CN220967634U

CN220967634U - Rehabilitation auxiliary robot

Info

Publication number: CN220967634U
Application number: CN202321734330.4U
Authority: CN
Inventors: 张余; 王少白; 吴粤; 黄文汉; 钟国庆; 皇甫良; 兰天; 林金鹏
Original assignee: Innomotion Inc Shanghai; Guangdong General Hospital
Current assignee: Innomotion Inc Shanghai; Guangdong General Hospital
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2024-05-17
Anticipated expiration: 2033-07-04

Abstract

The utility model provides a rehabilitation auxiliary robot, and belongs to the field of rehabilitation auxiliary. The utility model relates to a rehabilitation auxiliary robot, which comprises a device chassis, wherein a first vertical limiting frame is arranged at the upper end of the device chassis; the leg wrapping cloth comprises a leg wrapping cloth and is characterized in that fixing sheets are arranged at the front end and the rear end of the leg wrapping cloth, a second transmission bar is arranged at the upper end of the leg wrapping cloth, upper limiting blocks are arranged at the two sides of the lower end of the second transmission bar, and lower limiting blocks are arranged at the lower ends of the upper limiting blocks. The leg wrapping cloth wraps the patient's lower leg through the first magic patch and the second magic patch, wraps and limits the fixing sheets at two sides of the leg wrapping cloth, and can transversely move in the leg wrapping cloth lifting process and the thigh and lower leg bending process of the patient through the transmission of the position adjusting roller.

Description

Rehabilitation auxiliary robot

Technical Field

The utility model relates to the field of rehabilitation assistance, in particular to a rehabilitation assistance robot.

Background

Rehabilitation refers to various methods of comprehensively and coordinately applying medicine, education, society and occupation, so that the lost functions of sick, injured and disabled persons can be recovered and rebuilt as soon as possible, the physical, mental, social and economic abilities of the sick, injured and disabled persons can be recovered as much as possible, the sick, injured and disabled persons can get the life again, a great deal of medical staff is needed for assisting by the medical staff alone, and the medical staff is tired and cannot continuously assist different patients to perform rehabilitation training while spending great deal of salary cost, so that the medical staff is replaced by a robot to assist the rehabilitation of the patients;

The Chinese patent with the publication number of CN215021645U discloses a medical rehabilitation leg training robot, which comprises a wheelchair body, wherein the right side of the wheelchair body is provided with a swinging backrest; the wheelchair is novel in structure, ingenious in conception and simple and convenient to operate, and can be used for carrying out rehabilitation training on the legs of a patient by swinging and massaging the legs of the patient, so that the rehabilitation speed of the patient is accelerated, in addition, nursing is not required in the whole process, and the working intensity of medical staff is reduced.

In the practical use process of the medical rehabilitation leg training robot, the pushing angle of the leg is single, the pushing level of the leg is low, the strength of rehabilitation auxiliary training is low, and the rehabilitation auxiliary effect is low; therefore, the existing requirements are not met, and the rehabilitation auxiliary robot is provided.

Disclosure of utility model

The utility model aims to provide a rehabilitation auxiliary robot, which is characterized in that leg wrapping cloth wraps the lower leg of a patient through a first magic patch and a second magic patch, and when a first transmission bar longitudinally reciprocates to lift the leg, fixing sheets at two sides of the leg wrapping cloth are wrapped and limited through a lower limiting block and an upper limiting block at two sides of the lower end of the second transmission bar, and the leg wrapping cloth can transversely move in the leg lifting process and the leg bending process of the thigh of the patient through the transmission of a position adjusting roller, so that the leg wrapping cloth is adapted to the leg bending process, the problem that the bottom end of the device needs to be transversely adjusted in the leg lifting process and the leg bending process is solved, the stability in the use process is improved, and the problem in the background technology is solved.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the rehabilitation auxiliary robot comprises a device chassis, wherein a first vertical limiting frame is arranged at the upper end of the device chassis, a first sliding block is arranged in the first vertical limiting frame and is in sliding connection with the first vertical limiting frame, a first longitudinal transmission threaded rod is arranged in the first sliding block, the outer part of the first longitudinal transmission threaded rod is in threaded fit with the inner part of the first sliding block, and one end of the first longitudinal transmission threaded rod is in rotary connection with the upper end of the device chassis;

Still include shank parcel cloth, it sets up in one side of first sliding block upper end, both ends all are provided with the stationary blade around shank parcel cloth, stationary blade and shank parcel cloth welded fastening, shank parcel cloth's upper end is provided with the second transmission strip, the both sides of second transmission strip lower extreme all are provided with the restriction piece, go up restriction piece and second transmission strip structure as an organic whole, two the lower extreme of upper restriction piece all is provided with the lower restriction piece, lower restriction piece and last restriction piece welded fastening, the inside lower extreme of upper restriction piece and the inside upper end of lower restriction piece all are provided with the position adjustment gyro wheel, the both sides of position adjustment gyro wheel are connected with the inside both sides rotation of upper restriction piece and lower restriction piece respectively, the inside upper and lower both ends of stationary blade all are provided with the second lateral sliding rail, the inside of second lateral sliding rail embedding stationary blade, the outside draw-in groove of second lateral sliding rail and position adjustment gyro wheel is connected, the outside of second lateral sliding rail is provided with protruding ring, the inside lower restriction piece and the inside upper end of lower restriction piece all are provided with the position adjustment gyro wheel, the both sides of position adjustment gyro wheel are provided with the fixed patch of second shank, the second shank is provided with the second paster.

Preferably, the upper end of the first sliding block is provided with a second vertical limiting frame, a connecting sheet is arranged between the second vertical limiting frame and the first sliding block, the connecting sheet is fixedly connected with the first sliding block through a bolt, and the connecting sheet is rotationally connected with the second vertical limiting frame through a first rotary connecting shaft.

Preferably, the inside of second vertical limit frame is provided with the vertical drive threaded rod of second, the upper and lower both ends of vertical drive threaded rod of second all rotate with the inside of limiting the frame perpendicularly and be connected, the outside one side of vertical drive threaded rod of second is provided with the second sliding block, the outside of second sliding block and the inside sliding connection of vertical slip rail, the inside of second sliding block and the outside screw thread cooperation of vertical drive threaded rod of second, the one end of second sliding block is provided with first transmission strip, the both ends of first transmission strip respectively with one side welded fastening of second transmission strip and second sliding block.

Preferably, one side of the second vertical limiting frame is provided with a connecting fixing plate, the rear end of the connecting fixing plate is provided with a first accommodating frame, a first transverse sliding rail is arranged in the first accommodating frame and extends to one side of the connecting fixing plate, a transverse transmission threaded rod is arranged in the first transverse sliding rail, two ends of the transverse transmission threaded rod are both in rotary connection with the inside of the first accommodating frame, a second accommodating frame is arranged on one side of the outer portion of the transverse transmission threaded rod, and one side of the outer portion of the second accommodating frame is in threaded fit with the outer portion of the transverse transmission threaded rod.

Preferably, one side of the second accommodating frame is provided with an annular sliding rail, one side of the front end of the outer portion of the annular sliding rail is provided with a third sliding block, the third sliding block is in sliding connection with the annular sliding rail, one end of the third sliding block is provided with a thigh supporting plate, the thigh supporting plate is fixedly welded with the third sliding block, two ends of one side of the upper end of the thigh supporting plate are respectively provided with an anti-offset strip, and the anti-offset strips are fixedly welded with the thigh supporting plate.

Preferably, a telescopic device is arranged on one side of the second accommodating frame, and the telescopic device is fixedly connected with the third sliding block through a pulling rope.

Preferably, the upper end ring of the device chassis is annularly provided with four pairs of support frames, the four pairs of upper ends outside the support frames are all provided with transmission folding frames, and the transmission folding frames are rotationally connected with the support frames through second rotating connecting shafts.

Preferably, one end of the transmission folding frame is provided with an adsorption bonding rubber pad, the other end of the transmission folding frame is provided with an air suction fixing pump, and the air suction fixing pump is in sealing connection with the adsorption bonding rubber pad.

Compared with the prior art, the utility model has the following beneficial effects:

1. According to the utility model, the longitudinal sliding rail is arranged in the second vertical limiting frame, the second transmission bar is arranged at the front end of the longitudinal sliding rail, the leg wrapping cloth is arranged at the lower end of the second transmission bar, the upper limiting blocks are arranged at the front end and the rear end of the leg wrapping cloth, the position adjusting idler wheels are arranged at the lower ends of the upper limiting blocks, in the process of actually rehabilitating the legs of a patient, the leg wrapping cloth wraps the lower legs of the patient through the first magic patch and the second magic patch, when the legs are lifted up through the first transmission bar in a longitudinal reciprocating manner, the fixing sheets at the two sides of the lower ends of the leg wrapping cloth are wrapped and limited through the lower limiting blocks and the upper limiting blocks at the two sides of the lower end of the second transmission bar, and the transmission of the position adjusting idler wheels can enable the leg wrapping cloth to transversely move in the leg lifting process and the thigh and the lower legs of the patient, so that the lower ends of the device need to be transversely position adjusted in the leg bending process, and the stability in the use process is improved.

2. According to the utility model, the connecting fixing plate is arranged on one side of the second vertical limiting frame, the second accommodating frame is arranged at the front end of the connecting fixing plate, the annular sliding rail is arranged in the second accommodating frame, the thigh supporting plate is arranged at the front end outside the annular sliding rail, when the device is installed and worn in actual use, the device is placed on one side of a patient sickbed close to a rehabilitation leg part, the leg wrapping cloth wraps the lower leg part of the patient through the adhesion of the first magic patch and the second magic patch, the thigh supporting plate directly stretches into the lower end of the thigh, the thigh can be dragged through the movement along the annular sliding rail, the thigh lower leg part is simultaneously dragged and assisted in bending, the user can complete rehabilitation assistance by lying on the sickbed, and the fatigue degree of medical staff is reduced.

Drawings

FIG. 1 is a perspective view of the overall exterior structure of the present utility model;

FIG. 2 is an enlarged view of a portion of the area A of FIG. 1 in accordance with the present utility model;

FIG. 3 is a cross-sectional view of the transmission structure between the first slider and the first vertical confinement frame of the present utility model;

FIG. 4 is a schematic view of the leg wrapping cloth and thigh support plate position structure of the present utility model;

Fig. 5 is a schematic diagram of a transmission structure of a second transmission belt and leg wrapping cloth according to the present utility model.

In the figure: 1. a device chassis; 2. a first vertical confinement frame; 3. a first slider; 4. a connecting sheet; 5. a first rotational connection shaft; 6. a second vertical confinement frame; 7. a longitudinal sliding rail; 8. a second slider; 9. a first transmission bar; 10. a second transmission bar; 11. leg wrapping cloth; 12. connecting a fixing plate; 13. a first housing frame; 14. a first lateral sliding rail; 15. a threaded rod is transversely driven; 16. a second housing frame; 17. an annular sliding rail; 18. a telescoping device; 19. pulling the rope; 20. a third slider; 21. thigh supporting plate; 22. an anti-migration bar; 23. a support frame; 24. a second rotary connecting shaft; 25. a transmission folding frame; 26. an air extraction fixed pump; 27. adsorbing and attaching a rubber pad; 28. a first longitudinal drive threaded rod; 29. a second longitudinal drive threaded rod; 30. an upper limit block; 31. a lower limit block; 32. position adjusting rollers; 33. a fixing piece; 34. a protruding ring; 35. a second lateral sliding rail; 36. a first magic patch; 37. and a second magic patch.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order to solve the problem that the medical rehabilitation leg training robot disclosed in the chinese patent with publication number CN215021645U has a single pushing angle to the leg, a low pushing level to the leg, a low strength of rehabilitation auxiliary training, and a low effect of auxiliary rehabilitation, please refer to fig. 1, 2, 3, 4 and 5, the present embodiment provides the following technical scheme:

The rehabilitation auxiliary robot comprises a device chassis 1, wherein a first vertical limiting frame 2 is arranged at the upper end of the device chassis 1, a first sliding block 3 is arranged in the first vertical limiting frame 2, the first sliding block 3 is in sliding connection with the first vertical limiting frame 2, a first longitudinal transmission threaded rod 28 is arranged in the first sliding block 3, the outer part of the first longitudinal transmission threaded rod 28 is in threaded fit with the inner part of the first sliding block 3, and one end of the first longitudinal transmission threaded rod 28 is in rotary connection with the upper end of the device chassis 1; the leg wrapping cloth 11 is arranged on one side of the upper end of the first sliding block 3, fixing pieces 33 are arranged at the front end and the rear end of the leg wrapping cloth 11, the fixing pieces 33 are welded and fixed with the leg wrapping cloth 11, a second transmission bar 10 is arranged at the upper end of the leg wrapping cloth 11, upper limiting blocks 30 are arranged at two sides of the lower end of the second transmission bar 10, the upper limiting blocks 30 and the second transmission bar 10 are of an integrated structure, lower limiting blocks 31 are arranged at the lower ends of the two upper limiting blocks 30, the lower limiting blocks 31 are welded and fixed with the upper limiting blocks 30, position adjusting rollers 32 are arranged at the lower ends of the inner parts of the upper limiting blocks 30 and the upper ends of the inner parts of the lower limiting blocks 31, two sides of the position adjusting rollers 32 are respectively connected with the two sides of the inner parts of the upper limiting blocks 30 and the lower limiting blocks 31 in a rotating mode, second transverse sliding rails 35 are arranged at the upper ends and the lower ends of the inner parts of the fixing pieces 33, the second transverse sliding rail 35 is embedded into the fixing piece 33, the second transverse sliding rail 35 is connected with an external clamping groove of the position adjusting roller 32, a protruding ring 34 is arranged outside the second transverse sliding rail 35, one end of the leg wrapping cloth 11 is provided with a second magic patch 37, the other end of the leg wrapping cloth 11 is provided with a first magic patch 36, the first magic patch 36 is adhered and fixed with the second magic patch 37, a second vertical transmission threaded rod 29 is arranged inside the second vertical limiting frame 6, the upper end and the lower end of the second vertical transmission threaded rod 29 are both in rotary connection with the inside of the second vertical limiting frame 6, one side of the outside of the second vertical transmission threaded rod 29 is provided with a second sliding block 8, the outside of the second sliding block 8 is in sliding connection with the inside of the longitudinal sliding rail 7, the inside of the second sliding block 8 is in threaded fit with the outside of the second vertical transmission threaded rod 29, the one end of second sliding block 8 is provided with first transmission strip 9, the both ends of first transmission strip 9 respectively with one side welded fastening of second transmission strip 10 and second sliding block 8, wrap up in patient's shank by shank parcel cloth 11 through first magic paster 36 and second magic paster 37, and when first transmission strip 9 vertically reciprocates and lifts the shank, can wrap up and restrict the stationary blade 33 of shank parcel cloth 11 both sides through lower limiting block 31 and last limiting block 30 of second transmission strip 10 lower extreme both sides, and can make at shank parcel cloth 11 at raising shank and make patient's thigh shank bending process lateral shifting by the transmission of position adjustment gyro wheel 32, the bending of adaptation shank, solve the device and need the problem of lateral position adjustment at the in-process device bottom of lifting the shank and making shank bending, improve the stability in the use.

In order to solve the problem that the conventional device is inconvenient to use, please refer to fig. 1, 2, 3, 4 and 5, the present embodiment provides the following technical solutions:

One side of the second vertical limiting frame 6 is provided with a connecting fixing plate 12, the rear end of the connecting fixing plate 12 is provided with a first accommodating frame 13, the inside of the first accommodating frame 13 is provided with a first transverse sliding rail 14, the first transverse sliding rail 14 extends to one side of the connecting fixing plate 12, the inside of the first transverse sliding rail 14 is provided with a transverse transmission threaded rod 15, both ends of the transverse transmission threaded rod 15 are rotationally connected with the inside of the first accommodating frame 13, one side of the outside of the transverse transmission threaded rod 15 is provided with a second accommodating frame 16, one side of the outside of the second accommodating frame 16 is in threaded fit with the outside of the transverse transmission threaded rod 15, one side of the inside of the second accommodating frame 16 is provided with an annular sliding rail 17, one side of the front end of the outside of the annular sliding rail 17 is provided with a third sliding block 20, the third sliding block 20 is in sliding connection with the annular sliding rail 17, one end of the third sliding block 20 is provided with a thigh supporting plate 21, the thigh supporting plate 21 is welded and fixed with the third sliding block 20, both ends of one side of the upper end of the thigh supporting plate 21 are provided with anti-deflection strips 22, the anti-deflection strips 22 are welded and fixed with the thigh supporting plate 21, one side of the second accommodating frame 16 is provided with a telescopic device 18, the telescopic device 18 is fixedly connected with the third sliding block 20 through a pulling rope 19, the leg wrapping cloth 11 is wrapped on the lower leg of a patient through the adhesion of the first magic patch 36 and the second magic patch 37, the thigh supporting plate 21 directly stretches into the lower end of the thigh, the thigh is dragged through the movement of the following annular sliding rail 17, the lower leg part of the thigh is simultaneously dragged and assisted to generate bending, the user is assisted to recover through bending, and the user can complete recovery assistance by lying on the sickbed of the user, the fatigue of medical staff is reduced.

The upper end of the first sliding block 3 is provided with a second vertical limiting frame 6, a connecting sheet 4 is arranged between the second vertical limiting frame 6 and the first sliding block 3, the connecting sheet 4 is fixedly connected with the first sliding block 3 through bolts, the connecting sheet 4 is rotationally connected with the second vertical limiting frame 6 through a first rotating connecting shaft 5, and the orientation of the leg wrapping cloth 11 and the thigh supporting plate 21 can be adjusted by taking the first rotating connecting shaft 5 as a circle center.

The upper end ring of device chassis 1 is provided with four pairs of support frames 23, and four pairs of support frames 23 outside upper ends all are provided with transmission folding leg 25, rotate through the second between transmission folding leg 25 and the support frame 23 and be connected, the one end of transmission folding leg 25 is provided with and adsorbs laminating rubber pad 27, and the other end of transmission folding leg 25 is provided with the fixed pump of bleeding 26, and sealing connection between fixed pump of bleeding 26 and the absorption laminating rubber pad 27 can accomplish the absorption fixedly through the absorption of absorption laminating rubber pad 27, improves the stability in the device use.

Working principle: when the device is used and the rehabilitation training is carried out on the legs of a patient, according to fig. 1, 2, 3, 4 and 5, in order to improve the stability in the use process, aiming at the installation position, the transmission folding frame 25 and the air suction fixing pump 26 rotate by taking the second rotation connecting shaft 24 as the center of a circle between the two supporting frames 23, rotate and enable the adsorption bonding rubber pad 27 to be bonded with the fixed position, and start the air suction fixing pump 26, air between the adsorption bonding rubber pad 27 and the ground is sucked and fixed, relative movement is generated between the rotation of the first longitudinal transmission threaded rod 28 and the first sliding block 3, the first sliding block 3 is converted into linear movement from rotary movement after being limited by the first vertical limiting frame 2, the longitudinal linear movement of the first sliding block 3 can raise the horizontal heights of the leg wrapping cloth 11 and the thigh supporting plate 21, the leg wrapping cloth 11 is wrapped on the lower leg part of a patient, the fixation is completed by the adhesion between the first magic patch 36 and the second magic patch 37, a motor corresponding to the second longitudinal transmission threaded rod 29 is started, the output shaft of the motor drives the second longitudinal transmission threaded rod 29 to rotate, the second longitudinal transmission threaded rod 29 rotates and generates relative motion with the second sliding block 8, the second sliding block 8 is limited by the longitudinal sliding rail 7 and then is converted into longitudinal linear motion by the rotary motion, the first transmission bar 9 drives the second transmission bar 10 to longitudinally move, the second transmission bar 10 is limited by the upper limiting block 30 and the lower limiting block 31 on the two sides of the lower end to pass through the fixing piece 33, the fixing piece 33 drives the leg wrapping cloth 11 and the wrapped leg to longitudinally move, the upper limiting block 30 slides along the second transverse sliding rail 35 in the fixing piece 33 along with the contraction of the leg, and continuously limits the leg wrapping cloth 11, so that the leg wrapping cloth 11 is required to be installed by the thigh supporting plate 21 and clamped between the two anti-deflection strips 22 while the leg is required to be wrapped by the leg wrapping cloth 11 in order to avoid the position deviation when a patient needs to be in rehabilitation training, the third sliding block 20 is driven to move along the annular sliding rail 17 along with the contraction of the telescopic device 18 along with the longitudinal movement of the leg wrapping cloth 11, the annular movement can drive the thigh supporting plate 21 to push the thigh part of the patient, the leg wrapping cloth 11 is assisted to be pulled, and the thigh are bent, so that the patient is prevented from moving to the installation position of the device.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Rather, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a rehabilitation auxiliary robot, includes device chassis (1), the upper end of device chassis (1) is provided with first perpendicular restriction frame (2), the inside of first perpendicular restriction frame (2) is provided with first sliding block (3), first sliding block (3) and first perpendicular restriction frame (2) sliding connection, the inside of first sliding block (3) is provided with first vertical transmission threaded rod (28), the outside of first vertical transmission threaded rod (28) and the inside screw-thread fit of first sliding block (3), the one end of first vertical transmission threaded rod (28) is rotated with the upper end of device chassis (1) and is connected, its characterized in that:

The utility model also comprises a leg wrapping cloth (11) which is arranged on one side of the upper end of the first sliding block (3), fixing pieces (33) are respectively arranged at the front end and the rear end of the leg wrapping cloth (11), the fixing pieces (33) are fixedly welded with the leg wrapping cloth (11), the upper end of the leg wrapping cloth (11) is provided with a second transmission bar (10), both sides of the lower end of the second transmission bar (10) are respectively provided with an upper limiting block (30), the upper limiting block (30) and the second transmission bar (10) are of an integrated structure, the lower ends of the upper limiting blocks (30) are respectively provided with a lower limiting block (31), the lower ends of the lower limiting blocks (31) are fixedly welded with the upper limiting blocks (30), the lower ends of the inner parts of the upper limiting blocks (30) and the upper ends of the lower limiting blocks (31) are respectively provided with position adjusting idler wheels (32), both sides of the position adjusting idler wheels (32) are respectively connected with both sides of the inner parts of the upper limiting blocks (30) and the lower limiting blocks (31) in a rotating mode, the upper ends of the fixing pieces (30) are respectively provided with a second sliding ring (35) and the inner parts of the second sliding ring (35) are respectively embedded into a transverse sliding rail (35), one end of shank parcel cloth (11) is provided with second magic paster (37), the other end of shank parcel cloth (11) is provided with first magic paster (36), first magic paster (36) are fixed with second magic paster (37) adhesion.

2. A rehabilitation assistance robot according to claim 1, characterized in that: the upper end of first sliding block (3) is provided with second perpendicular restriction frame (6), be provided with connection piece (4) between second perpendicular restriction frame (6) and first sliding block (3), pass through bolt fixed connection between connection piece (4) and first sliding block (3), rotate through first rotation connecting axle (5) between connection piece (4) and the perpendicular restriction frame of second (6).

3. A rehabilitation assistance robot according to claim 2, characterized in that: the inside of second vertical restriction frame (6) is provided with second vertical transmission threaded rod (29), the upper and lower both ends of second vertical transmission threaded rod (29) all rotate with the inside of second vertical restriction frame (6) and be connected, one side of second vertical transmission threaded rod (29) outside is provided with second sliding block (8), the outside of second sliding block (8) and the inside sliding connection of vertical sliding rail (7), the inside of second sliding block (8) and the outside screw thread fit of second vertical transmission threaded rod (29), one end of second sliding block (8) is provided with first transmission strip (9), the both ends of first transmission strip (9) respectively with one side welded fastening of second transmission strip (10) and second sliding block (8).

4. A rehabilitation assistance robot according to claim 2, characterized in that: one side of second perpendicular restriction frame (6) is provided with connects fixed plate (12), the rear end of connecting fixed plate (12) is provided with first acceping frame (13), the inside of first acceping frame (13) is provided with first horizontal slip rail (14), the inside of first horizontal slip rail (14) extends to one side of connecting fixed plate (12), the inside of first horizontal slip rail (14) is provided with horizontal transmission threaded rod (15), the both ends of horizontal transmission threaded rod (15) all rotate with the inside of first acceping frame (13) and are connected, one side of the outside of horizontal transmission threaded rod (15) is provided with second acceping frame (16), one side of the outside of second acceping frame (16) and the outside screw-thread fit of horizontal transmission threaded rod (15).

5. A rehabilitation assistance robot as claimed in claim 4, wherein: an annular sliding rail (17) is arranged at one side of the inside of the second accommodating frame (16), a third sliding block (20) is arranged at one side of the front end of the outside of the annular sliding rail (17), the third sliding block (20) is in sliding connection with the annular sliding rail (17), one end of the third sliding block (20) is provided with a thigh supporting plate (21), the thigh supporting plate (21) is welded and fixed with the third sliding block (20), two ends of one side of the upper end of the thigh supporting plate (21) are respectively provided with an anti-deflection strip (22), and the anti-deflection strips (22) are welded and fixed with the thigh supporting plate (21).

6. A rehabilitation assistance robot as claimed in claim 4, wherein: one side of the second accommodating frame (16) is provided with a telescopic device (18), and the telescopic device (18) is fixedly connected with a third sliding block (20) through a pulling rope (19).

7. A rehabilitation assistance robot according to claim 1, characterized in that: four pairs of support frames (23) are annularly arranged on the upper end of the device chassis (1), transmission folding frames (25) are arranged at the outer upper ends of the four pairs of support frames (23), and the transmission folding frames (25) are rotatably connected with the support frames (23) through second rotary connecting shafts (24).

8. The rehabilitation assistance robot of claim 7, wherein: one end of the transmission folding frame (25) is provided with an adsorption bonding rubber pad (27), the other end of the transmission folding frame (25) is provided with an air extraction fixed pump (26), and the air extraction fixed pump (26) is in sealing connection with the adsorption bonding rubber pad (27).