A limb training robot for rehabilitation

Abstract

The present invention discloses a limb training robot for rehabilitation, which relates to the technical field of rehabilitation training. A limb training robot for rehabilitation includes a fixed plate, a control module fixedly connected to the fixed plate, a small air pump fixedly connected to the fixed plate, a pressure regulating valve fixedly connected to the fixed plate, a connecting pipe connecting the small air pump and the pressure regulating valve, an air supply pipe connected to the pressure regulating valve, and a thin-walled silicone tube connected to the tail end of the air supply pipe. Since the elastic fabric sheet has a larger extension area than an ordinary fabric sleeve, the thin-walled silicone tube bends from the middle when inflated, and the two ends push the patient's arm to flex the elbow. By controlling the continuous inflation and deflation of the thin-walled silicone tube, the patient's arm can be driven to extend and flex the elbow, and by evacuating and inflating the sealed bag, the stiffness can be adjusted according to the actual needs of the training. Moreover, since the plastic particles filled in the mesh bag are divided into three plates, it provides support without affecting the dynamic performance of the actuator.

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, particularly in areas such as nerve injury, muscle atrophy, and postoperative recovery. Traditional limb training robots typically have a fixed stiffness setting. While these fixed-stiffness trainers can provide a certain degree of support and stability, they have some limitations in practical applications.

[0003] First, fixed-rigidity trainers cannot be adjusted to suit the patient's different stages of rehabilitation and individual differences. For example, in the early stages of rehabilitation, patients have weak arm strength and limited joint mobility, requiring lower stiffness to improve comfort and adaptability. In the later stages of rehabilitation, however, as arm strength gradually recovers, higher stiffness is required to provide greater support and stability for more intense training. Therefore, fixed-rigidity trainers are difficult to meet the needs of different rehabilitation stages, limiting the rehabilitation effect. Second, fixed-rigidity trainers also have shortcomings in terms of dynamic performance. While high-rigidity trainers provide good support, they may affect the trainer's dynamic response speed and flexibility, resulting in training movements that are less natural and smooth. Conversely, low-rigidity trainers, while improving comfort, may not provide sufficient support, affecting training effectiveness.

[0004] In response to the shortcomings of existing technologies, 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. This ensures 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 patient comfort. Summary of the Invention

[0005] In order to overcome the shortcomings of existing fixed-rigidity trainers that cannot be adjusted according to the different rehabilitation stages and individual differences of patients, thereby limiting the rehabilitation effect, the present invention provides 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 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 fixed plate, a control module fixedly connected to the fixed plate, a small air pump fixedly connected to the fixed plate, an electric proportional pressure regulating valve fixedly connected to the fixed plate, the electric 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 electric proportional pressure regulating valve, an air supply pipe is connected to the electric proportional pressure regulating valve, the tail end of the air supply pipe is connected to a thin-walled silicone tube, an ordinary fabric sleeve is covered on the thin-walled silicone tube, and 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 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. The elastic fabric piece is located in this square groove. A sealed 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 sealed bag. A gauze bag is placed in the sealed 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 human waist for easy mobile training. The thin-walled silicone tube is provided with an adjustment component for adjusting the stiffness.

[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 card wheel is fixedly connected to the winding shaft, a card plate is slidably connected to the fixing plate, and a first spring is connected between the card plate and the fixing plate.

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

[0009] Furthermore, the adjustment component includes a connecting plate, which is fixedly connected to the thin-walled silicone tube, and a hollow cylinder is fixedly connected to the connecting plate, and the hollow cylinder is connected to the inflation tube. A threaded rod is connected to the hollow cylinder through a thread, and a piston plate is slidably connected in 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 frame by a threaded connection.

[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 the fixed plate, the top of the fixed seat is fixedly connected to the placement plate, the top of the placement plate is rotatably connected to the 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, the bottom end of the sliding rod on one side is fixedly connected to an extrusion block, a side of the fixed seat close to the extrusion block is fixedly connected to a guide rod, 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 the side of the reel 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 extruded and 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. Controlling the inflation of the thin-walled silicone tube. Since the elastic fabric sheet has a larger extension area than that of an ordinary fabric sleeve, the expanded 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, providing support force without affecting the dynamic performance of the actuator.

[0017] 2. After the splint is rotated downward and opened, the two-way screw 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 during rehabilitation training, causing damage to components.

[0018] 3. After using this 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 entire 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 schematic diagram of the three-dimensional structure of the fixing plate, control module, gas pipe and other components of the present invention.

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

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

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

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the components such as the reel, the clamping wheel and the clamping plate 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 schematic diagram of the three-dimensional structure of the connecting plate, hollow cylinder, thin-walled silicone tube and other components of the present invention.

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

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

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

[0031] Figure 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 cover, 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: card wheel, 17: card 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 herein to an embodiment means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of such a phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] Example 1: A limb training robot for rehabilitation, such as Figures 1-9 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 supply pipe 6, a thin-walled silicone tube 7, an ordinary fabric cover 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 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 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 supply pipe 6, the tail end of the air supply pipe 6 is connected to the thin-walled silicone tube 7, the thin-walled silicone tube 7 is covered with an ordinary fabric cover 8, the front of the ordinary fabric cover 8 The rear two parts are fixedly connected with a restraint belt 9, and the tail end of the restraint 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. 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 of the sealing bag 11 is connected to an inflation tube 12. 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 human waist for easy movement training. The thin-walled silicone tube 7 is provided with an adjustment component for adjusting the stiffness.

[0035] When using the device, the staff wears the actuator consisting of a thin-walled silicone tube 7, an ordinary fabric sleeve 8, an elastic fabric sheet 10, a sealing bag 11, an inflation tube 12 and a gauze bag 13 on the patient's arm through a restraint belt 9, and then controls the operation of the small air pump 3 through the control module 2. The small air pump 3 provides gas to the thin-walled silicone tube 7 through the connecting tube 5 and the air supply tube 6, causing the thin-walled silicone tube 7 to expand. 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, thereby achieving flexible movement of the limb joints and training 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, because 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 operation is carried out by controlling the thin-walled silicone tube 7 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 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 between the actuator and the patient's arm becomes higher, which can provide better support force. Moreover, 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, while providing support force without affecting the dynamic performance of the actuator. When using this device for rehabilitation training, the fixing plate 1 can be tied to the patient's waist through the fixing component. At this time, the 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 card wheel 16, a card plate 17 and a first spring 18. The left and right parts of the rear side of the fixing plate 1 are fixedly connected to the fixing block 14, and the winding shaft 141 is rotatably connected between the left and right fixed blocks 14. The left and right parts of the winding shaft 141 are connected to the strap 15, and 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 is fixedly connected to the front side of the fixing plate 1 with matching Velcro. The middle part of the winding shaft 141 is fixedly connected to the card wheel 16, and the middle part of the rear side of the fixing plate 1 is slidably connected to the card plate 17. The upper side of the end of the card plate 17 inserted into the card wheel 16 is inclined, and a first spring 18 is connected between the card 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 reeling shaft 141 to rotate the reeling strap 15 according to the patient's waist circumference, and then adjust the length of the strap 15. When the reeling shaft 141 rotates, it will also drive the card wheel 16 to rotate. The card wheel 16 rotates and squeezes the card plate 17 to slide forward, and the first spring 18 is deformed. When the strap 15 is adjusted to the appropriate length, the card wheel 16 stops rotating. Under the action of the first spring 18 resetting, the card plate 17 slides backward and is stuck in 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 Figure 9 As shown, the adjustment assembly includes a connecting plate 19, a hollow cylinder 20, a threaded rod 21 and a piston plate 22. The front side of the thin-walled silicone tube 7 is fixedly connected to the connecting plate 19, 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 mesh 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 mesh bag 13 loose to reduce the stiffness. In this way, the stiffness of the actuator can be adjusted according to training needs.

[0040] Example 2: Based on Example 1, Figure 1 and Figure 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 rod 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, and a vertical limit plate is fixedly connected to the sliding frame 23 for limiting the clamping plate 24, the front part of the fixed plate 1 is rotatably connected to the bidirectional screw rod 25, and the bidirectional screw rod 25 is connected to the sliding frame 23 by threads.

[0041] When using this 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 frame 23 drives the splint 24 to move inward to clamp the bedside table or bedside guardrail, thereby fixing the fixed plate 1 to the specified position, to avoid the fixed plate 1 being accidentally pulled to the ground during the rehabilitation training, causing damage to components such as the control module 2, the small air pump 3 or the pressure regulating valve 4.

[0042] like Figure 1 and Figure 11 As shown, it also includes a storage component for storing thin-walled silicone tube 7, ordinary fabric cover 8 and restraint belt 9, the storage component includes a fixing seat 26, a placement plate 27 and a cover plate 28, the upper rear part of the fixing plate 1 is fixedly connected to the fixing seat 26, the upper side of the fixing 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 places 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 for storage of the device to avoid the actuator and the gas pipe 6 being scattered.

[0044] like Figure 1 、 Figure 6 and Figure 12 As shown, it also includes a winding assembly for automatically winding 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 to the sliding rod 29, the upper sides of the left and right sliding rods 29 are fixedly connected with the supporting plate 30, the sliding rod 29 and the placement plate 27 are connected with the second spring 31, the lower part of the sliding rod 29 on the right is fixedly connected with the extrusion wheel 36. The pressing block 32 and the right side of the fixing seat 26 are fixedly connected to a guide rod 33, and an extrusion rod 34 is slidably connected to the guide rod 33. 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 squeeze and cooperate with the horizontal end of the extrusion rod 34. A third spring 35 is connected between the extrusion rod 34 and the guide rod 33. The right side of the winding shaft 141 is fixedly connected to 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 clamping plate 17 releases the clamping wheel 16, the third spring 35 resets the action of the squeezing rod 34, and the squeezing wheel 36 reverses, 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 in when the actuator is stored.

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

Claims

1. A limb training robot for rehabilitation, characterized by: The invention comprises a fixing plate (1), a control module (2) fixedly connected to the fixing plate (1), a small air pump (3) fixedly connected to the fixing plate (1), a pressure regulating valve (4) 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 delivery pipe (6) is connected to the pressure regulating valve (4), the tail end of the air delivery pipe (6) is connected to a thin-walled silicone tube (7), an ordinary fabric sleeve (8) is sleeved on the thin-walled silicone tube (7), two longitudinally symmetrical restraints (9) are fixedly connected to the ordinary fabric sleeve (8), and the tail end of the restraints (9) and the ordinary fabric sleeve (8) are both provided with mutually cooperating magic locks. The invention relates to a surgical patch, wherein a square groove is formed in the middle of the bottom end of the ordinary fabric sleeve (8), an elastic fabric sheet (10) is connected to the middle of the bottom end of the ordinary 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 the thin-walled silicone tube (7) and the ordinary fabric sleeve (8), an inflation tube (12) is connected to the sealing bag (11), 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 movement training. An adjustment component for adjusting the 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 transversely symmetrical fixing blocks (14), the two transversely symmetrical fixing blocks (14) are fixedly connected to the fixing plate (1), a reeling shaft (141) is rotatably connected between the two fixing blocks (14), both ends of the reeling shaft (141) are connected to a strap (15), one end of the strap (15) connected to the reeling shaft (141) is located in the fixing block (14), the tail end of the strap (15) and the fixing plate (1) are fixedly connected to each other with Velcro, a card wheel (16) is fixedly connected to the reeling shaft (141), a card plate (17) is slidably connected to the fixing plate (1), and a first spring (18) is connected between the card 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 tilted.

4. A limb training robot for rehabilitation according to claim 3, characterized in that: The regulating assembly includes a connecting plate (19), the connecting plate (19) is fixedly connected to the thin-walled silicone tube (7), a hollow cylinder (20) is fixedly connected to the connecting plate (19), the hollow cylinder (20) is communicated with the inflation tube (12), a threaded rod (21) is connected to the hollow cylinder (20) through a thread, a piston plate (22) is slidably connected in 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 includes a clamping assembly for fixing the position of the fixed plate (1), the clamping assembly includes two laterally symmetrical sliding frames (23), the two laterally symmetrical sliding frames (23) are slidably connected to the bottom end of the fixed plate (1), a clamping plate (24) is rotatably connected to the sliding frame (23), a bidirectional screw rod (25) is rotatably connected to the fixed plate (1), and the bidirectional screw rod (25) is connected to the sliding frame (23) by a thread.

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 for limiting the position of the clamping plate (24).

7. A limb training robot for rehabilitation according to claim 6, characterized in that: The invention also includes 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 includes a fixing seat (26), the fixing seat (26) is fixedly connected to the fixing plate (1), the top end of the fixing seat (26) is fixedly connected to a placement plate (27), the top end of the placement plate (27) is rotatably connected to a cover plate (28), 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 includes a winding assembly for automatically winding the strap (15), the winding assembly includes two transversely symmetrical sliding rods (29), the two transversely symmetrical sliding rods (29) are slidably connected to the placement plate (27), a supporting 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), a bottom end of the sliding rod (29) on one side is fixedly connected to an extrusion block (32), a side of the fixed seat (26) close to the extrusion block (32) is fixedly connected to a guide rod (33), 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 a side of the reel (141) close to the extrusion rod (34) is fixedly connected to an extrusion wheel (36).

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 extruded and 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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