Portable four-limb rehabilitation medical training robot

Abstract

The portable four-limb rehabilitation medical training robot comprises a rehabilitation chair and a training mechanism, the training mechanism comprises a frame, a chain, a chain driving mechanism and a side support device, the frame comprises a bottom frame, a top frame and lateral columns, the rehabilitation chair is arranged in a space formed by the bottom frame, the top frame and the lateral columns, the chain driving mechanism is connected to the middle part of the front end of the top frame, the chain driving mechanism comprises a motor mounting bracket, a servo motor, a transmission mechanism and a driving sprocket, the transmission mechanism is connected to one side of the motor mounting bracket and connected with the output end of the servo motor, the driving sprocket is connected with the transmission mechanism, the chain is a closed loop chain connected at the head and tail, the chain is first matched with the driving sprocket, the chain is then wound between the upper guide sprocket, the lower guide sprocket and the middle guide sprocket, and the chain is driven to move by the driving sprocket, and the side support device is hingedly connected to the outer sides of the two lateral columns through up-down rotary joints.

Description

TECHNICAL FIELD

[0001] The present application relates to a rehabilitation medical training robot, in particular to a portable four-limb rehabilitation medical training robot. BACKGROUND

[0002] At present, patients mainly perform four-limb rehabilitation training under the guidance of rehabilitation medical trainers. The efficiency is low and the physical requirement is high. An ordinary male rehabilitation medical trainer can only help 4-5 patients perform rehabilitation medical training every day, and a female rehabilitation medical trainer can help even fewer patients. The reason is that the patient's limbs need to be frequently pulled during four-limb rehabilitation training, which requires a lot of physical strength, and the labor intensity of the rehabilitation medical trainer is high. Since the rehabilitation medical training usually takes a long time, the cost of rehabilitation medical labor is high, and ordinary income families cannot afford it.

[0003] In a special rehabilitation medical institution, some instruments will assist the rehabilitation medical trainer to perform rehabilitation medical training on the patient. However, these instruments generally have large volume and large floor area, and ordinary families cannot place them. The instruments need to be specially trained to operate, and it is difficult to provide efficiency and physical labor by relying on manpower alone. In addition, these instruments generally have the characteristics of complex structure and high price at the bottom end, and ordinary families cannot afford them, so they are not suitable for purchase for home training. SUMMARY

[0004] The purpose of the present application is to overcome the defects of the prior art, provide a portable four-limb rehabilitation medical training robot, which has small volume, small occupied area, low cost, convenient use, and most families can afford it, so that patients can complete basic rehabilitation medical training without going out, and greatly reduce the burden of patient families.

[0005] The technical scheme adopted by the present application to achieve the above-mentioned purpose is: the portable four-limb rehabilitation medical training robot comprises a rehabilitation chair and a training mechanism arranged outside the rehabilitation chair, the training mechanism comprises a frame, a chain, a chain driving mechanism and a side support device, the frame comprises a bottom frame, a top frame and side vertical columns connected between the bottom frame and the top frame on both sides, the rehabilitation chair is arranged in a space formed by the bottom frame, the top frame and the side vertical columns, the chain driving mechanism is connected to the middle part of the front end of the top frame, the chain driving mechanism comprises a motor mounting bracket, a servo motor, a transmission mechanism and a driving sprocket, the motor mounting bracket is connected to the middle part of the front end of the top frame, the servo motor is mounted on the motor mounting bracket, the transmission mechanism is connected to one side of the motor mounting bracket and connected with the output end of the servo motor, the driving sprocket is connected with the transmission mechanism, a middle guiding sprocket is arranged on one side of the driving sprocket, two upper guiding sprockets arranged in front and back are respectively connected to each side of the front end of the top frame, a lower guiding sprocket is arranged on each side of the front end of the bottom frame, the chain is a closed loop chain connected at the head and tail, the chain is first matched with the driving sprocket, and then the chain is wound between the upper guiding sprockets, the lower guiding sprockets and the middle guiding sprocket on both sides and driven to move by the driving sprocket, and the side support device is hingedly connected to the outside of the two side vertical columns through up-down rotating joints.

[0006] The further technical scheme of the present application is that the bottom frame comprises a bottom rear connecting rod and a bottom side connecting rod, the bottom side connecting rod is connected to the front end of both sides of the bottom rear connecting rod, the top frame comprises a top rear connecting rod, a top side connecting rod and a top middle connecting rod, the top side connecting rod is connected to the front end of both sides of the top rear connecting rod, the rear end of the top middle connecting rod is connected to the middle part of the top rear connecting rod, and the front end of the top middle connecting rod is connected to the motor mounting bracket.

[0007] The further technical scheme of the present application is that the upper guiding sprocket is connected to the lower side of the front end of the top side connecting rod through a sprocket mounting seat, and the lower guiding sprocket is connected to the upper side of the front end of the bottom side connecting rod through a sprocket mounting seat.

[0008] The further technical scheme of the present application is that the servo motor is mounted on the upper end of the motor mounting bracket, the transmission mechanism comprises a driving pulley, a driven pulley and a transmission belt, the driving pulley is arranged at the front end of the servo motor and connected with the output shaft of the servo motor, the driven pulley is positioned on the lower side of the driving pulley, the rotating shaft of the driven pulley is supported by the motor mounting bracket and extends backward to the driving sprocket mounting position, the transmission belt is connected between the driving pulley and the driven pulley, and the driving sprocket is arranged in the driving sprocket mounting position on the rear side of the driven pulley and connected with the rotating shaft of the driven pulley.

[0009] The further technical scheme of the present application is that the motor mounting bracket on the rear side of the driving sprocket is further provided with a middle sprocket mounting position, and the middle guiding sprocket is mounted in the middle sprocket mounting position through a positioning rotating shaft.

[0010] Further technical solutions of the present application are: the chain on the left side of the driving sprocket is the first end of the chain, the chain on the right side of the driving sprocket is the second end of the chain, the first end of the chain extends to the left and is guided by one of the upper guide sprockets on the left upper side, then extends downward and passes through the lower guide sprocket on the left lower side, then reversely extends upward and is guided by the other upper guide sprocket on the left upper side, then extends to the right, then is guided by the middle guide sprocket, then continues to extend to the right and is guided by one of the upper guide sprockets on the right upper side, then extends downward and passes through the lower guide sprocket on the right lower side, then reversely extends upward and is guided by the other upper guide sprocket on the right upper side, and finally extends to the left and is connected with the second end of the chain.

[0011] Further technical solutions of the present application are: further comprising an upper sprocket decoration box and two lower sprocket decoration boxes, the upper sprocket decoration box covers the top frame, the upper guide sprocket, the middle guide sprocket and the chain drive mechanism therein, and each lower sprocket decoration box covers a lower guide sprocket and a sprocket mounting seat thereof.

[0012] Further technical solutions of the present application are: the lateral upright can rotate 90 degrees around the rotation shaft of the up-down rotation joint to form a lying position, and the lateral upright can rotate 90 degrees around the rotation shaft of the up-down rotation joint to form a standing position when in the lying position.

[0013] Further technical solutions of the present application are: the lateral support device comprises a support vertical rod and a support horizontal rod connected perpendicularly to the bottom end of the support vertical rod, the bottom of the support horizontal rod is connected with a castor, a support connecting rod is connected between the support horizontal rods on both sides, and the inside of the support vertical rod is hinged to the two lateral uprights through up-down rotation joints.

[0014] Further technical solutions of the present application are: the outside of the support vertical rod of the lateral support device is connected with a decorative cover plate, and the decorative cover plate is triangular or trapezoidal in shape with a wide bottom end and a narrow top end.

[0015] The portable four-limb rehabilitation medical training robot has the following beneficial effects:

[0016] 1. The overall volume is not large, the occupied area is small, the training mechanism is mainly composed of a frame, a chain, a chain drive mechanism (a servo motor, a transmission mechanism, a sprocket), and a lateral decorative cover plate device, the cost of these parts is low, therefore the overall selling price of the training robot is relatively low, and most families can afford it;

[0017] 2. The chain of the training mechanism is driven by the chain driving mechanism, and can realize automatic rotation. When training, the patient's limbs that need assisted movement such as hands and legs are fixed on the chain by using a rope. The chain is automatically rotated to achieve the training purpose. The output power of the servo motor can be adjusted according to the patient's physical condition to adjust the speed of the chain, so as to adapt to different patients. By using the present application, the patient can complete basic rehabilitation medical training without going out of the house, and the burden of the patient's family is greatly reduced.

[0018] 3. The lateral column can be rotated 90 degrees around the rotation shaft of the up-down rotation joint to form a horizontal frame in a lying position (flat lying state). When in the lying position, the lateral column is rotated 90 degrees around the rotation shaft of the up-down rotation joint to form a vertical frame in a standing position (standing state). In the lying position and the standing position, the assisted movement of different postures of different limbs of different patients can be realized.

[0019] 4. The output power of the servo motor can also be adjusted according to the patient's physical strength or the servo motor can be turned off. The patient pulls the chain with part of the strength or all the strength to achieve the purpose of training the patient's physical ability.

[0020] The portable four-limb rehabilitation medical training robot will be further described below in combination with the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic view of the portable four-limb rehabilitation medical training robot of the present application;

[0022] Figure 2 is a structural schematic view of the training mechanism of the portable four-limb rehabilitation medical training robot of the present application;

[0023] Figure 3 is Figure 2 is another direction view of the training mechanism shown in the figure;

[0024] Figure 4 is a structural schematic view of the rehabilitation chair of the portable four-limb rehabilitation medical training robot of the present application (the state of the backrest sitting position and the lying position is shown in the figure);

[0025] Figure 5 is Figure 2 is a schematic view of the training mechanism shown in the figure after hiding the upper chain wheel decoration box and one of the lower chain wheel decoration boxes;

[0026] Figure 6 is a schematic view of the chain driving mechanism installed on the motor installation support;

[0027] Figure 7 is a structural schematic view of the portable four-limb rehabilitation medical training robot converted into a lying type;

[0028] Figure 8 is Figure 7Structure diagram of the hidden rehabilitation chair;

[0029] BRIEF DESCRIPTION OF DRAWINGS 1 - training mechanism, 2 - rehabilitation chair, 3 - lower sprocket cover, 4 - cover plate, 5 - lateral upright, 6 - upper sprocket cover, 7 - chain, 9 - bottom frame, 10 - lateral support device, 11 - upper and lower rotary joint, 12 - support vertical rod, 13 - support horizontal rod, 14 - support connecting rod, 15 - armrest, 16 - backrest, 17 - chair wheel, 18 - sprocket mounting seat, 19 - lower guide sprocket, 20 - upper guide sprocket, 21 - top lateral connecting rod, 22 - top rear connecting rod, 23 - motor mounting bracket, 24 - top middle connecting rod, 25 - top frame, 26 - bottom rear connecting rod, 27 - bottom lateral connecting rod, 28 - servo motor, 29 - driving pulley, 30 - transmission belt, 31 - driven pulley, 32 - driving sprocket, 33 - middle guide sprocket. DETAILED DESCRIPTION

[0030] As shown in Figure 1 , the portable four-limb rehabilitation medical training robot of the present application comprises a rehabilitation chair 2 and a training mechanism 1 arranged on the periphery of the rehabilitation chair 2.

[0031] As shown in Figure 2 , 3, 5, 6, the training mechanism 1 includes a frame, a chain 7, a chain drive mechanism, a side support device 10. The frame includes a bottom frame 9, a top frame 25 and a lateral column 5 connected between the bottom frame 9 and the top frame 25 on both sides. The rehabilitation chair 2 is arranged in the space formed by the bottom frame 9, the top frame 25 and the lateral column 5, and the rehabilitation chair 2 is provided with armrests 15 on both sides. The backrest 16 of the rehabilitation chair 2 is an adjustable backrest 16 that can be adjusted to any height. When the backrest 16 of the rehabilitation chair 2 is adjusted to a horizontal position, a small bed is formed. The bottom of the rehabilitation chair 2 is also provided with seat wheels 17 for easy movement. The chain drive mechanism is connected to the middle of the front end of the top frame 25. The chain drive mechanism includes a motor mounting bracket 23, a servo motor 28, a transmission mechanism and a drive sprocket 32. The motor mounting bracket 23 is connected to the middle of the front end of the top frame 25. The servo motor 28 is mounted on the motor mounting bracket 23. The transmission mechanism is connected to one side of the motor mounting bracket 23 and connected to the output end of the servo motor 28. The drive sprocket 32 is connected to the transmission mechanism. The drive sprocket 32 is provided with a middle guide sprocket 33 on one side. Each side of the front end of the top frame 25 is connected to two upper guide sprockets 20 arranged in front and back. Each side of the front end of the bottom frame 9 is provided with a lower guide sprocket 19. The chain 7 is a closed loop chain connected at both ends. The chain 7 is first matched with the drive sprocket 32. The chain is then wound around the upper guide sprockets 20, the lower guide sprockets 19 and the middle guide sprocket 33 on both sides. The chain 7 is driven to move by the drive sprocket 32. The side support device 10 is hinged to the outside of the two lateral columns 5 through the up-down rotating joint 11.

[0032] In this embodiment, the bottom frame 9 includes a bottom rear link 26 and a bottom side link 27. The bottom side link 27 is vertically connected to the two sides of the front end of the bottom rear link 26 by welding (or bolts). The top frame 25 includes a top rear link 22, a top side link 21 and a top middle link 24. The top side link 21 is vertically connected to the two sides of the front end of the top rear link 22 by welding (or bolts). The top middle link 24 is connected to the middle of the top rear link 22 at the rear end by welding (or bolts). The top middle link 24 is connected to the motor mounting bracket 23 at the front end. The upper guide sprocket 20 is connected to the lower side of the front end of the top side link 21 through the sprocket mounting seat 18. The bottom end of each side of the top side link 21 is connected to two sprocket mounting seats 18 arranged in front and back. One upper guide sprocket 20 is positioned on each sprocket mounting seat 18. The upper guide sprocket 20 is installed in the sprocket mounting seat 18 and can rotate freely. The lower guide sprocket 19 is connected to the upper side of the front end of the bottom side link 27 through the sprocket mounting seat 18. The lower guide sprocket 19 is installed in the sprocket mounting seat 18 and can rotate freely.

[0033] The upper end of the motor mounting bracket 23 is provided with a motor mounting position, the lower end of the motor mounting bracket 23 is provided with a driven pulley 31 mounting position at the front side and a driving sprocket 32 mounting position at the rear side. The servo motor 28 is mounted in the motor mounting position at the upper end of the motor mounting bracket 23, and the servo motor 28 is matched with a remote controller (not shown in the figure) which can control the operation of the servo motor 28. The transmission mechanism comprises a driving pulley 29, a driven pulley 31 and a transmission belt 30. The driving pulley 29 is arranged at the front end of the servo motor 28 and connected with the output shaft of the servo motor 28. The driven pulley 31 is positioned in the driven pulley 31 mounting position below the driving pulley 29. The rotating shaft of the driven pulley 31 is supported by the motor mounting bracket 23 and extends backward into the driving sprocket 32 mounting position. The driven pulley 31 is positioned outside the rotating shaft of the driven pulley 31 and can rotate together with the rotating shaft. The transmission belt 30 is connected between the driving pulley 29 and the driven pulley 31. The driving sprocket 32 is arranged in the driving sprocket 32 mounting position at the rear side of the driven pulley 31 and connected with the rotating shaft of the driven pulley 31, so that the driving sprocket 32 can rotate together with the driven pulley 31 in the same direction. The motor mounting bracket 23 at the rear side of the driving sprocket 32 is also provided with a middle sprocket mounting position, and the middle guide sprocket 33 is mounted in the middle sprocket mounting position through a positioning rotating shaft.

[0034] The chain 7 is a steel chain, and the chain is a closed loop chain connected at both ends, that is, the two ends are connected together in a continuous loop. The chain 7 is assembled on the driving sprocket 32, and the driving sprocket 32 rotates the chain 7 to move. The chain at the left side of the driving sprocket 32 is the first end of the chain, and the chain at the right side of the driving sprocket 32 is the second end of the chain. The first end of the chain extends to the left and is guided by one of the upper guide sprockets 20 at the left upper side (the upper guide sprocket 20 at the front side), then extends downward and passes through the lower guide sprocket 19 at the left lower side, reversely extends upward and is guided by the other upper guide sprocket 20 at the left upper side (the upper guide sprocket 20 at the rear side), then extends to the right, is guided by the middle guide sprocket 33, continues to extend to the right and is guided by one of the upper guide sprockets 20 at the right upper side, then extends downward and passes through the lower guide sprocket 19 at the right lower side, reversely extends upward and is guided by the other upper guide sprocket 20 at the right upper side, and finally extends to the left and is connected with the second end of the chain.

[0035] The application also comprises an upper sprocket decoration box 6 and two lower sprocket decoration boxes 3. The upper sprocket decoration box 6 covers the top frame 25, the upper guide sprocket 20, the middle guide sprocket 33 and the chain driving mechanism. Each lower sprocket decoration box 3 covers a lower guide sprocket 19 and a sprocket mounting seat 18 thereof. The main functions of the upper sprocket decoration box 6 and the lower sprocket decoration box 3 are dustproof and safety protection, which can prevent dust and foreign matters from being clamped into the guide sprockets and the driving mechanism.

[0036] As Figure 7、 8 As shown in the embodiment, the side support device 10 comprises a support vertical rod 12 and a support horizontal rod 13 connected to the bottom end of the support vertical rod 12, and a foot wheel is connected to the bottom of the support horizontal rod 13. A support connecting rod 14 is connected between the two support horizontal rods 13. The inner side of the support vertical rod 12 is hinged to the two lateral columns 5 through the up-down rotating joints 11 respectively. The up-down rotating joints 11 are simultaneously connected to the inner side surface of the support vertical rod 12 and the outer side surface of the corresponding lateral column 5. The inner side of the up-down rotating joint 11 is provided with a rotating shaft. The frame integrated with the lateral column 5 can be rotated and transformed together with the lateral column 5 by pushing the lateral column 5, so as to change the training mechanism 1 into a lying position or a standing position. The lateral column 5 can be rotated 90 degrees around the rotating shaft of the up-down rotating joint 11 to form a lying position (as shown in the figure), and the lateral column 5 can be rotated 90 degrees around the rotating shaft of the up-down rotating joint 11 to form a standing position. In the lying position and the standing position, the auxiliary movement demand of different postures of different limbs of different patients can be realized. As the transformation of the present application, a sliding rail is connected to the inner side of the support vertical rod 12, and a sliding block is connected to the sliding rail. The outer side of the up-down rotating joint 11 is installed in the inner surface of the sliding block. When the frame is in the lying position, the height of the frame in the horizontal direction can be adjusted by the relative movement of the sliding rail and the sliding block, so as to adjust the horizontal height of the chain 7. A limiting device for limiting the excessive downward sliding of the sliding block is arranged in the inner side of the support vertical rod 12. A decorative cover plate 4 is connected to the outer side of the support vertical rod 12 of the side support device 10. The decorative cover plate 4 is a triangle or trapezoidal shape with a wide bottom end and a narrow upper end. Figure 7

[0037] In use, the rehabilitation chair 2 is positioned in the inner side of the two lateral columns 5 of the training mechanism 1. If the patient needs to sit, the rehabilitation chair 2 is adjusted to a sitting position. At this time, the lateral rod of the training mechanism 1 remains in a standing state. During training, the limbs of the patient that need to be assisted in movement, such as the hands and legs, are positioned on the chain 7 by using a positioning device such as a rope. The servo motor 28 is controlled by a remote controller to work, and the chain 7 moves to achieve the effect of moving the limbs of the human body. The chain 7 can make a certain distance of reciprocating movement. If the patient needs to lie down, the rehabilitation chair 2 is adjusted to a lying position. At this time, the lateral column 5 is pushed backward, and the lateral column 5 is rotated 90 degrees around the rotating shaft of the up-down rotating joint 11 to form a lying position (as shown in the figure). At this time, the patient can lie flat on the rehabilitation chair 2. During training, the limbs of the patient that need to be assisted in movement, such as the hands and legs, are positioned on the chain 7 by using a positioning device such as a rope. The servo motor 28 is controlled by a remote controller to work, and the chain 7 moves to achieve the effect of moving the limbs of the human body. The output power of the servo motor 28 can also be adjusted according to the physical strength of the patient or the servo motor 28 can be turned off. The patient pulls the chain 7 with part of the strength or all the strength to achieve the purpose of training the physical ability of the patient. Figure 7

[0038] ​​The above embodiments are only the preferred embodiments of the present application, and the structure of the present application is not limited to the forms listed in the above embodiments, and any modification, equivalent replacement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A portable limb rehabilitation medical training robot, comprising a rehabilitation chair (2) and a training mechanism (1) disposed around the rehabilitation chair (2), characterized in that, The training mechanism (1) includes a frame, a chain (7), a chain drive mechanism, and a side support device (10). The frame includes a bottom frame (9), a top frame (25), and side columns (5) connecting the bottom frame (9) and the top frame (25) on both sides. The rehabilitation chair (2) is set in the space formed by the bottom frame (9), the top frame (25), and the side columns (5). The chain drive mechanism is connected to the middle of the front end of the top frame (25). The chain drive mechanism includes a motor mounting bracket (23), a servo motor (28), a transmission mechanism, and a drive sprocket (32). The motor mounting bracket (23) is connected to the middle of the front end of the top frame (25). The servo motor (28) is mounted on the motor mounting bracket (23). The transmission mechanism is connected to one side of the motor mounting bracket (23) and connected to the output end of the servo motor (28). The drive sprocket (32) is connected to the transmission mechanism. A middle guide sprocket (33) is provided on one side of the drive sprocket (32). The top frame (25) is in front of the transmission mechanism. Each side of the end is connected to two upper guide sprockets (20) arranged front and rear, and each side of the bottom frame (9) is provided with a lower guide sprocket (19). The chain (7) is a closed loop chain connected end to end. The chain (7) first engages with the drive sprocket (32), and then the chain (7) wraps around the upper guide sprockets (20), lower guide sprockets (19) and middle guide sprockets (33) on both sides, and is driven by the drive sprockets (32) to move the chain (7). The side supports The support device (10) is hinged to the outside of the two side columns (5) by upper and lower rotating joints (11); the side support device (10) includes a support rod (12) and a support crossbar (13) vertically connected to the bottom of the support rod (12). The bottom of the support crossbar (13) is connected to a caster, and a support connecting rod (14) is connected between the two support crossbars (13). The inner side of the support rod (12) is hinged to the two side columns (5) by upper and lower rotating joints (11).

2. The portable limb rehabilitation medical training robot as described in claim 1, characterized in that, The bottom frame (9) includes a bottom rear link (26) and a bottom side link (27). The bottom side link (27) is connected to the front ends of both sides of the bottom rear link (26). The top frame (25) includes a top rear link (22), a top side link (21) and a top middle link (24). The top side link (21) is connected to the front ends of both sides of the top rear link (22). The rear end of the top middle link (24) is connected to the middle of the top rear link (22). The front end of the top middle link (24) is connected to the motor mounting bracket (23).

3. The portable limb rehabilitation medical training robot as described in claim 2, characterized in that, The upper guide sprocket (20) is connected to the lower front end of the top side connecting rod (21) via a sprocket mounting seat (18), and the lower guide sprocket (19) is connected to the upper front end of the bottom side connecting rod (27) via a sprocket mounting seat (18).

4. The portable limb rehabilitation medical training robot as described in claim 2, characterized in that, The servo motor (28) is mounted on the upper end of the motor mounting bracket (23). The transmission mechanism includes a drive pulley (29), a driven pulley (31), and a transmission belt (30). The drive pulley (29) is located at the front end of the servo motor (28) and connected to the output shaft of the servo motor (28). The driven pulley (31) is positioned below the drive pulley (29). The shaft of the driven pulley (31) is supported by the motor mounting bracket (23) and extends backward to the drive sprocket (32) mounting position. The transmission belt (30) is connected between the drive pulley (29) and the driven pulley (31). The drive sprocket (32) is located in the drive sprocket (32) mounting position behind the driven pulley (31) and connected to the shaft of the driven pulley (31).

5. The portable limb rehabilitation medical training robot as described in claim 4, characterized in that, The motor mounting bracket (23) on the rear side of the drive sprocket (32) is also provided with a central sprocket mounting position, and the central guide sprocket (33) is installed in the central sprocket mounting position through a positioning shaft.

6. The portable limb rehabilitation medical training robot as described in claim 3, characterized in that, The chain to the left of the drive sprocket (32) is the first end of the chain, and the chain to the right of the drive sprocket (32) is the second end of the chain. The first end of the chain extends to the left and is guided by one of the upper guide sprockets (20) on the upper left side. Then it extends downward and passes around the lower guide sprocket (19) on the lower left side. Then it extends upward in the opposite direction and is guided by another upper guide sprocket (20) on the upper left side. Then it extends to the right and is guided by the middle guide sprocket (33). Then it continues to extend to the right and is guided by one of the upper guide sprockets (20) on the upper right side. Then it extends downward and passes around the lower guide sprocket (19) on the lower right side. Then it extends upward in the opposite direction and is guided by another upper guide sprocket (20) on the upper right side. Finally, it extends to the left and connects with the second end of the chain.

7. The portable limb rehabilitation medical training robot as described in claim 3, characterized in that, It also includes an upper sprocket decorative box (6) and two lower sprocket decorative boxes (3). The upper sprocket decorative box (6) encloses the top frame (25), the upper guide sprocket (20), the middle guide sprocket (33), and the chain drive mechanism. Each lower sprocket decorative box (3) covers a lower guide sprocket (19) and its sprocket mounting base (18).

8. The portable limb rehabilitation medical training robot as described in claim 3, characterized in that, The lateral column (5) can rotate 90 degrees backward around the axis of the upper and lower rotating joint (11) to form a lying position. When lying down, the lateral column (5) rotates 90 degrees forward around the axis of the upper and lower rotating joint (11) to form a standing position.

9. The portable limb rehabilitation medical training robot as described in claim 1, characterized in that, The side support device (10) has a decorative cover plate (4) connected to the outside of the support rod (12). The decorative cover plate (4) is a triangular or trapezoidal shape with a wide bottom and a narrow top.

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