CN1439352A - Mechanical limbs assembled robot with function of limbs recovery motion - Google Patents

Abstract

A mechanical limbs combined robot series for recovering the limb movement function of hemiparalysis patient is an improvement on the walk learning machine, and features that a mechanical hand cradle and a mechanical foot cradle are respectively installed to the hinged rods for arm and leg in order to drive the wrist joints of arm and leg and the finger joints.

Description

Rehabilitation extremity motor function mechanical limb combination series robot

Affiliated technical field

The present invention relates to the similar serial robot that the different combining form of multiple mechanically lower limb is formed, affiliated robot field, especially has the limbs passive exercise that drives the people with disability, particularly drive each joint of encephalopathy patients' such as cerebral thrombosis trouble limb, every skeleton, every muscle, every muscle key, still can both move to every nerve, what all own brain was not arranged being people with disability itself to thirst for very much, do-it-yourself less than action, rehabilitation extremity motor function mechanical limb combination series robot, this series robot comprises: one, the two upper limb robots two of rehabilitation extremity motor function, the rehabilitation extremity motor function is with single upper limb robot three, the two lower limb robots four of rehabilitation extremity motor function, the rehabilitation extremity motor function is with single lower limb robot five, rehabilitation extremity motor function bilateral upper and lower extremities robot six, the rehabilitation extremity motor function is with one-sided upper and lower extremities robot

Background technology

At present, known utility model patent ZL01251023.8 hemiplegia patient recovery walking-aid device by my invention, swing arm swaying legs action in the time of driving people with disability patients' such as hemiplegia trouble limb anthropomorphic dummy walking, thereby the limbs that can make the hemiplegia patient produce the function of active exercise gradually in passive exercise is taken exercise for a long time makes motor function obtain rehabilitation, practical function is fine, be subjected to the favorable comment of extensive patients, but it has 2 great weak points, the one, it can only drive the big forearm of upper and lower extremities, the thigh and calf motion, its active joint can only be the shoulder of upper limb, elbow, the hip of wrist and lower limb, knee joint, six joints of ankle, and each joint of finger toe is not all moved: the 2nd, and parameter can not be regulated, bad adaptability, used the patient of hemiplegia patient's recovery walking-aid device, saying sincere words and earnest wishes: " walk learning machine is very good could could be walked by let us; all can move if can drive the finger toe again; let us not only can be walked; more can take care of oneself and can work; let us is really got back to healthy people's ranks, and that is only the target that we thirst for very much! Can be however, that has embarrassed you too, is not that exactly a robot that has the innervation trick all can move? we are expecting that really our dream comes true in your hands! " people with disability's expectation and serious hope, be exactly the purpose and the pursuit of my invention! Contribute my intelligence and wisdom for people with disability's recovering undertaking, that is a maximum happiness in my all one's life, I necessarily overcome the great deficiency of hemiplegia patient recovery walking-aid device, allow the people with disability expected, think that the rehabilitation extremity motor function of dreaming of meets with them in conjunction with serial robot early with mechanical limb, bring health to them.

Summary of the invention

Can not drive the trick campaign in order to overcome ZL01251023.8 utility model patent hemiplegia patient recovery walking-aid device, can not rehabilitation trick motor function and 2 great deficiencies can not regulating of length, the invention provides the multiple similar serial robot that forms by mechanical limb various combination form, this series robot not only can keep the repertoire of hemiplegia patient recovery walking-aid device, the hands that more can drive the people has the crooked grasp motion of stretching of finger, the foot and the toe that drive the people all lift upwards curved, depress decurved action, and interarticular parameter scalable adaptability is strong, under the drive of buncher, moving religion people with disability by doing and illustrating as the people, make each joint of people with disability's trouble limb, every skeleton, every muscle, every muscle key, still to every nerve all in passive exercise, all actions that oneself is not accomplished doing people with disability ten thousand serious hopes itself, allow people with disability's trouble limb in the drive reconditioning of rehabilitation extremity motor function provided by the invention with serial robot, produce the function of active exercise gradually, allow their extremity motor function obtain rehabilitation, not only can walk, more can take care of oneself, can work, really get back to healthy people's ranks, make their tomorrow finer, make the tomorrow of motherland finer, make human tomorrow finer.

The technical solution adopted for the present invention to solve the technical problems is: with I the invention utility model patent ZL01251023.8 hemiplegia patient recovery walking-aid device improve slightly after, on the forearm hinge-rod, installed and to drive the carpal joint of staff and point the robot blade that can both move in each joint, realized after can driving the foot mechanical foot hold that can both move in each joint from ankle joint to toe having installed on the shank hinge-rod.The principles of science of the technical solution adopted in the present invention institute foundation at first is described, in the 2nd embodiment of hemiplegia patient's recovery walking-aid device of the inventor, utilize the fork drive and determine the big forearm hinge-rod of upper and lower extremities, during the movement locus of thigh and calf hinge-rod, between the relative upper limb fork of its forearm hinge-rod, between the relative lower limb fork of shank hinge-rod, two bars exist the reciprocal variation of angle between relative position and two bars all the time in swing, because forming the both sides at an angle changes, so the distance between each bar of both sides of composition angle is also back and forth changing along with the reciprocal variation of corner dimension, and variable in distance and angle be varied to direct ratio, and the summit of digression far changes just big more more, if when the upper and lower extremities fork is made the shape of certain flexibility or broken line, just can make the upper limb fork not cross upper limb forearm hinge-rod, the lower limb fork is not crossed the shank hinge-rod, the variable in distance of above said angle point-to-point transmission is become at the forearm hinge-rod, one side of shank hinge-rod has changed, the variable in distance of this moment has been exactly the variable in distance of the present invention's utilization, and fork itself is to be called " two power bars " in the mechanics on the stressed problem, as long as guarantee that the centre distance between the pan of fork two ends is constant, the center of circle, location that guarantees fork is constant, then the running orbit of the fork other end with all do not changed by force direction because of the change of shape of bar, this is that axiom in the mechanics needn't be stated more, exactly because found in person after the upper and lower extremities fork is made the shape of certain flexibility or broken line, upper and lower extremities fork and upper and lower extremities forearm hinge-rod, the shank hinge-rod, all kinds of have distance from big to small again from turning back to big reciprocal Changing Pattern for a short time, and the size of variable quantity can be selected according to the position difference on the bar again, and variation is at the forearm hinge-rod, after one side of shank hinge-rod has become available rule, on the upper and lower extremities fork, fixedly loaded onto motorcycle rim brake brake cable, at upper and lower extremities forearm hinge-rod, motorcycle rim brake brake cable outer tube has been installed on the shank hinge-rod, because the brake cable outer tube adds plastic skin after by strip steel twist up shape and makes, bending and neutral line length is constant arbitrarily, can under crooked arbitrarily situation, allow motorcycle rim brake brake cable in the hole of brake cable outer tube, pass through smoothly, this just can become the change transitions of this distance the motive force of restraining forces of the flexibility of motorcycle rim brake brake cable, make the other end at motorcycle rim brake brake cable remove to spur Ring put around finger for massage of cavity of human body or motion of foot just can realize, but this power just produces when distance is changed from small to big, when distance inoperative from large to small the time, I have just installed spring or rubber strip again on Ring put around finger for massage of cavity of human body that links to each other with motorcycle rim brake brake cable and pedal, after making spring or rubber strip location, allow the reciprocating power of Ring put around finger for massage of cavity of human body and pedal just produce, when distance is changed from small to big, motorcycle rim brake brake cable will overcome the pulling force of spring or rubber strip, pulling Ring put around finger for massage of cavity of human body or pedal are to a lateral bending song: when distance from large to small the time, motorcycle rim brake brake cable returns pine but the pulling force of spring or rubber strip spurs Ring put around finger for massage of cavity of human body or pedal again to opposite side; As long as the upper and lower extremities fork back and forth drives the big forearm hinge-rod of upper and lower extremities; thigh and calf hinge-rod reciprocally swinging; the rule that the distance size back and forth changes just exists; the action of the reciprocally swinging of Ring put around finger for massage of cavity of human body and pedal just exists; the patient's who is driven by Ring put around finger for massage of cavity of human body hands and upper limb; the patient's who is driven by pedal foot and the motion that lower limb are driven reciprocal variation just exist; technical problem solved by the invention that Here it is promptly solves the principles of science of the motion institute foundation of said robot blade machinery foot hold; and upper and lower extremities fork and forearm hinge-rod; the installation of this motorcycle rim brake brake cable makes again between upper and lower extremities fork and forearm hinge-rod shank hinge-rod and has produced a pulling force between the shank hinge-rod; and another benefit of this pulling force has solved the forearm hinge-rod exactly; the shank hinge-rod is when swinging to big forearm hinge-rod; when being approximated to straight line between the thigh and calf hinge-rod; fork drives forearm hinge-rod shank hinge-rod indefinite problem of issuable swing bending direction when backswing is moving; hemiplegia patient's recovery walking-aid device is to adopt folk prescription to solve to the spacing method of buting iron; and the present invention is owing to there has been this brake cable pulling force just to solve the uncertain problem of this bending direction; so the present invention has improved the structure that hinge draws with the buting iron limit again; and use the connected mode that adds rolling bearing on the hinge axis instead; the activity that makes each joint of the robot of the present invention wear-resisting more health more of sensitivity more needn't the reuse liquid oil have been lubricated; and also have a benefit after brake cable has been installed; that be exactly drive the position that is connected and installed of the connecting rod of upper and lower extremities swing can be at upper and lower extremities fork or forearm hinge-rod; on the optional position of shank hinge-rod; all can not influence the bend in one direction problem of forearm hinge-rod and shank hinge-rod; thereby this provides according to making robot reduce volume for reduce crank length in the identical swings interval again; again because the present invention has installed robot blade on the forearm hinge-rod; mechanical foot hold has been installed on the shank hinge-rod; upper and lower extremities in hemiplegia patient's recovery walking-aid device has just lost the meaning of existence by the handle carrier bar and the pedal foot carrier bar of three joints in the forming of hinge-rods; though so the present invention has installed robot blade at hemiplegia patient recovery walking-aid device on the forearm hinge-rod; after on the shank hinge-rod mechanical foot hold being installed, realized; but it is formed structure and changes; its mechanically lower limb become and had only two pole composition forms of big forearm hinge-rod and thigh and calf hinge-rod; again owing in the process of hemiplegia patient recovery walking-aid device drive patient rehabilitation, find; all produce the full hemiplegia patient's rehabilitation machine of extremity; to the hemiplegia patient is a waste; because they do not need rehabilitation at good limbs one side; so have to hemiplegia patient recovery walking-aid device has been made the form of one-sided upper and lower extremities; can also have single upper limb; two upper limb; single lower limb; two lower limb disability people's different demands; this is very badly difficult me; because when I produce like that; my patent just protection has not lived; just know have the patent application one of merging to say by the study of Patent Law; the present invention proposes the rehabilitation extremity motor function for this reason and merge patent application with mechanical limb combination series robot; thereby the demand that more adapts to different rehabilitation crowds; more than these are exactly the principles of science of institute of the present invention foundation, improved rationale and facts have proved and apply for merging the reason of patent application.The following describes the shape structure and the connected mode of each part parts among the present invention, the big arm hinge-rod of upper and lower extremities, the thigh hinge-rod is that shoulder joint with reference to the people is to elbow joint, hip joint to kneed length parameter is determined the centre distance of hinge-rod two ends pans, for adapting to the needs of different limbs length, with the big arm hinge-rod of upper limb, lower limb thigh hinge-rod is made two ends all monolithic bearing assembling orifice plate, add standby nut check location after the middle part connects by the inside and outside circle male screw again and form, make it have the equal scalable of flatness between length and two ends monolithic bearing assembling orifice plate.The upper and lower extremities fork is formed in certain flexibility or broken line shape in the same plane, all there is the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at two ends, anterior by adding standby nut check location after the connection of inside and outside circle male screw again, the middle part all has the middle part of motorcycle rim brake brake cable line locating ring, upper limb fork to also have a biplate hinge axis orifice plate, upper and lower extremities fork two ends to become two hole centre distances of the monolithic bearing assembling orifice plate of broken line with fork, regulates and the trace adjusting with the trace of the big arm hinge-rod of upper and lower extremities, thigh bar.Control method is to unclamp standby locking nut, internal and external threads connected lock standby nut again after screw-in depth changes and realize, and the conciliation of upper and lower extremities fork length all with the big arm hinge-rod of upper and lower extremities, the length conciliation of thigh hinge-rod is in direct ratio to be carried out synchronously, and upper and lower extremities fork two ends become the monolithic bearing of broken line to assemble the centre distance in two holes on the orifice plate with the fork axis, all the time be adjusted to upper and lower extremities fork and upper and lower extremities forearm hinge-rod, the hinge point that the shank hinge-rod forms after linking to each other with the hinge form, this hinge point center operates in the anthropomorphic dummy in swing arm, the radius of this due positive arc track in hinge point center is long during swinging kick, and the also hinge locating hole center of the upper and lower extremities fork that sets of the present invention just, the center of this positive arc track, because this positive circular arc can be with big arm hinge-rod, the length variations of thigh hinge-rod and changing, also can be because of swing arm, the difference in swinging kick interval and changing, so the center of circle of this positive circular arc also can change, select for use so have a plurality of upper and lower extremities fork locating hinge centre bores can keep supplying when the center of circle, lower limb fork location changes on two vertical two slotted hole compoboards of upper and lower extremities.Said in this point and the hemiplegia patient recovery walking-aid device claim 5: " four hinge points; when anthropomorphic dummy's walking; this radii fixus of putting due positive arc track is long; the location and installation pan center of the other end hinge of four forks on frame; be this center of circle of putting due positive circular arc " are difference slightly, something in common is that the radius of positive arc track is long, but anterior additional definitions difference, because swing arm and the swinging kick of people when walking can only be carried out in a little amplitude of fluctuation in interval, health front and back, and the interval of the swing arm swinging kick of people when taking exercise only can select before health also can be before and after health also optional after health certain interval or certain amplitude carry out, at this moment bigger selection space on the motion amplitude has been given between the motor region of robot of the present invention in Ding Yi change, and the method that changes crank length just can change the size of its amplitude of fluctuation, change the connecting rod of different length and just can select different swing intervals, so just make robot of the present invention that adaptive capacity is more arranged, be more suitable for the requirement of human body recovery motor function, also corresponding upper and lower extremities fork and the upper and lower extremities forearm hinge-rod of having become of the definition of the locating hinge central point of upper and lower extremities fork on frame among the present invention, the shank hinge-rod forms the hinge point that the back that links to each other forms with hinge, operate in the anthropomorphic dummy in this hinge point when the swing arm swinging kick, the center of circle of the due positive arc track of this hinge point, the forearm hinge-rod of upper and lower extremities, all there is biplate hinge axis orifice plate at shank hinge-rod two ends, on the one end hinge-rod shoulder hole is arranged all, the middle part of upper limb forearm hinge-rod is connecting firmly a short column body that shoulder hole is arranged, the middle part of lower limb shank hinge-rod is connecting firmly a biplate hinge axis orifice plate, upper and lower extremities forearm hinge-rod, two hole centre-to-centre spacing of shank hinge-rod two ends biplate hinge axis orifice plate, relatively the length of tall person's people's forearm and shank is also slightly long.All there is monolithic bearing assembling orifice plate at the two ends of upper and lower extremities connecting rod.Upper and lower extremities turns crank one end greatly all the little axle of the locational crank of one or more different lengths positioning spiro pit, can change the real work length of crank, thereby change the size in swing arm, swinging kick interval, the other end that turns crank greatly all has the axis hole that has keyway that connects firmly with rotating shaft, can connect firmly with rotating shaft.The little axle of crank is identical with chain rivet, and an end is that the cylinder other end has the cylinder external screw thread in the middle of boss is arranged.The shape structure and the structural relation of robot blade parts are as follows: robot blade is made of palm of the hand face and hand-held board the back of the hand face two parts of hand-held board, hand-held board is that 5 fourchettes are opened the face profile shape of stretching defensive position, branch about hand-held board has, the shape of right-hand man's supporting plate is configured to symmetric two congruent figures, 5 of hand-held board refers to that finger tip partly is drilled with 5 through holes, place, the centre of the palm is drilled with 4 logical counterbores, penetrating 4 dormant bolts in 4 logical counterbores passes from the through hole on the ∪ shape supporting plate locator card of the back of the hand face, screw on and hand-held board is fixedly mounted on the forearm hinge-rod behind the nut, the palm of the hand face of hand-held board is held handle, the wrist supporting plate, hold a big female clinodactyly direction spring or rubber strip locating hole are arranged on the plate, there are two wrist belt locating holes wrist supporting plate front portion, wrist supporting plate rear portion has 44 and points bending direction spring or rubber strip locating hole, on the back of the hand face of hand-held board, on 5 finger tip through holes on the hand-held board, all connecting firmly a cylinder that shoulder hole is arranged, erecting and connecting firmly an arc cuboid that is drilled with 5 shoulder holes near the wrist place with the method that ∪ shape is put up a bridge, insert 5 motorcycle rim brake brake cable outer tubes respectively in the shoulder hole of 5 cylinders that shoulder hole arranged, the other end of the outer tube of 5 motorcycle rim brake brake cables inserts respectively in 5 shoulder holes of the lonely shape cuboid that is drilled with 5 shoulder holes, the macropore of shoulder hole just can make the brake cable outer tube insert and the location, the aperture of shoulder hole just can stop going deep into of brake cable outer tube, but brake cable is passed through smoothly, because motorcycle rim brake brake cable outer tube is to make with the helical form shape that strip steel is rolled into, has bending arbitrarily but the constant characteristic of neutral line length, and the characteristic that can under crooked arbitrarily situation, brake cable be passed through smoothly, so realizing inserting in two shoulder holes on the above different directions brake cable outer tube is fine, 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums, penetrate the shoulder hole from the lonely shape cuboid that is drilled with 5 shoulder holes respectively, after from 5 finger tip through holes of hand-held board, coming out again behind the shoulder hole on the outer pipe orifice of 5 brake cables and 5 the finger tip cylinders, link to each other with 5 open annular finger-stalls respectively again, the 44 clinodactyly directions of correspondence and the spring or the rubber strip of 1 big female clinodactyly direction link to each other 5 open annular finger-stalls respectively again, the spring of 44 clinodactyly directions or rubber strip are separately fixed in 4 the 4 finger direction springs or rubber strip locating hole of wrist supporting plate of palm of the hand face, 1 big female clinodactyly direction spring or rubber strip are fixed on palm of the hand face place and hold in the spring or rubber strip locating hole of the big female clinodactyly direction on the handle, 5 brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums are after a segment distance is reserved in the shoulder hole outside of arc cuboid, being connected in same shoe brake line parallel simultaneously divides on the support plate, 6 through holes are arranged on the brake cable parallel branch plate, and available 6 bolts are with the motion simultaneously that links together of 6 brake cables or 6 nylon cotton ropes of 6 brake cable succedaneums.It is as follows that the shape knot of machinery foot hold parts is made annexation: mechanical foot hold is made up of pallet stand and pedal two parts, branch about pallet stand has, its shape is configured to symmetrical congruent figures: the branch about pedal does not have, there is bicycle pedal shaft screw-internal thread fit hole at the pallet stand middle part, a whole self-propelled car pedal is being connected in the bicycle pedal shaft internal thread hole, pallet stand top has one to bend towards the forward motorcycle rim brake brake cable outer tube locating rod that has shoulder hole of foot, the spring or the rubber strip locating rod that are drilled with through hole are arranged at the pallet stand bottom, a ∪ shape of the postmedian set semicircle of pallet stand has the locator card of bolt hole, this locator card has bolt hole semicircle locator card to cooperate with another one ∪ shape, mechanical foot hold is fixedly mounted on the optional position of shank hinge-rod, make length and the knock-kneed degree equal scalable of knee joint hinge point to foot hold, the pedal part is linked together with hinge by finger tip pedal and metacarpus pedal two parts pedal and forms, there are two bifurcation shape swing limited location forks that stretch to the finger tip pedal the anterior left and right sides of metacarpus pedal, there are 4 logical counterbores at metacarpus pedal middle part, each side there is a riser at the rear portion of metacarpus pedal, riser aspect ratio ankle joint position is slightly high, about all have the front and back position of foot to regulate belt locating hole and instep belt locating hole on two risers, there is the pin that stretches in the bifurcation shape limited location fork the anterior left and right sides of finger tip pedal, two risers that have toe belt locating hole are arranged, there are brake cable locating hole and spring or rubber strip positioning through hole in the front portion of finger tip pedal, pedal is placed on the bicycle pedal that connects firmly on the pallet stand, in 4 logical counterbores at metacarpus pedal middle part, penetrate and make pedal and the pallet stand mechanical foot hold of formation that is fixed together after loading onto nut screwing clamping after passing 4 through holes of 4 dormant bolts from the flat board card of bicycle pedal bottom, be connected in forward spring of finger tip pedal or the rubber strip locating hole spring or rubber strip are installed, the spring that is drilled with through hole of the other end of spring or rubber strip and pallet stand bottom or the spring on the rubber strip locating rod or rubber strip locating hole are connected with bolt.Mechanically the location of lower limb also is made up of the installation that cooperates that the two slotted holes of the monolithic level that connects firmly with frame connect firmly the vertical two slotted hole compoboards with two of plate, the two slotted holes of monolithic level connect firmly two two slotted holes of level up and down on the plate, one end of two vertical two slotted hole compoboards all has two slotted holes on same vertical line, the other end of two vertical two slotted hole compoboards of upper limb has a big arm hinge-rod locating hole and the center of circle, a plurality of upper limb fork location pan, the other end of two vertical two slotted hole compoboards of lower limb has a thigh hinge-rod locating hole and the center of circle, a plurality of lower limb fork location pan, the said rehabilitation extremity motor function of the present invention is multiple similar robot with mechanical limb combination series robot, below explanation one by one respectively:

One, the two upper limb robots of rehabilitation extremity motor function, the rehabilitation extremity motor function is as follows with the population structure annexation of two upper limb robots: high together with shoulder joint, omit on the frame of width position than two shoulders, two two slotted holes of upper limb level connect firmly plate about connecting firmly, vertical with two on two upper limb respectively two slotted hole compoboards connect together form about two mechanical upper limb, respectively by about two vertical two slotted hole compoboards of two upper limb with connect firmly that two two slotted holes of upper limb monolithic level connect firmly cooperating installation and penetrate the method that the bolt fastening nut makes it to connect firmly installation in two slotted holes of plate about on the frame, two mechanical upper limb are fixedly mounted on the frame about making, connect firmly the two ends of a rotating shaft on frame with bearings, respectively be fixedly mounted on frame on about the end that turns crank greatly that links to each other on two mechanical upper limb connect firmly, connect firmly in the rotating shaft sprocket wheel or a vee-pulley are installed, sprocket wheel that connects firmly in the rotating shaft or vee-pulley are by chain or V-belt, with connect firmly the sprocket wheel or the vee-pulley that on the motor shaft on the frame, connect firmly and link to each other, more than said about the structure annexation of two mechanical upper limb be, all there is monolithic bearing assembling orifice plate at two ends, the middle part is connected the big arm hinge-rod of forming with standby nut check location of upper limb by the inside and outside circle male screw, the Kong Zhongjun of the monolithic bearing assembling orifice plate at the big arm hinge-rod of upper limb two ends packs into behind the rolling bearing, one end is inserted in the middle of two vertical two slotted hole compoboards of upper limb, big arm hinge-rod locating hole above aiming at links to each other with chain rivet, all there is the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at the two ends of upper limb fork, the anterior connection with standby nut check by the inside and outside circle male screw locatees, the fork middle part also has a brake cable locating ring and a biplate hinge axis orifice plate to form, the two ends of upper limb fork become the monolithic bearing of broken line to assemble orifice plate with the fork axis Kong Zhongjun packs into behind the rolling bearing, one end is inserted into the center of circle, the upper limb fork location pan that the vertical two slotted hole compoboard intermediate alignment of two on upper limb choose and links to each other with chain rivet, all there is biplate hinge axis orifice plate at the two ends of upper limb forearm hinge-rod, one end has shoulder hole, the middle part is made up of a cylinder by shoulder hole, packed into the monolithic bearing assembling orifice plate of rolling bearing of the other end of the big arm hinge-rod of upper limb is inserted into upper limb forearm hinge-rod and has the biplate hinge axis orifice plate intermediate alignment axis hole of shoulder hole one end to link to each other with chain rivet, the other end of upper limb fork and fork axis become the bearing assembling orifice plate of the broken line biplate hinge axis orifice plate intermediate alignment axis hole that is inserted into the other end of upper limb forearm hinge-rod behind the rolling bearing of packing into to link to each other with chain rivet, upper limb connecting rod two ends all are made up of monolithic bearing assembling orifice plate, pack in the hole of upper limb connecting rod two ends monolithic bearing assembling orifice plate behind the rolling bearing, and the biplate hinge axis orifice plate intermediate alignment axis hole that an end is inserted into upper limb fork middle part links to each other with chain uranium, the other end has been packed into and has been packed in the dead eye of monolithic bearing assembling orifice plate of rolling bearing behind the little axle of crank, the little axle of the crank female thread locating hole screw-in back that utilizes the external screw thread aligning on the little axle of crank to turn greatly on the crank forms the threaded engagement connection, and the other end that turns crank greatly has the axis hole that connects firmly with rotating shaft to connect firmly with rotating shaft, and motorcycle rim brake brake cable outer tube one end is inserted in the shoulder hole of upper limb forearm hinge-rod one end, the other end is inserted in the shoulder hole of upper limb forearm hinge-rod middle part short column body, a motorcycle rim brake brake cable passes from the brake cable locating ring at upper limb fork middle part, and the short cylinder that utilizes the brake cable head to connect firmly penetrates in the shoulder hole of upper limb forearm hinge-rod one end after blocking the locating ring location, behind the endoporus by motorcycle rim brake brake cable outer tube, after wearing out the shoulder hole from the short column body that upper limb forearm hinge-rod connects firmly, connect firmly on upper limb brake cable parallel branch plate after reserving a segment distance, the method that robot blade adds bolted with ∪ shape supporting plate locator card make robot blade be fixedly mounted on upper limb forearm hinge-rod by patient's staff of rehabilitation should the position on, and being palm of the hand face and two parts of the back of the hand face by hand-held board, said robot blade constitutes, hand-held board is that 5 fourchettes are opened the plane outline shape after stretching, the branch about hand-held board has, and the mechanical upper limb that left robot blade has been installed then is called left mechanical upper limb, the mechanical upper limb that right robot blade has been installed then is called right mechanical upper limb, the shape of right-hand man's supporting plate is configured to symmetric congruent figures, and 5 of hand-held board refers to that finger ends is drilled with 5 through holes respectively, and place, the centre of the palm is drilled with 4 logical counterbores, penetrate in 4 logical counterbores in 4 through holes of 4 dormant bolts from the ∪ shape supporting plate locator card of the back of the hand face and pass, screwing on can make robot blade be fixedly mounted on the optional position of upper limb forearm hinge-rod behind the nut, holds handle on the palm of the hand face of hand-held board, the wrist supporting plate, holding has a big female clinodactyly direction spring or rubber strip locating hole on the handle, there are two wrist belt locating holes wrist supporting plate front portion, there are 44 clinodactyly direction springs or rubber strip locating hole in wrist supporting plate rear portion, on 5 finger tip through holes on the back of the hand face of hand-held board, all connecting firmly a cylinder that shoulder hole is arranged, erecting and connecting firmly an arc cuboid that is drilled with 5 shoulder holes near the wrist place with the square frame of ∪ shape bridging, 5 motorcycle rim brake brake cable outer tube one ends are inserted into 5 finger tips respectively to be had in the shoulder hole of cylinder of shoulder hole, the other end is inserted into respectively in the shoulder hole of the arc cuboid that is drilled with 5 shoulder holes, 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums, from the shoulder hole of the arc cuboid that is drilled with 5 shoulder holes, penetrate respectively and the endoporus by 5 motorcycle rim brake brake cable outer tubes and 5 finger tip cylinders on shoulder hole after, from 5 finger tips of hand-held board by after coming out the hole, link to each other with 5 open annular finger-stalls respectively, 5 open annular finger-stalls link to each other with corresponding 44 clinodactyly direction springs or rubber strip and 1 big female clinodactyly direction spring or rubber strip respectively again, and the other end of 44 clinodactyly direction springs or rubber strip is separately fixed in 4 the 4 clinodactyly direction springs or rubber strip locating hole on the wrist supporting plate, and the other end of 1 big female clinodactyly direction spring or rubber strip is fixed in the spring or rubber strip locating hole of holding the big female clinodactyly direction on the handle, the other end of 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums, after a segment distance is reserved in the outside of shoulder hole that is drilled with the arc cuboid of 5 shoulder holes at the back of the hand face place, connect firmly simultaneously at same shoe brake line parallel and divide on the support plate, owing to have 6 holes simultaneously 6 brake cables or brake cable succedaneum nylon rope to be fixedly installed togather on the brake cable parallel branch plate, at this moment, being connected in a shoe brake line parallel simultaneously by the brake cable that comes and 5 finger tip brake cables from the upper limb fork divides support plate to form simultaneously to move.

Two, the rehabilitation extremity motor function is with single upper limb robot, use in two upper limb robot construction at formation rehabilitation extremity motor function, next side machinery upper limb of artificial left or right dismounting, only keep side machinery upper limb and just constitute the rehabilitation extremity motor function with single upper limb robot, the structure annexation feature of said mechanical upper limb is identical in the structure annexation of said mechanical upper limb and the rehabilitation extremity motor function usefulness pair upper limb robots.

Three, the two lower limb robots of rehabilitation extremity motor function, the rehabilitation extremity motor function is as follows with the population structure annexation of two lower limb robots: high together with hip joint, omit than hip on the frame of width position, two two slotted holes of lower limb level connect firmly plate about connecting firmly, vertical with two in two lower limb respectively two slotted hole compoboards connect together about two mechanical lower limb, respectively by about two vertical two slotted hole compoboards of two lower limb with connect firmly that two two slotted holes of lower limb monolithic level connect firmly cooperating installation and penetrate the method that the bolt fastening nut makes it to connect firmly installation in two slotted holes of plate about on the frame, two mechanical lower limb are fixedly mounted on the frame about making, connect firmly the two ends of a rotating shaft on frame with bearings, respectively be fixedly mounted on frame on about the end that turns crank greatly that links to each other on two mechanical lower limb connect firmly, connect firmly in the rotating shaft sprocket wheel or a vee-pulley are installed, sprocket wheel in the rotating shaft or vee-pulley link to each other by sprocket wheel or the vee-pulley that connects firmly on the motor shaft that connects firmly on chain or V-belt and the frame, more than said about the structure annexation of two mechanical lower limb be, all there is monolithic bearing assembling orifice plate at two ends, the middle part is connected the lower limb thigh hinge-rod of forming with standby nut check location by the inside and outside circle male screw, the Kong Zhongjun of the monolithic bearing assembling orifice plate at lower limb thigh hinge-rod two ends packs into behind the rolling bearing, one end is inserted in the middle of two vertical two slotted hole compoboards of lower limb, lower limb thigh hinge-rod locating hole above aiming at links to each other with chain rivet, all there is the monolithic bearing assembling orifice plate that becomes broken line with axis at lower limb fork two ends, the anterior connection with standby nut check by the inside and outside circle male screw locatees, the middle part is made up of a brake cable locating ring, pack in the hole of the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at lower limb fork two ends behind the rolling bearing, one end is inserted into the center of circle, the lower limb fork location pan that the vertical two slotted hole compoboard intermediate alignment of two in lower limb choose and links to each other with chain rivet, all there is biplate hinge axis orifice plate at the two ends of lower limb shank hinge-rod, one end has shoulder hole, the middle part also has a biplate hinge axis orifice plate to form, pack in the hole of the other end monolithic bearing of lower limb thigh hinge-rod assembling orifice plate and be inserted into lower limb shank hinge-rod behind the rolling bearing and have the biplate hinge axis orifice plate intermediate alignment axis hole of shoulder hole one end to link to each other with chain rivet, pack in the hole of the monolithic bearing of the other end of lower limb fork and axis broken line assembling orifice plate behind the rolling bearing, the other end biplate hinge axis orifice plate intermediate alignment axis hole that is inserted into lower limb shank hinge-rod links to each other with chain rivet, the two ends of lower limb connecting rod all are made up of monolithic bearing assembling orifice plate, after the monolithic bearing at lower limb connecting rod two ends assembles the rolling bearing of packing in the orifice plate, the biplate hinge axis orifice plate intermediate alignment axis hole that one end is inserted into lower limb shank hinge-rod middle part links to each other with chain rivet, pack in the hole of the rolling bearing of packing in the monolithic bearing of the connecting rod other end assembling orifice plate and utilize behind the little axle of crank external screw thread on the little axle of crank to aim at the little axle of the crank that turns greatly on crank female thread locating hole to screw in the back and form and be threaded, the other end that turns crank greatly has the axis hole that connects firmly with rotating shaft, can connect firmly with rotating shaft, the machinery foot hold is made up of pallet stand and pedal two parts, its shape of branch about pallet stand has is configured to symmetric congruent figures, and the branch about pedal does not have just constitutes left mechanical lower limb after the mechanical foot hold of having installed left pallet stand is contained on the shank hinge-rod, the mechanical foot hold of having installed right pallet stand is contained in and has just constituted right mechanical lower limb on the shank hinge-rod, there is bicycle pedal shaft screw-internal thread fit hole at the pallet stand middle part, connects firmly in the bicycle pedal shaft screw-internal thread fit hole a whole self-propelled car pedal is installed, and pallet stand top has one to bend towards the forward motorcycle rim brake brake cable outer tube locating rod that has shoulder hole of foot, the spring or the rubber strip locating rod that are drilled with through hole are arranged at the pallet stand bottom, the postmedian of pallet stand is connecting firmly a ∪ shape semicircle to be made up of the locator card of bolt hole, and ∪ shape semicircle locator card and another one ∪ shape that the postmedian of pallet stand connects firmly have bolt hole semicircle locator card to cooperate, and available bolt connects two ∪ shape semicircle locator cards, mechanical foot hold is fixedly mounted on the lower limb shank hinge-rod, pedal is linked together with hinge by finger tip pedal and metacarpus pedal two parts pedal and forms, and there are two bifurcation shape swing limited location forks that stretch to the finger tip pedal the anterior left and right sides of metacarpus pedal, and there are 4 logical counterbores at metacarpus pedal middle part, each side there is a riser at the rear portion of metacarpus pedal, the aspect ratio ankle joint of riser is slightly high, all has the front and back position of foot to regulate belt locating hole and instep belt locating hole on two risers in the left and right sides, and there is the pin that stretches in the bifurcation shape limited location fork the anterior left and right sides of finger tip pedal, two risers that have toe belt locating hole are arranged, there are brake cable positioning through hole and spring or rubber strip positioning through hole in the front portion of finger tip pedal, and pedal is placed on the bicycle pedal that connects firmly on the pallet stand, penetrates in 4 counterbores at metacarpus pedal middle part and makes pedal and the pallet stand mechanical foot hold of formation that is fixed together after loading onto nut screwing clamping after passing 4 through holes of 4 dormant bolts from the flat board card of bicycle pedal bottom, be connected in forward spring of finger tip pedal or the rubber strip locating hole spring or rubber strip are installed, the spring that is drilled with through hole of the other end of spring or rubber strip and pallet stand bottom or the spring on the rubber strip locating rod or rubber strip locating hole are connected with bolt, and motorcycle rim brake brake cable outer tube one end is inserted into the other end in the shoulder hole of lower limb shank hinge-rod and is inserted into pallet stand top and bends towards in the shoulder hole on the forward motorcycle rim brake brake cable outer tube locating rod that has a shoulder hole of foot, penetrates motorcycle rim brake brake cable in the brake cable locating ring at lower limb fork middle part, after the short cylinder that utilizes the brake cable end to connect firmly blocks the locating ring location, after penetrating endoporus the shoulder hole from lower limb shank hinge-rod, after wearing out the shoulder hole of the motorcycle rim brake brake cable outer tube locating rod from mechanical foot hold support, be connected in the forward brake cable locating hole of finger tip pedal and screw connection with bolt through motorcycle rim brake brake cable outer tube.

Four, the rehabilitation extremity motor function is with single lower limb robot, use in two lower limb robot construction at formation rehabilitation extremity motor function, next side machinery lower limb of artificial right or right dismounting, only keep side machinery lower limb and just constitute the rehabilitation extremity motor function with single lower limb robot, the structure annexation and the feature of said mechanical lower limb were identical during the structure annexation of said mechanical lower limb was gone into rehabilitation extremity motor function usefulness pair lower limb machines.

Five, rehabilitation extremity motor function bilateral upper and lower extremities robot, the rehabilitation extremity motor function is as follows with the population structure annexation of bilateral upper and lower extremities robot: omiting on the frame of width position with height ratio two shoulders with shoulder joint, two two slotted holes of upper limb level connect firmly plate about connecting firmly, vertical with two on two upper limb respectively two slotted hole compoboards connect together about two mechanical upper limb, respectively by about two vertical two slotted hole compoboards of two upper limb with connect firmly about on the frame two two slotted holes of upper limb monolithic level and connect firmly cooperating installation and in two slotted holes, penetrate the bolt fastening nut and making it hard-wired method of plate, two mechanical upper limb are fixedly mounted on the frame about making, high together with hip joint, omit than hip on the frame of width position, two two slotted holes of lower limb level connect firmly plate about connecting firmly, vertical with two in two lower limb respectively two slotted hole compoboards connect together about two mechanical lower limb, respectively by about two vertical two slotted hole compoboards of two lower limb with connect firmly about on the frame two two slotted holes of lower limb monolithic level and connect firmly cooperating installation and in two slotted holes, penetrate the bolt fastening nut and making it hard-wired method of plate, two mechanical lower limb are fixedly mounted on the frame about making, connect firmly two rotating shafts on frame with bearings, the two ends of a rotating shaft respectively be fixedly mounted on frame on about the crank that turns greatly that links to each other on two mechanical upper limb connect firmly, the two ends of another root rotating shaft respectively be fixedly mounted on frame on about the crank that turns greatly that links to each other on two mechanical lower limb connect firmly, also connect firmly on the frame buncher is installed, when buncher is distributed in the left and right sides of buncher as if i.e. two rotating shafts in the centre that is installed in two rotating shafts, what connect firmly installation on the motor shaft is a duplicate sprocket or duplex vee-pulley, about connect firmly respectively in two rotating shafts a sprocket wheel or vee-pulley be installed, duplicate sprocket on the motor shaft or duplex vee-pulley by two chains or two V-belts respectively with about sprocket wheel or vee-pulley in two rotating shafts link to each other, when if buncher is installed in a side of two rotating shafts, connect firmly in the promptly adjacent rotating shaft of an intermediary rotating shaft duplicate sprocket or duplex vee-pulley are installed with buncher, duplicate sprocket on the intermediate rotary shaft or duplex vee-pulley, link to each other by sprocket wheel on adjacent with the left and right sides respectively motor shaft in two chains or two V-belts or sprocket wheel or the vee-pulley in vee-pulley and another root rotating shaft, more than the structure annexation of said mechanical upper limb be with the rehabilitation extremity motor function identical with the structure annexation and the feature of said mechanical upper limb in two upper limb robots, more than the structure annexation of said mechanical lower limb and rehabilitation extremity motor function identical with the structure annexation and the feature of said mechanical lower limb in two lower limb robots, all no longer repeat.

Six, the rehabilitation extremity motor function is with one-sided upper and lower extremities robot, use in the bilateral upper and lower extremities robot construction at formation rehabilitation extremity motor function, the artificial mechanically lower limb of a left or right side that disassemble, only keep a side mechanically during lower limb, just constitute the rehabilitation extremity motor function with one-sided upper and lower extremities robot, the rehabilitation extremity motor function is all identical with the upper and lower extremities structure annexation of bilateral upper and lower extremities robot with the rehabilitation extremity motor function with the upper and lower extremities structure annexation of one-sided upper and lower extremities robot, no longer repeats.

The invention has the beneficial effects as follows: the present invention is after improving slightly on the basis of the utility model patent ZL01251023.8 hemiplegia patient recovery walking-aid device that I invent, on the forearm hinge-rod of hemiplegia patient recovery walking-aid device, installed again and can drive staff and can both move from each joint that carpal joint to 5 refers to and resemble hands and making the robot blade of grasp motion, installed on the shank hinge-rod can drive people's foot from ankle joint to 5 refer to each joint can both move when foot is being walked foot and toe all meeting up and down the mechanical supporting plate of flexural oscillations realized afterwards, thereby can keep original hemiplegia patient's recovery walking-aid device can drive the function of people's upper and lower extremities reciprocally swinging association walking, in drive human body limb movement function aspects a very large breakthrough and raising have been arranged again, from driving the shoulder of limbs, elbow, wrist, hip, knee joint, 6 joint motions of ankle, become each joint that drives limbs, every skeleton, every muscle, every muscle key still can both be driven to every nerve to move, rationality of procedure, regularity all is that himself is inherent, full automatic, constant, do not need to increase any computer program control, more do not need to increase power resources, cost simple in structure is low and practical, the people with disability not only needs it, more can accept it economically, only just can realize whole actions from zero to 30 bunchers that change, and this slow-speed of revolution buncher feeds with adaptability with a per minute rotating speed, the hommization personality of tenderness and patient infinite, endurance is unlimited, there is not complaint forever, never speech is tired, the glad virtue of offering as a tribute.Again because the present invention has adopted the mode of the similar series of products of limbs various combination form, more can make people with disability's limb rehabilitating have more specific aim, practicality and economy, the present invention is by the check of practice, proof can allow people with disability's trouble limb really, not only can swing the meeting walking, more can allow the people with disability take care of oneself can work, and allows the people with disability really get back to the ranks that health is gone into.The present invention could make major contribution for the body health quality that improves the whole mankind! Can allow people with disability's tomorrow finer, allow the country bright finer, make the whole mankind's tomorrow finer, it will produce far-reaching and great influence to national interests, social benefit, the whole mankind's interests!

Description of drawings

The present invention is further described below in conjunction with accompanying drawing and a plurality of embodiment.

To be the rehabilitation extremity motor function with the population structure of bilateral upper and lower extremities robot be in transmission connection Fig. 1 concerns sketch map, for making drawing clear, the connection of brake cable is not drawn in the drawings, robot blade is also just with the representative of hands shape plate, the machinery foot hold does not have part further expression in figure below of expression just with the pedal representative yet.

To be the rehabilitation extremity motor function with the population structure of two upper limb robots be in transmission connection Fig. 2 concerns sketch map, for making drawing clear, the connection of brake cable is not drawn in the drawings, and robot blade does not have part further expression in figure below of expression just with the representative of hands shape plate yet.

To be the rehabilitation extremity motor function with the population structure of two lower limb robots be in transmission connection Fig. 3 concerns sketch map, for making drawing clear, the connection of brake cable is not drawn in the drawings, and mechanical foot hold does not have part further expression in figure below of expression just with the pedal representative yet.

Fig. 4 be big arm hinge-rod (3), thigh hinge-rod (27) assembly the broken section front view.

Fig. 5 be big arm hinge-rod (3), thigh hinge-rod (27) assembly the broken section vertical view.

Fig. 6 is the structure broken section front view of forearm hinge-rod (5).

Fig. 7 is the structure broken section vertical view of forearm hinge-rod (5).

Fig. 8 is the structure broken section front view of shank hinge-rod (11).

Fig. 9 is the structure broken section vertical view of shank hinge-rod (11).

Figure 10 be upper limb fork (4) assembly the broken section front view, after the part on Figure 10 (34) biplate hinge axis orifice plate removes, be again lower limb fork (9) assembly the broken section front view.

Figure 11 is the vertical view that assemblies of upper limb fork (4), after (34) the biplate hinge axis orifice plate on Figure 11 removes, is again the vertical view that assemblies of lower limb fork (9).

Figure 12 is the front view of upper limb connecting rod (7), lower limb connecting rod (12).

Figure 13 is the broken section vertical view of upper limb connecting rod (7), lower limb connecting rod (12).

Figure 14 is that upper limb turns the front view that crank (24), lower limb turn crank (16) greatly greatly.

Figure 15 is that upper limb turns the broken section vertical view that crank (24), lower limb turn crank (16) greatly greatly.

Figure 16 is the cutaway view of motorcycle rim brake brake cable outer tube 41, this figure illustrates that the internal structure of brake cable outer tube made by strip steel sheet twist up shape, have bending arbitrarily and neutral line length is constant, and under case of bending arbitrarily, all can allow brake cable (42) pass through smoothly.

Figure 17 is chain uranium, and the connecting rod and the view that turns little of the crank of crank in being connected greatly during hinge connects.

Figure 18 is the composition diagram of motorcycle brake cable, illustrates that the head of brake cable (42) has the cylinder (43) that connects firmly, but said brake cable (51) has only the cylinder (43) that brake cable (42) does not partly connect firmly in robot blade.

Figure 19 is the connection diagram of mechanical right upper limb, and mechanical left upper extremity just installed the left robot blade (6) that becomes right-hand man's symmetry congruent figures with right robot blade (20) on forearm hinge-rod (5) and form.

Figure 20 uses the simple assembling connection diagram of drawing the right robot blade palm of the hand face of back representative of right hand hand-held board (20) among Fig. 1, Fig. 2, the imaginary disconnection of middle finger spring picture is in order to show logical counterbore (57) shape among the figure.

Figure 21 be the right robot blade of drawing the back representative with right hand hand-held board (20) letter among Fig. 1 Fig. 2 prolong the A-A direction analyse and observe the assembling sketch map, clear in order to represent, only draw the connection situation of a middle finger open annular finger-stall, the open annular finger-stall that the third finger that all the other situations are identical and little mother refer to should be drawn and omit does not have picture.

Figure 22 uses the back of the hand face of the right robot blade of right hand hand-held board (20) letter picture back representative to assemble connection diagram among Fig. 1 Fig. 2, middle finger brake cable outer tube imagination disconnection picture is in order to show the through hole (48) on the ∪ shape fixed column card among the figure.

Figure 23 is the assembling connection diagram of left mechanical lower limb, metacarpus pedal (10) among this figure, what mark in Fig. 1 Fig. 3 is code name (13), what should state here is, metacarpus pedal (10) and metacarpus pedal (13) are the branches about identical nothing, but mechanical foot hold is only because of the branch of pallet stand about having, so branch of mechanical lower limb about just having, but be that drawing is clear among Fig. 1 Fig. 3, do not have the picture pallet stand again, so represent with code name (13).

Figure 24 is the sketch map of rehabilitation extremity motor function with second embodiment of the rotating shaft assembling connection of bilateral upper and lower extremities robot.

Figure 25 is the sketch map of rehabilitation extremity motor function with the 3rd embodiment of the rotating shaft assembling connection of bilateral upper and lower extremities robot.

Figure 26 is the front view of left mechanical foot hold support, and right mechanical foot hold support no longer repaints for it becomes symmetrical congruent figures.

Figure 27 is that left mechanical foot hold support prolongs the left view that the C-C direction is analysed and observe.

Figure 28 is composition assembling the prolonging B-B direction sectional plan view of mechanical pedal.

Figure 29 is the composition assembling plan view of mechanical pedal.

Figure 30 is the fixing front view of the flat board card used of make-up machinery pedal.

Figure 31 is the fixing left view of the flat board card used of make-up machinery pedal.

Figure 32 is the front view of the ∪ shape card (47) used of make-up machinery hand-held board.

Figure 33 is the left view of the ∪ shape card (47) used of make-up machinery hand-held board.

Figure 34 is the front view of two vertical two slotted hole compoboards (2) of upper limb.

Figure 35 is the left view of two vertical two slotted hole compoboards (2) of upper limb.

Figure 36 is the front view that the two slotted holes of left and right upper limb monolithic level connect firmly plate (1), (23).

Figure 37 is the left view that the two slotted holes of left and right upper limb monolithic level connect firmly plate (1), (23).

Figure 38 is the front view of two vertical two slotted hole compoboards (26) of lower limb.

Figure 39 is the left view of two vertical two slotted hole compoboards (26) of lower limb.

Figure 40 is the front view that the two slotted holes of left and right lower limb monolithic level connect firmly plate (25), (8).

Figure 41 is the left view that the two slotted holes of left and right lower limb monolithic level connect firmly plate (25), (8).

Figure 42 is the front view of ∪ shape semicircle locator card.

Figure 43 is the left view of ∪ shape shape semicircle locator card.The two slotted holes of 1. left upper extremity monolithic levels connect firmly plate among the figure, 2. vertical two slotted hole compoboards of two on upper limb, 3. the big arm hinge-rod of upper limb, 4. upper limb is put liver, 5. upper limb forearm hinge-rod, 6. the letter of left robot blade is drawn and represent left robot blade in Fig. 1 Fig. 2,7. upper limb connecting rod, 8. the two slotted holes of left lower extremity monolithic level connect firmly plate, 9. lower limb fork, 10. the metacarpus pedal is represented right mechanical foot hold in Fig. 1 Fig. 3,11. lower limb shank hinge-rod, 12. lower limb connecting rod, 13. metacarpus pedal and the metacarpus pedal 10 identical just left mechanical foot holds of representative in Fig. 1 Fig. 3,14. sprocket wheels or vee-pulley, 15. rotating shafts, 16. lower limb turn crank greatly, 17. chain or V-belt, duplicate sprocket on 18. motor shafts or duplex vee-pulley, 19. chains or V-belt, 20. the letter of right robot blade is drawn and left robot blade is that symmetrical congruent figures are represented right robot blade in Fig. 1 Fig. 2,21. sprocket wheel or vee-pulley, 22. rotating shafts, the two slotted holes of 23. left upper extremity monolithic levels connect firmly plate, 24. upper limb turns crank greatly, 25. the two slotted holes of right lower extremity monolithic level connect firmly plate, two vertical two slotted hole compoboards of 26. lower limb, 27. lower limb thigh hinge-rods, 28. buncher, 29. sprocket wheel on the motor shaft or vee-pulley, 30. outside cylinder screw threads, 31. nuts, 32. interior cylindrical thread, 33. monolithic bearing assembling orifice plate, 34. biplate hinge axis orifice plates, 35. shoulder holes, 36. have the short column body of shoulder hole, 37. the assembling of the monolithic bearing on fork orifice plate, 38. brake cable locating rings, the little axle of 39. cranks positioning spiro pit, 40. turning crank and rotating shaft greatly connects firmly with the hole that has keyway, 41. motorcycle rim brake brake cable outer tube, 42. motorcycle rim brake brake cables, the short cylinder that 43. brake cable heads connect firmly, 44. brake cable parallel branch plate, 45., there are the arc cuboid of 5 shoulder holes, 46. hand-held board the back of the hand ∪ of place shape bridge plates, 47. ∪ shape locator cards in generation, 48. the through hole on the ∪ shape locator card, 49. big female clinodactyly direction spring or rubber strip locating hole, 50. hold handle, and 51. with the brake cable or the brake cable succedaneum nylon cotton rope of short cylinder (43), 52. open annular finger-stall, 53. spring or rubber strip locating hole, 4 springs of 54.4 clinodactyly directions or rubber strip locating hole, 55. wrist supporting plates, 56. the belt locating hole on the wrist supporting plate, 57. the logical counterbore on the hand-held board, 58. finger tip through holes have the cylinder of shoulder hole on 59. hand-held boards, 60. instep belt locating hole, 61. the front and back position of foot is regulated belt locating hole, the riser on the 62. metacarpus pedals, 63. whole self-propelled automobile-used pedals, 64. connect firmly the semifixed position of the ∪ shape card on pallet stand, 65. be drilled with the spring or the rubber strip locating rod of through hole, 66. springs or rubber strip, 67. finger tip pedals, 68. bend towards the brake cable locating rod that the foot front portion has shoulder hole, 69. dormant bolt, 70. have the flat board card of 4 through holes, 71. bolts hole, 72. pin, 73. play the stay bolt of hinge effect, 74. bifurcation shapes swing limited location fork, 75. have the riser of toe belt locating hole, 76. the screwed hole of bicycle pedal shaft is installed, 77. the logical counterbore at metacarpus pedal middle part, 78. nuts, brake cable on the 79. finger tip pedals and spring or rubber strip locating hole, 80. ∪ shape semicircle locator card, 81. bolt hole, a plurality of location of 82. upper limb forks selecting hole, the big arm hinge-rod of 83. upper limb locating hole, 84. two vertical two slotted holes, 85. two two slotted holes of level, 86. lower limb thigh hinge-rod locating holes, a plurality of location of 87. lower limb forks selecting hole, 88. connect firmly duplicate sprocket or duplex vee-pulley in rotating shaft, the little axle of 89. chain rivets and crank.

The specific embodiment one, the rehabilitation extremity motor function with the specific embodiment of two upper limb robots is, omit on the frame of width position at shoulder-high ratio two shoulders, connecting firmly that the two slotted holes of left upper extremity monolithic level connect firmly plate (1) and right upper extremity monolithic level pair slotted holes connect firmly plate (23), vertical with two on two upper limb respectively two slotted hole compoboards (2) link together form about two mechanical upper limb, two vertical two slotted hole compoboards (2) of two upper limb and the two slotted holes of left upper extremity monolithic level connect firmly the installation that cooperates that plate (1) and right upper extremity monolithic level pair slotted holes connect firmly plate (23) about passing through respectively, and in vertical two slotted holes (84) and level pair slotted holes (85), penetrate bolt and connect firmly with bolt, two mechanical upper limb are fixedly mounted on the frame about making, connect firmly the two ends of the rotating shaft (22) on frame with bearings, respectively with about the crank (24) that turns greatly that links to each other on two mechanical upper limb connect firmly, connect firmly in the rotating shaft (22) sprocket wheel or a vee-pulley (21) are installed, sprocket wheel that connects firmly in the rotating shaft (22) or vee-pulley (21), by chain or V-belt (19), link to each other with the sprocket wheel or the vee-pulley (29) that connect firmly on the axle of buncher (28), it more than is exactly the drive connection that rehabilitation extremity motor function illustrated in fig. 2 is used two upper limb robots, more than the annexation of said mechanical upper limb can in Figure 19, further specify, all there is monolithic bearing assembling orifice plate (33) at two ends, the middle part is interconnected by the interior cylindrical thread of outside cylinder screw thread (30) (32), the big arm hinge-rod of upper limb (3) with standby nut (31) locking positioning composition, after the monolithic bearing at two ends assembles the rolling bearing of all packing in the orifice plate (33), one end is inserted into the centre of two vertical two slotted hole compoboards (2) of upper limb, aiming at big arm hinge-rod locating hole (83) links to each other with chain rivet (89), all there is the monolithic bearing assembling orifice plate (37) that becomes broken line with the fork axis at two ends, the front portion is interconnected by the interior cylindrical thread of outside cylinder screw thread (30) (32), with standby nut (31) locking positioning, the fork middle part becomes certain flexibility or broken line shape, the upper limb fork (4) that the middle part also has a brake cable locating ring (38) and a biplate hinge axis orifice plate (34) to form, upper limb fork (4) two ends become the rolling bearing of all packing in the monolithic bearing assembling orifice plate (37) of broken line with the fork axis after, one end is inserted into the centre of two vertical two slotted hole compoboards (2) of upper limb, aim at upper limb fork locating hole (82), link to each other with chain rivet (89), all there is biplate hinge axis orifice plate (34) at the two ends of upper limb forearm hinge-rod (5), and an end has shoulder hole (35), the middle part has the cylinder (36) of a shoulder hole to form, the other end of the big arm hinge-rod of upper limb (3) links to each other with chain uranium (89) in the middle of having adorned the biplate hinge axis orifice plate (34) that shoulder hole (35) one ends are arranged that monolithic bearing assembling orifice plate (33) behind the rolling bearing is inserted into upper limb forearm hinge-rod (5), and the other end of upper limb fork (4) and axis link to each other with chain rivet (89) in the middle of becoming the other end biplate hinge axis orifice plate (34) that is inserted into upper limb forearm hinge-rod (5) behind the rolling bearing of packing in the bearing assembling orifice plate (37) of broken line, and the two ends of upper limb connecting rod (7) all have the monolithic bearing to assemble orifice plate (33), an end was inserted in the biplate hinge axis orifice plate (34) at upper limb fork (4) middle part after the monolithic bearing at upper limb connecting rod (7) two ends assembled the rolling bearing of all packing in the orifice plate (33), link to each other with chain rivet (89), after penetrating the little axle of crank in the endoporus of the rolling bearing in the other end monolithic bearing assembling orifice plate (33) and being chain rivet (89), matching with external screw thread on the little axle of crank (89) and little positioning spiro pit of crank (39) on turning crank (24) greatly is connected, the other end that turns crank (24) greatly has the axis hole (40) that has keyway to connect firmly with rotating shaft (22) by turning the axis hole (40) that keyway is arranged on the crank greatly, motorcycle rim brake brake cable outer tube (41) one ends are inserted in the shoulder hole (35) of upper limb forearm hinge-rod (5), and the other end is inserted in the shoulder hole of the cylinder that shoulder hole is arranged (36) that connects firmly on the upper limb forearm hinge-rod (5), and the short cylinder (43) that utilizes the brake cable head to connect firmly after passing the brake cable locating ring (38) of a motorcycle rim brake brake cable (42) from upper limb fork (4) is located in brake cable locating ring (38), after brake cable (42) location back penetrates from the shoulder hole (35) of upper limb forearm hinge-rod (5) and wears out from the shoulder hole of short column body (36) that shoulder hole is arranged through the endoporus of brake cable outer tube (41), reserving a segment distance is connected on the brake cable parallel branch plate (44), at Figure 20 with bolt, Figure 21, Figure 22 invading the exterior understand right robot blade (20) with ∪ shape supporting plate locator card (47) add the fastening method of dormant bolt (69) be fixedly mounted on the upper limb forearm hinge-rod (5) should be on the position by rehabilitation patient staff, robot blade is to be made of the palm of the hand face of hand-held board and the back of the hand face, robot blade is that 5 fourchettes are opened the face profile shape after stretching out, branch about robot blade has and right-hand man's supporting plate be configured to symmetric congruent figures, the left mechanical upper limb that is of left robot blade (6) has been installed, the right mechanical upper limb that is of right robot blade (20) has been installed, present embodiment only illustrates the structure of right robot blade (20), because of left robot blade (6) and right robot blade (20) for symmetrical congruent figures so no longer repeat, the finger tip part of right robot blade (20) is drilled with 5 through holes (58) respectively, centre of the palm part is drilled with to penetrate in 4 logical counterbores (57) 4 logical heavy (57) to pass in the through hole (48) of 4 dormant bolts (69) from the U-shaped supporting plate card (47) of the back of the hand face and screws on nut and robot blade (20) can be contained on the optional position of forearm hinge-rod (5), hold handle (50) on the palm of the hand face of robot blade, wrist supporting plate (55), hold big female clinodactyly direction spring or rubber strip locating hole (49) are arranged on the handle (50), there are two wrist belt locating holes (56) wrist supporting plate (55) front portion, there are 44 clinodactyly direction springs or rubber strip locating hole (54) in the rear portion of wrist supporting plate (55), is all connecting firmly the cylinder (59) of shoulder hole on robot blade (20) 5 finger tip through holes of the back of the hand face (58), is connecting firmly a ∪ shape bridge (46) near the wrist place, connecting firmly an arc cuboid (45) that is drilled with 5 shoulder holes on the ∪ shape bridge (46), one end of 5 motorcycle rim brake brake cable outer tubes (41), being inserted into 5 finger tips respectively has in the shoulder hole of cylinder (59) of shoulder hole, and the other end is inserted into respectively in 5 shoulder holes of the arc cuboid (45) that is drilled with 5 shoulder holes, 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of brake cable succedaneum (51) penetrate in 5 shoulder holes from the arc rectangle (45) that is drilled with 5 shoulder holes respectively, by the endoporus of 5 motorcycle brake cable outer tubes (41) and the shoulder hole on 5 cylinders of finger tip (59), after from 5 finger tip through holes (58) of robot blade (20), coming out, link to each other with 5 open annular finger-stalls (52) respectively, 5 open annular finger-stalls (52) link to each other with 5 springs or rubber strip (53) respectively again, the spring on the open annular finger-stall (52) on referring to for 44 or the other end of rubber strip (53) are fixed on respectively in 4 the 4 clinodactyly direction springs or rubber strip locating hole (54) on the wrist supporting plate (55), and the spring on the open annular finger-stall (52) that 1 big mother refers to or the other end of rubber strip (53) are fixed in the big female clinodactyly direction spring of holding on the handle (50) or rubber strip locating hole (49), the other end of 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of brake cable succedaneum (51), be connected in bolt respectively simultaneously on the brake cable parallel branch plate (44) after a segment distance is reserved in the outside that is drilled with the arc cuboid (45) of 5 shoulder holes at the back of the hand face place, go up to be installed in parallel simultaneously to form simultaneously at brake cable parallel branch plate (44) by the brake cable on the brake cable (42) that comes and 5 robot blade or 5 nylon cotton ropes of brake cable succedaneum (51) from fork (4) and move this moment.Annexation among Fig. 2 shows, the extreme lower position of machinery upper limb swing is the position of left robot blade (6), the peak position is the position of right robot blade (20), the machinery upper limb can only be under the drive of turning crank (24) greatly, drive will the rotatablely move reciprocally swinging that changes mechanical upper limb into and can only reciprocally swinging operation between peak and peak of upper limb fork (4) by connecting rod (7), when turning crank (24) greatly when driving mechanical upper limb and being rocked to lowest point, big arm hinge-rod (3) and forearm hinge-rod (5) are approximate in line, and the distance of the shoulder hole (35) on brake cable locating ring (38) on the upper limb fork (4) and the forearm hinge-rod (5) is maximum, when turning crank (24) greatly when driving mechanical upper limb and swinging to peak, the broken line flexibility of big arm hinge-rod (3) and forearm hinge-rod (5) is minimum for the distance of the shoulder hole (35) on brake cable locating ring (38) on the maximum upper limb fork (4) and the upper limb forearm hinge-rod (5), pass through Figure 19, Figure 20, Figure 21, Figure 22 has illustrated that clearly upper limb fork (4) goes up 5 brake cables on brake cable (42) and the robot blade (20) in the brake cable locating ring (38) or brake cable succedaneum nylon cotton rope (51) and connect firmly simultaneously to go up at brake cable parallel branch plate (44) and form action simultaneously, and link to each other with 5 open annular finger-stalls (52) respectively on 5 brake cables or the 5 nylon cotton ropes of brake cable succedaneum (51), in succession again on 5 open annular finger-stalls (52) 5 springs or rubber strip (53), and the other end of 5 springs or rubber strip (53) is separately fixed in hole (49) and (54), and forms the conduction pathway of a similar nerve! After being referred to stretch into the robot blade (20) in the air from the bottom of holding handle (50) by the patient's of rehabilitation 4, refer to extend into respectively in 5 open annular finger-stalls (52) with 5, the staff wrist portion is held by wrist supporting plate (55) and has been tied up to locating hole (56) one sides by the belt in the wrist belt locating hole (56) on the wrist supporting plate (55), when robot blade during in the extreme higher position 5 springs or rubber strip (53) the shortest, 5 open annular finger-stalls (52) drive the staff the five fingers and form the state of partly clenching fist, drive mechanical upper limb when peak moves gradually downwards when turning crank (24) greatly, the distance of the shoulder hole (35) on brake cable locating ring (38) on the upper limb fork (4) and the upper limb forearm hinge-rod (5) strengthens gradually, big arm hinge-rod (3) and forearm hinge-rod (5) all drive by rehabilitation patient's trouble limb also to lower swing simultaneously to the lower swing operation, but the speed of swing is different, the speed of big arm hinge-rod (3) swing is slower than the slew rate degree of forearm hinge-rod (5), so the angle in swing arm downwards between big arm hinge-rod (3) and the forearm hinge-rod (5) strengthens gradually, finally reach about 180 °, approximate straight line, also driven by rehabilitation patient's trouble limb this moment and be approximated to a straight line to lower swing, brake cable in this process (42) promptly spurs 5 open annular finger-stalls (52) motion simultaneously in pulling brake cable parallel branch plate (44) motion all the time, when big forearm hinge-rod is similar in line, turning crank (24) greatly touches the bottom, upper limb fork this moment (4) is gone up the brake cable (42) that connects firmly in the brake cable locating ring (38) and also 5 open annular finger-stalls (52) pulling is leaned against on the palm of the hand face of robot blade (20), because people's wrist is positioned at locating hole (56) one sides by the belt in the wrist belt locating hole (56) on the wrist supporting plate (55), so just there is a space on the plane of the back side of people's wrist and robot blade (20), and 5 open annular finger-stalls (52) are all drawn on the plane that leans against robot blade (20), the wrist joint that is to say staff also is pulled to the back of the hand place has swung a little angle, when robot blade (20) is returned when swing to peak again from minimum point, brake cable (42) Hui Song because the brake cable locating ring (38) on the upper limb fork (4) and the distance of the shoulder hole (35) on the forearm hinge-rod (5) diminish gradually, so parallel branch plate (44) is gone up the spring or the rubber strip (53) that connect by open annular finger-stall (52) again and has been drawn, 5 open annular finger-stalls (52) pulling 5 is pointed to separately should crooked direction move, and the human wrist joint also swings to holding handle (50) direction, when 5 open annular finger-stalls (52) drive 5 clinodactylys, 5 refer to root portion, and at first the bending change amount is big and finger tip place bending change amount is little, refer to that root portion runs into when holding handle (50) when 5,5 refer to that root portion is blocked can not move to bending direction again, so the finger tip part joints that refer to this moment 5 begin to continue by stretch bending, finally make 5 to refer to be formed the state of partly clenching fist by 5 open annular finger-stalls (52) pulling, as long as mechanical upper limb reciprocally swinging exists, robot blade (20), (6) each joint of wrist and finger that drives staff all oscillating traverse motion just exist, the length of big arm hinge-rod (3) should be regulated all the time in the mechanical upper limb with by the equal in length of rehabilitation patient's big arm shoulder joint to elbow joint, promptly earlier big arm hinge-rod (3) is unloaded down from two vertical two slotted hole compoboards (2) of upper limb, unclamp standby locking nut (31) and external screw thread (30) is screwed out promptly transfer long the screw-in promptly to transfer shortly, and then adjust the flatness of two ends monolithic bearing assembling orifice plates (33), lock at last and bigger arm hinge-rod (3) is installed in two vertical two slotted hole compoboard (2) intermediate alignment upper limb big arm hinge locating holes (83) of upper limb behind standby nut (31) location and links to each other with chain rivet (89), the length adjustment method of upper limb fork (4) is identical with the control method of the big arm hinge-rod of upper limb (3), but the length adjustment of upper limb fork (4) at first will be carried out with the synchronous direct proportion of length adjustment of the big arm hinge-rod of upper limb (3), and upper limb fork (4) two ends and axis become the centre distance in two holes of the monolithic bearing pilot hole (37) of broken line to be adjusted to all the time to pack in the monolithic bearing assembling orifice plate (37) of the last end of upper limb fork (4) in the end biplate hinge axis orifice plate (34) that is inserted into upper limb forearm hinge-rod (5) behind the rolling bearing with the link to each other hinge point of formation of chain rivet (89), when this hinge point operates in anthropomorphic dummy's swing arm, this radius of putting due positive arc track is long, and the center in the locating hinge hole (82) of upper limb fork (4) just, the center of circle of this positive arc track because this positive circular arc can change with the adjusting of big arm hinge-rod (3), also can change because of the difference in swing arm interval, so the center of circle of this positive circular arc also can become, select for use so there is the locating hinge centre bore (82) of a plurality of upper limb forks (4) can keep supplying when the center of circle, limb fork (4) location changes on the vertical two slotted hole compoboards (2) of two on upper limb, the length adjustment of upper limb forearm hinge-rod also must with by rehabilitation patient's forearm equal in length, patient's elbow joint to the length amount at middle finger finger tip place good after, after the nut on the bolt (69) on the ∪ shape locator card (47) on the left robot blade of right robot blade (20) (6) that forearm hinge (5) is upward installed unclamps, regulate robot blade in (20) (6) behind the position on the upper limb forearm hinge-rod (5) again fastening nut can realize that also should regulate the length between brake cable (42) and lock parallel branch plate (44) this moment simultaneously, promptly unclamp nut on the brake cable parallel branch plate (44) and regulate to tighten again after the length and get final product, after length adjustment is good, patient's two shoulder joint by rehabilitation are concordant with the big arm hinge of upper limb locating hole (83), and at this moment can allow the patient select is the station, sit, which kind of posture of lying, choose posture after, both arms are placed on robot blade (20), (6) on the wrist supporting plate (55) on, fasten with the belt on the belt locating hole (56), after 4 fingers of staff extended through in the air from the bottom of holding handle (50), the staff the five fingers extend into respectively in 5 open annular finger-stalls (52), can start buncher (28) slowly operation under minimum speed this moment, the rotating speed of buncher (28) can be regulated between per minute 0 to 30 changes, and passes through sprocket wheel or vee-pulley (29) after buncher (28) rotates, (21) and the rotation of V-belt (19), rotating shaft (22) is rotated, thereby about two upper limb turn crank (24) greatly and rotate, because the reciprocally swinging of two mechanical upper limb about having two left and right sides upper limb connecting rods (7) will rotatablely move again to change into is as long as this reciprocally swinging is continuing the big arm hinge-rod of upper limb (3) that upper limb fork (4) is determined, the big forearm that upper limb forearm hinge-rod (5) can drive the people comes anthropomorphic dummy's upper limb back and forth just back and forth carrying out according to people's the swing arm rule and the swing of running orbit motion, while robot blade (20), (6) drive staff and refer to stretching of each joint and grasping movement from carpal joint to 5, wrist wave motion all in back and forth carrying out synchronously, this moment by rehabilitation patient's trouble limb be thirst for very much by oneself by the track of normal person's motion and regular movement, this moment upper limb each joint, every skeleton, every muscle, every muscle key, every nerve all is driven move the same with the normal person! Coming the purpose of rehabilitation extremity motor function with robot has been the problem of an exercise time! This moment, I was achieved at the purpose of invention.Two, the rehabilitation extremity motor function with the specific embodiment of single upper limb robot is, use the specific embodiment of two upper limb robots that the i.e. difference of a mechanical upper limb and two mechanical upper limb is just arranged quantitatively with the rehabilitation extremity motor function, promptly about the two upper limb robots of rehabilitation extremity motor function have been installed in the structure of two mechanical upper limb, be artificial or a left side or the right side disassemble a mechanical upper limb, only keep a mechanical upper limb, what link to each other on the machinery upper limb turns the end that crank (24) is connected in rotating shaft (22) greatly, all the other are all identical with the specific embodiment of two upper limb robots with the rehabilitation extremity motor function, no longer repeat.Three, rehabilitation support body motor function with the specific embodiment of two lower limb robots is, omiting on the frame of width position with the height ratio hip with hip joint, connecting firmly that the two slotted holes of left lower extremity monolithic level connect firmly plate (8) and right lower extremity monolithic level pair slotted holes connect firmly plate (25), vertical with two in two lower limb respectively two slotted hole compoboards (26) link together form about two mechanical lower limb, two vertical two slotted hole compoboards (26) of two lower limb and the two slotted holes of left lower extremity monolithic level connect firmly the installation that cooperates that plate (8) and right lower extremity monolithic level pair slotted holes connect firmly plate (25) about passing through respectively, and in vertical two slotted holes (84) and level pair slotted holes (85), penetrate the bolt fastening nut and make it to connect firmly, two mechanical lower limb are fixedly mounted on the frame about making, connect firmly the two ends of the rotating shaft (15) on frame with bearings, respectively with about the crank (16) that turns greatly that links to each other on two mechanical lower limb connect firmly, connect firmly in the rotating shaft (15) sprocket wheel or a vee-pulley (14) are installed, sprocket wheel that connects firmly in the rotating shaft (15) or vee-pulley (14), the sprocket wheel or the vee-pulley (29) that connect firmly on the axle by chain or V-belt (17) and buncher (28) link to each other, it more than is exactly the drive connection that rehabilitation extremity motor function illustrated in fig. 3 is used two lower limb robots, more than the annexation of said mechanical lower limb can in Figure 23, further specify, all there is monolithic bearing assembling orifice plate (33) at two ends, the middle part is interconnected by the interior cylindrical thread of outside cylinder screw thread (30) (32), lower limb thigh hinge-rod (27) with standby nut (31) locking positioning composition, after the monolithic bearing at two ends assembles the rolling bearing of all packing in the orifice plate (33), one end is inserted in the middle of two vertical two slotted hole compoboards (26) of lower limb, aiming at thigh hinge-rod locating hole (86) links to each other with chain rivet (89), all there is the monolithic bearing assembling orifice plate (37) that becomes broken line with the fork axis at two ends, anterior by outside cylinder screw thread (30), interior cylindrical thread (32) interconnects, with standby nut (31) locking positioning, the fork middle part is shaped on into certain flexibility or broken line shape, the lower limb fork (9) that the middle part also has a brake cable locating ring (38) to form, after all adorning rolling bearing in the monolithic bearing assembling orifice plate (37) that becomes broken line with axis at lower limb fork (9) two ends, one end is inserted in the middle of two vertical two slotted hole compoboards (26) of lower limb, aims at lower limb fork locating holes (87) and links to each other with chain rivet (89), and all there is biplate hinge axis orifice plate (34) at lower limb shank hinge-rod (11) two ends, one end has shoulder hole (35) middle part to also have a biplate hinge axis orifice plate (34) to form, the monolithic bearing assembling orifice plate (33) that the other end of lower limb thigh hinge-rod (27) has been adorned rolling bearing links to each other with chain rivet (89) in the middle of being inserted into the biplate hinge axis orifice plate (34) that shoulder hole (35) one ends are arranged of lower limb shank hinge-rod (11), and the other end of lower limb fork (9) and fork axis link to each other with chain rivet (89) in the middle of becoming the other end biplate hinge axis orifice plate (34) that is inserted into lower limb shank hinge-rod (11) behind the rolling bearing of packing in the bearing assembling orifice plate (37) of broken line, and the two ends of lower limb connecting rod (12) all have the monolithic bearing to assemble orifice plate (33), after the monolithic bearing at lower limb connecting rod (12) two ends assembles the rolling bearing of all packing in the orifice plate (33), one end links to each other with chain rivet (89) in the middle of being inserted into the biplate hinge axis orifice plate (34) at lower limb shank hinge-rod (11) middle part, after penetrating the little axle of crank in the rolling bearing rear rolling bearing endoporus of packing in the other end monolithic bearing assembling orifice plate (33) and being chain rivet (89), turns little positioning spiro pit of crank (39) on the crank (16) greatly with external screw thread on the little axle of crank (89) and lower limb and matches and be connected, the other end that turns crank (16) greatly has the axis hole (40) that has keyway to connect firmly by the end of turning the axis hole that has keyway (40) and rotating shaft (15) on the crank (16) greatly, the machinery foot hold is made up of pallet stand and pedal two parts, the branch about pallet stand has, and pallet stand its shape in the left and right sides is configured to symmetric congruent figures, the mechanical foot hold of left side pallet stand is contained in just forms left mechanical lower limb on the lower limb shank hinge-rod (11), the mechanical foot hold of right pallet stand is contained in just forms right mechanical lower limb on the shank hinge-rod (11), pallet stand has bicycle pedal shaft internal thread hole (76) by the middle part, connects firmly in the bicycle pedal shaft internal thread hole (76) the whole pedal (63) of a bicycle is installed, top has one to bend towards the forward motorcycle rim brake brake cable outer tube locating rod (68) that has shoulder hole of foot, the spring or the rubber strip locating rod (65) that are drilled with through hole are arranged at the bottom, and postmedian is connecting firmly a U-shaped semicircle locator card (64) and constituting, and 4 bolts hole (71) are arranged on the U-shaped semicircle locator card (64), U-shaped semicircle locator card (64) has the U-shaped semicircle locator card (80) of 4 bolts hole (81) to match with another one, lower limb shank hinge-rod (11) is clipped in the middle of U-shaped semicircle locator card (64) and the U-shaped semicircle locator card (80), in 4 bolts hole (81) on 4 bolts hole (71) on the U-shaped semicircle locator card (64) and the U-shaped semicircle locator card (80), correspondence penetrate 4 bolts screw can make behind the nut mechanical foot hold be fixedly mounted on lower limb shank hinge-rod (11) go up corresponding by rehabilitation patient people foot should the position on, pedal is linked together with hinge axis (73) by finger tip pedal (67) metacarpus pedal (10) two parts and forms, the front part sides of metacarpus pedal (10) has two bifurcation shape swing limited location forks (74) that stretch to the finger tip pedal, there are 4 logical counterbores (77) at the middle part of metacarpus pedal (10), penetrate 4 dormant bolts (69) in these 4 logical counterbores (77), pass 4 through holes from flat board card (70), the whole pedal of the bicycle of installing in the pallet stand middle part bicycle pedal positioning spiro pit (76) is clipped in the middle of the peaceful integrated circuit board of metacarpus pedal (10) (70), after the nut on the dormant bolt (69) screws, just pallet stand and pedal fixedly are assembled together and form mechanical foot hold, two respectively have riser (62) about the rear portion of metacarpus pedal (10), and the aspect ratio people's of riser (62) ankle joint is slightly high, about all have the front and back position of foot to regulate belt locating hole (61) and instep belt locating hole (60) on two risers (62), finger tip pedal (67) front part sides has the pin (72) that stretches in the bifurcation shape limited location fork (74), the front portion that has two risers (75) finger tip pedals (67) of toe belt locating hole in addition also has brake cable and spring or rubber strip positioning through hole (79), screws the end that nut makes spring or rubber strip (66) with bolt in the forward brake cable of finger tip pedal (67) and spring or the rubber strip locating hole (79) and is fixed in the spring or rubber strip locating hole (79) of finger tip pedal (67), and the other end of spring or rubber strip (66) also screws in the through hole that the method for pushing down behind the nut makes it to be connected in the spring that is drilled with through hole or rubber strip locating rod (65) with bolt, one end of a motorcycle rim brake brake cable outer tube (41) is inserted in the shoulder hole (35) of lower limb shank hinge-rod (11), the other end is inserted into pallet stand top and bends towards in the shoulder hole of the forward motorcycle rim brake brake cable outer tube locating rod (68) that has a shoulder hole of foot, penetrates the brake cable (42) that a radicle is connecting firmly short cylinder (43) in the brake cable locating ring (38) at lower limb fork (9) middle part, and brake cable (42) is stuck in by the short cylinder (43) of brake cable end and makes it the location in the brake cable locating ring (38), penetrate the shoulder hole (35) of back, brake cable (42) location from lower limb shank hinge-rod (11), behind the endoporus through motorcycle brake cable outer tube (41), from bend towards the shoulder hole of brake cable outer tube locating rod (68) that the foot front portion has shoulder hole, wear out reserve a segment distance after, with adding the method that nut compresses on the bolt other end of brake cable (42) is connected in the forward brake cable of finger tip pedal (67) and spring or the rubber strip locating hole (79).Its working motion principle is as follows: rule when at first lower limb fork (9) can be determined lower limb thigh hinge-rod (27) and lower limb shank hinge-rod (11) by anthropomorphic dummy's swinging kick and track operation, from Fig. 3 and Figure 23, be that peak is when being the position of right mechanical lower limb among Fig. 3 when mechanical lower limb run to as can be seen, lower limb thigh hinge-rod (27) shank hinge-rod (11) lifts and is similar in line, the distance of the shoulder hole (35) on brake cable locating ring (38) on the lower limb fork (9) and the lower limb shank hinge-rod (11) is maximum, when mechanical lower limb run to minimum point and are the position of left mechanical lower limb among Fig. 3, lower limb thigh hinge-rod (27) and shank hinge-rod (11) broken line angle minimum, the distance of the shoulder hole (35) on brake cable locating ring (38) on the lower limb fork (9) and the shank hinge-rod (11) is minimum, the machinery lower limb are in the process of reciprocally swinging, brake cable locating ring (38) on the lower limb fork (9) and the distance between the shoulder hole (35) on the lower limb shank hinge-rod (11) are also changed to gradually by maximum and minimum turn back to maximum reciprocally swinging with mechanical lower limb by minimum again and changing synchronously, when distance for hour spring or rubber strip (66) for the shortest, finger tip pedal this moment (67) will be drawn to spring that is drilled with through hole or the swing of rubber strip locating rod (65) direction by spring or rubber strip (66) and be maximum angle, the bottom that pin (72) on the finger tip pedal (67) is also pushed down bifurcation shape swing limited location fork (74) makes metacarpus supporting plate (10) drive bicycle pedal (63) also to spring that is drilled with through hole or rubber strip locating rod (65) direction swing maximum angle, when lower limb fork (9) and mechanical lower limb are upwards swung, when brake cable locating ring (38) on the fork (9) and the distance between the shoulder hole (35) on the shank hinge-rod (11) become big gradually, brake cable (42) at first spurs finger tip pedal (67) to the direction swing that deviates from the spring that is drilled with through hole or rubber strip locating rod (65), at first the pin (72) on the finger tip pedal (67) leaves the bottom fork arm of bifurcation shape swing limited location fork (74), finger tip pedal (67) is swung around hinge axis (73), when the pin (72) on the finger tip pedal (67) bumps at the top of bifurcation shape swing limited location fork (74) fork arm, metacarpus pedal (10) also will be simultaneously also swung to the shoulder hole direction that the direction of finger tip pedal (67) swing promptly bends towards on the brake cable locating rod (68) that the foot front portion has shoulder hole simultaneously around the turning cylinder of bicycle pedal (63), when lower limb fork (9) machinery foot hold swing termination when being rocked to peak, but along with fork (9) again when minimum point is returned, the machinery foot hold begins to swing round about again under the pulling of spring or rubber strip (66), at first be that finger tip pedal (67) is swung around hinge axis (73) by spring or rubber strip (66) pulling, when the pin (72) on the finger tip pedal (67) is run into the bottom fork arm of bifurcation shape limited location fork (74), the pivot center that metacarpus pedal (10) is also driven simultaneously around the whole pedal of bicycle (63) is swung with finger tip pedal (67) synchronously to spring or rubber strip locating rod (65) direction, repeats above variation after swinging to maximum angle again.By rehabilitation patient hip joint to kneed length should with the equal in length of thigh hinge-rod (27), machinery lower limb thigh hinge-rods (27), grow tall control method and the rehabilitation extremity motor function of lower limb fork no longer repeat with the control method of big arm hinge-rod (3) described in two upper limb robots and upper limb fork (4) is identical, but the length adjustment of lower limb fork (9) at first will be carried out with the synchronous direct proportion of length adjustment of lower limb thigh hinge-rod (27), and lower limb fork (9) two ends and axis become that the centre distance in two holes of the monolithic bearing assembling orifice plate (37) of broken line is adjusted to the last end of lower limb fork (9) all the time with an end biplate hinge axis orifice plate (34) that is inserted into lower limb shank hinge-rod (11) after axis becomes the rolling bearing of packing in the monolithic bearing assembling orifice plate (37) of broken line in the link to each other hinge point of formation of chain rivet (89), when this hinge point operates in anthropomorphic dummy's swinging kick, this radius of putting due positive arc track is long, and the center in the locating hinge hole (87) of lower limb fork (9) just, the center of circle of this positive arc track, because this positive circular arc can change with the adjusting of thigh hinge-rod (27), also can change because of the difference in swinging kick interval, so the center of circle of this positive circular arc also can become, so select for use when having the locating hinge centre bore (87) of a plurality of lower limb forks (9) to change on two vertical two slotted hole compoboards (26) of lower limb for the center of circle, lower limb fork (9) location, rehabilitation patient knee joint to the length of sole should equate with center, hole to the distance of pedal (10) on bicycle pedal (63) that lower limb shank hinge-rod (11) has a biplate hinge axis orifice plate (34) of shoulder hole (35) one ends, control method is behind the nut on 4 dormant bolts (69) that unclamp on the ∪ shape semicircle locator card (64), adjusting the nut of tightening again again on the dormant bolt (69) behind the position of string motivation tool foot hold gets final product, and brake cable (42) needn't move, because this moment just the flexibility of brake cable outer tube (41) become big or diminish and with, when each minister's degree regulate with by rehabilitation patient's limbs length when identical, by riding on the pedal of forming by metacarpus sole (10) and finger tip pedal (67) of rehabilitation patient, with the belt in the adjusting belt locating hole of the foot front and back position on the riser (62) of metacarpus pedal (10) both sides, rear portion (61), regulate the front and back position of patient's foot on metacarpus pedal (10) and finger tip pedal (67), make by 5 of the patient's of rehabilitation foot and refer to just step on finger tip pedal (67), 5 refer to that root just steps on hinge axis (73) position of finger tip pedal (67), fasten the instep location belt that is fixed in the instep belt locating hole (60) then, fasten the toe location belt that has in the toe belt locating hole (75) again and can start buncher (28) slowly operation under low speed, when buncher (28) passes through sprocket wheel or vee-pulley (29), when chain or V-belt (17) drive sprocket wheel or vee-pulley (14) rotation, rotating shaft (15) is rotated synchronously, the crank (16) that turns greatly that rotating shaft (15) two ends connect firmly also rotates synchronously, turning crank (16) greatly will rotatablely move by connecting rod (12) and change the reciprocally swinging of mechanical lower limb into, people's sole also will be along with the swing of metacarpus pedal (10) is carried out synchronously, 5 toes of people will be swung along with the swing of finger tip pedal (67) synchronously, greatly, the swing of shank also will with thigh hinge-rod (27), the swaying movement regularity and the track of shank hinge-rod (11) are swung synchronously, promptly this robot has each joint of lower limb that can drive the people, every muscle, every skeleton, every muscle key, the action movement that all self brain is not arranged doing that patient self thirsts for very much to every nerve still, coming the purpose of rehabilitation extremity motor function with robot has been the problem of an exercise time, and so far the purpose of design of two lower limb robots is all finished.Four, the rehabilitation extremity motor function is with the specific embodiment of single lower limb robot, be to use the specific embodiment of two lower limb robots that the i.e. difference of mechanical lower limb and two mechanical lower limb is just arranged quantitatively with the rehabilitation extremity motor function, promptly about the rehabilitation extremity motor function has been installed with two lower limb robots in the structure of two mechanical lower limb, be artificial or a left side or the right side disassemble mechanical lower limb, only keep mechanical lower limb, the crank (16) that turns greatly that links to each other on the machinery lower limb connects firmly a end in rotating shaft (15), all the other are all identical with two lower limb robots specific embodiment with the rehabilitation extremity motor function, no longer repeat.Five, rehabilitation extremity motor function bilateral upper and lower extremities robot, Fig. 1 is the specific embodiment of rehabilitation extremity motor function with first embodiment of bilateral upper and lower extremities robot, be connecting firmly on the slightly wide frame of shoulder-high ratio two shoulders the two slotted holes of left upper extremity monolithic level connect firmly plate (1) and the two slotted holes of right upper extremity monolithic level connect firmly plate (23) respectively with two vertical pair of slotted hole compoboards (2) of two upper limb connect to form about two mechanical upper limb, two vertical two slotted hole compoboards (2) of two upper limb and the two slotted holes of left upper extremity monolithic level connect firmly the installation that cooperates that plate (1) and right upper extremity monolithic level pair slotted holes connect firmly plate (23) about passing through respectively, connect firmly with bolt, two mechanical upper limb are fixedly mounted on the frame about making, high together with hip joint, omit than hip joint on the frame of width position, connecting firmly that the two slotted holes of left lower extremity monolithic level connect firmly plate (8) and right lower extremity monolithic level pair slotted holes connect firmly plate (25), vertical with two in two lower limb respectively two slotted hole compoboards (26) connect together form about two mechanical lower limb, two vertical two slotted hole compoboards (26) of two lower limb and the two slotted holes of left lower extremity monolithic level connect firmly the installation that cooperates that plate (8) and right lower extremity monolithic level pair slotted holes connect firmly plate (25) about passing through respectively, and in vertical two slotted holes (84) and the two slotted holes (85) of level, penetrate bolt, connect firmly with bolt, two mechanical lower limb are fixedly mounted on the frame about making, connecting firmly with bearings has two rotating shafts (22) and (15) on frame, connecting firmly sprocket wheel or vee-pulley (21) in the rotating shaft (22), connecting firmly sprocket wheel or vee-pulley (14) in the rotating shaft (15), the two ends of rotating shaft (22) respectively with two mechanical upper limb on the crank (24) that turns greatly that links to each other connect firmly, the two ends of rotating shaft (15) respectively with two mechanical lower limb on the crank (16) that turns greatly that links to each other connect firmly, a fixed installation buncher (28) on the frame in the centre position of two rotating shafts (22) and (15), connecting firmly a duplicate sprocket or duplex vee-pulley (18) on the axle of buncher (28), duplicate sprocket on the motor shaft or duplex vee-pulley (18) are respectively by chain or V-belt (19), (17) with rotating shaft (22), (15) sprocket wheel on or vee-pulley (21) link to each other with (14), promptly constitute the rehabilitation extremity motor function and go into bilateral upper and lower extremities machine this moment, be the complete robots of extremity, the embodiment operation principle of mechanical upper limb and rehabilitation extremity motor function are identical with the specific embodiment and the operation principle of two upper limb robots in the specific embodiment in the present embodiment, no longer repeat, the adjusting of the adjusting of distance between mechanical upper limb and mechanical lower limb and upper-lower position should be arranged to adapt to the demand of the different fat or thin people's rehabilitations of health differing heights in the specific embodiment of bilateral upper and lower extremities robot at the rehabilitation extremity motor function, its control method is, utilize the two slotted holes of upper and lower extremities monolithic level to connect firmly the vertical two slotted hole compoboards (2) of plate (1) (23) (25) (8) with the upper and lower extremities biplate, when connecting with bolt in two slotted holes (26), the characteristic that the moving leeway of string is arranged, unclamp nut regulate the position again clamp nut realize, and the embodiment of mechanical lower limb and operation principle and rehabilitation extremity motor function are identical with the specific embodiment and the operation principle of two lower limb robots in the specific embodiment of present embodiment, no longer repeat.Six, the rehabilitation extremity motor function specific embodiment of second embodiment of bilateral upper and lower extremities robot, Figure 24 is the rehabilitation extremity motor function with the specific embodiment of second embodiment of bilateral upper and lower extremities robot and the difference of first embodiment, in Figure 24, show with bearings and connect firmly two rotating shafts (22) and (15) on frame, connecting firmly a duplicate sprocket or duplex vee-pulley (88) in the rotating shaft (22), connecting firmly sprocket wheel or vee-pulley (14) in the rotating shaft (15), buncher (28) is fixedly mounted on the left side frame of rotating shaft (22), connecting firmly a sprocket wheel or vee-pulley (29) on the axle of buncher (28), duplicate sprocket in the rotating shaft (22) or duplex vee-pulley (88) are respectively by chain or V-belt (19), (17) with buncher (28) axle on sprocket wheel or vee-pulley (29) link to each other with sprocket wheel or vee-pulley (14) in the rotating shaft (15), except that above-mentioned difference, all the other all no longer repeat with the specific embodiment of bilateral upper and lower extremities robot is identical with the rehabilitation extremity motor function.Seven, the rehabilitation extremity motor function specific embodiment of the 3rd embodiment of bilateral upper and lower extremities robot, Figure 25 is rehabilitation extremity motor function the 3rd embodiment of bilateral upper and lower extremities robot and the difference of first second embodiment, in Figure 25, show, connect firmly two rotating shafts (22) on frame with bearings, (15), connecting firmly a sprocket wheel or vee-pulley (14) in the rotating shaft (22), connecting firmly a duplicate sprocket or duplex vee-pulley (88) in the rotating shaft (15), buncher (28) is fixedly mounted on the frame of rotating shaft (15) one sides, connecting firmly a sprocket wheel or vee-pulley (29) on the axle of buncher (28), duplicate sprocket in the rotating shaft (15) or duplex vee-pulley (88) are respectively by chain or V-belt (19), (17) with rotating shaft (22) on sprocket wheel or vee-pulley (14) link to each other with sprocket wheel or vee-pulley (29) on buncher (28) axle, except that above-mentioned difference, all the other all no longer repeat with the specific embodiment of first embodiment of bilateral upper and lower extremities robot is identical with the rehabilitation extremity motor function.Eight, the rehabilitation extremity motor function is with the specific embodiment of one-sided upper and lower extremities robot, use in the bilateral upper and lower extremities robot construction annexation at formation rehabilitation extremity motor function, if or a left side or the right side disassemble mechanically lower limb of a side, an only surplus side or a left side or the right side are mechanically during lower limb, when all the other shape structures and annexation all use bilateral upper and lower extremities robot identical with the rehabilitation extremity motor function, just constitute one-sided upper and lower extremities robot, so the specific embodiment is also identical with the specific embodiment of bilateral upper and lower extremities robot with the rehabilitation extremity motor function, no longer repeats.

Claims (8)

1, the two upper limb robots of rehabilitation extremity motor function, the rehabilitation extremity motor function is as follows with the population structure annexation of two upper limb robots: high together with shoulder joint, omit on the frame of width position than two shoulders, two two slotted holes of upper limb level connect firmly plate about connecting firmly, vertical with two on two upper limb respectively two slotted hole compoboards connect together form about two mechanical upper limb, respectively by about two vertical two slotted hole compoboards of two upper limb with connect firmly that two two slotted holes of upper limb monolithic level connect firmly cooperating installation and penetrate the method that the bolt fastening nut makes it to connect firmly installation in two slotted holes of plate about on the frame, two mechanical upper limb are fixedly mounted on the frame about making, connect firmly the two ends of a rotating shaft on frame with bearings, respectively be fixedly mounted on frame on about the end that turns crank greatly that links to each other on two mechanical upper limb connect firmly, connect firmly in the rotating shaft sprocket wheel or a vee-pulley are installed, sprocket wheel that connects firmly in the rotating shaft or vee-pulley are by chain or V-belt, with connect firmly the sprocket wheel or the vee-pulley that on the motor shaft on the frame, connect firmly and link to each other, it is characterized in that: above said about the structure annexation of two mechanical upper limb be, all there is monolithic bearing assembling orifice plate at two ends, the middle part is connected the big arm hinge-rod of forming with standby nut check location of upper limb by the inside and outside circle male screw, the Kong Zhongjun of the monolithic bearing assembling orifice plate at the big arm hinge-rod of upper limb two ends packs into behind the rolling bearing, one end is inserted in the middle of two vertical two slotted hole compoboards of upper limb, big arm hinge-rod locating hole above aiming at links to each other with chain rivet, all there is the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at the two ends of upper limb fork, the anterior connection with standby nut check by the inside and outside circle male screw locatees, the fork middle part also has a brake cable locating ring and a biplate hinge axis orifice plate to form, the two ends of upper limb fork become the monolithic bearing of broken line to assemble orifice plate with the fork axis Kong Zhongjun packs into behind the rolling bearing, one end is inserted into the center of circle, the upper limb fork location pan that the vertical two slotted hole compoboard intermediate alignment of two on upper limb choose and links to each other with chain rivet, all there is biplate hinge axis orifice plate at the two ends of upper limb forearm hinge-rod, one end has shoulder hole, the middle part is made up of a cylinder by shoulder hole, packed into the monolithic bearing assembling orifice plate of rolling bearing of the other end of the big arm hinge-rod of upper limb is inserted into upper limb forearm hinge-rod and has the biplate hinge axis orifice plate intermediate alignment axis hole of shoulder hole one end to link to each other with chain rivet, the other end of upper limb fork and fork axis become the bearing assembling orifice plate of the broken line biplate hinge axis orifice plate intermediate alignment axis hole that is inserted into the other end of upper limb forearm hinge-rod behind the rolling bearing of packing into to link to each other with chain rivet, upper limb connecting rod two ends all are made up of monolithic bearing assembling orifice plate, pack in the hole of upper limb connecting rod two ends monolithic bearing assembling orifice plate behind the rolling bearing, and the biplate hinge axis orifice plate intermediate alignment axis hole that an end is inserted into upper limb fork middle part links to each other with chain uranium, the other end has been packed into and has been packed in the dead eye of monolithic bearing assembling orifice plate of rolling bearing behind the little axle of crank, the little axle of the crank female thread locating hole screw-in back that utilizes the external screw thread aligning on the little axle of crank to turn greatly on the crank forms the threaded engagement connection, and the other end that turns crank greatly has the axis hole that connects firmly with rotating shaft to connect firmly with rotating shaft, and motorcycle rim brake brake cable outer tube one end is inserted in the shoulder hole of upper limb forearm hinge-rod one end, the other end is inserted in the shoulder hole of upper limb forearm hinge-rod middle part short column body, a motorcycle rim brake brake cable passes from the brake cable locating ring at upper limb fork middle part, and the short cylinder that utilizes the brake cable head to connect firmly penetrates in the shoulder hole of upper limb forearm hinge-rod one end after blocking the locating ring location, behind the endoporus by motorcycle rim brake brake cable outer tube, after wearing out the shoulder hole from the short column body that upper limb forearm hinge-rod connects firmly, connect firmly on upper limb brake cable parallel branch plate after reserving a segment distance, the method that robot blade adds bolted with ∪ shape supporting plate locator card make robot blade be fixedly mounted on upper limb forearm hinge-rod by patient's staff of rehabilitation should the position on, and being palm of the hand face and two parts of the back of the hand face by hand-held board, said robot blade constitutes, hand-held board is that 5 fourchettes are opened the plane outline shape after stretching, the branch about hand-held board has, and the mechanical upper limb that left robot blade has been installed then is called left mechanical upper limb, the mechanical upper limb that right robot blade has been installed then is called right mechanical upper limb, the shape of right-hand man's supporting plate is configured to symmetric congruent figures, and 5 of hand-held board refers to that finger ends is drilled with 5 through holes respectively, and place, the centre of the palm is drilled with 4 logical counterbores, penetrate in 4 logical counterbores in 4 through holes of 4 dormant bolts from the ∪ shape supporting plate locator card of the back of the hand face and pass, screwing on can make robot blade be fixedly mounted on the optional position of upper limb forearm hinge-rod behind the nut, holds handle on the palm of the hand face of hand-held board, the wrist supporting plate, holding has a big female clinodactyly direction spring or rubber strip locating hole on the handle, there are two wrist belt locating holes wrist supporting plate front portion, there are 44 clinodactyly direction springs or rubber strip locating hole in wrist supporting plate rear portion, on 5 finger tip through holes on the back of the hand face of hand-held board, all connecting firmly a cylinder that shoulder hole is arranged, erecting and connecting firmly an arc cuboid that is drilled with 5 shoulder holes near the wrist place with the square frame of ∪ shape bridging, 5 motorcycle rim brake brake cable outer tube one ends are inserted into 5 finger tips respectively to be had in the shoulder hole of cylinder of shoulder hole, the other end is inserted into respectively in the shoulder hole of the arc cuboid that is drilled with 5 shoulder holes, 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums, from the shoulder hole of the arc cuboid that is drilled with 5 shoulder holes, penetrate respectively and the endoporus by 5 motorcycle rim brake brake cable outer tubes and 5 finger tip cylinders on shoulder hole after, from 5 finger tips of hand-held board by after coming out the hole, link to each other with 5 open annular finger-stalls respectively, 5 open annular finger-stalls link to each other with corresponding 44 clinodactyly direction springs or rubber strip and 1 big female clinodactyly direction spring or rubber strip respectively again, and the other end of 44 clinodactyly direction springs or rubber strip is separately fixed in 4 the 4 clinodactyly direction springs or rubber strip locating hole on the wrist supporting plate, and the other end of 1 big female clinodactyly direction spring or rubber strip is fixed in the spring or rubber strip locating hole of holding the big female clinodactyly direction on the handle, the other end of 5 motorcycle rim brake brake cables or 5 nylon cotton ropes of 5 brake cable succedaneums, after a segment distance is reserved in the outside of shoulder hole that is drilled with the arc cuboid of 5 shoulder holes at the back of the hand face place, connect firmly simultaneously at same shoe brake line parallel and divide on the support plate, owing to have 6 holes simultaneously 6 brake cables or brake cable succedaneum nylon rope to be fixedly installed togather on the brake cable parallel branch plate, at this moment, being connected in a shoe brake line parallel simultaneously by the brake cable that comes and 5 finger tip brake cables from the upper limb fork divides support plate to form simultaneously to move.

2, the rehabilitation extremity motor function is with single upper limb robot, said rehabilitation extremity motor function is with in two upper limb robot construction in constituting claim 1, next side machinery upper limb of artificial left or right dismounting, only keep side machinery upper limb and just constitute the rehabilitation extremity motor function with single upper limb robot, it is characterized in that: the structure annexation feature of said mechanical upper limb is identical in the structure annexation of said mechanical upper limb and the claim 1 rehabilitation extremity motor function usefulness pair upper limb robots.

3, the two lower limb robots of rehabilitation extremity motor function, the rehabilitation extremity motor function is as follows with the population structure annexation of two lower limb robots: high together with hip joint, omit than hip on the frame of width position, two two slotted holes of lower limb level connect firmly plate about connecting firmly, vertical with two in two lower limb respectively two slotted hole compoboards connect together about two mechanical lower limb, respectively by about two vertical two slotted hole compoboards of two lower limb with connect firmly that two two slotted holes of lower limb monolithic level connect firmly cooperating installation and penetrate the method that the bolt fastening nut makes it to connect firmly installation in two slotted holes of plate about on the frame, two mechanical lower limb are fixedly mounted on the frame about making, connect firmly the two ends of a rotating shaft on frame with bearings, respectively be fixedly mounted on frame on about the end that turns crank greatly that links to each other on two mechanical lower limb connect firmly, connect firmly in the rotating shaft sprocket wheel or a vee-pulley are installed, sprocket wheel in the rotating shaft or vee-pulley link to each other by sprocket wheel or the vee-pulley that connects firmly on the motor shaft that connects firmly on chain or V-belt and the frame, it is characterized in that: above said about the structure annexation of two mechanical lower limb be, all there is monolithic bearing assembling orifice plate at two ends, the middle part is connected the lower limb thigh hinge-rod of forming with standby nut check location by the inside and outside circle male screw, the Kong Zhongjun of the monolithic bearing assembling orifice plate at lower limb thigh hinge-rod two ends packs into behind the rolling bearing, one end is inserted in the middle of two vertical two slotted hole compoboards of lower limb, lower limb thigh hinge-rod locating hole above aiming at links to each other with chain rivet, all there is the monolithic bearing assembling orifice plate that becomes broken line with axis at lower limb fork two ends, the anterior connection with standby nut check by the inside and outside circle male screw locatees, the middle part is made up of a brake cable locating ring, pack in the hole of the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at lower limb fork two ends behind the rolling bearing, one end is inserted into the center of circle, the lower limb fork location pan that the vertical two slotted hole compoboard intermediate alignment of two in lower limb choose and links to each other with chain rivet, all there is biplate hinge axis orifice plate at the two ends of lower limb shank hinge-rod, one end has shoulder hole, the middle part also has a biplate hinge axis orifice plate to form, pack in the hole of the other end monolithic bearing of lower limb thigh hinge-rod assembling orifice plate and be inserted into lower limb shank hinge-rod behind the rolling bearing and have the biplate hinge axis orifice plate intermediate alignment axis hole of shoulder hole one end to link to each other with chain rivet, pack in the hole of the monolithic bearing of the other end of lower limb fork and axis broken line assembling orifice plate behind the rolling bearing, the other end biplate hinge axis orifice plate intermediate alignment axis hole that is inserted into lower limb shank hinge-rod links to each other with chain rivet, the two ends of lower limb connecting rod all are made up of monolithic bearing assembling orifice plate, after the monolithic bearing at lower limb connecting rod two ends assembles the rolling bearing of packing in the orifice plate, the biplate hinge axis orifice plate intermediate alignment axis hole that one end is inserted into lower limb shank hinge-rod middle part links to each other with chain rivet, pack in the hole of the rolling bearing of packing in the monolithic bearing of the connecting rod other end assembling orifice plate and utilize behind the little axle of crank external screw thread on the little axle of crank to aim at the little axle of the crank that turns greatly on crank female thread locating hole to screw in the back and form and be threaded, the other end that turns crank greatly has the axis hole that connects firmly with rotating shaft, can connect firmly with rotating shaft, the machinery foot hold is made up of pallet stand and pedal two parts, its shape of branch about pallet stand has is configured to symmetric congruent figures, and the branch about pedal does not have just constitutes left mechanical lower limb after the mechanical foot hold of having installed left pallet stand is contained on the shank hinge-rod, the mechanical foot hold of having installed right pallet stand is contained in and has just constituted right mechanical lower limb on the shank hinge-rod, there is bicycle pedal shaft screw-internal thread fit hole at the pallet stand middle part, connects firmly in the bicycle pedal shaft screw-internal thread fit hole a whole self-propelled car pedal is installed, and pallet stand top has one to bend towards the forward motorcycle rim brake brake cable outer tube locating rod that has shoulder hole of foot, the spring or the rubber strip locating rod that are drilled with through hole are arranged at the pallet stand bottom, the postmedian of pallet stand is connecting firmly a ∪ shape semicircle to be made up of the locator card of bolt hole, and ∪ shape semicircle locator card and another one ∪ shape that the postmedian of pallet stand connects firmly have bolt hole semicircle locator card to cooperate, and available bolt connects two ∪ shape semicircle locator cards, mechanical foot hold is fixedly mounted on the lower limb shank hinge-rod, pedal is linked together with hinge by finger tip pedal and metacarpus pedal two parts pedal and forms, and there are two bifurcation shape swing limited location forks that stretch to the finger tip pedal the anterior left and right sides of metacarpus pedal, and there are 4 logical counterbores at metacarpus pedal middle part, each side there is a riser at the rear portion of metacarpus pedal, the aspect ratio ankle joint of riser is slightly high, all has the front and back position of foot to regulate belt locating hole and instep belt locating hole on two risers in the left and right sides, and there is the pin that stretches in the bifurcation shape limited location fork the anterior left and right sides of finger tip pedal, two risers that have toe belt locating hole are arranged, there are brake cable positioning through hole and spring or rubber strip positioning through hole in the front portion of finger tip pedal, and pedal is placed on the bicycle pedal that connects firmly on the pallet stand, penetrates in 4 counterbores at metacarpus pedal middle part and makes pedal and the pallet stand mechanical foot hold of formation that is fixed together after loading onto nut screwing clamping after passing 4 through holes of 4 dormant bolts from the flat board card of bicycle pedal bottom, be connected in forward spring of finger tip pedal or the rubber strip locating hole spring or rubber strip are installed, the spring that is drilled with through hole of the other end of spring or rubber strip and pallet stand bottom or the spring on the rubber strip locating rod or rubber strip locating hole are connected with bolt, and motorcycle rim brake brake cable outer tube one end is inserted into the other end in the shoulder hole of lower limb shank hinge-rod and is inserted into pallet stand top and bends towards in the shoulder hole on the forward motorcycle rim brake brake cable outer tube locating rod that has a shoulder hole of foot, penetrates motorcycle rim brake brake cable in the brake cable locating ring at lower limb fork middle part, after the short cylinder that utilizes the brake cable end to connect firmly blocks the locating ring location, after penetrating endoporus the shoulder hole from lower limb shank hinge-rod, after wearing out the shoulder hole of the motorcycle rim brake brake cable outer tube locating rod from mechanical foot hold support, be connected in the forward brake cable locating hole of finger tip pedal and screw connection with bolt through motorcycle rim brake brake cable outer tube.

4, the rehabilitation extremity motor function is with single lower limb robot, said rehabilitation extremity motor function is with in two lower limb robot construction in constituting claim 3, next side machinery lower limb of artificial right or right dismounting, only keep side machinery lower limb and just constitute the rehabilitation extremity motor function with single lower limb robot, it is characterized in that: the structure annexation and the feature of said mechanical lower limb are identical in the structure annexation of said mechanical lower limb and the claim 3 rehabilitation extremity motor function usefulness pair lower limb robots.

5, rehabilitation extremity motor function bilateral upper and lower extremities robot, the rehabilitation extremity motor function is as follows with the population structure annexation of bilateral upper and lower extremities robot: omiting on the frame of width position with height ratio two shoulders with shoulder joint, two two slotted holes of upper limb level connect firmly plate about connecting firmly, vertical with two on two upper limb respectively two slotted hole compoboards connect together about two mechanical upper limb, respectively by about two vertical two slotted hole compoboards of two upper limb with connect firmly about on the frame two two slotted holes of upper limb monolithic level and connect firmly cooperating installation and in two slotted holes, penetrate the bolt fastening nut and making it hard-wired method of plate, two mechanical upper limb are fixedly mounted on the frame about making, high together with hip joint, omit than hip on the frame of width position, two two slotted holes of lower limb level connect firmly plate about connecting firmly, vertical with two in two lower limb respectively two slotted hole compoboards connect together about two mechanical lower limb, respectively by about two vertical two slotted hole compoboards of two lower limb with connect firmly about on the frame two two slotted holes of lower limb monolithic level and connect firmly cooperating installation and in two slotted holes, penetrate the bolt fastening nut and making it hard-wired method of plate, two mechanical lower limb are fixedly mounted on the frame about making, connect firmly two rotating shafts on frame with bearings, the two ends of a rotating shaft respectively be fixedly mounted on frame on about the crank that turns greatly that links to each other on two mechanical upper limb connect firmly, the two ends of another root rotating shaft respectively be fixedly mounted on frame on about the crank that turns greatly that links to each other on two mechanical lower limb connect firmly, also connect firmly on the frame buncher is installed, when buncher is distributed in the left and right sides of buncher as if i.e. two rotating shafts in the centre that is installed in two rotating shafts, what connect firmly installation on the motor shaft is a duplicate sprocket or duplex vee-pulley, about connect firmly respectively in two rotating shafts a sprocket wheel or vee-pulley be installed, duplicate sprocket on the motor shaft or duplex vee-pulley by two chains or two V-belts respectively with about sprocket wheel or vee-pulley in two rotating shafts link to each other, when if buncher is installed in a side of two rotating shafts, connect firmly in the promptly adjacent rotating shaft of an intermediary rotating shaft duplicate sprocket or duplex vee-pulley are installed with buncher, duplicate sprocket on the intermediate rotary shaft or duplex vee-pulley, link to each other by sprocket wheel on adjacent with the left and right sides respectively motor shaft in two chains or two V-belts or sprocket wheel or the vee-pulley in vee-pulley and another root rotating shaft, it is characterized in that: the structure annexation of above said mechanical upper limb is with claim 1 rehabilitation extremity motor function identical with the structure annexation and the feature of said mechanical upper limb in two upper limb robots, more than the structure annexation of said mechanical lower limb and claim 3 rehabilitation extremity motor function identical with the structure annexation and the feature of said mechanical lower limb in two lower limb robots, all no longer repeat.

6, the rehabilitation extremity motor function is with one-sided upper and lower extremities robot, said rehabilitation extremity motor function is with in the bilateral upper and lower extremities robot construction in constituting claim 5, the artificial mechanically lower limb of a left or right side that disassemble, only keep a side mechanically during lower limb, just constitute the rehabilitation extremity motor function with one-sided upper and lower extremities robot, it is characterized in that: the rehabilitation extremity motor function no longer repeats with the feature of bilateral upper and lower extremities robot is identical with the feature and the claim 5 rehabilitation extremity motor function of one-sided upper and lower extremities robot.

7, according to claim 1 rehabilitation extremity motor function said upper limb fork in two upper limb robots, it is characterized in that: the upper limb fork has been made certain flexibility or broken line shape, the synchronous direct proportion of length adjustment of the length adjustment of fork and big arm hinge-rod carries out, all there is the monolithic bearing assembling orifice plate that becomes broken line with the fork axis at upper limb fork two ends, with in the biplate hinge axis orifice plate that is inserted into upper limb forearm hinge-rod one end after upper limb fork axis becomes the centre distance of the two bearings pilot hole on the two ends monolithic bearings assembling orifice plate of broken line to be adjusted to all the time to pack in the hole of monolithic bearing assembling orifice plate that upper limb fork and fork axis become broken line rolling bearing with the link to each other hinge point of back formation of chain rivet, when this hinge point center operates in anthropomorphic dummy's swing arm, this radius of putting due positive arc track is long, and the also hinge locating hole center of the upper limb fork that sets of the present invention just, the center of circle of this positive arc track, because this positive circular arc can change with the adjusting of big arm hinge-rod, also can change because of the difference in swing arm interval, so the center of circle of this positive circular arc also can become, select for use so have a plurality of upper limb fork locating hinge centre bores can keep supplying when the center of circle, limb fork location changes on two vertical two slotted hole compoboards of upper limb.

8, according to the lower limb fork of claim 3 rehabilitation extremity motor function described in two lower limb robots, it is characterized in that: the lower limb fork has been made certain flexibility or broken line shape, the synchronous direct proportion of the length adjustment of the adjusting of the length of lower limb fork and thigh hinge-rod carries out, all there is the monolithic bearing assembling orifice plate that becomes broken line with axis at lower limb fork two ends, with aim at the chain hole in the biplate hinge axis orifice plate that is inserted into lower limb shank hinge-rod one end after lower limb fork axis becomes the centre distance of the two bearings pilot hole on the two ends monolithic bearings assembling orifice plate of broken line to be adjusted to all the time to pack in the hole of monolithic bearing assembling orifice plate that lower limb fork and fork axis become broken line rolling bearing with the link to each other hinge point of back formation of chain rivet, when this hinge point center operates in anthropomorphic dummy's swinging kick, this radius of putting due positive arc track is long, and the hinge locating hole center of the lower limb fork that the center of circle of this positive arc track also sets among the present invention just, because this positive circular arc can change with the adjusting of thigh hinge-rod length, also can change because of swinging interval difference, so the center of circle of this positive circular arc also can change, when changing, the center of circle selects for use so there are a plurality of lower limb fork locating hinge centre bores to locate on two vertical two slotted hole compoboards of lower limb for the lower limb fork.

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