Accompanying type rehabilitation training robot

Abstract

The invention belongs to the technical field of robots, and discloses an accompanying type rehabilitation training robot which comprises a trunk, a first pushing assembly is arranged at the bottom end of the trunk, two mechanical legs are arranged at the bottom end of the surface of the first pushing assembly, and two mounting shells are fixedly mounted at the bottom ends of the two mechanical legs; and rolling wheels are rotationally connected to the interiors of the bottom ends of the two mounting shells. A moving plate and a contact plate can be pushed to descend through a connecting rod, then the bottom end of the contact plate makes contact with the ground, finally, an extrusion wheel pushes the contact plate to make contact with the ground through a first driving motor, then the overall supporting effect of the robot can be improved, and a firmer supporting foundation is formed; furthermore, the supporting effect on the robot can be improved, the situation that the position of the robot shakes or deviates due to external force interference in the process that the old sit on the training assembly for rest or training is avoided, and the use safety and stability are greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to a companion-type rehabilitation training robot. Background Art

[0002] The companion rehabilitation training robot is an intelligent device that integrates advanced technology and design concepts. It can not only assist the human body to complete complex body movements and provide comprehensive rehabilitation training for the elderly, the disabled and people with functional disabilities, but also take on the role of daily companionship, bringing psychological comfort and physical support to these user groups.

[0003] At present, the traditional companion rehabilitation training robot drives the mechanical arm to perform flexible bending movements, and then gently embraces the elderly. Then, the joints on the mechanical hand will simulate the opening movement of human fingers and gently hold the palm of the elderly. Then the rollers at the bottom of the robot begin to work. They can rotate smoothly through precise motor control, driving the entire robot and the elderly it supports to walk slowly and steadily. When the elderly need to rest, the robot can receive corresponding instructions and drive the seat on the mechanical leg to pop out quickly and smoothly, providing a comfortable resting platform for the elderly.

[0004] However, when the elderly are resting, since the bottom of the robot is supported only by rollers, in actual applications, the robot often shakes or shifts due to interference from the external environment, such as uneven ground, friction on the edge of the carpet, or sudden wind. This unstable state not only affects the use of the robot, but also reduces the overall safety and stability of its use. Summary of the invention

[0005] In order to solve the problem that the bottom of the robot proposed in the above background technology is only supported by rollers, which reduces the safety and stability of the overall use, the present invention provides a companion rehabilitation training robot.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a companion rehabilitation training robot, comprising a trunk, a pushing component 1 is arranged at the bottom end of the trunk, two mechanical legs are arranged at the bottom end of the surface of the pushing component 1, two mounting shells are fixedly installed at the bottom ends of the two mechanical legs, and rollers are rotatably connected inside the bottom ends of the two mounting shells;

[0007] A training component disposed inside one side of the robotic leg;

[0008] A supporting mechanism is arranged inside the roller, and the supporting mechanism includes a movable plate, and the movable plate is slidably connected to the inside of the roller. The number of the movable plates is four, and each two form a group. A contact plate is fixedly installed at the bottom ends of the four movable plates, and connecting rods are fixed on the opposite sides of the two movable plates. A connecting plate is fixedly installed on the side of the connecting rod close to the center of the mechanical leg, and a fixed block is fixedly installed on the top of the connecting plate. A motor 1 is arranged on the opposite side of the two mechanical legs, and a bidirectional screw rod is fixedly installed on the output end of the motor 1. The surface of the bidirectional screw rod is threaded with two threaded blocks, and the two threaded blocks are fixedly installed with two extrusion wheels located at the top of the connecting plate.

[0009] Preferably, the training component includes a propulsion component 2, the propulsion component 2 is hinged to the inside of the mechanical leg, the output shaft of the propulsion component 2 is hinged to a seat, a driving wheel is provided at the bottom end of the seat, a telescopic rod is fixedly installed at the bottom end of the driving wheel surface, a training tray is fixedly installed at the bottom end of the telescopic rod, and a protective pad is provided on one side of the training tray.

[0010] Preferably, it also includes: an adjustment mechanism, which is arranged inside the seat, the adjustment mechanism includes a slide rail, the slide rail is fixedly connected to the inside of the seat, two sliders are slidably connected to the surface of the slide rail, a connecting block is fixedly installed on the bottom end of the slider, and the bottom end of the connecting block is fixedly connected to the top end of the driving wheel, a hinge block is fixedly installed on one side of the two sliders, a cylinder is fixedly installed in the inner cavity of the seat, a hinge plate is fixedly installed on the output shaft of the cylinder, and the hinge plate and the hinge block are hinged through a hinge rod.

[0011] Preferably, a storage slot is provided on one side of the trunk, and a protective plate located on one side of the storage slot is rotatably connected to one side of the trunk.

[0012] Preferably, mechanical arms are provided at both ends of the outer surface of the trunk, and the mechanical arms can move in all directions.

[0013] Preferably, a detection head is provided at the top of the torso.

[0014] Preferably, two limit plates are fixedly mounted on one side of the two mechanical legs close to the bidirectional lead screw, and opposite sides of the two limit plates are in contact with the surface of the threaded block.

[0015] Preferably, a mounting plate is fixedly mounted on one side of the two mounting shells close to the connecting plate, and a spring is elastically connected between the connecting plate and the mounting plate.

[0016] Preferably, the training support and the protective pad are both V-shaped in design, and the protective pad is made of rubber.

[0017] Preferably, the two sides of the fixing block facing each other are designed with inclined surfaces, and the extrusion wheels are designed to be longitudinally symmetrical about the center of the fixing block.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention drives the motor 1 to rotate the bidirectional screw rod, and the two threaded blocks and the extrusion wheel will move relative to each other on the surface of the bidirectional screw rod, and then the surface of the extrusion wheel will contact the surface of the fixed block, and the extrusion wheel will move on the top of the fixed block and squeeze the fixed block to descend, and the fixed block will push the connecting plate and the connecting rod to descend, and then the connecting rod will push the moving plate and the contact plate to descend, and then the bottom end of the contact plate will contact the ground, and finally the extrusion wheel will push the contact plate to contact the ground by driving the motor 1, thereby improving the overall support effect of the robot and forming a more reliable support foundation, thereby increasing the support effect of the robot, avoiding the situation that the position of the robot is shaken or offset due to external force interference when the elderly sit on the training component to rest or train, and greatly improving the safety and stability of use;

[0020] The present invention drives the cylinder to make its output shaft push the hinged plate to move, the moving hinged plate will push the hinged rod to rotate, the hinged rod will push the hinged block and the slider to move, the slider will drive the connecting block to move, the connecting block will drive the driving wheel to move, the driving wheel will drive the telescopic rod, the training support and the protective pad to move, and then the training support can be moved to a position suitable for the legs of the elderly. Finally, the connecting block drives the training support to move by driving the cylinder to move it to a position suitable for the legs of the elderly, thereby providing the best support for the legs of the elderly and improving the comfort of the leg training of the elderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of a cross-section of a mechanical leg of the present invention;

[0023] Figure 3 It is a schematic diagram of a cross-sectional installation shell of the present invention;

[0024] Figure 4 It is a schematic diagram showing the support mechanism of the present invention;

[0025] Figure 5 It is a schematic diagram of a sectional view of a seat of the present invention;

[0026] Figure 6 It is a schematic diagram of a cross-sectional view of the slide rail of the present invention.

[0027] In the figure: 1. torso; 2. driving component 1; 3. mechanical leg; 4. mounting shell; 5. roller; 6. moving plate; 7. contact plate; 8. connecting rod; 9. connecting plate; 10. fixing block; 11. motor 1; 12. bidirectional screw rod; 13. threaded block; 14. extrusion wheel; 15. spring; 16. mounting plate; 17. driving component 2; 18. seat; 19. driving wheel; 20. telescopic rod; 21. training support; 22. protective pad; 23. slide rail; 24. slider; 25. hinge block; 26. cylinder; 27. hinge plate; 28. hinge rod; 29. ​​connecting block; 30. storage slot; 31. protective plate; 32. mechanical arm; 33. detection head; 34. limit plate. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 6 As shown, the present invention provides a companion rehabilitation training robot, including a trunk 1, a pushing component 2 is arranged at the bottom end of the trunk 1, two mechanical legs 3 are arranged at the bottom end of the surface of the pushing component 2, two installation shells 4 are fixedly installed at the bottom ends of the two mechanical legs 3, and rollers 5 are rotatably connected to the inside of the bottom ends of the two installation shells 4;

[0030] A training component, which is arranged inside one side of the mechanical leg 3;

[0031] A supporting mechanism is arranged inside the roller 5, and the supporting mechanism includes a movable plate 6, which is slidably connected to the inside of the roller 5. There are four movable plates 6, and each two form a group. A contact plate 7 is fixedly installed at the bottom end of the four movable plates 6, and a connecting rod 8 is fixed on the opposite side of the two movable plates 6. A connecting plate 9 is fixedly installed on the side of the connecting rod 8 close to the center of the mechanical leg 3, and a fixed block 10 is fixedly installed on the top of the connecting plate 9. A motor 11 is arranged on the opposite side of the two mechanical legs 3, and a bidirectional screw rod 12 is fixedly installed on the output end of the motor 11. Two threaded blocks 13 are threadedly sleeved on the surface of the bidirectional screw rod 12, and two extrusion wheels 14 located at the top of the connecting plate 9 are fixedly installed on the two threaded blocks 13.

[0032] The above scheme is adopted: by driving the roller 5 to rotate, the robot is driven to move slowly. During the movement, the elderly can be supported to assist the elderly in walking. When the elderly sit in the training component to rest, the motor 11 can be driven to rotate the bidirectional screw rod 12. Since the bidirectional screw rod 12 is threadedly connected with the threaded block 13, when the bidirectional screw rod 12 rotates, the two threaded blocks 13 will move relative to each other on the surface of the bidirectional screw rod 12, and the threaded block 13 will drive the extrusion wheel 14 to move relative to each other at the top of the connecting plate 9, and then the surface of the extrusion wheel 14 will contact the surface of the fixed block 10. Through the friction between the extrusion wheel 14 and the fixed block 10, the extrusion wheel 14 will move at the top of the fixed block 10 and squeeze the fixed block. 10 descends, the fixed block 10 will push the connecting plate 9 and the connecting rod 8 down, the connecting rod 8 will push the movable plate 6 and the contact plate 7 down, and then the bottom end of the contact plate 7 will contact the ground, thereby increasing the friction between the robot and the ground, and the two mechanical legs 3 can interchange positions with each other, and finally the extrusion wheel 14 will push the contact plate 7 to contact the ground by driving the motor 11, thereby improving the overall support effect of the robot and forming a more solid support foundation, thereby increasing the support effect of the robot, and preventing the robot from shaking or shifting due to external interference or insufficient stability when the elderly sit on the training component to rest or train, thereby greatly improving the safety and stability of use.

[0033] like Figure 1 and Figure 2 As shown, the training component includes a propulsion component 17, which is hinged to the inside of the mechanical leg 3, and the output shaft of the propulsion component 17 is hinged to a seat 18, a driving wheel 19 is provided at the bottom end of the seat 18, a telescopic rod 20 is fixedly installed at the bottom end of the surface of the driving wheel 19, a training support 21 is fixedly installed at the bottom end of the telescopic rod 20, and a protective pad 22 is provided on one side of the training support 21.

[0034] The above scheme is adopted: through the design of the training component, when the elderly person is tired of walking, the pushing component 2 17 can be driven, and then the output shaft of the pushing component 2 17 will push the seat 18 to move out of the interior of the mechanical leg 3 and rotate ninety degrees. During the rotation of the seat 18, the telescopic rod 20, the training support 21 and the protective pad 22 will also pop out, and then the elderly person can sit on the top of the seat 18 to rest. While resting, he can put his legs into the interior of the training support 21, and then the surface of the protective pad 22 will contact the elderly person's legs, and then the driving wheel 19 can be driven to swing, and the driving wheel 19 will drive the training support 21 and the protective pad 22 to swing, and the training support 21 will drive the elderly person's legs to swing, so that the elderly person's legs can be trained while they are resting.

[0035] like Figure 5 and Figure 6As shown, it also includes: an adjustment mechanism, which is arranged inside the seat 18, the adjustment mechanism includes a slide rail 23, the slide rail 23 is fixedly connected to the inside of the seat 18, and two sliders 24 are slidably connected to the surface of the slide rail 23. A connecting block 29 is fixedly installed at the bottom end of the slider 24, and the bottom end of the connecting block 29 is fixedly connected to the top of the driving wheel 19, and a hinge block 25 is fixedly installed on one side of the two sliders 24. A cylinder 26 is fixedly installed in the inner cavity of the seat 18, and a hinge plate 27 is fixedly installed on the output shaft of the cylinder 26. The hinge plate 27 and the hinge block 25 are hinged through a hinge rod 28.

[0036] The above scheme is adopted: through the design of the adjustment mechanism, when the elderly sits on the top of the seat 18, the cylinder 26 can be driven to make its output shaft push the hinge plate 27 to move. Since the hinge block 25 and the hinge plate 27 are hinged through the hinge rod 28, when the hinge plate 27 moves, the hinge rod 28 will rotate, and the hinge rod 28 will push the hinge block 25 to move. The hinge block 25 will drive the slider 24 to move on the surface of the slide rail 23, and the slider 24 will drive the connecting block 29 to move. Since the bottom end of the connecting block 29 is connected to the top end of the driving wheel 19 The connection is fixed, and then the connecting block 29 drives the driving wheel 19 to move, and the driving wheel 19 drives the telescopic rod 20, the training support 21 and the protective pad 22 to move, and then the training support 21 can be moved to a position suitable for the elderly's legs. Then the elderly can put their legs into the training support 21 for training, and finally the connecting block 29 drives the training support 21 to move by driving the cylinder 26, so that it moves to a position suitable for the elderly's legs, thereby providing the best support for the elderly's legs and improving the comfort of the elderly's leg training.

[0037] like Figure 1 and Figure 2 As shown, a storage slot 30 is provided on one side of the trunk 1 , and a protective plate 31 located on one side of the storage slot 30 is rotatably connected to one side of the trunk 1 .

[0038] The above solution is adopted: through the design of the storage slot 30 and the protective plate 31, when the elderly are resting or the robot assists the elderly in walking, the protective plate 31 can be rotated, and then useless items can be put into the storage slot 30, and then the storage slot 30 can store the items.

[0039] like Figure 1 As shown, mechanical arms 32 are provided at both ends of the outer surface of the trunk 1 , and the mechanical arms 32 can move in all directions, and a detection head 33 is provided at the top of the trunk 1 .

[0040] The above scheme is adopted: through the design of the mechanical arm 32, when the robot assists the elderly to walk, the mechanical leg 3 will push the torso 1 and the mechanical arm 32 to a position suitable for the height of the elderly, and then the two mechanical arms 32 can be driven to rotate so that they can hug the elderly, and the palms can be naturally opened to hold the elderly's hands, so as to help the elderly walk. When the patient encounters problems and grasps hard, the robot will brake urgently, and when the elderly sits on the top of the seat 18 to rest, the mechanical leg 3 can push the torso 1 and the mechanical arm 32 to rotate, and then drive the mechanical arm 32 on the side close to the seat 18 to rotate, and then the mechanical arm 32 can support the elderly, and the mechanical arm 32 on the end away from the seat 18 will rotate. To the front of the elderly, the elderly's arm can be placed on the surface of the mechanical arm 32, and some small items can be placed in the palm of the mechanical arm 32 at the end away from the seat 18, so that the mechanical arm 32 at the end away from the seat 18 can assist the elderly's arm up and down and left and right rehabilitation training, and the two mechanical arms 32 can be bent forward by about thirty degrees, with the palm facing forward and inward, and four fingers can complete the holding task. Through the design of the detection head 33, since the detection head 33 is equipped with a mobile phone function, it can be connected to the children's mobile phone and can play sound to the outside, which is convenient for interaction with the elderly, and the design of the mechanical leg 3 is equipped with a video surveillance instrument, which is convenient for children to monitor the surrounding environment.

[0041] like Figure 4 As shown, two limit plates 34 are fixedly installed on one side of the two mechanical legs 3 close to the bidirectional screw rod 12, and the opposite sides of the two limit plates 34 are in contact with the surface of the threaded block 13, and the two mounting shells 4 are fixedly installed on one side close to the connecting plate 9, and a spring 15 is elastically connected between the connecting plate 9 and the mounting plate 16.

[0042] The above scheme is adopted: through the design of the limit plate 34, since the opposite side of the limit plate 34 is in contact with the surface of the extrusion wheel 14, the moving direction of the threaded block 13 can be limited to ensure that the threaded block 13 can move normally. Through the design of the spring 15 and the mounting plate 16, when the connecting plate 9 descends, the spring 15 will be squeezed, and when the extrusion wheel 14 is away from the surface of the fixed block 10, the compressed mounting plate 16 will push the connecting plate 9 and the fixed block 10 to reset.

[0043] like Figure 4 , Figure 5 and Figure 6 As shown, the training support 21 and the protective pad 22 are both V-shaped, and the protective pad 22 is made of rubber material. The opposite sides of the fixing block 10 are both inclined, and the extrusion wheel 14 is longitudinally symmetrical about the center of the fixing block 10.

[0044] The above scheme is adopted: through the design of the training support 21 and the protective pad 22, since the training support 21 and the protective pad 22 are V-shaped, they can fully fit the legs of the elderly, and the protective pad 22 is made of rubber material, so as to protect the legs. Through the design of the fixed block 10 and the extrusion wheel 14, since the opposite sides of the fixed block 10 are all inclined, and the extrusion wheel 14 is symmetrically designed, it is convenient for the two extrusion wheels 14 to move on the surface of the fixed block 10, and the two extrusion wheels 14 can smoothly push the fixed block 10 down.

[0045] The working principle and use process of the present invention:

[0046] First, the pushing component 1 2 can be used to push the trunk 1 and the mechanical arm 32 to rise. When the trunk 1 and the mechanical arm 32 rise, the roller 5 is in a braking state. Then the mechanical arm 32 can be driven to rotate, so as to embrace the elderly, and the palm is opened to hold the elderly's arm, so as to support the elderly. Then the roller 5 can be driven to rotate, and then the whole robot will support the elderly to walk.

[0047] When the elderly are tired of walking, the driving motor 11 rotates the bidirectional screw 12, and the two threaded blocks 13 and the extrusion wheel 14 move relative to each other on the surface of the bidirectional screw 12, and then the surface of the extrusion wheel 14 contacts the surface of the fixed block 10, and the extrusion wheel 14 moves on the top of the fixed block 10, and squeezes the fixed block 10 to go down, and the fixed block 10 pushes the connecting plate 9 and the connecting rod 8 to go down, and when the connecting plate 9 moves, it squeezes the mounting plate 16, and then the connecting rod 8 pushes the moving plate 6 and the contact plate 7 to go down, and then the bottom end of the contact plate 7 contacts the ground, thereby increasing the stability of the robot;

[0048] At the same time, the pushing component 2 17 can be driven to rotate the seat 18 by ninety degrees. During the rotation of the seat 18, the telescopic rod 20, the training support 21 and the protective pad 22 will also pop out, and the mechanical leg 3 can be driven to lower the torso 1 and the mechanical arm 32. Then the elderly can sit on the top of the seat 18 to rest. While resting, the mechanical arm 32 close to one side of the seat 18 can be driven to rotate, and then the mechanical arm 32 can support the elderly's back. While supporting, the other mechanical arm 32 can be driven to rotate in front of the elderly, and then the elderly can put their arms on the surface of the mechanical arm 32, so that the mechanical arm 32 away from one end of the seat 18 can assist the elderly in the up and down and left and right rehabilitation training of their arms. Then the air can be driven The cylinder 26 causes its output shaft to push the hinge plate 27 to move, and the moving hinge plate 27 will push the hinge rod 28 to rotate, and the hinge rod 28 will push the hinge block 25 and the slider 24 to move, and the slider 24 will drive the connecting block 29 to move, and the connecting block 29 will drive the driving wheel 19 to move, and the driving wheel 19 will drive the telescopic rod 20, the training support 21 and the protective pad 22 to move, and then the training support 21 can be moved to a position suitable for the elderly's legs. Then the elderly can put their legs into the training support 21 and move with the surface of the protective pad 22, and then the driving wheel 19 can be driven to rotate, and the driving wheel 19 will push the telescopic rod 20, the training support 21 and the protective pad 22 to swing, thereby assisting the elderly's leg training and finally completing the operation process.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A companion rehabilitation training robot, comprising a trunk (1), characterized in that: The bottom end of the trunk (1) is provided with a pushing component (2), the bottom end of the surface of the pushing component (2) is provided with two mechanical legs (3), the bottom ends of the two mechanical legs (3) are fixedly mounted with two mounting shells (4), and the bottom ends of the two mounting shells (4) are rotatably connected to rollers (5); A training component, which is arranged inside one side of the mechanical leg (3); A support mechanism is arranged inside the roller (5), and the support mechanism includes a movable plate (6), and the movable plate (6) is slidably connected to the inside of the roller (5). The number of the movable plates (6) is four, and each two forms a group. The bottom ends of the four movable plates (6) are fixedly installed with a contact plate (7), and the opposite sides of the two movable plates (6) are fixed with a connecting rod (8). The side of the connecting rod (8) close to the center of the mechanical leg (3) is fixedly installed with a connecting plate (9), and the top of the connecting plate (9) is fixedly installed with a fixed block (10). The opposite sides of the two mechanical legs (3) are provided with a motor (11), and the output end of the motor (11) is fixedly installed with a bidirectional screw rod (12), and the surface of the bidirectional screw rod (12) is threadedly sleeved with two thread blocks (13), and the two thread blocks (13) are fixedly installed with two extrusion wheels (14) located at the top of the connecting plate (9).

2. The companion rehabilitation training robot according to claim 1, characterized in that: The training component comprises a second pushing component (17), wherein the second pushing component (17) is hinged to the inside of the mechanical leg (3), and the output shaft of the second pushing component (17) is hinged to a seat (18), and a driving wheel (19) is arranged at the bottom end of the seat (18), and a telescopic rod (20) is fixedly installed at the bottom end of the surface of the driving wheel (19), and a training support (21) is fixedly installed at the bottom end of the telescopic rod (20), and a protective pad (22) is arranged on one side of the training support (21).

3. The companion rehabilitation training robot according to claim 2, characterized in that: The invention also comprises: an adjustment mechanism, which is arranged inside the seat (18), the adjustment mechanism comprises a slide rail (23), the slide rail (23) is fixedly connected to the inside of the seat (18), the surface of the slide rail (23) is slidably connected to two sliders (24), the bottom end of the slider (24) is fixedly installed with a connecting block (29), and the bottom end of the connecting block (29) is fixedly connected to the top of the driving wheel (19), one side of the two sliders (24) is fixedly installed with a hinge block (25), the inner cavity of the seat (18) is fixedly installed with a cylinder (26), the output shaft of the cylinder (26) is fixedly installed with a hinge plate (27), and the hinge plate (27) is hinged to the hinge block (25) through a hinge rod (28).

4. The companion rehabilitation training robot according to claim 1, characterized in that: A storage slot (30) is provided on one side of the trunk (1), and a protective plate (31) located on one side of the storage slot (30) is rotatably connected to one side of the trunk (1).

5. The companion rehabilitation training robot according to claim 1, characterized in that: Mechanical arms (32) are provided at both ends of the outer surface of the trunk (1), and the mechanical arms (32) are capable of moving in all directions.

6. The companion rehabilitation training robot according to claim 1, characterized in that: A detection head (33) is provided at the top of the trunk (1).

7. The companion rehabilitation training robot according to claim 1, characterized in that: Two limit plates (34) are fixedly mounted on one side of the two mechanical legs (3) close to the bidirectional screw rod (12), and opposite sides of the two limit plates (34) are in contact with the surface of the threaded block (13).

8. The companion rehabilitation training robot according to claim 1, characterized in that: A mounting plate (16) is fixedly mounted on one side of the two mounting shells (4) close to the connecting plate (9), and a spring (15) is elastically connected between the connecting plate (9) and the mounting plate (16).

9. The companion rehabilitation training robot according to claim 2, characterized in that: The training support (21) and the protective pad (22) are both V-shaped in design, and the protective pad (22) is made of rubber material.

10. The companion rehabilitation training robot according to claim 1, characterized in that: The opposite sides of the fixing block (10) are both designed with inclined surfaces, and the extrusion wheel (14) is designed to be longitudinally symmetrical with respect to the center of the fixing block (10).

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