CN214632890U

CN214632890U - Arm rehabilitation mechanism

Info

Publication number: CN214632890U
Application number: CN202023116874.3U
Authority: CN
Inventors: 赵朕; 张辉
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2021-11-09
Anticipated expiration: 2030-12-22

Abstract

The utility model relates to an arm rehabilitation mechanism, which effectively solves the defect that the prior arm rehabilitation mechanism needs manual assistance; the technical scheme comprises the following steps: this through the whole rehabilitation institution motion of drive eccentric wheel and the spout cooperation drive on the seat, through setting up the wrist turning device on the third support arm for the arm is in the motion, and the wrist is simultaneously in the motion, need not artifical from other assistance, has improved efficiency.

Description

Arm rehabilitation mechanism

Technical Field

The utility model belongs to the technical field of healthy medical equipment, concretely relates to arm rehabilitation mechanism.

Background

Rehabilitation physiotherapy is also called rehabilitation physiotherapy and is a comprehensive treatment mode integrating motion treatment, operation treatment, speech treatment, physiotherapy, acupuncture, cupping and massage. The exercise therapy is a special therapy which has the effects of preventing, improving and recovering the dysfunction and hypofunction of the body of a patient through passive exercise therapy, active exercise therapy and resistance and exercise therapy;

in the existing arm rotation rehabilitation exercise, generally, a human hand rotates by being held by an assistant person, the human hand needs assistance of other people, the efficiency is low, the effect is not ideal, and the existing arm rotation rehabilitation exercise is also a mechanical arm, is troublesome to wear and has higher price;

in view of the above, we provide an arm rehabilitation mechanism for solving the above problems.

SUMMERY OF THE UTILITY MODEL

In view of the above, in order to overcome the defects of the prior art, the utility model provides an arm rehabilitation mechanism, which drives the whole rehabilitation mechanism to move by matching a driving eccentric wheel and a chute on a chair, and enables the wrist to move simultaneously by a wrist overturning device arranged on a third support arm while the arm moves, so that the efficiency is improved without manual assistance from the side;

in order to achieve the above purpose, the utility model provides the following technical scheme: an arm rehabilitation mechanism comprises a chair and is characterized in that first support arms are fixedly mounted on two side edges of the chair, second support arms are rotatably mounted on the first support arms, one end of each second support arm is rotatably mounted with a support arm connecting rod, the other end of each support arm connecting rod is rotatably mounted with a third support arm, a first sliding block which longitudinally slides on a chair (1 side plate) is vertically slidably mounted on the third support arm, a first gear is fixedly mounted at one end of each second support arm connecting rod, a second gear is fixedly mounted at one end of each third support arm connecting rod, the first gear and the second gear are mutually meshed, a second pin shaft is longitudinally extended and slidably mounted in a second groove, a first disc which is rotatably mounted on the chair side plate is eccentrically and fixedly mounted on the first disc through a driving device which is fixedly mounted on the chair, the second support arm and the third support arm are fixedly provided with arm fixing devices;

second round pin axle rotates installs on third gear and the third gear with the inherent first sleeve of axle center cover, third gear engagement has vertical extension fixed mounting on the third support arm and is located the first rack of second groove top, the fixed winding of first sleeve has the fixed winding of the other end of first steel wire and first steel wire at the second sleeve, the second sleeve has the third round pin axle of rotation installation on the third support arm with the inherent wrist upset gear of axle center cover and wrist upset gear with axle center fixed mounting, third round pin axle fixed mounting has arm supporting shoe and fixed mounting has the torsional spring, the other end fixed mounting of torsional spring is on the third support arm.

Preferably, arm fixing device is including the first arm fixed block of difference fixed mounting on second support arm and third support arm, first arm fixed block slidable mounting has the second arm fixed block, be connected with pressure spring between first arm fixed block and the second arm fixed block.

Preferably, the second support arm is fixedly provided with a first pin shaft which is slidably arranged on the chair.

Preferably, drive arrangement includes the first belt pulley with first disc axle center fixed mounting, first belt pulley is connected with the second belt pulley through belt drive, it installs the motor shaft with axle center fixed mounting with first clutch piece and second belt pulley axle center rotation on the second belt pulley, first clutch piece cooperatees and has the second clutch piece of axial sliding installation on the motor shaft, second clutch piece rotates and installs first shift fork, first shift fork slidable mounting has the second slider, second slider slidable mounting has the third groove of the horizontal extension that is linked together and the fourth groove of longitudinal extension to open on first board and the first board of fixed mounting on the chair, the motor shaft is through motor drive.

Preferably, a fixed pulley is arranged between the first sleeve and the second sleeve, and a fixed pulley shaft fixedly mounted on the third support arm is rotatably mounted on the fixed pulley.

The beneficial effects of the technical scheme are as follows:

1. the first disc is driven to be matched with the second groove formed in the third support arm to drive the whole rehabilitation mechanism to move, so that the whole arm of a patient can move, a better rehabilitation effect is achieved, assistance of other people from the side is not needed, and the efficiency is improved;

2. the wrist overturning device arranged on the third support arm is connected through the steel wire rope, so that the wrist can be overturned back and forth while the arm moves, and the treatment effect is better;

3. the chair is provided with a selection device, and the left side or right side rehabilitation mechanism of the chair can move or move simultaneously by adjusting the selection device.

Drawings

FIG. 1 is a schematic view of the overall mechanism of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1A;

FIG. 3 is a partial enlarged view of FIG. 1B;

fig. 4 is a top view of the present invention;

FIG. 5 is a partial enlarged view of FIG. 4C;

FIG. 6 is a schematic structural diagram of a driving device;

FIG. 7 is a cross-sectional view;

FIG. 8 is an enlarged view of a portion of FIG. 7D;

FIG. 9 is an enlarged view of a portion of FIG. 7E;

FIG. 10 is a partial view;

FIG. 11 is an enlarged view of a portion of FIG. 10F;

FIG. 12 is a cross-sectional view at the first disk and gear;

FIG. 13 is an enlarged view of a portion of FIG. 12G;

in the figure: the chair comprises a chair 1, a first support arm 2, a first slide rail groove 3, a second support arm 4, a first gear 5, a support arm connecting rod 6, a third support arm 7, a first pin shaft 8, a second gear 9, a second groove 10, a first rack 11, a third gear 12, a second pin shaft 13, a first disc 14, a first belt pulley 15, a second belt pulley 16, a first slide rail 17, a first slider 18, a first slide rail groove 19, a first arm fixing block 21, a second arm fixing block 22, a compression spring 23, a first steel wire 24, a fixed pulley 25, a fixed pulley shaft 26, an arm supporting block 27, a torsion spring 28, a first clutch block 29, a motor shaft 30, a second clutch block 31, a first shifting fork 32, a second slider 33, a first plate 34, a wrist overturning gear 35, a first sleeve 36, a second sleeve 37, a third pin shaft 38, a third groove 39 and a fourth groove 40.

Detailed Description

The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments with reference to the accompanying drawings of fig. 1 to 13, wherein the structural matters in the embodiments are described below with reference to the accompanying drawings.

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

The first embodiment provides an arm rehabilitation mechanism, which is shown in fig. 1 and comprises a chair 1 and is characterized in that two side edges of the chair 1 are fixedly provided with first support arms 2, each first support arm 2 is rotatably provided with a second support arm 4, one end of each second support arm 4 is rotatably provided with a support arm connecting rod 6, the other end of each support arm connecting rod 6 is rotatably provided with a third support arm 7, the third support arm 7 is vertically and slidably provided with a first sliding block 18 which longitudinally slides on a side plate of the chair (1), the third support arm 7 is fixedly provided with a first sliding rail 17 which vertically extends and a first sliding rail 17 which vertically slides on the first sliding block 18, one opposite side of the side plate of the chair 1 is provided with a groove which longitudinally extends and the first sliding block 18 can longitudinally slide in the groove, one end of the second support arm 4, which is rotatably provided with a first gear 5, and one end of the third support arm 7, which is rotatably provided with a second gear 9, the first gear 5 and the second gear 9 are meshed with each other, the meshed effect of the first gear 5 and the second gear 9 is to prevent the second support arm 4 and the third support arm 7 from rotating relatively under the condition of not receiving external force, the third support arm 7 is provided with a second groove 10 (shown in figure 8) extending longitudinally, a second pin 13 is installed in the second groove 10 in a sliding manner, a first disc 14 rotatably installed on a side plate of the chair 1 is eccentrically and fixedly installed on the second pin 13, the first disc 14 is driven by a driving device fixedly installed on the chair 1, and an arm fixing device is fixedly installed on the second support arm 4 and the third support arm 7;

in the specific movement process, referring to fig. 10, the first disc 14 is set to move clockwise, the second pin 13 eccentrically and fixedly mounted on the first disc 14 is located at the highest point of the first disc 14, the driving device transmits power to the first disc 14, the first disc 14 moves at a constant speed in a circular manner, the second pin 13 eccentrically and fixedly mounted on the first disc 14 is matched with the second groove 10 longitudinally extending from the third support arm 7 to drive the third support arm 7 to move downwards, and because one end of the third support arm 7 rotatably mounted with the support arm connecting rod 6 and one end of the second support arm 4 rotatably mounted with the support arm connecting rod 6 are engaged with the support arm connecting block 6 through the first gear 5 and the second gear 9, the second support arm 4 rotates clockwise around the first support arm 2 matched with the second support arm 4, the second support arm 4 pulls the third support arm 7 through the support arm connecting rod 6 to move in a circular translation manner downwards and backwards, when the second pin 13 rotates clockwise to the lowest point of the first disc 14, the second pin 13 is located at the lowest point of the first disc 14, the third support arm 7 is at the extreme position, next, in the process of clockwise rotation of the first disc 14, the second pin 13 drives the third support arm 7 to move upwards, at this time, the second support arm 4 moves anticlockwise around the first support arm 4 matched with the second support arm 4, at this time, the second support arm 7 pushes the third support arm 7 to move upwards and forwards in a circular translation manner, when the second pin 13 rotates clockwise to the highest point of the first disc 14, at this time, the third support arm 7 is at the other extreme position, at this time, the first disc 14 moves for a circle, and the second support arm 4 and the third support arm 7 move back and forth, which is also called as a movement cycle; the patient can fix the arm by only placing the arm in the arm fixing device fixedly arranged on the second support arm 4 and the third support arm 7 when sitting on the chair, then the motor is turned on through the motor controller (the motor and the motor controller are connected with an external power supply), the second support arm 4 and the third support arm 7 move back and forth one time when the first disc 7 rotates one circle, and the elbow and the shoulder of the patient can be moved, so that the shoulder and the elbow are recovered;

as shown in fig. 10 and 12, the second pin 13 is rotatably mounted with a third gear 12, the third gear 12 is coaxially sleeved with a first sleeve 36, the third gear 12 is engaged with a first rack 11 longitudinally extending, fixedly mounted on the third arm 7 and located above the second slot 10, the first sleeve 36 is fixedly wound with a first steel wire 24, the other end of the first steel wire 24 is fixedly wound on a second sleeve 37, the second sleeve 37 is coaxially sleeved with an inherent wrist overturning gear 35, the wrist overturning gear 35 is coaxially and fixedly mounted with a third pin 38 rotatably mounted on the third arm 7, the third pin 38 is fixedly mounted with an arm support block 27 and fixedly mounted with a torsion spring 28, and the other end of the torsion spring 28 is fixedly mounted on the third arm 7;

a specific movement process; as shown in fig. 10 and 11, the first disk 14 is set to move clockwise, and at this time, the second pin 13 eccentrically and fixedly mounted on the first disk 14 is located at the highest point of the first disk 14, and when the first disk 14 moves clockwise circularly, the third gear 12 rotates and revolves in the whole process, the movement process is complex, and we divide the movement process of the first disk 14 into 4 stages;

in the first stage, the second pin 13 is located at the uppermost end of the first disc 14 to the rightmost end of the second pin 13 is located at the first disc 14, the first disc 14 moves clockwise to drive the third arm 7 to move in a downward circular translation manner, only the rotation of the third gear 12 is considered, the speed of the third arm 7 in the longitudinal direction is 0 according to the circular motion law, that is, the first rack 11 moves backwards at the moment and has a speed of 0, the rotation angular velocity of the third gear 12 engaged with the first rack 11 (but the third gear 12 has a tendency of rotating in the counterclockwise direction at the moment) is 0 at the moment, the longitudinal direction speed of the first rack 11 gradually increases according to the circular motion law in the process of the clockwise motion of the first disc 14, and when the second pin 13 moves from the uppermost end of the first disc 14 to the rightmost end of the first disc 14, the longitudinal direction speed of the first rack 11 is the maximum, at this time, the third gear 12 makes counterclockwise motion and the rotation angular velocity is maximum;

only considering revolution, the first disk 14 moves clockwise, the third gear 12 moves forward equivalent to a rack, that is, the third gear 12 moves counterclockwise, the first disk 14 is driven by the driving device to move circularly at a constant speed, so the revolution angular velocity of the third gear 12 is not changed, and in the first stage, the rotation angular velocity and the revolution angular velocity of the third gear 12 are counterclockwise and the angular velocity is gradually increased;

in the second stage, the second pin 13 is located at the rightmost end of the first disc 14 to the lowest end of the second pin 13 located at the first disc 14, the first disc 14 moves clockwise to drive the third arm 7 to move in a downward circular translation manner, only the rotation of the third gear 12 is considered, when the second pin 13 is located at the rightmost end of the first disc 14, the speed of the first rack 11 in the longitudinal direction is maximum, at this time, the third gear 12 moves counterclockwise and has the maximum rotation angular velocity, the third gear 12 engaged with the first rack 11 moves counterclockwise and the speed of the third gear 12 has the maximum rotation angular velocity, during the clockwise movement of the first disc 14, according to the circular motion law, the speed of the first rack 11 in the longitudinal direction is gradually reduced, when the second pin 13 moves from the rightmost end of the first disc 14 to the lowest end of the first disc 14, the speed of the first rack 11 in the longitudinal direction is 0, the rotation angular velocity of the third gear 12 (but the third gear 12 has a tendency to rotate in the counterclockwise direction) is 0;

only considering revolution, the first disk 14 moves clockwise, the third gear 12 moves backwards corresponding to the rack, that is, the third gear 12 moves clockwise, the first disk 14 is driven by the driving device to move at a constant speed circularly, so the revolution angular speed of the third gear 12 is not changed; at a certain moment, the angular velocity of the counterclockwise rotation of the third gear 12 is equal to the angular velocity of the clockwise revolution, at this moment, the third gear 12 remains stationary, and at this moment, the third gear 12 is changed from the counterclockwise rotation to the clockwise rotation;

in the third stage, the second pin 13 is located at the lowest end of the first disc 14 to the leftmost end of the first disc 14, the first disc 14 moves clockwise to drive the third arm 7 to move in a circular translation manner upwards and forwards, only considering the rotation of the third gear 12, when the second pin 13 is located at the lowest end of the first disk 14, the speed of the first rack 11 in the longitudinal direction is 0, the rotational angular speed of the third gear 12 (but the third gear 12 has a tendency to rotate clockwise) is 0, during the clockwise movement of the first disk 14, according to the law of circular motion, the speed of the first rack 11 in the longitudinal direction is gradually increased, when the second pin 13 moves from the lowermost end of the first disc 14 to the leftmost end of the first disc 14, the speed of the first rack 11 in the longitudinal direction is the maximum, and at this time, the third gear 12 moves clockwise and has the maximum rotation angle;

considering only revolution, the first disk 14 moves clockwise, the third gear 12 moves backward corresponding to the rack, that is, the third gear 12 moves clockwise, the first disk 14 is driven by the driving device to move circularly at a constant speed, so the revolution angular velocity of the third gear 12 is not changed, and in the first stage, the direction of the combined angular velocity (the rotation angular velocity and the revolution angular velocity of the third gear 12) of the third gear 12 is clockwise and the angular velocity is gradually increased;

in the fourth stage, the second pin 13 is located at the leftmost end of the first disk 14 to the uppermost end of the second pin 13 on the first disk 14, the first disk 14 moves clockwise to drive the third arm 7 to move in a forward circular translation manner, only the rotation of the third gear 12 is considered, when the second pin 13 is located at the leftmost end of the first disk 14, the longitudinal direction speed of the first rack 11 is the largest, at this time, the third gear 12 moves clockwise and the rotation angular speed is the largest, the third gear 12 engaged with the first rack 11 moves clockwise and the rotation angular speed of the third gear 12 is the largest, during the clockwise movement of the first disk 14, according to the circular movement law, the longitudinal direction speed of the first rack 11 is gradually reduced, when the second pin 13 moves from the leftmost end of the first disk 14 to the uppermost end of the first disk 14, the longitudinal direction speed of the first rack 11 is 0, the rotational angular velocity of the third gear 12 (but the third gear 12 has a tendency to rotate clockwise) is 0;

only considering revolution, the first disk 14 moves clockwise, the third gear 12 moves forward equivalent to a rack, that is, the third gear 12 moves counterclockwise, the first disk 14 is driven by the driving device to move at a constant speed circularly, so the revolution angular speed of the third gear 12 is not changed; at a certain moment, the angular velocity of the clockwise rotation of the third gear 12 is equal to the angular velocity of the counterclockwise revolution, at this moment, the third gear 12 is kept still, and at this moment, the third gear 12 is changed from the clockwise rotation to the counterclockwise rotation;

in the whole process, the third gear 12 rotates anticlockwise and rotates clockwise alternately, when the third gear 12 moves anticlockwise, the first sleeve 36 sleeved on the third gear 12 rotates anticlockwise, the first sleeve 36 drives the first steel wire 24 to wind so as to enable the second sleeve 37 to rotate anticlockwise, so as to enable the arm support block 27 coaxially and fixedly mounted on the third pin 38 to rotate anticlockwise by a certain angle, when the first sleeve 36 and the second sleeve 37 are arranged, the transmission radiuses of the first sleeve 36 and the second sleeve 37 are set to be a certain proportion, so that when the arm support block 27 is driven by the first steel wire 24 to rotate anticlockwise or clockwise, the corresponding proper angle can only be rotated (the wrist is prevented from being sprained due to the fact that the arm support block 27 rotates by an excessively large angle in the anticlockwise or clockwise direction), when the third gear 12 moves clockwise, the rotating process is opposite to the anticlockwise rotating process, the wrist support device can realize the same angle of forward rotation and reverse rotation during one rotation period of the first disk 14, and the wrist of the patient can be moved during the elbow and shoulder movement.

In the second embodiment, on the basis of the first embodiment, as shown in fig. 1 and 5, the arm fixing device includes a first arm fixing block 21 fixedly mounted on the second arm 4 and the third arm 7, respectively (the first arm fixing block 21 is arc-shaped to better fix the arm), the first arm fixing block 21 is slidably mounted transversely on a second arm fixing block 22, and a compression spring 23 is connected between the first arm fixing block 21 and the second arm fixing block 22;

the patient sits on the chair, puts into first arm fixed block 21 with the arm, and second arm fixed block 22 is fixed the arm under the effect of hold-down spring 23 to prevent the arm from slipping under the motion of rehabilitation mechanism, lead to recovered quality not good, and hold-down spring 23's coefficient of stiffness should not be too big, in order to prevent that the packing force from too big causing the secondary injury of arm, and when the patient got off the chair, only need lift up the arm and can break away from, this device simple to use, convenient, swift.

In the third embodiment, on the basis of the first embodiment, referring to fig. 1 and 4, the second support arm 4 is fixedly provided with a first pin 8 slidably mounted on the chair 1, an arc-shaped groove matched with the first pin 8 is formed in one side of the chair 1 opposite to the side plate, the shape of the arc-shaped groove is the same as the rotation track of the first pin 8 on the chair 1 along with the second support arm, and the first pin 8 enables the second support arm 4 to be better supported on the chair 1.

Fourth embodiment, on the basis of the first embodiment, its characterized in that, as shown in fig. 6 and 7, the driving device includes a first belt pulley 15 fixedly installed coaxially with the first disc 14, the first belt pulley 15 is connected with a second belt pulley 16 through belt transmission, the second belt pulley 16 is coaxially and fixedly installed with a first clutch block 29 and the second belt pulley 16 is coaxially and rotatably installed with the motor shaft 30, the first clutch block 29 is matched with a second clutch block 31 slidably installed on the motor shaft 30 axially, the second clutch block 31 is rotatably installed with a first shift fork 32, the first shift fork 32 is slidably installed with a second slider 33, the second slider 33 is slidably installed with a first plate 34 fixedly installed on the chair 1 and a first plate 34 which are opened with a third groove 39 extending transversely and a fourth groove 40 extending longitudinally and communicated with each other, the width of the third groove 39 is matched with the width of the second slider 33 and the length of the fourth groove 40 is matched with the length of the second slider 33, the motor shaft 30 is driven by a motor;

when the patient only needs the arm on the right side to be recovered (initial position second clutch piece is located fourth groove 40 and first clutch piece 29 and second clutch piece 31 separation), only need to connect the power on the right side and just can realize recovered purpose, concrete operation process: we operate the first fork 32 to drive the second sliding block 33 to move transversely in the second slot 39, so that the first clutch block 29 and the second clutch block 31 cooperate to realize power transmission, then we drive the second sliding block 33 to slide to the farthest position of the fourth slot 40 in the direction away from the third slot 39 longitudinally, so as to realize power connection, the purpose of the fourth slot 40 is to prevent the first clutch block 29 and the second clutch block 31 from disengaging during power transmission, thereby resulting in power transmission, and the left power transmission operation process is the same.

Fifth embodiment, on the basis of the first embodiment, referring to fig. 11, a fixed pulley 25 is disposed between the first sleeve 36 and the second sleeve 37, and the fixed pulley 25 is rotatably mounted with a fixed pulley shaft 26 fixedly mounted on the third arm 7, and the fixed pulley 26 is disposed to change the moving direction of the first wire 24, reduce friction of the first wire 24 during the moving process, and thus make the first wire 24 more durable.

The above description is only for the purpose of illustration, and it should be understood that the present invention is not limited to the above embodiments, and various modifications conforming to the spirit of the present invention are within the scope of the present invention.

Claims

1. The utility model provides an arm rehabilitation mechanism, includes chair (1), its characterized in that, chair (1) both sides limit fixed mounting has first support arm (2), first support arm (2) rotate to install second support arm (4) and second support arm (4) one end and rotate and install support arm connecting rod (6), the other end of support arm connecting rod (6) rotates and installs third support arm (7), third support arm (7) vertical slidable mounting has first slider (18) of longitudinal sliding on chair (1) curb plate, second support arm (4) rotate the one end fixed mounting who installs support arm connecting rod (6) have first gear (5) and third support arm (7) to rotate the one end fixed mounting who installs support arm connecting rod (6) have second gear (9), first gear (5) and second gear (9) intermeshing, third support arm (7) are opened there are longitudinal extension second groove (10) and second groove (10) slidable mounting and have second gear (10) second gear (9) to sell the slidable mounting (13) The second pin shaft (13) is eccentrically and fixedly provided with a first disc (14) which is rotatably arranged on a side plate of the chair (1), the first disc (14) is driven by a driving device which is fixedly arranged on the chair (1), and the second support arm (4) and the third support arm (7) are fixedly provided with arm fixing devices;

the second pin shaft (13) is rotatably provided with a third gear (12), the third gear (12) is coaxially sleeved with a first sleeve (36), the third gear (12) is engaged with a first rack (11) which is longitudinally extended and fixedly arranged on the third support arm (7) and is positioned above the second groove (10), the first sleeve (36) is fixedly wound with a first steel wire (24), the other end of the first steel wire (24) is fixedly wound on a second sleeve (37), the second sleeve (37) is coaxially sleeved with an inherent wrist overturning gear (35), the wrist overturning gear (35) is coaxially and fixedly provided with a third pin shaft (38) which is rotatably arranged on a third support arm (7), the third pin shaft (38) is fixedly provided with an arm supporting block (27) and a torsion spring (28), the other end of the torsion spring (28) is fixedly arranged on the third support arm (7).

2. The arm rehabilitation mechanism according to claim 1, wherein the arm fixing device comprises a first arm fixing block (21) fixedly mounted on the second arm (4) and the third arm (7), the first arm fixing block (21) is transversely slidably mounted with a second arm fixing block (22), and a compression spring (23) is connected between the first arm fixing block (21) and the second arm fixing block (22).

3. The arm rehabilitation mechanism according to claim 1, wherein the second arm (4) is fixedly provided with a first pin (8) which is slidably mounted on the chair (1).

4. The arm rehabilitation mechanism according to claim 1, wherein the driving device comprises a first belt pulley (15) fixedly mounted with the first disc (14) coaxially, the first belt pulley (15) is connected with a second belt pulley (16) through belt transmission, a first clutch block (29) and a second belt pulley (16) are coaxially and fixedly mounted on the second belt pulley (16) and rotatably mounted with the same shaft center to form a motor shaft (30), the first clutch block (29) is matched with a second clutch block (31) slidably mounted on the motor shaft (30) axially, the second clutch block (31) is rotatably mounted with a first shifting fork (32), the first shifting fork (32) is slidably mounted with a second sliding block (33), the second sliding block (33) is slidably mounted with a first plate (34) fixedly mounted on the chair (1) and a third groove (39) extending transversely and a fourth groove (39) extending longitudinally and communicated with each other are formed in the first plate (34) A slot (40) through which the motor shaft (30) is driven.

5. The arm rehabilitation mechanism according to claim 1, wherein a fixed pulley (25) is arranged between the first sleeve (36) and the second sleeve (37), and the fixed pulley (25) is rotatably provided with a fixed pulley shaft (26) fixedly arranged on the third arm (7).