearing sleeve type limb rehabilitation device, which consists of a pneumatic counter-pull driving device and a limb belt wearing device; the pneumatic counter-pulling driving device comprises a group of rotary direction changing mechanisms, a stroke amplifying mechanism and a middle belt wheel transmission mechanism; the limb belt threading device comprises a threading belt and an inner rotation supporting structure. The invention solves the technical problems that the conventional motor-driven rehabilitation equipment has limited motion flexibility and is greatly influenced by the stroke of the conventional pneumatic muscle rehabilitation equipment; the main points are that two pneumatic muscles are adopted to be oppositely pulled through a stroke amplifying mechanism, so that the strap wheel is driven to rotate, the limb of the patient is driven to rotate in a reciprocating manner by the belt, and the traditional rehabilitation equipment is matched for cooperative treatment, so that the purposes of relieving the muscular atrophy of the patient suffering from muscular atrophy and helping to recover the daily behavior ability are achieved.

Description

Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to a flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles.

Background

With the increase of the social population, the aggravation of aging degree, diseases and accidents in China, the number of the disabled and paralyzed people is high, and the treatment pressure is great. However, compared with the traditional doctors, the number of doctors dedicated to rehabilitation therapy is small, and the rehabilitation devices on the market are expensive and have general therapeutic effect, so the research and development of the robot auxiliary therapeutic device is an important subject.

The auxiliary rehabilitation robot has the advantages that the auxiliary rehabilitation robot helps patients to do auxiliary rehabilitation training, because bones and muscles of patients are quite fragile, if the design concept of the industrial robot is directly applied to the design of the rehabilitation robot, serious safety accidents can be caused when equipment is put into use, and in addition to accuracy, the flexibility of movement is also an important concern for the auxiliary rehabilitation robot. Traditional recovered medical equipment is by a great deal of motor drive, and the great and motion compliance of volume needs to rely on a large amount of sensing equipment to guarantee, and the debugging is complicated with high costs and gentle and agreeable effect also comparatively limited. In many driving modes, the pneumatic muscle has the characteristics of low manufacturing cost, small size, light weight, simple installation, certain damping, flexibility and the like, and has important significance in the design and research of the auxiliary rehabilitation robot. However, due to the characteristic limitation of pneumatic muscles, the pneumatic muscles are often installed at the rotary joints, and the aim is to reduce the problem of large volume of the pneumatic muscle stroke, in other words, if a large stroke is output, the pneumatic muscle with large diameter and length is required to be used.

In conclusion, the traditional rehabilitation equipment and the pneumatic muscle robot cannot simultaneously take the advantages of high flexibility and small size into consideration.

Disclosure of Invention

According to the defects and shortcomings of the prior art, the invention aims to provide the flexible penetrating sleeve type limb rehabilitation device driven by the pneumatic muscles, the adverse effect of a motor or a pure pneumatic muscle drive is eliminated by using the pneumatic artificial muscle driving rehabilitation bandage, and the device is high in flexibility, large and stable in output force, light in weight, low in noise and high in safety.

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

the utility model provides a flexible cover formula limbs rehabilitation device of wearing of pneumatic muscle driven, its characterized in that includes that pneumatic muscle is to drawing drive structure subassembly (40), limbs belt and wears cover structure subassembly (50) and protecting sheathing (31), pneumatic muscle is to drawing drive structure subassembly and setting up on main mounting panel (22) in protecting sheathing (31), limbs belt wears cover structure subassembly and runs through shell (31) with pneumatic muscle is to drawing drive structure subassembly and connecting.

Pneumatic muscle is to drawing drive structure subassembly (40) comprises a set of rotatory deviator, stroke amplification mechanism and middle band pulley drive mechanism, includes: the device comprises an L-shaped support (25), a forward pneumatic muscle (1), a steel wire rope connector (3), a forward front half steel wire rope (4), a forward rear half steel wire rope (8), a steering wheel (7), a wheel support seat (20), an encoder support (6), an optical encoder (5), a forward rack (26), a linear guide rail (17), a linear guide rail slider (16), a slider rack connecting piece (15), a forward rack reset spring (24), a reset spring fixing seat (23), a forward transmission gear (2), an intermediate transmission shaft (10), an intermediate transmission shaft bearing seat (11), a belt pulley (29), a reverse transmission gear (12), a reverse rack (14), a reverse front half steel wire rope (19), a reverse rear half steel wire rope (21), a reverse pneumatic muscle (18) and a main mounting plate (22);

one side of the forward pneumatic muscle (1) or the reverse pneumatic muscle (18) connected with an air pipe is connected with the L-shaped support (25) through threads, the bottom surface of the L-shaped support (25) is riveted on the main mounting plate (22), the other side of the forward pneumatic muscle or the reverse pneumatic muscle is connected with the forward half steel wire rope (4) through the steel wire rope connector (3), the forward half steel wire rope (4) is wound on the periphery of the steering wheel (7) to drive the steering wheel to rotate, then the rear half steel wire rope (8) is driven to pull the forward rack (26), the forward rack (26) is fixed on two linear guide rail sliders (16) through the slider rack connecting piece (15), the linear guide rail sliders (16) are placed on the linear guide rails (17) to restrict the rack to move along the direction vertical to the middle transmission shaft, and the other side of the forward rack (26) is connected on a lug of the forward rack return spring (24) through a bolt, providing uniform resetting assistance for the positive pneumatic muscle (1) during deflation; the distance between the intermediate transmission shaft bearing seats (11) is shorter than the length of the intermediate transmission shaft (10), and the intermediate transmission shaft bearing seats are fixed on the main mounting plate (22) through bolts; three same belt pulleys (9) are equidistantly arranged between the middle transmission shafts (10) and are symmetrically arranged with the two middle transmission shaft bearing seats (11), and the three same belt pulleys transmit the circumferential force from the middle transmission shafts (10) through keys and are fixed by clamp springs; the reverse transmission gear (12) is fixed on a rotating shaft of the belt pulley (9) through a transmission gear flange (13); singly belt pulley (9) are the notch cuttype structure, and the shoulder at both ends is directly slightly greater than the regional diameter of middle fixed belt, play the weight reduction effect for hollow out construction in the middle of belt pulley (9).

A rolling bearing is embedded at the bottom of the steering wheel (7), an inner ring of the rolling bearing is abutted to a stepped shaft of the wheel supporting seat (20), the top of the steering wheel (7) is of a stepped shaft structure, a coaxial hole is drilled at the axis, the hole diameter is equal to that of a rotating shaft at the top of the optical encoder (5), and a fastening hole is drilled at the shaft side; two wiring loops are arranged on the periphery of the steering wheel (7), the upper loop and the lower loop are respectively wound with independent wiring, and a plurality of small holes are drilled on the periphery of the steering wheel (7) for threading and fixing the steel wire rope by a pressure head.

The optical encoder (5) is installed on the encoder support (6) through a countersunk screw, and a rotating shaft at the top of the optical encoder (5) penetrates through the encoder support (6) and is fixed in a coaxial hole at the top of the wire wheel through a set screw so as to measure the rotating angle of the steering wire wheel (7) and further calculate the back-and-forth movement distance of the rack.

The limb belt sleeve structure component (50) comprises a back side rotation support (34), a belt wheel far side belt (32), a belt wheel near side belt (30), a rotation friction rubber strip (33), a belt fastening buckle (27) and a belt fastening joint (28); the inner side rotation facilitating support (34) is fixed on the main mounting plate (22) through bolts, a rotation facilitating roller (35) and a supporting belt roller (36) are further mounted on the inner side rotation facilitating support, a copper pipe inner core is embedded in each roller, a rotating shaft penetrates through a copper pipe, two ends of the rotating shaft are fixed on a shaft bracket fixedly welded on the back face of the inner side rotation facilitating support, and the shaft bracket and the rotating shaft are fixed through clamp springs; rotating bearings are arranged on two sides of the belt supporting roller (36), a rotating shaft penetrates through the bearings, two ends of the rotating shaft are fixed on a shaft frame fixed on the back of the inner side rotation supporting (34) through welding, the shaft frame and the rotating shaft are fixed through a clamp spring, and the belt supporting roller aims at solving the problems of belt clamping and belt loosening under certain use working conditions; the inner side of the belt wheel near side belt (30) is provided with a hasp and a row of collinear and variable-interval hasp holes.

The return spring fixing seat (23) is fixed on the main mounting plate (22) through four bolts, a sliding groove structure is formed in the return spring fixing seat, the distance between the forward rack return spring (24) and the limit position of the rack can be adjusted, and a proper return spring can be exchanged according to actual conditions; the forward rack return spring (24) can be a tension spring, hanging lugs at two ends of the forward rack return spring are arranged in an angle of 90 degrees, one end of the forward rack return spring is fixed on the return spring fixing seat, and the other end of the forward rack return spring is fixed at the tail end of the rack through a bolt clamping gasket.

The belt wheel near side belt (30) is of an opening wearable structure, a patient wears a belt wheel far side belt (32) after wearing the arm sleeve, the belt wheel far side belt (32) is connected with the rotation facilitating friction rubber strip (33) in a gluing mode, is distributed in a rifling shape, and is in a mode that a plurality of spiral lines are arranged along the circumferential direction so as to provide strong rotation assistance force; the belt (30) near the belt wheel is of an opening wearable structure, is positioned by copper columns on the outer side of the belt and mounting holes which are gradually distributed on the belt, and is further fixed and prevented from loosening by the belt fastening buckle (27) and the belt fastening joint (28).

The inside rotation-facilitating support (34) is provided with an M-shaped contact surface, is a sheet metal part, is welded with the support frame to form a support whole, and is fixed on the main mounting plate (22) through bolts.

The coverage area of the protective shell (31) comprises a rotary steering mechanism and a stroke amplification mechanism, a through hole of the encoder (5) is reserved at the top of the protective shell (31), and the bottom of the protective shell is screwed on the outer ring of the main mounting plate (22) through a self-tapping screw

Compared with the prior art, the technical scheme of the invention has the following advantages and beneficial effects:

1. compared with motor drive, the pneumatic muscle driven flexible wearing sleeve type limb rehabilitation device has the advantages of high flexibility, heavy balls and safety, and therefore has special advantages when being used as a driving element of rehabilitation equipment.

2. The flexible puncture type limb rehabilitation device driven by pneumatic muscles has the advantages that the pneumatic muscles are low in stroke acquisition efficiency, so that the stroke amplification mechanism is adopted, the length and diameter requirements of the required pneumatic muscles are greatly reduced, the total volume of the device is reduced, and the control performance of equipment is improved.

3. According to the pneumatic muscle driven flexible wearing sleeve type limb rehabilitation device, the traditional rehabilitation equipment adopts a dragging, supporting or hoisting mode to carry out rehabilitation treatment on the limb of a patient, but the fit degree of the traditional rehabilitation equipment and the limb of the patient is poor, and the flexible wearing sleeve type belt is adopted, so that the treatment effect can be effectively improved.

Drawings

Fig. 1 is a schematic view showing the overall structure of the insertion direction of the limb of the present invention.

Fig. 2 is a schematic view of the overall structure of the present invention with the transmission mechanism on top.

Fig. 3 is a detail view of the pneumatic muscle opposite pulling and stroke enlarging structure of the invention.

Fig. 4 is a detailed structure and a schematic diagram of the transmission direction of the combination of the pneumatic muscle transmission structure and the rehabilitation belt wheel.

FIG. 5 is a detailed structure diagram of the single-sided pneumatic muscle steering and transmission of the present invention.

In the figure: 1. positive pneumatic muscles; 2. a forward drive gear; 3. a wire rope connector; 4. forward half wire rope; 5. an optical encoder; 6. an encoder support; 7. a steering wire wheel; 8. a forward rear half steel wire rope; 9. a belt pulley; 10. an intermediate transmission shaft; 11. a middle transmission shaft bearing seat; 12. a reverse drive gear; 13. a drive gear flange; 14. a reverse rack; 15. a slider rack connection; 16. a linear guide slider; 17. a linear guide rail; 18. a reverse pneumatic muscle; 19. a reverse front half wire rope; 20. a wire wheel supporting seat; 21. a reverse rear half steel wire rope; 22. a main mounting plate; 23. a return spring fixing seat; 24. a positive rack return spring; 25. an L-shaped support; 26. a positive rack; 27. a belt fastening buckle; 28. a belt fastening joint; 29. a belt pulley; 30. a pulley proximal belt; 31. a protective housing; 32. a wheeled distal belt; 33. the friction rubber strip is rotated; 34. the inner side is supported by the rotation; 35. the roller is rotated; 36. supporting belt rollers; 40. the pneumatic muscle opposite-pulling driving structure component; 50. limb belt sleeve structure component.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the scope of the present invention.

Referring to fig. 1-5, a pneumatic muscle-driven flexible penetrating type limb rehabilitation device comprises a pneumatic muscle opposite-pulling driving structure and a limb belt penetrating structure. The pneumatic muscle opposite-pulling driving structure is arranged on the main mounting plate 22, the driving belt pulley 29 is driven to a belt so as to carry out auxiliary rehabilitation treatment on the limbs of a patient, and the belt pulley part is also called a limb belt penetrating structure.

Referring to fig. 1-2, the limb belt threading structure is composed of two parts, one part is a threading belt, and the other part is an inside rotation support 34; the penetrating belt comprises a belt wheel far-side belt 32, a belt wheel near-side belt 30, a rotation facilitating friction rubber strip 33, a belt fastening buckle, a belt fastening joint, a buckle arranged on the inner side of the belt and a row of collinear variable-interval buckle holes; the inner rotation facilitating support is fixed on the main mounting plate through bolts, and a rotation facilitating roller 35 and a supporting belt roller 36 are further mounted on the inner rotation facilitating support.

Referring to fig. 3, the pneumatic muscle opposite-pulling driving structure is composed of a group of rotary direction changing mechanisms, a stroke amplifying mechanism and a middle belt wheel transmission mechanism, and the components of the structure comprise an L-shaped support 25, a forward pneumatic muscle 1, a pneumatic muscle and steel wire rope connector 3, a forward front half steel wire rope 4, a forward rear half steel wire rope 8, a steering wheel 7, a wheel support seat 20, an encoder support 6, an optical encoder 5, a forward rack 26, a linear guide rail 17, a linear guide rail slider 16, a slider rack connecting piece 15, a forward rack return spring 24, a return spring fixing seat 23, a forward transmission gear 2, a middle transmission shaft 10, a middle transmission shaft bearing seat 11, a belt pulley 29, a reverse transmission gear 12, a reverse rack 14, a reverse front half steel wire rope 19, a reverse rear half steel wire rope 21, a reverse pneumatic muscle 18 and a main mounting plate 22;

specifically, one side of a pneumatic muscle connecting air pipe is connected to an L-shaped support 25 through threads, the L-shaped support 25 is riveted to a main mounting plate 22, the other side of the pneumatic muscle connects to a front half steel wire rope 4 through a steel wire rope connector 3, the steel wire rope pulls a wire wheel 7 to rotate, the wire wheel 7 drives a rear half steel wire rope 8 to pull a rack 26, the rack 26 is fixed on two sliders 16 through a connecting piece 15, the sliders 16 are arranged on a linear guide rail 17 to restrain the rack from moving in a direction vertical to a middle transmission shaft, and the other side of the rack 26 is connected to a lug of a reset spring 24 through a bolt to provide uniform reset assistance for deflation of the pneumatic muscle 1;

specifically, the pneumatic muscle on one side moves forward through the steel wire 4 and the rope 8 traction rack 26, and the traction rack moves reversely under the combined action of the pneumatic muscle 18 on the other side and the return spring; the rack 26 is meshed with the gear 2 to rotate circumferentially, and the stroke amplification effect is achieved under the influence of the gear transmission ratio;

specifically, the intermediate transmission shaft bearing seat 11 is fixed on the main mounting plate 22 by bolts, and the distance between the two bearing seats is shorter than the length of the intermediate transmission shaft 10; three identical belt pulleys 9 are equidistantly arranged between the middle transmission shafts 10 and are symmetrically arranged with the two middle transmission shaft bearing seats 11, the three identical belt pulleys transmit the circumferential force from the transmission shafts 10 through keys and are fixed in position by snap springs; the single belt pulley 9 is of a step-shaped structure, shaft shoulders at two ends are directly slightly larger than the diameter of the area where the belt is fixed in the middle, and the hollow structure in the middle of the belt pulley 9 plays a role in reducing weight.

Referring to the transmission mechanism shown in fig. 5, a rolling bearing is embedded at the bottom of a steering wheel 7, the inner ring of the rolling bearing is abutted to a stepped shaft of a wheel supporting seat 20, the top of the steering wheel 7 is of a stepped shaft structure, a coaxial hole is drilled at the shaft center, the hole diameter is equal to that of a rotating shaft at the top of an encoder 5, and a fastening hole is drilled at the shaft side; two wiring loops are arranged on the periphery of the steering line wheel, the upper loop and the lower loop are respectively wound with independent wiring, and a plurality of small holes are drilled on the periphery of the line wheel 7 for threading and fixing the steel wire rope by a pressing head. Optical encoder 5 passes through the countersunk screw and installs on encoder support 6, and 5 top pivots of encoder see through encoder support 6, fix with holding screw within the coaxial hole at line wheel top for measure the turned angle of line wheel 7 and then calculate the back-and-forth movement distance of rack. The reset spring fixing seat is fixed on the main mounting plate through four bolts, and the main mounting plate is of a sliding groove structure, so that the distance between the reset spring and the limit position of the rack can be adjusted, and the proper reset spring can be replaced according to actual conditions; the reset spring is a tension spring, the mounting lugs at two ends of the reset spring are arranged in an angle of 90 degrees, one end of the reset spring is fixed on the reset spring fixing seat, and the other end of the reset spring is fixed at the tail end of the rack through a bolt clamping gasket. A protective shell 31 is arranged on the outer side of the transmission mechanism, the coverage area of the protective shell 31 comprises a rotary steering mechanism and a stroke amplification mechanism, and an encoder 5 through hole is reserved on the top of the protective shell; the bottom of the protective shell 31 is screwed on the outer ring of the main mounting plate 22 through self-tapping screws.

Referring to the belt rehabilitation structure shown in fig. 1-2, specifically, the flexible rehabilitation belt 30 is an open wearable structure, the patient wears the rehabilitation belt 32 after wearing the arm sleeve, the belt 32 at the far side of the belt wheel is connected with a friction rubber strip 33 in an adhesive manner, the rubber strip 33 is arranged in a manner that a plurality of spiral lines are arranged along the circumferential direction with the aid of rifling as a reference, so as to provide strong rotation assistance; belt wheel near side belt 30 is the wearable structure of opening, fixes by the mounting hole location of gradual change distribution on belt outside copper post and the belt, is further fixed locking by belt fastening knot and belt fastening joint. The M-shaped contact surface of the inner side rotation support 34 is a sheet metal part, is welded with the support frame to form a support piece whole, and is fixed on the main mounting plate through bolts; the side of the limb leaning support is provided with a plurality of rotation-facilitating rollers 35, each roller is embedded with a copper pipe inner core, a rotating shaft penetrates through the copper pipe, two ends of the rotating shaft are fixed on a shaft bracket welded and fixed on the back of the rotation-facilitating support at the inner side, and the shaft bracket and the rotating shaft are fixed through a clamp spring. The belt supporting roller 36 is installed on the outer side of the inner side rotation supporting support 34, the rotating bearings are installed on two sides of the belt supporting roller 36, the rotating shaft penetrates through the bearings, two ends of the rotating shaft are fixed on a shaft frame fixed to the back face of the inner side rotation supporting support 34 through welding, and the shaft frame and the rotating shaft are fixed through clamp springs. The supporting belt roller aims at solving the problems of belt clamping and belt loosening under certain use working conditions.

Referring to the transmission direction of the mechanism shown in fig. 4, the pneumatic muscle 1 is in a natural extension state, the pneumatic muscle 18 is in a pressurized swelling state, the rack 26 is in a state of being closest to the auxiliary return spring fixing seat 23, and the rack 14 is in a state of being closest to the reel when the pneumatic muscle is installed. When the pneumatic muscle 1 and the pneumatic muscle 18 change the air inlet state simultaneously so as to pull the intermediate transmission shaft 10 in a counter-pulling manner, the mechanism directions of a, f, b, q and c are changed, so that the forward transmission gear 2 rotates anticlockwise, the reverse transmission gear 12 is driven to rotate anticlockwise by the intermediate transmission shaft, and the belt pulley 9, the intermediate transmission shaft 10, the intermediate transmission shaft bearing seat 11, the reverse transmission gear 12 and the transmission gear flange 13 synchronously move in an h-shaped trend. The two transmission gears drive the middle transmission shaft 10 to pull the rehabilitation belt to rotate in the anticlockwise direction of limb penetration. The above is the forward counterclockwise working condition, and the reverse clockwise working condition is similar and will not be described again.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the preferred embodiments of the invention and described in the specification are only preferred embodiments of the invention and are not intended to limit the invention, and that various changes and modifications may be made without departing from the novel spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The flexible penetrating and sleeving type limb rehabilitation device driven by the pneumatic muscles is characterized by comprising a pneumatic muscle opposite-pulling driving structural component (40), a limb belt penetrating and sleeving structural component (50) and a protective shell (31), wherein the pneumatic muscle opposite-pulling driving structural component is arranged on a main mounting plate (22) in the protective shell (31), and the limb belt penetrating and sleeving structural component penetrates through the shell (31) and is connected with the pneumatic muscle opposite-pulling driving structural component; the pneumatic muscle split-drive structural assembly (40) comprises: an L-shaped support (25), a forward pneumatic muscle (1), a steel wire rope connector (3), a forward front half steel wire rope (4), a forward rear half steel wire rope (8), a steering wheel (7), a wheel support (20), an encoder bracket (6), an optical encoder (5), a forward rack (26), a linear guide rail (17), a linear guide rail slider (16), a slider rack connecting piece (15), a forward rack reset spring (24), a reset spring fixing seat (23), a forward transmission gear (2), a middle transmission shaft (10), a middle transmission shaft bearing seat (11), a belt pulley (29), a reverse transmission gear (12), a reverse rack (14), a reverse front half steel wire rope (19), a reverse rear half steel wire rope (21), a reverse pneumatic muscle (18) and a main mounting plate (22), the forward rack (26) and the forward transmission gear (2) are in a meshed relation;

one side of the positive pneumatic muscle (1) or the reverse pneumatic muscle (18) connected with an air pipe is connected to the L-shaped support (25) through threads, the bottom surface of the L-shaped support (25) is riveted to the main mounting plate (22), the other side of the positive pneumatic muscle (1) or the reverse pneumatic muscle (18) pulls the positive front half steel wire rope (4) through the steel wire rope connector (3), the positive front half steel wire rope (4) is wound on the periphery of the steering wheel (7) to pull the steering wheel to rotate, then the positive rear half steel wire rope (8) is driven to pull the positive rear half rack (26), one side of the positive rack (26) is fixed on two linear guide rail sliders (16) through the slider rack connecting piece (15), the linear guide rail sliders (16) are arranged on the linear guide rails (17) to restrict the rack to move along the direction vertical to the middle transmission shaft, the other side of the positive rack (26) is connected to a suspension loop of the positive rack return spring (24) through a bolt, and uniform return assistance is provided for the positive pneumatic muscle (1) during deflation; the distance between the intermediate transmission shaft bearing blocks (11) is shorter than the length of the intermediate transmission shaft (10), and the intermediate transmission shaft bearing blocks (11) are fixed on the main mounting plate (22) through bolts; three same belt pulleys (9) are equidistantly arranged on the middle transmission shaft (10) and are symmetrically arranged with the two middle transmission shaft bearing seats (11), and the belt pulleys (9) transmit circumferential force from the middle transmission shaft (10) through keys and are fixed in position by clamp springs; reverse drive gear (12) are fixed in on middle transmission shaft (10) through drive gear flange (13), singly belt pulley (9) are the notch cuttype structure, and both ends shaft shoulder diameter slightly is greater than middle fixed belt region diameter, play the weight reduction effect for hollow out construction in the middle of belt pulley (9).

2. The pneumatic muscle-powered flexible pull-through limb rehabilitation device of claim 1, wherein: a rolling bearing is embedded at the bottom of the steering wheel (7), an inner ring of the rolling bearing is abutted to a stepped shaft of the wheel supporting seat (20), the top of the steering wheel (7) is of a stepped shaft structure, a coaxial hole is drilled at the axis, and the aperture of the coaxial hole is equal to the diameter of a rotating shaft at the top of the optical encoder (5); two wiring loops are arranged on the periphery of the steering wheel (7), the upper loop and the lower loop are respectively wound with independent wiring, and a plurality of small holes are drilled on the periphery of the steering wheel (7) for threading and fixing the steel wire rope by a pressure head.

3. The pneumatic muscle-driven flexible penetrating type limb rehabilitation device according to claim 1, wherein the optical encoder (5) is mounted on the encoder bracket (6) through a countersunk screw, a rotating shaft at the top of the optical encoder (5) penetrates through the encoder bracket (6) and is fixed in a coaxial hole at the top of the wire wheel through a set screw so as to measure the rotation angle of the steering wire wheel (7) and further calculate the back-and-forth movement distance of the rack.

4. The pneumatic muscle-driven flexible pull-through limb rehabilitation device according to claim 1, wherein the limb belt pull-through structural assembly (50) comprises an inner rotation support (34), a pulley distal belt (32), a pulley proximal belt (30), a rotation friction rubber strip (33), a belt fastening buckle (27), and a belt fastening joint (28); the inner side rotation facilitating support (34) is fixed on the main mounting plate (22) through bolts, a rotation facilitating roller (35) and a bracing belt roller (36) are further mounted on the inner side rotation facilitating support, a copper pipe inner core is embedded in each roller, a rotating shaft penetrates through the copper pipe, two ends of the rotating shaft are fixed on a shaft bracket welded and fixed on the back surface of the inner side rotation facilitating support, and the shaft bracket and the rotating shaft are fixed through a clamp spring; rotating bearings are arranged on two sides of the supporting belt roller (36), a rotating shaft penetrates through the bearings, two ends of the rotating shaft are fixed on a shaft bracket fixed on the back of the inner side rotation support (34) through welding, and the shaft bracket and the rotating shaft are fixed through a clamp spring; the inner side of the belt wheel near side belt (30) is provided with a hasp and a row of collinear and variable-interval hasp holes.

5. The pneumatic muscle-driven flexible sleeve-penetrating type limb rehabilitation device as claimed in claim 1, wherein the return spring fixing seat (23) is fixed on the main mounting plate (22) through four bolts, and a sliding groove structure is formed in the return spring fixing seat, so that the distance between the positive rack return spring (24) and the limit position of the rack can be adjusted, and a proper return spring can be replaced according to actual conditions; the forward rack return spring (24) can be a tension spring, hanging lugs at two ends of the forward rack return spring are arranged in an angle of 90 degrees, one end of the forward rack return spring is fixed on the return spring fixing seat, and the other end of the forward rack return spring is fixed at the tail end of the rack through a bolt clamping gasket.

6. The pneumatic muscle-driven flexible pull-on limb rehabilitation device according to claim 4, wherein the wheeled proximal belt (30) is an open wearable structure, the patient wears a wheeled distal belt (32) after wearing the arm sleeve, and the wheeled distal belt (32) is glued to the rotation-facilitating friction rubber strip (33) and distributed in a rifling shape in a form that a plurality of spiral lines are arranged along the circumferential direction to provide strong rotation assistance; the belt wheel near side belt (30) is positioned by copper columns on the outer side of the belt and mounting holes which are distributed on the belt in a gradual change mode, and the belt fastening buckle (27) and the belt fastening joint (28) are used for further fixing and preventing looseness.

7. The pneumatic muscle-driven flexible penetrating type limb rehabilitation device according to claim 4, characterized in that the inner rotation support (34) is provided with an M-shaped contact surface, the inner rotation support (34) is a sheet metal part, is welded with a support frame to form a support whole, and is fixed on the main mounting plate (22) through bolts.

8. The pneumatic muscle-driven flexible pull-through limb rehabilitation device according to claim 1, wherein the top of the protective casing (31) is provided with a through hole for the encoder (5), and the bottom is screwed on the outer ring of the main mounting plate (22) through a self-tapping screw.