Rehabilitation training robot

Abstract

The invention relates to the technical field of rehabilitation instruments, and discloses a rehabilitation training robot which comprises a backrest plate bound to the back of a user, flexible supporting pieces are fixedly installed on the two sides of the backrest plate correspondingly, pedals are rotationally installed on the lower sides of the two flexible supporting pieces correspondingly, and each flexible supporting piece comprises a flexible pipe; a first supporting rod is fixedly installed in one end of the flexible pipe, a second supporting rod is fixedly installed in the other end of the flexible pipe, a transition plate is fixedly installed in an inner cavity of the middle section of the flexible pipe, and a first positioning plate and a second positioning plate are fixedly installed on the surface of the flexible pipe. According to the robot, the two flexible supporting pieces and the two legs are bound together, hip joints and knee joints of a user are driven to move through the bending auxiliary assemblies in the robot, the effect of assisting the user in walking actions is achieved, the fatigue feeling of rehabilitation training is reduced, the flexible supporting pieces are of linear structures, can be worn in the outer sleeve and have multiple degrees of freedom, and the robot is convenient to use. The device can flexibly move along with the lower limbs and is more comfortable to use.

Description

Technical Field

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

[0002] Patients with impaired lower limb motor function need to increase walking exercises during rehabilitation training, and usually carry out rehabilitation training with the assistance of exoskeleton robots. The lower limb rehabilitation exoskeleton robots currently studied in China, such as the patent document with announcement number CN118750332A in the prior art, disclose a lower limb rehabilitation exoskeleton robot, which is mainly composed of a hip joint module, a knee joint module and an ankle joint module. The lower limb rehabilitation exoskeleton robot can mainly complete four-degree-of-freedom rehabilitation training of human lower limb hip joint extension / flexion, knee joint extension / flexion, ankle joint dorsiflexion / plantar flexion, inversion / valgus. The invention adds a quadrilateral chain to the knee joint module of the lower limb rehabilitation exoskeleton robot. The shape of the quadrilateral chain changes during movement. The movement axis of the quadrilateral chain changes when the shape coincides with the movement axis of the human knee joint, thereby avoiding discomfort to patients in the case of long-term use and secondary injury during rehabilitation training. The main purpose of the invention is to carry out rehabilitation training for patients with lower limb motor dysfunction, which is economical and practical.

[0003] When the patient is in the recovery period where he can walk independently but walking is strenuous, the user only needs a little external force to help him lift his legs and reduce fatigue. It is inconvenient to use the above-mentioned exoskeleton robot because the existing exoskeleton robots are relatively bulky, inflexible and uncomfortable to wear. Based on this situation, the existing rehabilitation robots have the defects of not being light and flexible enough, which affects comfort and needs further improvement. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of existing rehabilitation robots that are not light and flexible enough to use, and to propose a rehabilitation training robot.

[0005] In order to achieve the above objectives, the present invention adopts the following technical solution: a rehabilitation training robot, comprising a backrest board tied to the back of a user, flexible support members are fixedly installed on both sides of the backrest board, and pedals are rotatably installed on the lower sides of the two flexible support members.

[0006] The flexible support member includes a flexible tube, a first support rod is fixedly installed in one end of the flexible tube, a second support rod is fixedly installed in the other end of the flexible tube, a transition plate is fixedly installed in the inner cavity of the middle section of the flexible tube, and a first positioning plate and a second positioning plate are fixedly installed on the surface of the flexible tube, respectively, the first positioning plate is fixedly connected to the transition plate, and the second positioning plate is fixedly connected to the second support rod.

[0007] Bending auxiliary components are arranged between the first support rod and the transition plate, and between the second support rod and the transition plate. The first positioning plate is tied to the surface of the user's thigh, and the second positioning plate is tied to the surface of the user's calf. The user's hip joint and knee joint are driven to move respectively through the two bending auxiliary components. The device assists the user in walking and reduces fatigue from rehabilitation training. The flexible support piece has a linear structure and can be worn inside a coat. It has multiple degrees of freedom and can flexibly move with the lower limbs, making it more comfortable to use.

[0008] Preferably, the bending auxiliary component includes a plurality of movable joints, which are rotatably connected to each other to form a bendable chain. A connecting tube is passed through the bendable chain. A spherical airbag is fixedly mounted on the surface of each movable joint, and each spherical airbag is connected to the connecting tube. The bendable chains in the two bending auxiliary components are respectively the first bending chain and the second bending chain, and the bending action of the bending auxiliary component is realized by pneumatics.

[0009] Preferably, threaded holes are provided in the first support rod and the second support rod, a first threaded column is threadedly installed in the first support rod, a first connecting rod is rotatably installed on the end of the first threaded column, a second threaded column is threadedly installed in the second support rod, a second connecting rod is rotatably installed on the end of the second threaded column, and sealing plugs are threadedly installed on the ports of the first support rod and the second support rod.

[0010] Two sliding rods are fixedly installed on the surface of the transition plate, and a third connecting rod and a fourth connecting rod which can rotate at a certain angle are slidably installed on the surfaces of the two sliding rods respectively.

[0011] The two ends of the first bending chain are rotatably connected to the first connecting rod and the third connecting rod respectively, and the ends of the first connecting rod and the third connecting rod are fixedly installed with first splints, and the two first splints are arranged at the two ends of each spherical airbag on the surface of the first bending chain; the two ends of the second bending chain are rotatably connected to the second connecting rod and the fourth connecting rod respectively, and the ends of the second connecting rod and the fourth connecting rod are fixedly installed with second splints, and the two second splints are arranged at the two ends of each spherical airbag on the surface of the second bending chain. Because the positions of each person's hip and knee joints are different, the positions of the first bending chain and the second bending chain can be adjusted according to the needs of the user, and users of similar height can use it, thereby improving its versatility.

[0012] Preferably, an air sleeve is fixedly installed on the pedal side at the lower side of the two flexible support members, a piston is slidably installed inside the air sleeve, a telescopic column is fixedly installed on the end of the piston, a return spring is arranged inside the air sleeve to press against the piston, and the end of the telescopic column extends to the lower side of the foot pedal.

[0013] The two flexible support parts are respectively a left limb support part and a right limb support part. One air cannula is connected to the inner cavity of the flexible tube of the left limb support part through a hose, and the other air cannula is connected to the inner cavity of the flexible tube of the right limb support part through a hose, thereby increasing the air pressure in the inner cavity of the flexible tube and enabling the left limb support part and the right limb support part to have a supporting function.

[0014] Preferably, the connecting tubes in the left limb support and the right limb support are both sealed at one end and open at the other end. The connecting tube in the left limb support is connected to the inner cavity of the flexible tube of the right limb support, and the connecting tube in the right limb support is connected to the inner cavity of the flexible tube of the left limb support, thereby realizing automated control, which is conducive to the user's autonomous control of the training rhythm.

[0015] Preferably, the flexible tubes of the left limb support and the right limb support are filled with liquid medium, and the liquid medium is poured into the air sleeve. By changing the amount of the liquid medium, the bending force of the left limb support and the right limb support can be adjusted to meet people's different usage needs.

[0016] The present invention has the following beneficial effects: 1. The rehabilitation training robot proposed in the present invention is tied together with two legs through two flexible support parts, and uses the bending auxiliary components inside to drive the user's hip joints and knee joints to assist the user in walking and reduce the fatigue of rehabilitation training. The flexible support parts have a linear structure and can be worn inside a coat. They have multiple degrees of freedom and can flexibly move with the lower limbs, making them more comfortable to use.

[0017] 2. The left limb support and the right limb support proposed in the present invention have the same internal structure. The two bending auxiliary components arranged in the left limb support (or the right limb support) are connected by a connecting pipe. When compressed air is injected into the connecting pipe, the two bending auxiliary components can bend, and the bending angles of the two bending auxiliary components are dynamically changed. For example, the bending angle of the hip joint becomes larger (or smaller), and the bending angle of the knee joint becomes smaller (or larger) in a certain proportion, so that the left limb support (or the right limb support) can adapt to the action of walking with legs in a more coordinated manner, which greatly reduces the mechanical feel brought by the walking action of the existing rehabilitation training robot.

[0018] 3. The rehabilitation training robot proposed in the present invention is provided with an air supply structure for supplying air to the connecting tube on both pedals. The air supply structure is realized by the piston moving through the telescopic column after the pedal lands on the ground, and the piston compresses the air in the air sleeve. When walking with both feet, the left foot lands on the ground, and the air supply structure on the left foot supplies air to the spherical air bag in the right limb support. The spherical air bag expands to assist the right limb in taking a step. At this time, the air supply structure on the left foot also supplies air to the inner cavity of the flexible tube of the left limb support, so that the left limb support is in a compressed and tightened state, which plays a good supporting role and prevents the leg from falling due to weakness. Similarly, the right foot lands on the ground to assist the left limb in taking a step, and the right limb support is in a compressed and tightened state to support the right limb to stand. This design realizes automatic control, which is beneficial for the user to independently control the training rhythm.

[0019] 4. The left limb support or the right limb support proposed in the present invention has a first threaded column and a second threaded column at both ends respectively. The position of the first bending chain can be adjusted by rotating the first threaded column so that the first bending chain is close to the hip joint, and the position of the second bending chain can be adjusted by rotating the second threaded column so that the second bending chain is close to the knee joint. Since the positions of each person's hip joint and knee joint are different, the support can be adjusted according to the needs of the user and can be used by users of similar heights, thereby improving its versatility and solving the problem of requiring exclusive customization.

[0020] 5. The left limb support or the right limb support proposed by the present invention can be filled with liquid medium. When the amount of liquid medium is reduced, the amount of air in the flexible tube will increase. When there is more air, it is easier to compress. The bending force of the left limb support and the right limb support will become milder, thereby reducing the amplitude of the walking action and meeting the action needs of squatting with both legs. The support has good adjustability and can meet people's different usage needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention (I); Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention (II); Figure 3 for Figure 2 The enlarged structural diagram at A in the middle; Figure 4 It is a schematic diagram of the cutaway structure of the right limb support; Figure 5 is a schematic diagram of the three-dimensional structure of the first bending chain; Figure 6 for Figure 4 Schematic diagram of the local enlarged structure of (a); Figure 7 for Figure 4 Schematic diagram of the local enlarged structure (II); Figure 8It is a partial schematic diagram of pouring liquid medium into the right limb support; Fig. 9 This is a schematic diagram of the cutaway structure of the gas casing.

[0022] In the figure: 1 backrest plate, 2 pedal, 3 flexible tube, 4 first support rod, 5 second support rod, 6 first positioning plate, 7 second positioning plate, 8 movable joint, 9 connecting pipe, 10 spherical airbag, 11 first bending chain, 12 second bending chain, 13 first threaded column, 14 first connecting rod, 15 transition plate, 16 second threaded column, 17 second connecting rod, 18 sealing plug, 19 sliding rod, 20 third connecting rod, 21 fourth connecting rod, 22 first splint, 23 second splint, 24 air sleeve, 25 piston, 26 telescopic column, 27 left limb support, 28 right limb support, 29 liquid medium. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] Reference Figure 1-9 A rehabilitation training robot comprises a backrest board 1 tied to the back of a user, flexible support members are fixedly installed on both sides of the backrest board 1, pedals 2 are rotatably installed on the lower sides of the two flexible support members, and the two flexible support members are respectively a left limb support member 27 and a right limb support member 28, such as Figure 1 , Figure 2 shown.

[0026] The internal structures of the left limb support 27 and the right limb support 28 are the same. Figure 4 As shown, the flexible support member includes a flexible tube 3, which is a rubber tube with a wire mesh embedded therein. The flexible tube 3 has the properties of bending and twisting but not expansion. A first support rod 4 is fixedly installed in one end of the flexible tube 3, and a second support rod 5 is fixedly installed in the other end of the flexible tube 3. A transition plate 15 is fixedly installed in the inner cavity of the middle section of the flexible tube 3. A first positioning plate 6 and a second positioning plate 7 are fixedly installed on the surface of the flexible tube 3 respectively. The first positioning plate 6 is fixedly connected to the transition plate 15, and the second positioning plate 7 is fixedly connected to the second support rod 5.

[0027] Bending auxiliary components are provided between the first support rod 4 and the transition plate 15, and between the second support rod 5 and the transition plate 15. The first positioning plate 6 is tied to the surface of the user's thigh, and the second positioning plate 7 is tied to the surface of the user's calf. The user's hip joint and knee joint are driven to move respectively through the two bending auxiliary components.

[0028] Specifically, Figure 5 As shown, the bending auxiliary component includes a plurality of movable joints 8, which are rotatably connected to each other to form a bendable chain. A connecting pipe 9 is provided in the bendable chain. A spherical airbag 10 is fixedly installed on the surface of each movable joint 8. Each spherical airbag 10 is connected to the connecting pipe 9. The bendable chains in the two bending auxiliary components are respectively a first bending chain 11 and a second bending chain 12. Figure 6 , Figure 7 shown.

[0029] Among them, reference Figure 4 , Figure 6 , Figure 7 , threaded holes are provided in the first support rod 4 and the second support rod 5, a first threaded column 13 is installed in the inner thread of the first support rod 4, a first connecting rod 14 is rotatably installed at the end of the first threaded column 13, a second threaded column 16 is installed in the inner thread of the second support rod 5, a second connecting rod 17 is rotatably installed at the end of the second threaded column 16, and sealing plugs 18 are threadedly installed at the ports of the first support rod 4 and the second support rod 5.

[0030] Two sliding rods 19 are fixedly installed on the surface of the transition plate 15, and the surfaces of the two sliding rods 19 are respectively slidably installed with a third connecting rod 20 and a fourth connecting rod 21 that can rotate to a certain angle. Because the ends of the first connecting rod 14, the second connecting rod 17, the third connecting rod 20 and the fourth connecting rod 21 can all rotate to a certain angle, the two flexible support members can have a certain torsion angle.

[0031] The two ends of the first bending chain 11 are rotatably connected to the first link 14 and the third link 20 respectively. The ends of the first link 14 and the third link 20 are fixedly installed with first clamps 22. The two first clamps 22 are arranged at the two ends of each spherical airbag 10 on the surface of the first bending chain 11. When the spherical airbag 10 expands, the two first clamps 22 are pushed to flip, so that the first link 14 and the third link 20 generate a bending angle, thereby driving the hip joint movement.

[0032] The two ends of the second bending chain 12 are rotatably connected to the second connecting rod 17 and the fourth connecting rod 21 respectively. The ends of the second connecting rod 17 and the fourth connecting rod 21 are fixedly installed with second clamps 23. The two second clamps 23 are arranged at the two ends of each spherical airbag 10 on the surface of the second bending chain 12. When the spherical airbag 10 expands, the two second clamps 23 are pushed to flip, so that the second connecting rod 17 and the fourth connecting rod 21 generate a bending angle, thereby driving the knee joint to move.

[0033] By setting the first threaded column 13 and the second threaded column 16, the position of the first bending chain 11 can be adjusted by rotating the first threaded column 13, so that the first bending chain 11 is close to the hip joint, and the position of the second bending chain 12 can be adjusted by rotating the second threaded column 16, so that the second bending chain 12 is close to the knee joint. Because the positions of the hip joint and knee joint of each person are different, it can be adjusted according to the needs of the user. Users of similar heights can use it, thereby improving its versatility and solving the trouble of requiring exclusive customization.

[0034] In this embodiment, the side surfaces of the pedal 2 at the lower sides of the two flexible supports are fixedly mounted with air sleeves 24, such as Fig. 9 As shown, a piston 25 is slidably mounted inside the air sleeve 24 , a telescopic column 26 is fixedly mounted at the end of the piston 25 , a return spring is arranged inside the air sleeve 24 to press against the piston 25 , and the end of the telescopic column 26 extends to the lower side of the foot pedal 2 .

[0035] One gas cannula 24 is communicated with the inner cavity of the flexible tube 3 of the left limb support 27 through a hose, and the other gas cannula 24 is communicated with the inner cavity of the flexible tube 3 of the right limb support 28 through a hose.

[0036] The connecting pipes 9 in the left limb support 27 and the right limb support 28 are both blocked at one end and open at the other end (the connecting pipe 9 is as shown in FIG. Figure 4 As shown in the middle dotted line position), the open end of the connecting tube 9 in the left limb support 27 is connected to the inner cavity of the flexible tube 3 of the right limb support 28, and the open end of the connecting tube 9 in the right limb support 28 is connected to the inner cavity of the flexible tube 3 of the left limb support 27.

[0037] Both pedals 2 are provided with an air supply structure for supplying air to the connecting pipe 9. After the pedal 2 lands on the ground, the piston 25 is pushed to move by the telescopic column 26, and the piston 25 compresses the air in the air sleeve 24. When walking with both feet, the left foot lands on the ground, and the air supply structure on the left foot supplies air to the spherical air bag 10 in the right limb support 28. The spherical air bag 10 expands to assist the right limb in taking a step. At this time, the air supply structure on the left foot also supplies air to the inner cavity of the flexible tube 3 of the left limb support 27, so that the left limb support 27 is in a compressed and tightened state, which plays a good supporting role and prevents the leg from falling due to weakness. Similarly, the right foot lands on the ground to assist the left limb in taking a step, and the right limb support 28 is in a compressed and tightened state to support the right limb to stand. This design realizes automatic control, which is conducive to the user's autonomous control of the training rhythm.

[0038] It should be noted that the supporting function of the left limb support 27 and the right limb support 28 is not achieved by the first connecting rod 14, the second connecting rod 17, the third connecting rod 20 and the fourth connecting rod 21, but is achieved by increasing the air pressure in the inner cavity of the flexible tube 3.

[0039] The two bending auxiliary components arranged in the left limb support 27 (or the right limb support 28) of the present invention are connected to the spherical air bags 10 through a connecting tube 9. When compressed air is injected into the connecting tube 9, both bending auxiliary components can bend, and the bending angles of the two bending auxiliary components are dynamically changed. For example, when the internal pressure of the connecting tube 9 is constant, the bending angle of the hip joint becomes larger (or smaller), and the bending angle of the knee joint becomes smaller (or larger) according to a certain proportion, so that the left limb support 27 (or the right limb support 28) can adapt to the action of walking with legs in a more coordinated manner, which greatly reduces the mechanical feeling brought by the walking action of the existing rehabilitation training robot. Figure 1 or Figure 2 During walking, the bending angles of the hip joint and the knee joint are constantly changing. What needs to be emphasized here is that the device only provides auxiliary force, and does not completely rely on the auxiliary force to achieve the leg-moving action. During the user's walking process, the hip joint and knee joint move naturally, and the left limb support 27 and the right limb support 28 move accordingly, providing force to both legs, and walking exercise will be more labor-saving.

[0040] In this embodiment, Figure 8As shown, the flexible tubes 3 of the left limb support 27 and the right limb support 28 are filled with liquid medium 29, and the upper side of the liquid medium 29 is air. The liquid medium 29 is poured into the air sleeve 24, and the piston 25 squeezes the liquid medium 29 in the air sleeve 24. The liquid medium 29 is used to flow into the flexible tube 3 in large quantities, so that the air in the flexible tube 3 is pressed into the connecting tube 9, and the spherical airbag 10 is injected with air. The left limb support 27 or the right limb support 28 proposed by the present invention can be filled with liquid medium 29. The liquid medium 29 is reduced, and the air in the flexible tube 3 is increased. The more air, the easier it is to compress. The bending force of the left limb support 27 and the right limb support 28 will become moderate, reducing the amplitude of the walking action, and can also meet the action needs of squatting with both legs. It has good adjustability and meets people's different usage needs.

[0041] The rehabilitation training robot proposed in the present invention is tied together with two legs through two flexible support parts, and uses the bending auxiliary components inside to drive the user's hip joints and knee joints to assist the user in walking and reduce the fatigue of rehabilitation training. The flexible support parts have a linear structure and can be worn inside the user's coat. They also have multiple degrees of freedom (such as bending and twisting at the joints) and can flexibly move with the lower limbs, making them more comfortable to use.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A rehabilitation training robot, comprising a backrest plate (1) tied to the back of a user, characterized in that: Flexible support members are fixedly mounted on both sides of the backrest plate (1), and pedals (2) are rotatably mounted on the lower sides of the two flexible support members; The flexible support member comprises a flexible tube (3), a first support rod (4) is fixedly mounted in one end of the flexible tube (3), a second support rod (5) is fixedly mounted in the other end of the flexible tube (3), a transition plate (15) is fixedly mounted in the inner cavity of the middle section of the flexible tube (3), a first positioning plate (6) and a second positioning plate (7) are respectively fixedly mounted on the surface of the flexible tube (3), the first positioning plate (6) is fixedly connected to the transition plate (15), and the second positioning plate (7) is fixedly connected to the second support rod (5); A bending auxiliary component is provided between the first support rod (4) and the transition plate (15), and between the second support rod (5) and the transition plate (15); the first positioning plate (6) is tied to the surface of the user's thigh, and the second positioning plate (7) is tied to the surface of the user's calf; the two bending auxiliary components are used to drive the user's hip joint and knee joint to move respectively.

2. A rehabilitation training robot according to claim 1, characterized in that: The bending auxiliary component comprises a plurality of movable joints (8), the plurality of movable joints (8) being rotatably connected to each other to form a bendable chain, a connecting tube (9) being provided in the bendable chain, a spherical airbag (10) being fixedly mounted on the surface of each movable joint (8), each spherical airbag (10) being connected to the connecting tube (9), and the bendable chains in the two bending auxiliary components are respectively a first bending chain (11) and a second bending chain (12).

3. A rehabilitation training robot according to claim 2, characterized in that: The first support rod (4) and the second support rod (5) are both provided with threaded holes, a first threaded column (13) is internally threadedly mounted on the first support rod (4), a first connecting rod (14) is rotatably mounted on the end of the first threaded column (13), a second threaded column (16) is internally threadedly mounted on the second support rod (5), a second connecting rod (17) is rotatably mounted on the end of the second threaded column (16), and sealing plugs (18) are threadedly mounted on the ends of the first support rod (4) and the second support rod (5).

4. A rehabilitation training robot according to claim 3, characterized in that: Two sliding rods (19) are fixedly mounted on the surface of the transition plate (15), and a third connecting rod (20) and a fourth connecting rod (21) which can rotate to a certain angle are slidably mounted on the surfaces of the two sliding rods (19).

5. A rehabilitation training robot according to claim 4, characterized in that: The two ends of the first bending chain (11) are rotatably connected to the first connecting rod (14) and the third connecting rod (20), respectively; the ends of the first connecting rod (14) and the third connecting rod (20) are both fixedly mounted with first clamping plates (22), and the two first clamping plates (22) are arranged at the two ends of each spherical airbag (10) on the surface of the first bending chain (11); the two ends of the second bending chain (12) are rotatably connected to the second connecting rod (17) and the fourth connecting rod (21), respectively; the ends of the second connecting rod (17) and the fourth connecting rod (21) are both fixedly mounted with second clamping plates (23), and the two second clamping plates (23) are arranged at the two ends of each spherical airbag (10) on the surface of the second bending chain (12).

6. A rehabilitation training robot according to claim 5, characterized in that: An air sleeve (24) is fixedly mounted on the side of the pedal (2) at the lower side of the two flexible support members, a piston (25) is slidably mounted inside the air sleeve (24), a telescopic column (26) is fixedly mounted on the end of the piston (25), a return spring is arranged inside the air sleeve (24) to press against the piston (25), and the end of the telescopic column (26) extends to the lower side of the pedal (2).

7. A rehabilitation training robot according to claim 6, characterized in that: The two flexible support members are respectively a left limb support member (27) and a right limb support member (28); one air sleeve (24) is connected to the inner cavity of the flexible tube (3) of the left limb support member (27) through a hose, and the other air sleeve (24) is connected to the inner cavity of the flexible tube (3) of the right limb support member (28) through a hose.

8. A rehabilitation training robot according to claim 7, characterized in that: The connecting tubes (9) in the left limb support (27) and the right limb support (28) are both blocked at one end and open at the other end; the connecting tube (9) in the left limb support (27) is connected to the inner cavity of the flexible tube (3) of the right limb support (28); and the connecting tube (9) in the right limb support (28) is connected to the inner cavity of the flexible tube (3) of the left limb support (27).

9. A rehabilitation training robot according to claim 8, characterized in that: The flexible tubes (3) of the left limb support (27) and the right limb support (28) are both filled with a liquid medium (29), and the liquid medium (29) is poured into the gas sleeve (24).

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