Limb training robot for rehabilitation

Abstract

The invention discloses a limb training robot for rehabilitation, and relates to the technical field of rehabilitation training. A limb training robot for rehabilitation comprises a fixing plate, a control module fixedly connected to the fixing plate, a small air pump fixedly connected to the fixing plate, a pressure regulating valve fixedly connected to the fixing plate, a connecting pipe communicated between the small air pump and the pressure regulating valve, an air delivery pipe communicated to the pressure regulating valve, and a thin-wall silicone tube communicated to the tail end of the air delivery pipe. Due to the fact that the extension area of the elastic fabric piece is larger than that of a common fabric sleeve, the thin-wall silicone tube is bent from the middle when inflated and expanded, the two ends push the arm of the patient to bend the elbow, and the arm of the patient can be driven to stretch and bend the elbow by controlling the thin-wall silicone tube to be inflated and deflated continuously. The rigidity can be adjusted according to actual training requirements by exhausting and inflating the sealing bag, and the plastic particles filled in the gauze bag are divided into three plates, so that the dynamic performance of the actuator is not affected while supporting force is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a limb training robot for rehabilitation. Background Art

[0002] In modern rehabilitation medicine, limb training robots are widely used in various rehabilitation treatments, especially in the fields of nerve injury, muscle atrophy and postoperative recovery. Traditional limb training robots usually have a fixed stiffness setting. Although this fixed stiffness trainer can provide support and stability to a certain extent, it has some limitations in practical applications.

[0003] First, fixed-rigidity trainers cannot be adjusted according to the different rehabilitation stages and individual differences of patients. For example, in the early stages of rehabilitation, patients have weak arm strength and limited joint mobility, and require lower stiffness to improve comfort and adaptability; in the later stages of rehabilitation, patients' arm strength gradually recovers, and higher stiffness is required to provide stronger support and stability for higher-intensity training. Therefore, fixed-rigidity trainers are difficult to meet the needs of different rehabilitation stages, limiting the rehabilitation effect. Secondly, fixed-rigidity trainers also have shortcomings in dynamic performance. Although high-rigidity trainers provide good support, they may affect the dynamic response speed and flexibility of the trainer, resulting in unnatural and unsmooth training movements. On the contrary, although low-rigidity trainers improve comfort, they may not provide sufficient support, affecting the training effect.

[0004] In view of the shortcomings of the existing technology, we propose a limb training robot for rehabilitation. This training robot can change the stiffness of the trainer according to needs and can switch between high stiffness and low stiffness to ensure that in different rehabilitation stages and different training needs, it can provide the necessary support capacity and stability without affecting the dynamic performance of the trainer, thereby improving the rehabilitation effect and patient comfort. Summary of the invention

[0005] In order to overcome the disadvantage that the existing fixed-rigidity trainers cannot be adjusted according to the different rehabilitation stages and individual differences of patients, thus limiting the rehabilitation effect, the present invention provides a limb training robot for rehabilitation. The training robot can change the stiffness of the trainer according to needs and can switch between high stiffness and low stiffness to ensure that under different rehabilitation stages and different training needs, it can provide the necessary support capacity and stability without affecting the dynamic performance of the trainer, thereby improving the rehabilitation effect and the comfort of the patient.

[0006] The technical implementation scheme of the present invention is: a limb training robot for rehabilitation, including a fixing plate, a control module is fixedly connected to the fixing plate, a small air pump is fixedly connected to the fixing plate, an electrical proportional pressure regulating valve is fixedly connected to the fixing plate, the electrical proportional pressure regulating valve and the small air pump are electrically connected to the control module, a connecting pipe is connected between the small air pump and the electrical proportional pressure regulating valve, an air supply pipe is connected to the electrical proportional pressure regulating valve, a thin-walled silicone tube is connected to the tail end of the air supply pipe, an ordinary fabric sleeve is covered on the thin-walled silicone tube, two longitudinally symmetrical restraints are fixedly connected to the ordinary fabric sleeve, and the tail end of the restraint band is connected to the ordinary The fabric covers are provided with Velcro strips that cooperate with each other. A square groove is opened in the middle of the bottom end of the ordinary fabric cover. An elastic fabric piece is connected to the middle of the bottom end of the ordinary fabric cover, and the elastic fabric piece is located in the square groove. A sealing bag is fixedly connected between the top end of the thin-walled silicone tube and the ordinary fabric cover. An inflation tube is connected to the sealing bag. A gauze bag is placed in the sealing bag. The gauze bag has three filling cavities, and each filling cavity is filled with plastic particles. A fixing component is provided on the fixing plate. The fixing component is used to fix the fixing plate to the waist of the human body to facilitate mobile training. An adjustment component for adjusting stiffness is provided on the thin-walled silicone tube.

[0007] Furthermore, the fixing assembly includes two laterally symmetrical fixing blocks, which are fixedly connected to the fixing plate, a winding shaft is rotatably connected between the two fixing blocks, both ends of the winding shaft are connected with straps, one end of the strap connected to the winding shaft is located in the fixing block, the tail end of the strap is fixedly connected to the fixing plate with matching Velcro, a clamping wheel is fixedly connected to the winding shaft, a clamping plate is slidably connected to the fixing plate, and a first spring is connected between the clamping plate and the fixing plate.

[0008] Furthermore, the top end of the clamping plate inserted into one end of the clamping wheel is inclined.

[0009] Furthermore, the adjustment component includes a connecting plate, which is fixedly connected to the thin-walled silicone tube, to which a hollow cylinder is fixedly connected, the hollow cylinder is connected to the inflation tube, a threaded rod is threadedly connected to the hollow cylinder, a piston plate is slidably connected inside the hollow cylinder, and the piston plate is rotatably connected to the threaded rod.

[0010] Furthermore, it also includes a clamping assembly for fixing the position of the fixed plate, the clamping assembly includes two laterally symmetrical sliding frames, the two laterally symmetrical sliding frames are slidably connected to the bottom end of the fixed plate, the sliding frames are rotatably connected to a clamping plate, the fixed plate is rotatably connected to a bidirectional screw rod, and the bidirectional screw rod is connected to the sliding frames by threads.

[0011] Furthermore, a vertical limiting plate is fixedly connected to the sliding frame for limiting the clamping plate.

[0012] Furthermore, it also includes a storage component for storing thin-walled silicone tubes, ordinary fabric sleeves and restraints, the storage component includes a fixed seat, the fixed seat is fixedly connected to a fixed plate, the top of the fixed seat is fixedly connected to a placement plate, the top of the placement plate is rotatably connected to a cover plate, and a lock is fixedly connected between the cover plate and the placement plate.

[0013] Furthermore, it also includes a winding assembly for automatically winding up the strap, the winding assembly includes two laterally symmetrical sliding rods, the two laterally symmetrical sliding rods are slidably connected to the placement plate, a support plate is fixedly connected between the top ends of the two sliding rods, a second spring is connected between the sliding rod and the placement plate, an extrusion block is fixedly connected to the bottom end of the sliding rod on one side, a guide rod is fixedly connected to a side of the fixed seat close to the extrusion block, an extrusion rod is slidably connected to the guide rod, a third spring is connected between the extrusion rod and the guide rod, and an extrusion wheel is fixedly connected to a side of the winding shaft close to the extrusion rod.

[0014] Furthermore, the extrusion rod is L-shaped, the extrusion block is inclined on one side close to the extrusion rod, and the extrusion block is extrusion-matched with the horizontal end of the extrusion rod.

[0015] Furthermore, a spiral groove is formed on the extrusion wheel, and the vertical end of the extrusion rod is inserted into the spiral groove of the extrusion wheel.

[0016] The present invention has the following advantages: 1. The inflation of the thin-walled silicone tube is controlled. Since the elastic fabric sheet has a larger extension area than that of an ordinary fabric sleeve, the inflated thin-walled silicone tube is forced to bend from the middle, and the two ends of the thin-walled silicone tube push the patient's arm to flex the elbow. By controlling the thin-walled silicone tube to continuously inflate, expand, bend, and deflate, reset and straighten, the patient's arm can be continuously driven to extend and flex the elbow for rehabilitation training. By evacuating and inflating the sealed bag, the stiffness can be adjusted according to the actual needs of the training. Vacuuming makes the plastic particles filled in the gauze bag fit tightly to increase the stiffness, and inflation makes the plastic particles loose to reduce the stiffness. In addition, since the plastic particles filled in the gauze bag are divided into three plates, the connection between each plate can facilitate the bending of the actuator, and does not affect the dynamic performance of the actuator while providing support force.

[0017] 2. After the splint is rotated downward and opened, the two-way screw rod and the sliding frame are used to control the splint to move inward to clamp the bedside table or bedside guardrail, thereby fixing the fixing plate to the specified position to prevent the fixing plate from being accidentally pulled to the ground and causing damage to components during rehabilitation training.

[0018] 3. After using the device, place the actuator in the cover and placement plate for storage to facilitate the storage of the device and avoid the actuator and gas pipe being scattered.

[0019] 4. When storing the actuator, the support plate is squeezed downward to control the squeezing block and the squeezing rod to cooperate with each other. The squeezing rod drives the squeezing wheel to rotate, which can control the reel to rotate and reel the whole strap. In this way, the strap can be automatically reeled when the actuator is stored. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0021] Figure 2 It is a three-dimensional structural schematic diagram of components such as the fixing plate, the control module and the gas pipe of the present invention.

[0022] Figure 3 It is a three-dimensional structural schematic diagram of components such as the thin-walled silicone tube and the ordinary fabric sleeve of the present invention.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the sealing bag, the inflation tube and the gauze bag of the present invention.

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the fixing plate, fixing block, binding belt and other components of the present invention.

[0025] Figure 6 It is a three-dimensional structural schematic diagram of the winding shaft, the clamping wheel and the clamping plate and other components of the present invention.

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the clamping wheel and the clamping plate of the present invention.

[0027] Figure 8 It is a three-dimensional structural schematic diagram of the connecting plate, hollow cylinder, thin-walled silicone tube and other components of the present invention.

[0028] Fig. 9 It is a three-dimensional structural schematic diagram of the hollow cylinder, threaded rod and piston plate of the present invention.

[0029] Fig.10 It is a three-dimensional structural schematic diagram of the sliding frame, clamping plate, bidirectional screw rod and other components of the present invention.

[0030] Fig.11 It is a three-dimensional structural schematic diagram of the fixing seat, placement plate, cover plate and other components of the present invention.

[0031] Fig.12 It is a schematic diagram of the three-dimensional structure of the extrusion wheel, extrusion rod, extrusion block and other components of the present invention.

[0032] The meanings of the reference numerals in the figure are as follows: 1: fixing plate, 2: control module, 3: small air pump, 4: pressure regulating valve, 5: connecting pipe, 6: air supply pipe, 7: thin-walled silicone tube, 8: ordinary fabric sleeve, 9: restraint belt, 10: elastic fabric sheet, 11: sealing bag, 12: inflatable tube, 13: mesh bag, 14: fixing block, 141: winding shaft, 15: binding belt, 16: clamping wheel, 17: clamping plate, 18: first spring, 19: connecting plate, 20: hollow cylinder, 21: threaded rod, 22: piston plate, 23: sliding frame, 24: splint, 25: bidirectional screw rod, 26: fixing seat, 27: placing plate, 28: cover plate, 29: sliding rod, 30: support plate, 31: second spring, 32: extrusion block, 33: guide rod, 34: extrusion rod, 35: third spring, 36: extrusion wheel. DETAILED DESCRIPTION

[0033] Reference to an embodiment herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] Embodiment 1: A limb training robot for rehabilitation, such as Figure 1-Figure 9 As shown, it includes a fixing plate 1, a control module 2, a small air pump 3, a pressure regulating valve 4, a connecting pipe 5, an air pipe 6, a thin-walled silicone tube 7, an ordinary fabric sleeve 8, a restraining belt 9, an elastic fabric sheet 10, a sealing bag 11, an inflation tube 12, a gauze bag 13, a fixing component and an adjusting component. The control module 2 is fixedly connected to the upper left front part of the fixing plate 1, the small air pump 3 is fixedly connected to the upper side of the fixing plate 1, the pressure regulating valve 4 is fixedly connected to the upper left rear part of the fixing plate 1, the pressure regulating valve 4 and the small air pump 3 are electrically connected to the control module 2, the small air pump 3 and the pressure regulating valve 4 are connected by a connecting pipe 5, the pressure regulating valve 4 is connected to the air pipe 6, the tail end of the air pipe 6 is connected to the thin-walled silicone tube 7, the thin-walled silicone tube 7 is covered with an ordinary fabric sleeve 8, the front of the ordinary fabric sleeve 8 The rear two parts are fixedly connected with a restraining belt 9, and the tail end of the restraining belt 9 and the ordinary fabric cover 8 are provided with Velcro that cooperate with each other. A square groove is opened in the middle of the lower side of the ordinary fabric cover 8, and an elastic fabric piece 10 is connected to the middle of the lower side of the ordinary fabric cover 8, and the elastic fabric piece 10 is located in this square groove. A sealing bag 11 is fixedly connected between the upper side of the thin-walled silicone tube 7 and the ordinary fabric cover 8. The front part of the sealing bag 11 is connected with an inflation tube 12, and a gauze bag 13 is placed in the sealing bag 11. The gauze bag 13 has three filling cavities, and each filling cavity is filled with plastic particles. A fixing component is provided on the fixing plate 1, and the fixing component is used to fix the fixing plate 1 to the waist of the human body to facilitate mobile training. An adjustment component for adjusting stiffness is provided on the thin-walled silicone tube 7.

[0035] When using the device, the staff wears the actuator consisting of the thin-walled silicone tube 7, ordinary fabric sleeve 8, elastic fabric sheet 10, sealing bag 11, inflation tube 12 and gauze bag 13 on the patient's arm through the restraint belt 9, and then controls the small air pump 3 to operate through the control module 2. The small air pump 3 operates to provide gas to the thin-walled silicone tube 7 through the connecting tube 5 and the air supply pipe 6, so that the thin-walled silicone tube 7 expands. When the small air pump 3 supplies air, the pressure regulating valve 4 can set the air pressure range and adjust the output air pressure value, so that the actuator can adjust the angle and change the bending angle according to the patient's needs, so as to achieve flexible movement of the limb joints and train muscle vitality. Before the thin-walled silicone tube 7 expands, the ordinary fabric sleeve 8 and the elastic fabric sheet 10 maintain a straight tubular shape. When the thin-walled silicone tube 7 expands, since the elastic fabric sheet 10 is more elastic than the ordinary fabric sleeve 8 and has a larger extension area, the thin-walled silicone tube 7 is forced to bend from the middle, and the two ends push the patient's arm to flex the elbow. The thin-walled silicone tube 7 is controlled to continuously inflate, bend, and deflate, reset and straighten, which can continuously drive the patient's arm to extend and flex the elbow, thereby achieving the purpose of auxiliary rehabilitation training. In the initial state, the plastic particles filled in the gauze bag 13 are in a loose state, the actuator has a low stiffness and better comfort. When the stiffness of the actuator needs to be adjusted, the staff vacuums the sealing bag 11 through the adjustment component, so that the plastic particles filled in the gauze bag 13 fit tightly. At this time, the contact surface stiffness of the actuator and the patient's arm becomes higher, which can provide better supporting force. In addition, since the plastic particles filled in the gauze bag 13 are divided into three plates, the connection between each plate can facilitate the bending of the actuator, which does not affect the dynamic performance of the actuator while providing supporting force. When using the present device for rehabilitation training, the fixing plate 1 can be tied to the patient's waist through the fixing component. At this time, the present device can move with the patient for training without restricting the patient to a local area.

[0036] like Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown, the fixing assembly includes a fixing block 14, a winding shaft 141, a strap 15, a clamping wheel 16, a clamping plate 17 and a first spring 18. The left and right parts of the rear side of the fixing plate 1 are fixedly connected with the fixing block 14, and the winding shaft 141 is rotatably connected between the left and right fixing blocks 14. The left and right parts of the winding shaft 141 are connected with the strap 15. The end of the strap 15 connected to the winding shaft 141 is located in the fixing block 14. The tail end of the strap 15 and the front side of the fixing plate 1 are fixedly connected with Velcro that cooperate with each other. The middle part of the winding shaft 141 is fixedly connected with the clamping wheel 16, and the middle part of the rear side of the fixing plate 1 is slidably connected with the clamping plate 17. The upper side of the end of the clamping plate 17 inserted into the clamping wheel 16 is inclined, and a first spring 18 is connected between the clamping plate 17 and the fixing plate 1.

[0037] When using the device, the staff ties the fixing plate 1 to the patient's waist through the strap 15, and the staff can also control the winding shaft 141 to rotate the winding strap 15 according to the patient's waist circumference, and then adjust the length of the strap 15. When the winding shaft 141 rotates, it will also drive the card wheel 16 to rotate. The card wheel 16 rotates to squeeze the card plate 17 to slide forward, and the first spring 18 is deformed. When the strap 15 is adjusted to a suitable length, the card wheel 16 stops rotating. Under the action of the first spring 18 resetting, the card plate 17 slides backward and is clamped into the card wheel 16, thereby limiting the reversal of the card wheel 16 to fix the length of the strap 15. In this way, the fixing plate 1 can be tied to the patient's waist so that the device can follow the patient's movement for training.

[0038] like Figure 1 , Figure 8 and Fig. 9 As shown, the adjustment component includes a connecting plate 19, a hollow cylinder 20, a threaded rod 21 and a piston plate 22. The connecting plate 19 is fixedly connected to the front side of the thin-walled silicone tube 7, and the hollow cylinder 20 is fixedly connected to the connecting plate 19. The rear side of the hollow cylinder 20 is connected to the inflation tube 12. The front part of the hollow cylinder 20 is connected to the threaded rod 21 through a thread. The piston plate 22 is slidably connected in the hollow cylinder 20, and the piston plate 22 is rotatably connected to the rear side of the threaded rod 21.

[0039] When the stiffness of the actuator needs to be adjusted, the staff controls the threaded rod 21 to rotate. The threaded rod 21 moves forward while rotating. The forward movement of the threaded rod 21 drives the piston plate 22 to slide forward. After the piston plate 22 slides forward, the air in the sealing bag 11 is sucked into the hollow cylinder 20 through the inflation tube 12, thereby making the plastic particles filled in the gauze bag 13 fit tightly and increase the stiffness. Controlling the threaded rod 21 to reverse will drive the piston plate 22 to slide backward. When the piston plate 22 slides backward, the air in the hollow cylinder 20 will be filled into the sealing bag 11 through the inflation tube 12, making the plastic particles filled in the gauze bag 13 loose to reduce the stiffness. In this way, the stiffness of the actuator can be adjusted according to training needs.

[0040] Embodiment 2: Based on embodiment 1, Figure 1 and Fig.10 As shown, it also includes a clamping assembly for fixing the position of the fixed plate 1, the clamping assembly includes a sliding frame 23, a clamping plate 24 and a bidirectional screw 25, the left and right parts of the lower side of the fixed plate 1 are both slidably connected to the sliding frame 23, the clamping plate 24 is rotatably connected to the sliding frame 23, the sliding frame 23 is fixedly connected to a vertical limit plate for limiting the clamping plate 24, the front part of the fixed plate 1 is rotatably connected to the bidirectional screw 25, and the bidirectional screw 25 is connected to the sliding frame 23 by threads.

[0041] When using the device, when the patient is undergoing rehabilitation training in the ward, the staff can push the splint 24 to rotate downward and open, and limit the splint 24 by the vertical limit plate. After the splint 24 rotates downward and opens, the staff moves the fixed plate 1 to a place such as a bedside table or a bedside guardrail, and then the staff controls the two-way screw rod 25 to rotate. The rotation of the two-way screw rod 25 drives the left and right sliding frames 23 to slide inward, and the inward sliding of the sliding frames 23 drives the splint 24 to move inward and clamp the bedside table or the bedside guardrail, thereby fixing the fixed plate 1 to the specified position, so as to avoid damage to components such as the control module 2, the small air pump 3 or the pressure regulating valve 4 due to the fixed plate 1 being accidentally pulled to the ground during the rehabilitation training.

[0042] like Figure 1 and Fig.11 As shown, it also includes a storage component for storing thin-walled silicone tube 7, ordinary fabric sleeve 8 and restraint belt 9, the storage component includes a fixed seat 26, a placement plate 27 and a cover plate 28, the upper rear part of the fixed plate 1 is fixedly connected to the fixed seat 26, the upper side of the fixed seat 26 is fixedly connected to the placement plate 27, the upper side of the placement plate 27 is rotatably connected to the cover plate 28, and a lock is fixedly connected between the cover plate 28 and the front side of the placement plate 27.

[0043] When the device is used, the staff controls the cover 28 to rotate upward and open, and then puts the actuator into the placement plate 27. After placing it, the staff controls the cover 28 to rotate downward and close, and then locks the cover 28 through the lock, and then stores the actuator in the cover 28 and the placement plate 27 to facilitate the storage of the device and prevent the actuator and the gas pipe 6 from being scattered.

[0044] like Figure 1 , Figure 6 and Fig.12 As shown, it also includes a winding assembly for automatically winding up the strap 15, the winding assembly includes a sliding rod 29, a supporting plate 30, a second spring 31, an extrusion block 32, a guide rod 33, an extrusion rod 34, a third spring 35 and an extrusion wheel 36, the left and right parts of the placement plate 27 are both slidably connected with the sliding rod 29, the supporting plate 30 is fixedly connected between the upper sides of the left and right sliding rods 29, the second spring 31 is connected between the sliding rod 29 and the placement plate 27, and the lower part of the right sliding rod 29 is fixedly connected with the extrusion wheel 36. The pressing block 32 and the right side of the fixing seat 26 are fixedly connected with a guide rod 33, and the guide rod 33 is slidably connected with an extrusion rod 34, the extrusion rod 34 is L-shaped, and the lower side of the right part of the extrusion block 32 is inclined. The extrusion block 32 moves downward to be extruded and matched with the horizontal end of the extrusion rod 34, and a third spring 35 is connected between the extrusion rod 34 and the guide rod 33. The right part of the winding shaft 141 is fixedly connected with an extrusion wheel 36, and a spiral groove is opened on the extrusion wheel 36. The vertical end of the extrusion rod 34 is inserted into the spiral groove of the extrusion wheel 36.

[0045] When the actuator is taken out from the placement plate 27, under the action of the second spring 31 resetting, the sliding rod 29 and the support plate 30 move upward and reset accordingly, the sliding rod 29 slides upward and drives the squeezing block 32 to move upward, and the second spring 31 is deformed, the sliding rod 29 slides downward and drives the squeezing block 32 to move downward, and the squeezing block 32 moves downward and pushes the squeezing rod 34 to slide to the right, and the third spring 35 is deformed, and the squeezing rod 34 slides to the right and drives the squeezing wheel 36 to rotate, and the squeezing wheel 36 rotates and drives the reel 141 to rotate to rewind the entire strap 15. When the actuator is taken out from the placement plate 27, under the action of the second spring 31 resetting, the sliding rod 29 and the support plate 30 move upward and reset accordingly, and the sliding rod 29 slides upward and drives the squeezing block 32 to move upward, and when the card plate 17 releases the card wheel 16, under the action of the third spring 35 resetting, the squeezing rod 34 slides to the left and drives the squeezing wheel 36 to reverse, and the squeezing wheel 36 reverses and drives the reel 141 to reverse and release the strap 15. In this way, the strap 15 can be automatically reeled up when the actuator is stored.

[0046] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A limb training robot for rehabilitation, characterized by: The invention comprises a fixing plate (1), a control module (2) is fixedly connected to the fixing plate (1), a small air pump (3) is fixedly connected to the fixing plate (1), a pressure regulating valve (4) is fixedly connected to the fixing plate (1), the pressure regulating valve (4) and the small air pump (3) are electrically connected to the control module (2), a connecting pipe (5) is connected between the small air pump (3) and the pressure regulating valve (4), an air supply pipe (6) is connected to the pressure regulating valve (4), a thin-walled silicone tube (7) is connected to the tail end of the air supply pipe (6), an ordinary fabric sleeve (8) is sleeved on the thin-walled silicone tube (7), two longitudinally symmetrical restraining belts (9) are fixedly connected to the ordinary fabric sleeve (8), and the tail end of the restraining belt (9) and the ordinary fabric sleeve (8) are both provided with magic locks that cooperate with each other. The invention discloses a surgical patch, wherein a square groove is formed in the middle of the bottom end of a common fabric sleeve (8), and an elastic fabric sheet (10) is connected to the middle of the bottom end of the common fabric sleeve (8), and the elastic fabric sheet (10) is located in the square groove; a sealing bag (11) is fixedly connected between the top end of a thin-walled silicone tube (7) and the common fabric sleeve (8), and an inflation tube (12) is connected to the sealing bag (11); a gauze bag (13) is placed in the sealing bag (11), and the gauze bag (13) has three filling cavities, and each filling cavity is filled with plastic particles; a fixing component is provided on the fixing plate (1), and the fixing component is used to fix the fixing plate (1) to the waist of a human body to facilitate movement training; and an adjustment component for adjusting stiffness is provided on the thin-walled silicone tube (7).

2. A limb training robot for rehabilitation according to claim 1, characterized in that: The fixing assembly comprises two laterally symmetrical fixing blocks (14), the two laterally symmetrical fixing blocks (14) are fixedly connected to the fixing plate (1), a reel (141) is rotatably connected between the two fixing blocks (14), both ends of the reel (141) are connected to a binding strap (15), one end of the binding strap (15) connected to the reel (141) is located inside the fixing block (14), the tail end of the binding strap (15) is fixedly connected to the fixing plate (1) with Velcro that cooperates with each other, a clamping wheel (16) is fixedly connected to the reel (141), a clamping plate (17) is slidably connected to the fixing plate (1), and a first spring (18) is connected between the clamping plate (17) and the fixing plate (1).

3. A limb training robot for rehabilitation according to claim 2, characterized in that: The top end of the clamping plate (17) inserted into one end of the clamping wheel (16) is arranged to be inclined.

4. A limb training robot for rehabilitation according to claim 3, characterized in that: The regulating assembly comprises a connecting plate (19), the connecting plate (19) is fixedly connected to a thin-walled silicone tube (7), a hollow cylinder (20) is fixedly connected to the connecting plate (19), the hollow cylinder (20) is communicated with an inflation tube (12), a threaded rod (21) is threadedly connected to the hollow cylinder (20), a piston plate (22) is slidably connected inside the hollow cylinder (20), and the piston plate (22) is rotatably connected to the threaded rod (21).

5. A limb training robot for rehabilitation according to claim 4, characterized in that: The invention also comprises a clamping assembly for fixing the position of the fixed plate (1), the clamping assembly comprising two laterally symmetrical sliding frames (23), the two laterally symmetrical sliding frames (23) being slidably connected to the bottom end of the fixed plate (1), a clamping plate (24) being rotatably connected to the sliding frames (23), a bidirectional screw rod (25) being rotatably connected to the fixed plate (1), and the bidirectional screw rod (25) being connected to the sliding frames (23) by threads.

6. A limb training robot for rehabilitation according to claim 5, characterized in that: A vertical limiting plate is fixedly connected to the sliding frame (23) and is used to limit the clamping plate (24).

7. A limb training robot for rehabilitation according to claim 6, characterized in that: The invention also comprises a storage assembly for storing a thin-walled silicone tube (7), a common fabric sleeve (8) and a restraining belt (9), wherein the storage assembly comprises a fixing seat (26), the fixing seat (26) is fixedly connected to a fixing plate (1), a placement plate (27) is fixedly connected to the top of the fixing seat (26), a cover plate (28) is rotatably connected to the top of the placement plate (27), and a lock is fixedly connected between the cover plate (28) and the placement plate (27).

8. A limb training robot for rehabilitation according to claim 7, characterized in that: The invention also comprises a winding assembly for automatically winding up the binding strap (15), wherein the winding assembly comprises two laterally symmetrical sliding rods (29), the two laterally symmetrical sliding rods (29) are slidably connected to the placement plate (27), a support plate (30) is fixedly connected between the top ends of the two sliding rods (29), a second spring (31) is connected between the sliding rods (29) and the placement plate (27), an extrusion block (32) is fixedly connected to the bottom end of one side of the sliding rod (29), a guide rod (33) is fixedly connected to the side of the fixed seat (26) close to the extrusion block (32), an extrusion rod (34) is slidably connected to the guide rod (33), a third spring (35) is connected between the extrusion rod (34) and the guide rod (33), and an extrusion wheel (36) is fixedly connected to the side of the winding shaft (141) close to the extrusion rod (34).

9. A limb training robot for rehabilitation according to claim 8, characterized in that: The extrusion rod (34) is L-shaped, and the side of the extrusion block (32) close to the extrusion rod (34) is inclined, and the extrusion block (32) is extrusion-matched with the horizontal end of the extrusion rod (34).

10. A limb training robot for rehabilitation according to claim 9, characterized in that: A spiral groove is formed on the extrusion wheel (36), and the vertical end of the extrusion rod (34) is inserted into the spiral groove of the extrusion wheel (36).

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