Four-limb linkage rehabilitation training instrument

Abstract

The invention relates to a four-limb linkage rehabilitation training instrument, and belongs to the technical field of rehabilitation training. Comprising a base, a seat is arranged at one end of the base, a four-limb linkage device is arranged at the other end of the base, and the four-limb linkage device comprises a left upper limb movement assembly, a right lower limb movement assembly connected with the left upper limb movement assembly, a right upper limb movement assembly and a left lower limb movement assembly connected with the right upper limb movement assembly; the amplitude adjusting assembly is used for controlling the movement amplitude of the right lower limb movement assembly and the left lower limb movement assembly. According to the four-limb linkage rehabilitation training instrument, the adjustability of the movement amplitude of the upper limb and the lower limb is achieved by improving the mechanical structure design and a transmission system.

Description

Technical Field

[0001] The invention relates to a four-limb linkage rehabilitation training device, belonging to the technical field of rehabilitation training. Background Art

[0002] The limb linkage auxiliary training system is a rehabilitation solution based on the laws of human kinematics, which aims to achieve linkage training of upper and lower limbs through mechanical structure to promote the patient's rehabilitation process. The system realizes the connection between the left upper limb and the right lower limb, and the right upper limb and the left lower limb through a specific mechanical structure design, and realizes linkage through mechanism design, so that when one end of the limbs inputs movement, the other three ends will realize linkage at the same time.

[0003] The limb linkage training systems currently on the market mainly have the following technical features: Linkage method: The upper and lower limb connecting rods are welded symmetrically, staggered and coaxially installed, and then connected through a linkage reduction mechanism to achieve linkage of the limbs. Although this method is simple, it limits the range of motion of the upper and lower limbs and cannot meet the needs of patients at different recovery stages.

[0004] Resistance adjustment: By adding a speed reduction mechanism or a passive training system, the resistance level can be adjusted during training. This helps patients choose the appropriate training intensity based on their own rehabilitation progress and physical condition.

[0005] Personalized design: The front end of the upper limb is equipped with an adjustable handle, and the seat can be moved forward and backward to accommodate trainees of different heights and body shapes. This design improves the applicability and comfort of the system.

[0006] For example, the Chinese utility model patent with publication number CN208388952U discloses a four-limb linkage all-round rehabilitation trainer, which belongs to the field of four-limb linkage rehabilitation training devices, including a base, one end of the base is provided with a seat, the other end of the base is provided with a four-limb linkage component, the four-limb linkage component includes a left upper limb training frame, a left lower limb pedal, a right upper limb training frame and a right lower limb pedal, a first curved connecting rod is provided between the left upper limb training frame and the right lower limb pedal for connection, a second curved connecting rod is provided between the right upper limb training frame and the left lower limb pedal for connection, and a linkage device is also provided between the first curved connecting rod and the second curved connecting rod.

[0007] The inventors have discovered that the prior art has at least the following technical problems: The welding and fixed installation of the upper and lower limb connecting rods limits the range of motion of the upper and lower limbs. However, the range of motion required by patients at different recovery stages is different, so this fixed range of motion setting does not conform to the objective laws of the rehabilitation process. Summary of the invention

[0008] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a four-limb linkage rehabilitation training device, which realizes the adjustability of the movement range of the upper and lower limbs by improving the mechanical structure design and the transmission system.

[0009] The four-limb linkage rehabilitation training equipment described in the present invention includes a base, a seat is provided at one end of the base, and a four-limb linkage device is provided at the other end of the base. The four-limb linkage device includes a left upper limb motion component, a right lower limb motion component connected to the left upper limb motion component, a right upper limb motion component and a left lower limb motion component connected to the right upper limb motion component; and also includes an amplitude adjustment component for controlling the motion amplitude of the right lower limb motion component and the left lower limb motion component.

[0010] Furthermore, the amplitude adjustment assembly includes an adjustment seat installed on the base, a vertically arranged adjustment screw is installed on the adjustment seat, an adjustment knob is connected to the upper end of the adjustment screw, a corresponding adjustment nut is installed on the adjustment screw, a shock absorber is installed on the adjustment nut, an adjustment rod is installed on the adjustment seat corresponding to the shock absorber, and the shock absorber is slidably installed on the adjustment rod.

[0011] Further, the left upper limb movement assembly includes a left handle, a left curved rod for mounting the left handle, and the left curved rod is rotatably mounted on the base; The right upper limb motion component has the same structure as the left upper limb motion component, including a right handle and a right curved rod.

[0012] Furthermore, the right lower limb movement assembly includes a right pedal, a right L-shaped rod is hingedly installed on one side of the middle of the right pedal, a right connecting rod is hingedly installed on one side of the front end of the right pedal for placing the sole of the foot, and the right connecting rod is rotatably installed on the base; One end of the right L-shaped rod is connected to the lower end of the left curved rod, the right pedal is hingedly installed at the corner position of the right L-shaped rod, and the right rocker is hingedly installed on the rods at both ends of the right L-shaped rod on which the left curved rod and the right pedal are hingedly installed; A linkage is installed on the base corresponding to the rotation of the right rocker, and the rocker swing is connected to the linkage; The left lower limb motion component and the right lower limb motion component have the same structure, including a left pedal, a left L-shaped rod, a left connecting rod and a left rocker.

[0013] Further, the linkage member includes a rotating shaft, and swing cranks are installed on both sides of the rotating shaft, and the swing cranks on both sides of the rotating shaft are staggered 180 degrees; The right rocker arm and the left rocker arm are respectively hingedly mounted on the swing crank.

[0014] Furthermore, it also includes a resistance component installed on the base, and the resistance component is used in conjunction with the four-limb linkage device to provide corresponding resistance for the four-limb linkage device.

[0015] Furthermore, the resistance assembly includes a self-generated electromagnetic resistor mounted on a base, a support vertical plate is correspondingly mounted on the base, a rotating wheel is mounted above the support vertical plate, and the rotating wheel is connected to the input end of the self-generated electromagnetic resistor through a flat belt transmission; Two synchronous wheels are respectively installed at both ends of the rotating wheel, and a guide wheel is correspondingly installed at the front end of the base. Synchronous belts are respectively fixed to one end of the right L-shaped rod and the left L-shaped rod, and the synchronous belts cooperate with the synchronous gears. The ends of the two synchronous belts away from the right L-shaped rod and the left L-shaped rod are connected together through guide ropes, and the guide ropes are arranged through the guide wheels.

[0016] Furthermore, the amplitude adjustment assembly is correspondingly mounted on the base at the lowest end of the motion track of the same end of the right L-shaped rod and the left L-shaped rod.

[0017] Furthermore, it also includes a brake wire brake device, which is used to lock the spontaneous electromagnetic resistor.

[0018] Furthermore, a seat lifting device is included between the seat and the base, and the seat lifting device is used to adjust the height of the seat.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention helps patients to select a suitable range of motion according to their own rehabilitation progress and physical condition, thereby improving the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention; Figure 2 yes Figure 1 A partial enlarged view of the middle part; Figure 3 is a front view of Embodiment 1 of the present invention; Figure 4 yes Figure 3 A partial enlarged view of point B in the middle; Figure 5 is a rear view of embodiment 1 of the present invention; Figure 6 yes Figure 5 A partial enlarged view of point C in the middle; Figure 7 is a schematic structural diagram of a four-limb linkage device according to Embodiment 1 of the present invention; Figure 8 yes Figure 7 A large picture of the part at D in the middle; Fig. 9 is a rear view of the four-limb linkage device of embodiment 1 of the present invention; Fig.10 is a schematic diagram of the structure of an amplitude adjustment component according to Embodiment 1 of the present invention; Fig.11It is a front view of the amplitude adjustment component structure of Example 1 of the present invention; Fig.12 is a schematic diagram of the linkage structure of Example 1 of the present invention; Fig.13 is a structural schematic diagram of a seat lifting device according to embodiment 1 of the present invention; Fig.14 is a front view of a seat lifting device according to embodiment 1 of the present invention; Fig.15 yes Fig.14 A partial enlarged view of point E in the middle; Fig.16 is a schematic diagram of the internal structure of a seat lifting device according to Embodiment 1 of the present invention; Fig.17 This is one of the schematic structural diagrams of the brake wire brake device according to Embodiment 1 of the present invention; Fig.18 This is the second structural schematic diagram of the brake wire brake device of embodiment 1 of the present invention; Fig.19 yes Fig.18 A partial enlarged view of the middle F; Fig. 20 The invention is a brake wire brake device according to embodiment 1 of the present invention; Fig.21 is a top view of a brake wire brake device according to embodiment 1 of the present invention; In the figure: 1. Seat; 2. Base; 21. Supporting vertical board; 3. Seat lifting device; 31. Worm gear transmission mechanism; 311. Rocker; 312. Worm shaft; 313. Worm wheel; 314. Worm support seat; 32. Screw gear transmission mechanism; 321. Lifting nut; 322. Lifting plate; 323. Lifting guide shaft; 324. Lifting screw; 33. Seat support shell; 331. Lower horizontal support plate; 332. Vertical support plate; 333. Upper horizontal support plate; 34. Seat mounting seat.

[0021] 4. Brake wire brake device; 41. Brake outer shell; 411. Second notch; 412. First slide rail; 413. Guide seat; 414. Support seat; 415. Second slide rail; 42. Rebound shaft; 421. Locking groove; 422. Positioning pin; 423. Return spring; 43. Brake wire fixing plate; 431. First notch; 44. Rebound locking mechanism; 441. First slider; 442. Locking pin; 4421. Pressure spring; 443. Translation member; 4431. Guide groove; 45. Unlocking mechanism; 451. Lever; 452. Button shaft; 453. Second slider.

[0022] 5. Resistance assembly; 51. Rotating wheel; 52. Synchronous wheel; 53. Synchronous belt; 54. Self-generating electromagnetic resistor; 55. Guide rope; 56. Guide wheel; 6. Limb linkage device; 61. Right lower limb motion assembly; 611. Right pedal; 612. Right L-shaped rod; 613. Right connecting rod; 614. Right rocker; 62. Left upper limb motion assembly; 621. Left grip; 622. Left curved rod; 63. Left lower limb motion assembly; 631. Left pedal; 632. Left L-shaped rod; 633. Left connecting rod; 634. Left rocker; 64. Right upper limb motion assembly; 641. Right grip; 642. Right curved rod; 65. Amplitude adjustment assembly; 651. Adjustment screw; 652. Shock absorber; 653. Adjustment rod; 654. Adjustment seat; 66. Linkage member; 661. Swing crank; 662. Rotation axis. DETAILED DESCRIPTION

[0023] Example 1 like Figure 1 to Figure 21 As shown, the four-limb linkage rehabilitation training device of the present invention comprises a base 2, one end of which is provided with a seat 1, and the other end of the base 2 is provided with a four-limb linkage device 6, the four-limb linkage device 6 comprises a left upper limb motion component 62, a right lower limb motion component 61 connected to the left upper limb motion component 62, a right upper limb motion component 64 and a left lower limb motion component 63 connected to the right upper limb motion component 64; and also comprises an amplitude adjustment component 65 for controlling the motion amplitude of the right lower limb motion component 61 and the left lower limb motion component 63; The amplitude adjustment assembly 65 at least includes a shock absorbing member 652 that can move up and down.

[0024] The amplitude adjustment assembly 65 includes an adjustment seat 654 installed on the base 2, and a vertically arranged adjustment screw 651 is installed on the adjustment seat 654. An adjustment knob is connected to the upper end of the adjustment screw 651, and a corresponding adjustment nut is installed on the adjustment screw 651. A shock absorber 652 is installed on the adjustment nut. An adjustment rod 653 is installed on the adjustment seat 654 corresponding to the shock absorber 652, and the shock absorber 652 is slidably installed on the adjustment rod 653.

[0025] The adjusting screw 651 is driven by turning the adjusting knob, and the adjusting screw 651 drives the adjusting nut to move up and down, thereby driving the shock absorbing member 652 to move up and down through the adjusting nut, and the limb linkage device 6 can be limited by the shock absorbing member 652, so that the limb linkage device 6 can achieve the adjustability of the upper and lower limb movement range. This helps patients choose a suitable movement range according to their own rehabilitation progress and physical condition, thereby improving the training effect.

[0026] The left upper limb movement assembly 62 includes a left handle 621, a left curved rod 622 for mounting the left handle 621, and the left curved rod 622 is rotatably mounted on the base 2; The right upper limb movement assembly 64 and the left upper limb movement assembly 62 have the same structure, including a right handle 641 and a right curved rod 642 .

[0027] The right lower limb movement assembly 61 includes a right pedal 611, a right L-shaped rod 612 is hingedly installed on one side of the middle of the right pedal 611, and a right connecting rod 613 is hingedly installed on one side of the front end of the right pedal 611 for placing the sole of the foot, and the right connecting rod 613 is rotatably installed on the base 2; One end of the right L-shaped rod 612 is connected to the lower end of the left curved rod 622, the right pedal 611 is hingedly mounted to the corner of the right L-shaped rod 612, and the right rocker 614 is hingedly mounted on the rods of the left curved rod 622 and the right pedal 611 at both ends of the right L-shaped rod 612; A linkage member 66 is rotatably mounted on the base 2 corresponding to the right rocker 614, and the rocker is swingably connected to the linkage member 66; The left lower limb motion assembly 63 has the same structure as the right lower limb motion assembly 61 , including a left pedal 631 , a left L-shaped rod 632 , a left connecting rod 633 and a left rocker 634 .

[0028] The linkage member 66 includes a rotating shaft 662, and swing cranks 661 are installed on both sides of the rotating shaft 662. The swing cranks 661 on both sides of the rotating shaft 662 are staggered 180 degrees. The right rocker 614 and the left rocker are hingedly mounted on the swing crank 661 respectively.

[0029] It also includes a resistance component 5 installed on the base 2, and the resistance component 5 is used in conjunction with the four-limb linkage device 6 to provide corresponding resistance for the four-limb linkage device 6.

[0030] The resistance assembly 5 includes a self-generated electromagnetic resistor 54 mounted on the base 2, and a support vertical plate 21 is correspondingly mounted on the base 2. A rotating wheel 51 is mounted above the support vertical plate 21, and the rotating wheel 51 is connected to the input end of the self-generated electromagnetic resistor 54 through a flat belt transmission; Two synchronous wheels 52 are respectively installed at both ends of the rotating wheel 51, and a guide wheel 56 is correspondingly installed at the front end of the base 2. One end of the right L-shaped rod 612 and the left L-shaped rod 632 are respectively fixed with a synchronous belt 53, and the synchronous belt 53 cooperates with the synchronization. The ends of the two synchronous belts 53 away from the right L-shaped rod 612 and the left L-shaped rod 632 are connected together through a guide rope 55, and the guide rope 55 is arranged through the guide wheel 56.

[0031] The two synchronous wheels 52 are connected to the shafts at both ends of the rotating wheel 51 through ratchets, thereby ensuring that the rotating wheel 51 rotates in one direction.

[0032] By setting the synchronous belt 53, the stability of the movement of the rotating wheel 51 is ensured, so that the movement of the limbs of the limb linkage device 6 is more stable.

[0033] The amplitude adjustment assembly 65 is correspondingly mounted on the base 2 at the lowest end of the motion track of the same end of the right L-shaped rod 612 and the left L-shaped rod 632.

[0034] It also includes a brake wire brake device 4, which is used to lock the spontaneous electromagnetic resistor 54.

[0035] like Figure 18 to Figure 21 As shown, the brake line brake device 4 includes a brake outer shell 41 for installation on the sports rehabilitation device; A brake wire fixing plate 43 for pulling the brake wire is hingedly mounted on the brake outer shell 41; A rebound shaft 42 is mounted on the brake outer shell 41 and is connected to the brake wire fixing plate 43 via a positioning pin 422 thereon. A guide seat 413 is installed on the brake outer shell 41, and one side of the rebound shaft 42 is slidably installed in the guide seat 413; A rebound locking mechanism 44 for locking the rebound shaft 42 for braking is slidably mounted on the brake outer shell 41; An unlocking mechanism 45 is mounted on the brake outer shell 41 and is used in conjunction with the locking mechanism.

[0036] The rebound locking mechanism 44 includes a first slider 441 slidably mounted on the brake outer shell 41, a locking pin 442 and a translation member 443 are mounted on the slider, and one end of the locking pin 442 is elastically connected to the brake outer shell 41; The brake outer shell 41 is provided with a first slide rail 412 matched with the first slide block 441; A locking groove 421 is formed on the rebound shaft 42 corresponding to the locking pin 442 .

[0037] The locking pin 442 is aligned with the locking groove 421 on the rebound shaft 42. When the pressure spring 4421 of the locking pin 442 is in a released state, the locking pin 442 will push into the locking groove 421.

[0038] One end of the locking pin 442 is sleeved with a pressure spring 4421 , and the locking pin 442 is elastically connected to the brake outer shell 41 through the pressure spring 4421 .

[0039] The unlocking mechanism 45 comprises a second slider 453 slidably mounted on the brake outer shell 41 , a rotatable button shaft 452 is mounted on the second slider 453 , and a lever 451 is provided at the end of the button shaft 452 ; The lever 451 is used to move the translation member 443; The translation member 443 is provided with a guide groove 4431 correspondingly, and the translation member 443 can move when the lever 451 is pulled backward or rotated; The brake outer shell 41 is provided with a second slide rail 415 that matches the second slide block 453; One end of the lever 451 disposed on the button shaft 452 abuts against an end surface of the rebound shaft 42 when moving.

[0040] A support seat 414 is installed on the brake outer shell 41 corresponding to the button shaft 452 , and the button shaft is slidably installed on the support seat 414 .

[0041] A first notch 431 is formed on the brake wire fixing plate 43 , and a second notch 411 is formed on the corresponding brake outer shell 41 . The positioning pin 422 on the rebound shaft 42 fits into the first notch 431 and the second notch 411 .

[0042] A return spring 423 is sleeved on one end of the rebound shaft 42 , and the rebound shaft 42 is elastically connected to the brake outer shell 41 via the return spring 423 .

[0043] The shaft diameter of the rebound shaft 42 where the reset spring 423 is mounted is slightly smaller, which facilitates the operation of the reset spring 423. At this time, one end of the reset spring 423 can be fixed to the rebound shaft 42 by compression. At the same time, a slightly smaller reset spring 423 can also be selected and mounted on the slightly smaller diameter of the rebound shaft, and axial positioning is performed through the outer diameter of the rebound shaft 42.

[0044] The working process or working principle of the brake line brake device 4: During the installation process, the brake pad brake wire should be installed in the clamping gap at the rear of the brake wire fixing plate 43. First, the brake wire fixing plate 43 is connected to the rebound shaft 42. When the rebound shaft 42 moves axially, the brake wire fixing plate 43 will rotate around the hinge point rotation axis with the brake outer shell 41, thereby driving the brake wire at the rear and pulling the brake pad at a distance to brake.

[0045] In the initial position, the rebound shaft 42 moves toward one end under the elastic force of the return spring 423, and pushes the button shaft 452 to move toward one end. At this time, due to the overall movement of the rebound shaft 42, the locking pin 442 is located at the outer position of the locking groove 421.

[0046] When braking, the button shaft 452 is pressed down, and the button shaft 452 will move toward the other end against the rebound shaft 42, and drive the brake wire fixing plate 43 to pull the brake wire to achieve braking. When the locking groove 421 on the rebound shaft 42 is aligned with the locking pin 442, the locking pin 442 will drill into the locking groove 421 of the rebound shaft 42, preventing the rebound shaft 42 from rebounding, thereby fixing the brake wire fixing plate 43 connected thereto, and keeping the brake wire in a taut state, thereby achieving continuous braking. At the same time, the translation member 443 moves to the locked position with the locking pin 442, and the lever 451 enters one end of the guide groove 4431 on the translation member 443.

[0047] When releasing the brake, the button shaft 452 needs to be rotated. At this time, the button shaft 452 will drive the lever 451 to move and push the translation member 443 to the right. The locking pin 442 is pushed to one side at the same time and withdraws from the locking groove 421 of the rebound shaft 42. The rebound shaft 42 rebounds under the spring force of the reset spring 423, and at the same time drives the brake wire fixing plate 43 to rotate along the hinge point rotation axis, and the relative brake wire is loosened, so that the brake pad connected to the brake wire at the far end moves in the opposite direction, thereby releasing the brake and achieving reset.

[0048] A seat lifting device 3 is also provided between the seat 1 and the base 2 , and the seat lifting device 3 is used to adjust the height of the seat 1 .

[0049] like Figure 13 to Figure 16 As shown, the seat lifting device 3 includes a seat supporting shell 33, on which a worm gear transmission mechanism 31 is correspondingly installed, on the output wheel of the worm gear transmission mechanism 31 a lead screw transmission mechanism 32 is correspondingly installed, and on the lead screw transmission mechanism 32 a seat mounting seat 34 which can move up and down is correspondingly provided.

[0050] The up and down movement is achieved through the screw transmission mechanism 32, and the self-locking function is achieved through the worm transmission mechanism 31, while the transmission characteristics of the ball screw transmission can be well taken into account.

[0051] The worm gear transmission mechanism 31 includes a rocker wheel 311 arranged outside the seat support shell 33, a worm shaft 312 is correspondingly arranged inside the seat support shell 33, the rocker wheel 311 is installed on the shaft end of the worm shaft 312 extending outside the seat support shell 33, and a worm wheel 313 is installed on the seat support shell 33 corresponding to the worm shaft 312.

[0052] The seat support shell 33 includes a vertical support plate 332 and a transverse support plate installed in the inner space of the vertical support plate 332 . The transverse support plate is divided into an upper transverse support plate 333 and a lower transverse support plate 331 . A worm gear 313 is installed at the lower end of the lower transverse support plate 331 .

[0053] The screw transmission mechanism 32 includes a lifting screw 324 coaxially mounted with the worm gear 313, the lifting screw 324 is correspondingly mounted with a lifting nut 321, the lifting nut 321 is correspondingly mounted with a lifting plate 322, and the lifting plate 322 is correspondingly mounted with a seat mounting seat 34; A lifting guide shaft 323 is installed between the upper transverse support plate 333 and the lower transverse support plate 331 , and the lifting plate 322 is slidably installed on the lifting guide shaft 323 .

[0054] The lifting screw 324 and the lifting nut 321 are ball screw driven, which has the advantages of high transmission efficiency, low friction resistance, high lifting accuracy, etc., ensuring the accuracy and stability of the seat lifting.

[0055] Two worm support seats 314 are installed on the vertical support plate 332 corresponding to the worm shaft 312 .

[0056] Seat lifting device 3 working process or working principle: During the lifting action, the handle of the crank wheel 311 is held and shaken, and the crank wheel 311 will drive the worm shaft 312 to rotate, and convert the horizontal rotational motion into longitudinal rotational motion through the worm wheel 313. The rotation of the worm wheel 313 also drives the lifting screw 324 to rotate, so that the lifting nut 321 will generate up and down movement driven by the rotation of the lifting screw 324, and drive the seat mounting base 34 and the seat to realize the lifting function at the same time through the lifting plate 322 connected thereto.

[0057] Working process or working principle of limb linkage device 6: Taking the right foot as an example, the right foot steps on the right pedal 611, and the right pedal 611 is transmitted to the left curved rod 622 through the right L-shaped rod 612, and the left curved rod 622 drives the left handle 621 to move; at the same time, the right L-shaped rod 612 drives the right rocker 614 to move, the right rocker 614 drives the linkage 66, the linkage 66 drives the left rocker 634, the left rocker 634 drives the left L-shaped rod 632, the left L-shaped rod 632 drives the right curved rod 642, the right curved rod 642 drives the right handle 641, and at the same time, the left L-shaped rod 632 drives the left pedal 631 to move.

[0058] The description of the direction and relative position relationship of the structure in the present invention, such as the description of front, back, left, right, up, and down, does not constitute a limitation of the present invention, but is only for the convenience of description.

Claims

1. A four-limb linkage rehabilitation training device, comprising a base (2), one end of the base (2) is provided with a seat (1), and the other end of the base (2) is provided with a four-limb linkage device (6), characterized in that: The four-limb linkage device (6) comprises a left upper limb motion component (62), a right lower limb motion component (61) connected to the left upper limb motion component (62), a right upper limb motion component (64), and a left lower limb motion component (63) connected to the right upper limb motion component (64); and also comprises an amplitude adjustment component (65) for controlling the movement amplitudes of the right lower limb motion component (61) and the left lower limb motion component (63).

2. The four-limb linkage rehabilitation training device according to claim 1, characterized in that: The amplitude adjustment assembly (65) comprises an adjustment seat (654) mounted on the base (2); a vertically arranged adjustment screw (651) is mounted on the adjustment seat (654); an adjustment knob is connected to the upper end of the adjustment screw (651); a matching adjustment nut is mounted on the adjustment screw (651); a shock absorbing member (652) is mounted on the adjustment nut; an adjustment rod (653) is mounted on the adjustment seat (654) corresponding to the shock absorbing member (652); and the shock absorbing member (652) is slidably mounted on the adjustment rod (653).

3. The four-limb linkage rehabilitation training device according to claim 1 or 2, characterized in that: The left upper limb movement assembly (62) comprises a left handle (621) and a left curved rod (622) for mounting the left handle (621), wherein the left curved rod (622) is rotatably mounted on the base (2); The right upper limb movement assembly (64) has the same structure as the left upper limb movement assembly (62), and comprises a right handle (641) and a right curved rod (642).

4. The four-limb linkage rehabilitation training device according to claim 3, characterized in that: The right lower limb movement assembly (61) comprises a right pedal (611), a right L-shaped rod (612) is hingedly mounted on one side of the middle portion of the right pedal (611), a right connecting rod (613) is hingedly mounted on one side of the front end of the right pedal (611) for placing the sole of the foot, and the right connecting rod (613) is rotatably mounted on the base (2); One end of the right L-shaped rod (612) is connected to the lower end of the left curved rod (622), the right pedal (611) is hingedly mounted to the corner of the right L-shaped rod (612), and a right rocker (614) is hingedly mounted on the rods of the right L-shaped rod (612) on which the left curved rod (622) and the right pedal (611) are hingedly mounted at both ends; A linkage member (66) is rotatably mounted on the base (2) corresponding to the right rocker (614), and the rocker is swingably connected to the linkage member (66); The left lower limb motion assembly (63) has the same structure as the right lower limb motion assembly (61), and comprises a left pedal (631), a left L-shaped rod (632), a left connecting rod (633) and a left rocker (634).

5. The four-limb linkage rehabilitation training device according to claim 4, characterized in that: The linkage member (66) comprises a rotating shaft (662), and swing cranks (661) are mounted on both sides of the rotating shaft (662), and the swing cranks (661) on both sides of the rotating shaft (662) are arranged in a staggered manner at 180 degrees; The right rocker (614) and the left rocker are respectively hingedly mounted on the swing crank (661).

6. The four-limb linkage rehabilitation training device according to claim 4, characterized in that: It also includes a resistance component (5) mounted on the base (2), and the resistance component (5) is used in conjunction with the four-limb linkage device (6) to provide corresponding resistance for the four-limb linkage device (6).

7. The four-limb linkage rehabilitation training device according to claim 6, characterized in that: The resistance assembly (5) comprises a self-generated electromagnetic resistor (54) mounted on a base (2); a support vertical plate (21) is correspondingly mounted on the base (2); a rotating wheel (51) is mounted above the support vertical plate (21); and the rotating wheel (51) is connected to the input end of the self-generated electromagnetic resistor (54) via a flat belt transmission; Two synchronous wheels (52) are respectively installed at both ends of the rotating wheel (51), and a guide wheel (56) is correspondingly installed at the front end of the base (2). One end of the right L-shaped rod (612) and the left L-shaped rod (632) are respectively fixed with a synchronous belt (53), and the synchronous belt (53) cooperates with the synchronous gear. One end of the two synchronous belts (53) away from the right L-shaped rod (612) and the left L-shaped rod (632) is connected together through a guide rope (55), and the guide rope (55) passes through the guide wheel (56) and is arranged.

8. The four-limb linkage rehabilitation training device according to claim 7, characterized in that: The amplitude adjustment assembly (65) is correspondingly mounted on the base (2) at the lowest end of the motion track of the same end of the right L-shaped rod (612) and the left L-shaped rod (632).

9. The four-limb linkage rehabilitation training device according to claim 7, characterized in that: It also includes a brake wire brake device (4), which is used to lock the spontaneous electromagnetic resistor (54).

10. The four-limb linkage rehabilitation training device according to claim 1, characterized in that: A seat lifting device (3) is also provided between the seat (1) and the base (2), and the seat lifting device (3) is used to adjust the height of the seat (1).

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