A multi-posture foldable rehabilitation bed

Abstract

The present invention belongs to the technical field of rehabilitation machinery, and particularly relates to a multi-posture retractable rehabilitation bed. The present invention includes a chassis, a support frame installed on the chassis, a training bed body whose end is rotatably installed on the support frame and whose head end is lapped on the support frame, an upper limb rehabilitation mechanism symmetrically installed at the head end of the training bed body through an adjustment mechanism for the rehabilitation training of the human arm, and mechanical legs symmetrically installed at the end of the training bed body for the rehabilitation training of the human legs; the upper limb rehabilitation mechanism of the present invention adopts a rehabilitation arm with three degrees of freedom, which can realize the extension movement of the human shoulder joint, the forward and backward movement of the arm, and the abduction and adduction movement of the elbow joint. At the same time, an adjustment mechanism is provided between the upper limb rehabilitation mechanism and the training bed body. When rehabilitation training is not carried out, the rehabilitation arm of the upper limb rehabilitation mechanism can retract the upper limb rehabilitation mechanism into the storage cavity of the training bed body, saving space and solving the problem of large space occupation of the rehabilitation bed in the prior art.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation machinery, and particularly relates to a multi-posture storage type rehabilitation bed. Background Art

[0002] For patients with upper or lower limbs that need long-term rehabilitation training due to hemiplegia, accidents or other diseases, traditional rehabilitation training needs to be carried out one-on-one by rehabilitation therapists, which occupies a large amount of manpower and material resources, and the rehabilitation training completely depends on the rehabilitation technology of the rehabilitation therapists themselves, and cannot ensure that patients receive the most effective rehabilitation training.

[0003] In recent years, the rehabilitation beds on the market can only carry out rehabilitation training in one of the standing or lying positions, with limited applicability, and the bed body is relatively large, occupying a large amount of space and bringing great inconvenience to home-based rehabilitation training.

[0004] Moreover, the height of the existing rehabilitation beds is single. When the patient is in rehabilitation, the patient needs to be moved from the hospital bed or other platforms to the rehabilitation bed, or from the rehabilitation bed to the hospital bed. However, the heights of the rehabilitation bed and the hospital bed or other platforms are different, which poses great difficulties for the transfer of patients. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of large space occupation and single function existing in the prior art, and provide a multi-posture storage type rehabilitation bed.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a multi-posture storage type rehabilitation bed, including a chassis, a support frame installed on the chassis, a training bed body with its end rotatably installed on the support frame and its head end lapped on the support frame, an upper limb rehabilitation mechanism symmetrically installed at the head end of the training bed body through an adjustment mechanism for the rehabilitation training of the human arm, and mechanical legs symmetrically installed at the end of the training bed body for the rehabilitation training of the human leg;

[0007] The upper limb rehabilitation mechanism includes a first motor installed on the adjustment mechanism, a first rehabilitation arm coaxially arranged with the output shaft of the first motor, a second motor installed on the first rehabilitation arm, a second rehabilitation arm coaxially arranged with the output shaft of the second motor, a third motor installed on the second rehabilitation arm, and a third rehabilitation arm coaxially arranged with the output shaft of the third motor; a handle for the human hand to tightly hold is rotatably installed at one end of the third rehabilitation arm away from the third motor;

[0008] The first rehabilitation arm rotates on the horizontal plane along the axis of the output shaft of the first motor, the second rehabilitation arm rotates on the vertical plane along the axis of the first rehabilitation arm, and the third rehabilitation arm rotates on the vertical plane along the vertical output shaft axis of the third motor.

[0009] Further, the adjustment mechanism includes a Y-axis adjustment mechanism for adjusting the position of the upper limb rehabilitation mechanism in the Y-axis direction and an X-axis adjustment mechanism for adjusting the position of the upper limb rehabilitation mechanism in the X-axis direction; the Y-axis adjustment mechanism is installed on the training bed body, and the X-axis adjustment mechanism is fixedly installed at the output end of the Y-axis adjustment mechanism; the first motor is fixedly installed at the output end of the X-axis adjustment mechanism.

[0010] Further, when no rehabilitation training is carried out, the upper limb rehabilitation mechanism contracts into the storage cavity on the training bed body;

[0011] When carrying out rehabilitation training, the upper limb rehabilitation mechanism unfolds from the storage cavity to the outside of the training bed body.

[0012] Further, the Y-axis adjustment mechanism includes two Y-axis adjustment guide rails horizontally arranged along the Y direction and fixedly installed on the support frame, a Y-axis adjustment motor, a Y-axis lead screw coaxially arranged with the output shaft of the Y-axis adjustment motor, a Y-axis adjustment nut seat engaged with the lead screw, and a Y-axis adjustment slider engaged with the Y-axis adjustment guide rail; the Y-axis adjustment nut seat is fixedly connected to the Y-axis adjustment slider;

[0013] The X-axis adjustment mechanism includes an X-axis adjustment bracket fixedly installed on the Y-axis adjustment nut seat, an X-axis adjustment guide rail and an X-axis adjustment motor installed on the X-axis adjustment bracket, an X-axis lead screw coaxially arranged with the X-axis adjustment motor, an X-axis adjustment nut seat engaged with the X-axis lead screw, and an X-axis adjustment slider engaged with the X-axis adjustment guide rail; the X-axis adjustment nut seat is fixedly connected to the X-axis adjustment slider; the first motor is fixedly installed on the X-axis adjustment nut seat.

[0014] Further, a lifting mechanism for lifting the support frame in the Z-axis direction is provided between the chassis and the support frame. The lifting mechanism includes four lifting tubes symmetrically arranged on both sides of the chassis. One end of the lifting tube is rotatably installed on the side surface of the chassis, and the other end is rotatably installed on the support frame; a lifting push rod is installed on the chassis corresponding to the middle position of the four lifting tubes, and the telescopic end of the lifting push rod is rotatably connected to the support frame; lifting air springs are symmetrically installed on the chassis, and the telescopic ends of the lifting air springs are connected to the upper ends of the two lifting tubes near the head end of the support frame; the telescopic direction of the lifting push rod is arranged crosswise with the telescopic direction of the lifting air spring.

[0015] Further, a getting-up mechanism for lifting the rehabilitation frame is installed on the support frame; the getting-up mechanism includes a turning link with one end installed on the support frame and the other end slidably installed on the training bed body, and a getting-up push rod is installed on the support frame, and the telescopic end of the getting-up push rod is rotatably connected to the turning link;

[0016] A getting-up guiding track horizontally arranged along the X-axis direction on the lower end surface of the training bed body, and a getting-up sliding block cooperating with the getting-up guiding track, wherein the getting-up sliding block is fixedly installed at the end of the turning link far away from the support frame.

[0017] Furthermore, the mechanical leg includes a leg protection mechanism rotatably installed on the training bed body for being arranged on the thigh part of the human body, a calf bracket for protecting and supporting the calf, and a foot mechanism for placing the human foot;

[0018] The leg protection mechanism includes a leg protection motor installed on the training bed body, a leg protection rotating arm coaxially arranged with the output shaft of the leg protection motor, and a leg protection bracket rotatably installed on the leg protection rotating arm for supporting the thigh part of the patient; the leg protection bracket is fixedly connected with the calf bracket;

[0019] The foot mechanism includes a foot connecting plate, a foot pedal rotatably installed on the foot connecting plate, and a foot adjusting air spring installed on the foot connecting plate; the telescopic end of the foot adjusting air spring is rotatably connected with the foot pedal.

[0020] Furthermore, a leg adjusting mechanism for adjusting the position of the foot mechanism is arranged on the training bed body corresponding to the mechanical leg;

[0021] The leg adjusting mechanism includes a leg adjusting motor fixedly installed on the training bed body, a lead screw coaxially arranged with the output shaft of the leg adjusting motor, and a nut seat in cooperation with the lead screw; the nut seat is fixedly connected with the foot connecting plate; a leg adjusting guide rail is arranged along the X-axis direction on the training bed body, and a leg adjusting sliding block cooperating with the leg adjusting guide rail is arranged on the leg adjusting guide rail, and the leg adjusting sliding block is fixedly installed with the foot connecting plate.

[0022] Furthermore, at least four moving wheels are arranged on the lower end surface of the chassis.

[0023] Furthermore, a boosting device for driving the rehabilitation bed to move is arranged on the middle cross beam of the chassis.

[0024] The beneficial effects of a multi-posture retractable rehabilitation bed of the present invention are:

[0025] 1. The upper limb rehabilitation mechanism of the present invention adopts a rehabilitation arm with three degrees of freedom, which can realize the abduction movement of the human shoulder joint, the forward and backward movement of the arm, and the abduction and adduction movement of the elbow joint. At the same time, an adjustment mechanism is provided between the upper limb rehabilitation mechanism and the training bed body. When rehabilitation training is not carried out, the rehabilitation arm of the upper limb rehabilitation mechanism can be rotated to the same horizontal plane and then the position of the upper limb rehabilitation mechanism can be adjusted through the adjustment mechanism, so as to realize the storage of the upper limb rehabilitation mechanism into the storage cavity of the training bed body, save space, and solve the problem of large space occupation of the rehabilitation bed in the prior art.

[0026] 2. The present invention is provided with a getting-up mechanism, which can realize the rehabilitation training of the human body standing, lying or at other angles, and can be adjusted according to the needs of patients, with strong applicability. And a lifting mechanism is provided on the bed frame. The parallelogram structure is used to realize the lifting effect of the support frame while ensuring the stability of the support frame. The lifting mechanism is also provided with a lifting gas spring to assist the lifting push rod in lifting work, reducing the shaking of the rehabilitation bed during the lifting process.

[0027] 3. The mechanical leg of the present invention is provided with a leg adjustment mechanism, which can be adjusted according to the different heights and leg lengths of different patients, so that the rehabilitation bed can be suitable for patients of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0029] Figure 1 It is the first perspective three-dimensional view of the rehabilitation bed in the lying state of the embodiment of the present invention;

[0030] Figure 2 It is a partial structural schematic diagram of the rehabilitation bed of the embodiment of the present invention;

[0031] Figure 3 It is the second perspective three-dimensional view of the rehabilitation bed in the lying state of the embodiment of the present invention;

[0032] Figure 4 It is the back view structural schematic diagram of the rehabilitation bed of the embodiment of the present invention;

[0033] Figure 5 It is the structural schematic diagram of the upper limb rehabilitation mechanism in the unfolded state in the embodiment of the present invention;

[0034] Figure 6 It is the structural schematic diagram of the upper limb rehabilitation mechanism in the contracted state in the embodiment of the present invention;

[0035] Figure 7 It is the structural schematic diagram of the Y-axis adjustment mechanism in the embodiment of the present invention;

[0036] Figure 8It is a schematic structural diagram of the X-axis adjustment mechanism according to an embodiment of the present invention;

[0037] Figure 9 It is a schematic structural diagram of the leg protection mechanism according to an embodiment of the present invention;

[0038] Figure 10 It is an embodiment of the present invention Figure 2 The enlarged view at position A in;

[0039] Figure 11 It is a schematic structural diagram when the lifting mechanism is in the highest position;

[0040] Figure 12 It is a three-dimensional view of the rehabilitation bed in the standing state according to an embodiment of the present invention.

[0041] In the figure: 1, chassis; 2, support frame; 3, training bed body; 31, storage cavity; 4, adjustment mechanism; 41, Y-axis adjustment mechanism; 411, Y-axis adjustment guide rail; 412, Y-axis adjustment motor; 413, Y-axis lead screw; 414, Y-axis adjustment slider; 415, Y-axis adjustment nut seat; 42, X-axis adjustment mechanism; 421, X-axis adjustment bracket; 422, X-axis adjustment guide rail; 423, X-axis adjustment motor; 424, X-axis lead screw; 425, X-axis adjustment nut seat; 426, X-axis adjustment slider; 5, upper limb rehabilitation mechanism; 51, first motor; 52, first rehabilitation arm; 53, second motor; 54, second rehabilitation arm; 55, third motor; 56, third rehabilitation arm; 57, handle; 6, mechanical leg; 61, leg protection mechanism; 611, leg protection motor; 612, leg protection rotating arm; 613, leg protection bracket; 62, calf bracket; 63, foot mechanism; 631, foot connecting plate; 632, footrest; 633, foot adjustment air spring; 64, leg adjustment mechanism; 641, leg adjustment motor; 642, leg adjustment guide rail; 643, leg adjustment slider; 7, lifting mechanism; 71, lifting tube; 72, lifting push rod; 73, lifting air spring; 8, getting-up mechanism; 81, flipping link; 82, getting-up push rod; 83, getting-up guiding track; 9, backrest-lifting mechanism; 91, backrest-lifting push rod; 92, backrest-lifting wheel; 10, moving wheel; 11, assisting device. Detailed implementation manners

[0042] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0043] As Figures 1 - 12A specific embodiment of a multi-posture storage rehabilitation bed of the present invention shown in the figure includes a chassis 1, a support frame 2 installed on the chassis 1, a training bed body 3 with its end rotatably installed on the support frame 2 and its head end lapped on the support frame 2, an upper limb rehabilitation mechanism 5 symmetrically installed at the head end of the training bed body 3 through an adjustment mechanism 4 for the rehabilitation training of the human arm, and mechanical legs 6 symmetrically installed at the end of the training bed body 3 for the rehabilitation training of the human legs; wherein, the upper limb rehabilitation mechanism 5 of this embodiment includes a first motor 51 installed on the adjustment mechanism 4, a first rehabilitation arm 52 coaxially arranged with the output shaft of the first motor 51, a second motor 53 installed on the first rehabilitation arm 52, a second rehabilitation arm 54 coaxially arranged with the output shaft of the second motor 53, a third motor 55 installed on the second rehabilitation arm 54, and a third rehabilitation arm 56 coaxially arranged with the output shaft of the third motor 55; a handle 57 for the human hand to tightly hold is rotatably installed at one end of the third rehabilitation arm 56 away from the third motor 55. When performing upper limb rehabilitation training, the patient holds the handle 57 tightly. In this embodiment, the third motor 55 is a right-angle output motor.

[0044] Refer to, 5 and Figure 6 It should be noted that the first rehabilitation arm 52 rotates on the horizontal plane along the axis of the output shaft of the first motor 51, the second rehabilitation arm 54 rotates on the vertical plane along the axis of the first rehabilitation arm 52, and the third rehabilitation arm 56 rotates on the vertical plane along the axis of the vertical output shaft of the third motor 55.

[0045] As Figure 2 、 Figure 7 And Figure 8 As shown in the figure, the adjustment mechanism 4 includes a Y-axis adjustment mechanism 41 for adjusting the position of the upper limb rehabilitation mechanism 5 in the Y-axis direction and an X-axis adjustment mechanism 42 for adjusting the position of the upper limb rehabilitation mechanism 5 in the x-axis direction; the Y-axis adjustment mechanism 41 is installed on the training bed body 3, and the X-axis adjustment mechanism 42 is fixedly installed at the output end of the Y-axis adjustment mechanism 41; the first motor 51 is fixedly installed at the output end of the X-axis adjustment mechanism 42.

[0046] In this embodiment, the Y-axis adjustment mechanism 41 includes two Y-axis adjustment guide rails 411 horizontally arranged along the Y direction and fixedly installed on the support frame 2, a Y-axis adjustment motor 412, a Y-axis lead screw 413 coaxially arranged with the output shaft of the Y-axis adjustment motor 412, a Y-axis adjustment nut seat 415 engaged with the lead screw, and a Y-axis adjustment slider 414 engaged with the Y-axis adjustment guide rail 411; the Y-axis adjustment nut seat 415 is fixedly connected to the Y-axis adjustment slider 414. The X-axis adjustment mechanism 42 includes an X-axis adjustment bracket 421 fixedly installed on the Y-axis adjustment nut seat 415, an X-axis adjustment guide rail 422 and an X-axis adjustment motor 423 installed on the X adjustment bracket, an X-axis lead screw 424 coaxially arranged with the X-axis adjustment motor 423, an X-axis adjustment nut seat 425 engaged with the X-axis lead screw 424, and an X-axis adjustment slider 426 engaged with the X-axis adjustment guide rail 422; the X-axis adjustment nut seat 425 is fixedly connected to the X-axis adjustment slider 426; the first motor 51 is fixedly installed on the X-axis adjustment nut seat 425.

[0047] In this embodiment, each upper limb rehabilitation mechanism 5 corresponds to an X-axis adjustment mechanism 42 and a Y-axis adjustment mechanism 41, ensuring the independent rehabilitation of the left and right arms. It can display the individual training of one arm or the simultaneous training of both arms. When no rehabilitation training is carried out, the upper limb rehabilitation mechanism 5 contracts into the storage cavity 31 on the training bed body 3 under the action of the X-axis adjustment mechanism 42 and the Y-axis adjustment mechanism 41; when carrying out rehabilitation training, the two upper limb rehabilitation mechanisms 5 are respectively moved to the position close to the side of the training bed body 3 of the Y-axis adjustment guide rail 411, and then the upper limb rehabilitation mechanism 5 in the storage cavity 31 is unfolded to the outside of the training bed body 3.

[0048] The upper limb rehabilitation mechanism 5 of the present invention adopts a rehabilitation arm with three degrees of freedom, which can realize the abduction movement of the human shoulder joint, the forward and backward movement of the arm, and the abduction and adduction movement of the elbow joint. At the same time, an adjustment mechanism 4 is provided between the upper limb rehabilitation mechanism 5 and the training bed body 3. When no rehabilitation training is carried out, the upper limb rehabilitation mechanism 5 is in a contracted state. As Figure 6 shown, the rehabilitation arm of the upper limb rehabilitation mechanism 5 can be rotated to the same horizontal plane and then the position of the upper limb rehabilitation mechanism 5 can be adjusted through the adjustment mechanism 4, so as to realize the storage of the upper limb rehabilitation mechanism 5 into the storage cavity 31 of the training bed body 3, saving space and solving the problem of large space occupation of the existing rehabilitation bed. When it is necessary to carry out rehabilitation training on the patient, the upper limb rehabilitation mechanism 5 is extended as Figure 5 shown to meet the rehabilitation needs of the patient.

[0049] Refer to Figures 2 - 4As shown, a lifting mechanism 7 for lifting the support frame 2 in the z-axis direction is arranged between the base frame 1 and the support frame 2, and the lifting mechanism 7 includes four lifting tubes 71 symmetrically arranged on both sides of the base frame 1, one end of the lifting tube 71 is rotatably installed on the side of the base frame 1, and the other end is rotatably installed with the support frame 2; a lifting push rod 72 is installed on the base frame 1 corresponding to the middle position of the four lifting tubes 71, and the telescopic end of the lifting push rod 72 is rotatably connected with the support frame 2; lifting gas springs 73 are symmetrically installed on the base frame 1, and the telescopic end of the lifting gas spring 73 is connected to the upper ends of the two lifting tubes 71 near the head end of the support frame 2; the telescopic direction of the lifting push rod 72 is cross-arranged with the telescopic direction of the lifting gas spring 73.

[0050] In this embodiment, two lifting tubes 71 on one side of the support frame 2, the base frame 1 and the support frame 2 form a quadrilateral structure, such as Figure 1 and Figure 11 As shown, the parallelogram structure can achieve the lifting effect of the support frame 2 while ensuring the stability of the support frame 2. The lifting mechanism 7 is also provided with a lifting gas spring 73 to assist the lifting push rod 72 in lifting work, thereby reducing the shaking of the rehabilitation bed during the lifting process. When in use, the lifting push rod 72 and the lifting gas spring 73 can be started to adjust the height of the support frame 2 according to specific needs, which is simple to operate and the lifting is stable and reliable.

[0051] The mechanical leg 6 includes a leg guard mechanism 61 rotatably mounted on the training bed 3 for setting on the thigh of the human body, a calf support 62 for protecting and supporting the calf, and a foot mechanism 63 for placing the foot of the human body; Figure 3 and Figure 9 The leg guard mechanism 61 includes a leg guard motor 611 installed on the training bed 3, a leg guard rotating arm 612 coaxially arranged with the output shaft of the leg guard motor 611, and a leg guard bracket 613 rotatably mounted on the leg guard rotating arm 612 for supporting the patient's thigh; the leg guard bracket 613 is fixedly connected to the calf bracket 62. It should be further explained that the foot mechanism 63 includes a foot connecting plate 631, a foot pedal 632 rotatably mounted on the foot connecting plate 631, and a foot regulating gas spring 633 installed on the foot connecting plate 631; the telescopic end of the foot regulating gas spring 633 is rotatably connected to the foot pedal 632.

[0052] On the training bed body 3 corresponding to the mechanical leg 6, a leg adjustment mechanism 64 for adjusting the position of the foot mechanism 63 is provided; among them, the leg adjustment mechanism 64 includes a leg adjustment motor 641 fixedly installed on the training bed body 3, a lead screw coaxially arranged with the output shaft of the leg adjustment motor 641, and a nut seat connected in cooperation with the lead screw; the nut seat is fixedly connected to the foot connecting plate 631; a leg adjustment guide rail 642 is arranged on the training bed body 3 along the X-axis direction, and a leg adjustment slider 643 matching the leg adjustment guide rail 642 is arranged on the leg adjustment guide rail 642, and the leg adjustment slider 643 is fixedly installed with the foot connecting plate 631.

[0053] In specific applications, according to the height of the patient, the leg adjustment motor 641 is controlled to rotate so as to adjust the position of the foot pedal 632, so that the rehabilitation bed can be suitable for patients with different heights and different leg lengths.

[0054] In this embodiment, as Figure 4 and Figure 12 shown, a getting-up mechanism 8 for lifting the rehabilitation frame is installed on the support frame 2; the getting-up mechanism 8 includes a turning link 81 with one end installed on the support frame 2 and the other end slidably installed on the training bed body 3, a getting-up push rod 82 is installed on the support frame 2, and the telescopic end of the getting-up push rod 82 is rotatably connected to the turning link 81; a getting-up guide rail 83 horizontally arranged along the X-axis direction on the lower end surface of the training bed body 3 and a getting-up slider matching the getting-up guide rail 83, and the getting-up slider is fixedly installed with the end of the turning link 81 far away from the support frame 2. Referring to Figure 12 , the maximum getting-up angle of the training bed body 3 is freely adjusted from 0 degrees to 90 degrees by the getting-up push rod 82.

[0055] In the present invention, a back-lifting mechanism 9 is also provided, as Figure 7 shown, the back-lifting mechanism 9 includes a back-lifting push rod 91 installed on the support frame 2, a back-lifting wheel 92 installed at the telescopic end of the back-lifting push rod 91, the back-lifting wheel 92 is clamped on the middle beam of the training bed body 3, when the rehabilitation bed is in a lying state, the back-lifting push rod 91 pushes the head end of the training bed body 3 to lift upward around the tail end, playing the function of back-lifting, specifically referring to as Figure 7 and Figure 12 shown, when the bed body is at 0 degrees, the upper bed structure can be lifted up to a maximum angle of 15 degrees by the getting-up push rod 82.

[0056] At least four moving wheels 10 are arranged on the lower end surface of the chassis 1, and a boosting device 11 for driving the movement of the rehabilitation bed is arranged on the middle cross beam of the chassis 1. The arrangement of the moving wheels 10 and the boosting device 11 facilitates the movement of the rehabilitation bed. The boosting device 11 is relatively common in the prior art, and its structure will not be described in detail in the present invention.

[0057] It should be understood that the specific embodiments described above are only used to explain the present invention and are not used to limit the present invention. Obvious changes or variations derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A multi-posture foldable rehabilitation bed, characterized in that: It includes a chassis, a support frame installed on the chassis, a training bed body with its end rotatably installed on the support frame and its head end lapped on the support frame, an upper limb rehabilitation mechanism symmetrically installed at the head end of the training bed body through an adjustment mechanism for the rehabilitation training of the human arm, and mechanical legs symmetrically installed at the end of the training bed body for the rehabilitation training of the human legs; The upper limb rehabilitation mechanism includes a first motor installed on the adjustment mechanism, a first rehabilitation arm coaxially arranged with the output shaft of the first motor, a second motor installed on the first rehabilitation arm, a second rehabilitation arm coaxially arranged with the output shaft of the second motor, a third motor installed on the second rehabilitation arm, and a third rehabilitation arm coaxially arranged with the output shaft of the third motor; a handle for the human hand to grip tightly is rotatably installed at the end of the third rehabilitation arm away from the third motor; The first rehabilitation arm rotates on the horizontal plane along the axis of the output shaft of the first motor, the second rehabilitation arm rotates on the vertical plane along the axis of the first rehabilitation arm, and the third rehabilitation arm rotates on the vertical plane along the axis of the vertical output shaft of the third motor; The adjustment mechanism includes a Y-axis adjustment mechanism for adjusting the position of the upper limb rehabilitation mechanism in the Y-axis direction and an X-axis adjustment mechanism for adjusting the position of the upper limb rehabilitation mechanism in the x-axis direction; the Y-axis adjustment mechanism is installed on the training bed body, and the X-axis adjustment mechanism is fixedly installed at the output end of the Y-axis adjustment mechanism; the first motor is fixedly installed at the output end of the X-axis adjustment mechanism; The Y-axis adjustment mechanism includes two Y-axis adjustment guide rails horizontally arranged along the Y direction and fixedly installed on the support frame, a Y-axis adjustment motor, a Y-axis lead screw coaxially arranged with the output shaft of the Y-axis adjustment motor, a Y-axis adjustment nut seat engaged with the lead screw, and a Y-axis adjustment slider engaged with the Y-axis adjustment guide rail; the Y-axis adjustment nut seat is fixedly connected to the Y-axis adjustment slider; The X-axis adjustment mechanism includes an X-axis adjustment bracket fixedly installed on the Y-axis adjustment nut seat, an X-axis adjustment guide rail and an X-axis adjustment motor installed on the X-axis adjustment bracket, an X-axis lead screw coaxially arranged with the X-axis adjustment motor, an X-axis adjustment nut seat engaged with the X-axis lead screw, and an X-axis adjustment slider engaged with the X-axis adjustment guide rail; the X-axis adjustment nut seat is fixedly connected to the X-axis adjustment slider; the first motor is fixedly installed on the X-axis adjustment nut seat.

2. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: When no rehabilitation training is carried out, the upper limb rehabilitation mechanism contracts into the storage cavity on the training bed body; When rehabilitation training is carried out, the upper limb rehabilitation mechanism unfolds from the storage cavity to the outside of the training bed body.

3. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: A lifting mechanism for lifting the support frame in the z-axis direction is provided between the chassis and the support frame. The lifting mechanism includes four lifting tubes symmetrically arranged on both sides of the chassis. One end of the lifting tube is rotatably installed on the side of the chassis, and the other end is rotatably installed with the support frame; a lifting push rod is installed on the chassis corresponding to the middle position of the four lifting tubes, and the telescopic end of the lifting push rod is rotatably connected to the support frame; lifting air springs are symmetrically installed on the chassis, and the telescopic ends of the lifting air springs are connected to the upper ends of the two lifting tubes near the head end of the support frame; the telescopic direction of the lifting push rod and the telescopic direction of the lifting air spring are arranged crosswise.

4. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: A lifting mechanism for lifting the rehabilitation frame is installed on the support frame; the lifting mechanism includes a turning link with one end installed on the support frame and the other end slidably installed on the training bed body, a lifting push rod is installed on the support frame, and the telescopic end of the lifting push rod is rotatably connected to the turning link; A lifting guide rail horizontally arranged in the X-axis direction is provided on the lower end surface of the training bed body, and a lifting slider cooperating with the lifting guide rail, and the lifting slider is fixedly installed at the end of the turning link far from the support frame.

5. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: The mechanical leg includes a leg protection mechanism rotatably installed on the training bed body for setting on the human thigh, a calf bracket for protecting and supporting the human calf, and a foot mechanism for placing the human foot; The leg protection mechanism includes a leg protection motor installed on the training bed body, a leg protection rotating arm coaxially arranged with the output shaft of the leg protection motor, and a leg protection bracket rotatably installed on the leg protection rotating arm for supporting the patient's thigh; the leg protection bracket is fixedly connected to the calf bracket; The foot mechanism includes a foot connecting plate, a foot pedal rotatably installed on the foot connecting plate, and a foot adjusting air spring installed on the foot connecting plate; the telescopic end of the foot adjusting air spring is rotatably connected to the foot pedal.

6. The multi-posture foldable rehabilitation bed according to claim 5, characterized in that: A leg adjusting mechanism for adjusting the position of the foot mechanism is provided on the training bed body corresponding to the mechanical leg; The leg adjusting mechanism includes a leg adjusting motor fixedly installed on the training bed body, a lead screw coaxially arranged with the output shaft of the leg adjusting motor, and a nut seat cooperating with the lead screw; the nut seat is fixedly connected to the foot connecting plate; a leg adjusting guide rail is arranged on the training bed body in the X-axis direction, and a leg adjusting slider cooperating with the leg adjusting guide rail is arranged on the leg adjusting guide rail, and the leg adjusting slider is fixedly installed on the foot connecting plate.

7. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: At least four moving wheels are provided on the lower end surface of the chassis.

8. The multi-posture foldable rehabilitation bed according to claim 1, characterized in that: A boosting device for driving the movement of the rehabilitation bed is provided on the middle cross beam of the chassis.

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