Driving device of limb rehabilitation apparatus

Abstract

The invention discloses a limb rehabilitation apparatus driving device which comprises a base, a motor located at one end of the base, a single-side supporting arm vertically fixed to the base and a lower limb training device located on one side of the single-side supporting arm, and a toothed belt is connected between the motor and the lower limb training device. The motor drives the belt to make the lower limb training device rotate circumferentially, and the lower limbs of the user are actively or passively driven for training. The single-side supporting arm comprises a fixing frame used for installing the lower limb training device, the fixing frame is assembled and fixed through a reinforcing pipe, and the training stability of the lower limb training device is improved. The lower end of the fixing frame is fixed to the base, and the lower limb training device is supported in a single-arm supporting mode. The lower limb training device is directly fixed through the fixing frame formed by the reinforcing pipes, so that the training stability of the lower limb training device is guaranteed, and the requirements for the thickness and strength of the mounting plate are reduced by arranging the mounting plate on one side of the fixing frame.

Description

Technical Field

[0001] The present invention relates to the technical field of limb rehabilitation devices, and in particular to a driving device of a limb rehabilitation device. Background Art

[0002] As the number of patients with limb dysfunction continues to rise due to the aging population, the demand for limb rehabilitation is becoming increasingly urgent. The development of rehabilitation medicine has led to the emergence of various limb rehabilitation equipment, which can help patients with active or passive limb training by setting up a driving device. The driving device of the limb rehabilitation device includes a rotating and toothed pulley for installing a pedal, which can drive the rotation to perform circular rotation, thereby driving the patient's lower limbs for rehabilitation training.

[0003] Existing limb rehabilitation devices all use double-arm support to support the lower limb training device, wherein the lower limb training device includes a rotating shaft and a pulley for installing a pedal. However, the limb rehabilitation device supported by both arms is expensive and heavy, which increases the production cost of the product. The equipment on the market that supports lower limb training devices with single arms all use sheet metal with a plate-like structure for direct installation. The sheet metal is easily deformed due to the action of the lower limb, causing the pulley to tilt. The rotating shaft that passes through the pulley is also easily deformed due to the length of the supporting arm, which is also easy to cause the force on the lower limb to be unbalanced. The sheet metal is easily deformed for a long time, and the pulley may be angularly offset, which may easily cause the toothed belt installed on the pulley to cut or jump teeth, causing the belt to be easily worn after long-term use, thereby increasing the after-sales maintenance cost of the lower limb training device. Therefore, a driving device for a limb rehabilitation device is proposed. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problem of instability of lower limb training devices in the prior art, and thus propose a driving device for a limb rehabilitation device.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a driving device of a limb rehabilitation device, comprising a base, a motor located at one end of the base, a unilateral support arm vertically fixed on the base, and a lower limb training device located on one side of the unilateral support arm, wherein a toothed belt is connected between the motor and the lower limb training device, and the motor drives the belt to make the lower limb training device rotate in a circle, actively or passively driving the user's lower limbs for training; wherein the unilateral support arm includes a fixed frame for installing the lower limb training device, wherein the fixed frame is composed of multiple sections of reinforced tubes to make it have high strength, and a second fixed plate is fixedly connected to the fixed frame, wherein the lower limb training device is directly fixed on the second fixed plate; wherein the lower end of the fixed frame is fixed on the base, and supports the lower limb training device in a single-arm support manner.

[0006] Preferably, the base is an I-shaped structure, and the base includes a front support part and a rear support part, and a plate connected in the middle of the front support part and the rear support part, wherein the fixing frame is vertically arranged along the long side direction of the plate and is arranged close to one side of the plate, so that the lower limb training device is arranged close to the middle of the plate.

[0007] Preferably, the unilateral support arm also includes a mounting plate fixed to one side of the fixing frame, and a lower limb training device is installed on the other side of the fixing frame; wherein one end of the mounting plate is fixedly connected to a pipe sleeve, and the lower end of the mounting plate is fixed to the base.

[0008] Preferably, the lower limb training device includes a sleeve fixed on the second fixed plate, a pedal shaft passing through the sleeve and a pulley sleeved on the sleeve, wherein the pulley realizes circular rotation by engaging a belt; a bearing is installed inside the sleeve, wherein the bearing is used to install the pedal shaft and support the pedal shaft; wherein the number of bearings is at least 2, and the bearings are respectively arranged near the two ends of the sleeve; when the number of bearings is 2, a bearing washer is abutted between the two bearings; when the number of bearings exceeds 2, at least 1 bearing is arranged between the two bearings respectively located at the ends.

[0009] Preferably, a flange is provided on the pedal shaft, wherein the flange is used to fix the end of the pulley, and the vertically arranged pulley is close to the middle of the plate, and the radial direction of the pulley in the horizontal direction is arranged parallel to the plate.

[0010] Preferably, a through hole is provided on the mounting plate, the pedal shaft passes through the mounting plate through the through hole, and the diameter of the through hole is larger than the diameter of the pedal shaft.

[0011] Preferably, the second fixing plate is used to fix the end of the sleeve, wherein one end of the sleeve protrudes inward and is used to limit the insertion depth of the bearing, and the other end protrudes outward and is used to be fixed on the second fixing plate; the end of the sleeve is also equipped with an end cover for limiting the bearing, and the axial movement of the bearing is limited by setting the end cover; wherein a protrusion is provided at the connection between the flange and the pedal shaft, and the end of the protrusion abuts against the inner ring of the bearing, thereby limiting the axial position of the bearing and preventing the end face of the flange from contacting the end face of the sleeve.

[0012] Preferably, a gap is provided between the pulley and the sleeve; a gasket is also installed between the flange and the pulley, the gasket is used to improve the firmness between the flange and the pulley, and to make the pulley face the output shaft of the motor; a first fastening bolt and a first locating pin are provided on the end surface of the flange, and the flange and the pulley are fixed to each other by increasing the number of the first fastening bolts; wherein the first fastening bolt passes through the flange, the gasket and the pulley in sequence, and the number of the first locating pins is at least 2; a second fastening bolt and a second locating pin are provided on the end surface of the end cover, and the second fastening bolt passes through the end cover, the outer protrusion of the sleeve and the second fixing plate in sequence; the end cover is fixed to the second fixing plate by increasing the number of the second fastening bolts, and the number of the second locating pins is at least 2; wherein the end cover and the flange are respectively located at two ends of the sleeve, wherein a gap is provided between the second fixing plate and the pulley, and the axial ends of the first fastening bolt and the second fastening bolt are arranged facing each other, and are staggered with each other along the radial direction of the pulley.

[0013] Preferably, a bending portion is provided at the connection between the mounting plate and the pipe sleeve, and the bending portion and the mounting plate are connected in one piece; the diameter of the front support portion is larger than the diameter of the rear support portion, wherein a first fixing plate is provided on the front support portion, and the first fixing plate is used to fix the mounting plate; the motor is fixed in the front support portion, and the driving end of the motor is rotatably connected to a bearing frame, and the bearing frame enables the belt to engage with the driving shaft of the motor by setting an opening, and limits the horizontal movement of the wide side of the belt.

[0014] Preferably, the thickness of the second fixing plate is not less than half the thickness of the reinforcing tube, and the thickness of the second fixing plate is not greater than the thickness of the reinforcing tube, and the vertical area of ​​the second fixing plate is not greater than one-quarter the vertical area of ​​the fixing frame, so as to reduce the weight of the fixing frame.

[0015] Beneficial effects: The driving device of the limb rehabilitation trainer includes a base and a single-side support arm for supporting the lower limb training device, wherein the single-side support arm includes a fixed frame assembled from reinforced pipes, which has the characteristics of high strength and strong anti-deformation ability, ensuring the training stability of the lower limb training device, thereby preventing the belt connecting the lower limb training device from angular deviation or tooth skipping. The strength of the fixed frame is better than that of a plate-shaped sheet metal part, and the weight of the fixed frame is lower than that of a large-area sheet metal part, so the weight and cost of the product can be reduced by using the fixed frame to install the lower limb training device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of a driving device of a limb rehabilitation device proposed by the present invention; Figure 2 A three-dimensional diagram of the partial structure of the driving device of the limb rehabilitation device proposed by the present invention; Figure 3A three-dimensional diagram of the partial structure of the driving device of the limb rehabilitation device proposed by the present invention; Figure 4 A front view of a partial structure of a driving device of a limb rehabilitation device provided by the present invention; Figure 5 for Figure 4 Sectional view at AA; Figure 6 for Figure 5 A magnified view of point B; Figure 7 This is a rear view of the partial structure of the driving device of the limb rehabilitation device proposed by the present invention.

[0017] Legend: 1. Base; 11. Front support part; 12. Rear support part; 13. First fixing plate; 14. Plate; 2. Mounting plate; 20. Through hole; 21. Bending part; 22. Fixing frame; 221. Second fixing plate; 3. Pipe sleeve; 4. Pedal shaft; 41. Flange; 411. First fastening bolt; 412. First locating pin; 5. Bushing; 51. End cover; 511. Second fastening bolt; 512. Second locating pin; 52. Bearing; 53. Bearing washer; 54. Gasket; 6. Pulley; 7. Belt; 8. Bearing frame; 81. Motor; 9. First housing; 91. Second housing. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships 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 position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the insides of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0020] Reference Figure 1-Figure 7 , an embodiment of the present invention provides a driving device of a limb rehabilitation device, comprising a base 1, a motor 81 located at one end of the base 1, a unilateral support arm vertically fixed on the base 1, and a lower limb training device located at one side of the unilateral support arm, wherein a toothed belt 7 is connected between the motor 81 and the lower limb training device, and the motor 81 drives the belt 7 to make the lower limb training device rotate in a circle, actively or passively driving the user's lower limbs for training; The unilateral support arm includes a fixing frame 22 for mounting the lower limb training device, and the fixing frame 22 has the characteristic of strong anti-deformation ability, wherein the fixing frame 22 is composed of multiple sections of reinforced tubes, wherein a second fixing plate 221 is fixedly connected to the fixing frame 22, and the lower limb training device is directly fixed on the second fixing plate 221, and the end of the second fixing plate 221 is fixed on the fixing frame 22, and the structural strength of the second fixing plate 221 is further improved by increasing the number of connecting ends of the second fixing plate 221 and the fixing frame 22. In this embodiment, at least the two ends of the second fixing plate 221 facing each other are fixed on the fixing frame 22, wherein preferably The two opposite ends and one adjacent end of the second fixing plate 221 are fixed to the fixing frame 22, thereby improving the training stability of the lower limb training device, thereby avoiding the phenomenon of deviation or tooth cutting of the toothed belt 7; wherein the thickness of the second fixing plate 221 is not less than half the thickness of the reinforcing tube, and the thickness of the second fixing plate 221 is not greater than the thickness of the reinforcing tube, and the vertical area of ​​the second fixing plate 221 is not greater than one-fourth the vertical area of ​​the fixing frame 22, so as to reduce the weight of the fixing frame 22; the second fixing plate 221 in this embodiment is directly welded to the fixing frame 22 or fixed to the fixing frame 22 by fasteners; The lower end of the fixing frame 22 is fixed on the base 1, and supports the lower limb training device in a single-arm support manner.

[0021] The fixing frame 22 in this embodiment is formed by fixing multiple sections of reinforced tubes, wherein the base 1 is an I-shaped structure, and the base 1 includes a front support portion 11 and a rear support portion 12, and a plate 14 connected to the middle of the front support portion 11 and the rear support portion 12, wherein the fixing frame 22 is vertically arranged along the long side direction of the plate 14, and is arranged close to one side of the plate 14, so that the lower limb training device is arranged close to the middle of the plate 14. The fixing frame 22 in this embodiment is composed of reinforced tubes and is directly used to install the lower limb training device; wherein the opening of the reinforced tube is a regular polygon or a rectangle. When the lower limb training device is directly fixed on a sheet metal part with a plate-like structure, the sheet metal part is prone to deformation due to its large area and insufficient rigidity, which may cause the belt 7 installed on the lower limb training device to cut or jump teeth, thereby reducing the service life of the belt 7. In this embodiment, a fixed frame 22 composed of a reinforced tube is used to directly fix the lower limb training device to ensure the training stability of the lower limb training device. The weight of the fixed frame 22 is significantly lower than that of the sheet metal part with a plate-like structure, and the strength of the fixed frame 22 is better than that of a large-area sheet metal part. Therefore, the method of installing the lower limb training device with the fixed frame 22 can reduce the weight and cost of the product.

[0022] As a further improved embodiment, the unilateral support arm further comprises a mounting plate 2 fixed to one side of the fixing frame 22, and a lower limb training device is mounted on the other side of the fixing frame 22; One end of the mounting plate 2 is fixedly connected with a pipe sleeve 3, and the lower end of the mounting plate 2 is fixed on the base 1; the pipe sleeve 3 in this embodiment is used to install other pipe profiles; in this embodiment, the mounting plate 2 is arranged on one side of the fixing frame 22 to further ensure the firmness and anti-deformation ability of the fixing frame 22, thereby further improving the training stability of the lower limb training device. The end face of the pipe sleeve 3 is one of a circular, rectangular, regular polygonal, and waist-shaped structure. Example

[0023] Reference Figure 1-Figure 7 , the present embodiment is different from the above embodiments in that the lower limb training device comprises a sleeve 5 fixed on the second fixing plate 221, a pedal shaft 4 penetrating the sleeve 5 and a pulley 6 sleeved on the sleeve 5, and the pulley 6 realizes circular rotation by engaging with a belt 7; in the present embodiment, the size of the second fixing plate 221 is not less than the end diameter of the sleeve 5; A bearing 52 is installed inside the shaft sleeve 5, wherein the bearing 52 is used to install the pedal shaft 4 and support the pedal shaft 4; The number of bearings 52 is at least 2, and the bearings 52 are respectively arranged near the two ends of the sleeve 5; the bearings in this embodiment serve as support parts of the lower limb training device, and the stability of the circular rotation of the pulley 6 is improved by widening the distance between the bearings located at the two ends of the sleeve 5, thereby shortening the distance between the end of the pedal shaft 4 and the bearing 52, which is used to improve the deformation resistance of the pedal shaft 4, further ensure the rotation stability of the pulley 6, and prevent the belt 7 from jumping teeth and cutting teeth.

[0024] As a further improved embodiment, a flange 41 is provided on the pedal shaft 4, wherein the flange 41 is used to fix the end of the pulley 6, and to make the vertically arranged pulley 6 close to the middle of the plate 14, and the horizontal radial direction of the pulley 6 is arranged parallel to the plate 14.

[0025] In this embodiment, the axial distance of the sleeve 5 is increased to increase the distance between the two bearings 52 at both ends, or the distance between the bearings 52 at both ends of the sleeve 5 is increased respectively, so that the support length of the pedal shaft 4 is increased, thereby making the pedal shaft 4 rotate smoothly in a circle; it also reduces the distance between the end of the pedal shaft 4 and the bearing 52, that is, the torque of the force on the pedal shaft 4 is reduced, thereby improving the deformation resistance of the pedal shaft 4 and further improving the training stability of the lower limb training device. In the present embodiment, when the number of bearings 52 is 2, a bearing washer 53 is abutted between the two bearings 52. The thickness of the bearing washer 53 in the present embodiment is designed according to the distance between the bearings 52 at both ends thereof. The bearing washer 53 is used to support the two bearings and assist the two bearings in circular rotation. When the number of bearings 52 exceeds 2, the distance between the bearings 52 at the ends of the shaft sleeve 5 is increased by increasing the number of bearings 52. By increasing the supporting length of the pedal shaft 4, the pedal shaft 4 is not easily deformed after the belt 7 is tensioned, and rotates smoothly in a circular motion. This avoids the phenomenon of tooth jumping or belt cutting due to deviation of the belt 7, greatly prolongs the service life of the belt 7, and reduces the maintenance frequency of the entire limb rehabilitation device.

[0026] As a further improved embodiment, a through hole 20 is provided on the mounting plate 2, and the pedal shaft 4 passes through the mounting plate 2 through the through hole 20, and the diameter of the through hole 20 is larger than the diameter of the pedal shaft 4, so as to avoid the curved surface of the pedal shaft 4 contacting the mounting plate 2 and generating friction, thereby avoiding additional kinetic energy loss of the lower limb training device.

[0027] As a further improved embodiment, the second fixing plate 221 is used to fix the end of the sleeve 5, wherein one end of the sleeve 5 protrudes inwardly and is used to limit the insertion depth of the bearing 52, and the other end protrudes outwardly and is used to be fixed on the second fixing plate 221; The end of the sleeve 5 is also provided with an end cover 51 for limiting the bearing 52, and the axial movement of the bearing 52 is limited by the end cover 51. In this embodiment, the end of the sleeve 5 is fixed on the second fixing plate 221, and the inside of the sleeve 5 supports the pedal shaft 4 through the bearing 52, wherein the pedal shaft 4 is connected to the pulley 6 through the flange 41; In this embodiment, a protrusion is provided at the connection between the flange 41 and the pedal shaft 4, and the end of the protrusion abuts against the inner ring of the bearing 52, thereby limiting the axial position of the bearing 52 and preventing the end face of the flange 41 from contacting the end face of the sleeve 5; in this embodiment, the longer the axial length of the sleeve 5, the higher the stability of the pulley 6, wherein the diameter of the flange 41 is larger than the diameter of the sleeve 5, and the training stability of the pulley 6 is further improved by increasing the diameter of the flange 41.

[0028] As a further improved embodiment, a gap is provided between the pulley 6 and the shaft sleeve 5 to prevent the pulley 6 from directly contacting the shaft sleeve 5 and to prevent kinetic energy loss due to friction between the pulley 6 and the shaft sleeve 5; A gasket 54 is also installed between the flange 41 and the pulley 6. The gasket 54 is used to improve the firmness between the flange 41 and the pulley 6, and to make the pulley 6 face the output shaft of the motor 81 to prevent the belt 7 from being offset or cutting teeth. There is a gap between the gasket 54 and the sleeve 5 to prevent friction between the gasket 54 and the pedal shaft 4. The flange 41 and the pedal shaft 4 are connected in one piece; The end surface of the flange 41 is provided with a first fastening bolt 411 and a first positioning pin 412, and the flange 41 and the pulley 6 are fixed to each other by increasing the number of the first fastening bolts 411; wherein the first fastening bolt 411 passes through the flange 41, the gasket 54 and the pulley 6 in sequence; the first positioning pin 412 is used to limit the angle between the flange 41 and the pulley 6, and the number of the first positioning pins 412 is at least 2; The end surface of the end cover 51 is provided with a second fastening bolt 511 and a second positioning pin 512, and the second fastening bolt 511 sequentially penetrates the end cover 51, the outer protrusion of the sleeve 5 and the second fixing plate 221; the end cover 51 is fixed on the second fixing plate 221 by increasing the number of the second fastening bolts 511, wherein the second positioning pin 512 limits the angle of the end cover 51, and the number of the second positioning pins 512 is at least 2; wherein the outer protrusion of the sleeve 5 and the sleeve 5 are detachably connected or integrally connected; The end cover 51 and the flange 41 are respectively located at the two ends of the shaft sleeve 5, wherein a gap is provided between the second fixing plate 221 and the pulley 6, and the axial ends of the first fastening bolt 411 and the second fastening bolt 511 are arranged opposite to each other and staggered from each other along the radial direction of the pulley 6. In this embodiment, the first fastening bolt 411 and the second fastening bolt 511 staggered from each other along the radial direction of the pulley 6 avoid affecting the fastening effect due to the abutment of the ends, and also avoid the first fastening bolt 411 contacting the second fastening bolt 511 when the pulley 6 rotates; wherein the gap is provided between the second fixing plate 221 and the pulley 6 to prevent the end of the second fastening bolt 511 penetrating the second fixing plate 221 from abutting against the end face of the pulley 6; and at the same time, prevent the end of the first fastening bolt 411 from abutting against the end face of the second fixing plate 221.

[0029] As a further improved embodiment, a bending portion 21 is provided at the connection between the mounting plate 2 and the pipe sleeve 3, and the bending portion 21 and the mounting plate 2 are integrally connected; The diameter of the front support portion 11 is greater than the diameter of the rear support portion 12, wherein a first fixing plate 13 is provided on the front support portion 11, and the first fixing plate 13 is used to fix the mounting plate 2; in this embodiment, the first fixing plate 13 is preferably provided at the top corner of the mounting plate 2, and the first fixing plate 13 is in a fan-shaped structure; The motor 81 is fixed in the front support part 11, and the driving end of the motor 81 is rotatably connected to the bearing frame 8. The bearing frame 8 is provided with an opening to allow the belt 7 to engage with the driving shaft of the motor 81, and to limit the horizontal movement of the wide side of the belt 7, thereby further preventing the belt 7 from being misaligned or cut. The end of the bearing frame 8 is fixed in the front support part 11 by installing a bearing, and the bearing in the bearing frame 8 is installed on the driving shaft of the motor 81. The bearing frame 8 adopts a hole-digging design in the middle, and a rectangular hole is opened on the side of the shaft, so that the belt passes through the bearing frame 8 and engages with the driving shaft of the motor 81.

[0030] The mounting plate 2 is used to install a first shell 9 covering the pulley 6 and the mounting plate 2, and one end of the first shell 9 is provided with a second shell 91 for covering the pipe sleeve 3, wherein the first shell 9 and the second shell 91 are integrally connected.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving device for a limb rehabilitation device, characterized in that: The invention comprises a base (1), a motor (81) located at one end of the base (1), a unilateral support arm vertically fixed on the base (1), and a lower limb training device located on one side of the unilateral support arm, wherein a toothed belt (7) is connected between the motor (81) and the lower limb training device, and the motor (81) drives the belt (7) to rotate the lower limb training device in a circular motion, thereby actively or passively driving the user's lower limbs to perform training; wherein the unilateral support arm comprises a fixing frame (22) for mounting the lower limb training device, wherein the fixing frame (22) is composed of a plurality of reinforced tubes to have high strength, and a second fixing plate (221) is fixedly connected to the fixing frame (22), wherein the lower limb training device is directly fixed to the second fixing plate (221); wherein the lower end of the fixing frame (22) is fixed on the base (1), and supports the lower limb training device in a single-arm support manner.

2. The driving device of the limb rehabilitation device according to claim 1, characterized in that: The base (1) is in an I-shaped structure, comprising a front support portion (11) and a rear support portion (12), and a plate (14) connected to the middle of the front support portion (11) and the rear support portion (12), wherein the fixing frame (22) is vertically arranged along the long side direction of the plate (14) and is arranged close to one side of the plate (14), so that the lower limb training device is arranged close to the middle of the plate (14).

3. The driving device of the limb rehabilitation device according to claim 1, characterized in that: The unilateral support arm further comprises a mounting plate (2) fixed to one side of the fixing frame (22), and a lower limb training device is mounted on the other side of the fixing frame (22); wherein one end of the mounting plate (2) is fixedly connected to a pipe sleeve (3), and the lower end of the mounting plate (2) is fixed to the base (1).

4. The driving device of the limb rehabilitation device according to claim 1, characterized in that: The lower limb training device comprises a shaft sleeve (5) fixed on a second fixing plate (221), a pedal shaft (4) passing through the shaft sleeve (5), and a pulley (6) sleeved on the shaft sleeve (5), wherein the pulley (6) realizes circular rotation by engaging a belt (7); a bearing (52) is installed inside the shaft sleeve (5), wherein the bearing (52) is used to install the pedal shaft (4) and support the pedal shaft (4); wherein the number of the bearings (52) is at least two, and the bearings (52) are respectively arranged near two ends of the shaft sleeve (5); when the number of the bearings (52) is two, a bearing washer (53) is abutted between the two bearings (52); when the number of the bearings (52) exceeds two, at least one bearing (52) is arranged between the two bearings (52) respectively located at the ends.

5. The driving device of the limb rehabilitation device according to claim 4, characterized in that: A flange (41) is provided on the pedal shaft (4), wherein the flange (41) is used to fix the end of the pulley (6), and the vertically arranged pulley (6) is close to the middle of the plate (14), and the radial direction of the pulley (6) in the horizontal direction is arranged parallel to the plate (14).

6. The driving device of the limb rehabilitation device according to claim 5, characterized in that: The mounting plate (2) is provided with a through hole (20), the pedal shaft (4) passes through the mounting plate (2) through the through hole (20), and the diameter of the through hole (20) is greater than the diameter of the pedal shaft (4).

7. The driving device of the limb rehabilitation device according to claim 5, characterized in that: The second fixing plate (221) is used to fix the end of the shaft sleeve (5), wherein one end of the shaft sleeve (5) protrudes inwardly and is used to limit the insertion depth of the bearing (52), and the other end protrudes outwardly and is used to be fixed on the second fixing plate (221); the end of the shaft sleeve (5) is also installed with an end cover (51) for limiting the bearing (52), and the axial movement of the bearing (52) is limited by providing the end cover (51); wherein a protrusion is provided at the connection between the flange (41) and the pedal shaft (4), and the end of the protrusion abuts against the inner ring of the bearing (52), thereby limiting the axial position of the bearing (52) and preventing the end face of the flange (41) from contacting the end face of the shaft sleeve (5).

8. The driving device of the limb rehabilitation device according to claim 7, characterized in that: A gap is provided between the pulley (6) and the shaft sleeve (5); a gasket (54) is also installed between the flange (41) and the pulley (6), and the gasket (54) is used to improve the firmness between the flange (41) and the pulley (6) and make the pulley (6) face the output shaft of the motor (81); a first fastening bolt (411) and a first positioning pin (412) are provided on the end surface of the flange (41), and the flange (41) and the pulley (6) are fixed to each other by increasing the number of the first fastening bolts (411); wherein the first fastening bolt (411) passes through the flange (41), the gasket (54) and the pulley (6) in sequence, and wherein the number of the first positioning pins (412) is at least 2; A second fastening bolt (511) and a second positioning pin (512) are provided on the end surface of the end cover (51), and the second fastening bolt (511) passes through the end cover (51), the outer protrusion of the shaft sleeve (5) and the second fixing plate (221) in sequence; the end cover (51) is fixed to the second fixing plate (221) by increasing the number of the second fastening bolts (511), wherein the number of the second positioning pins (512) is at least 2; wherein the end cover (51) and the flange (41) are respectively located at two ends of the shaft sleeve (5), wherein a gap is provided between the second fixing plate (221) and the pulley (6), and the axial ends of the first fastening bolt (411) and the second fastening bolt (511) are arranged opposite to each other and are staggered with each other along the radial direction of the pulley (6).

9. The driving device of the limb rehabilitation device according to claim 3, characterized in that: A bending portion (21) is provided at the connection between the mounting plate (2) and the pipe sleeve (3), and the bending portion (21) and the mounting plate (2) are connected in an integral manner; the diameter of the front support portion (11) is greater than the diameter of the rear support portion (12), wherein a first fixing plate (13) is provided on the front support portion (11), and the first fixing plate (13) is used to fix the mounting plate (2); and the motor (81) is fixed in the front support portion (11).

10. The driving device of the limb rehabilitation device according to claim 1, characterized in that: The driving end of the motor (81) is rotatably connected to a bearing frame (8), and the bearing frame (8) is provided with an opening so that the belt (7) is engaged with the driving shaft of the motor (81) and limits the horizontal movement of the wide side of the belt (7).

11. The driving device of the limb rehabilitation device according to claim 1, characterized in that: The thickness of the second fixing plate (221) is not less than half the thickness of the reinforcing tube, and the thickness of the second fixing plate (221) is not greater than the thickness of the reinforcing tube; the area of ​​the second fixing plate (221) in the vertical direction is not greater than one quarter of the area of ​​the fixing frame (22) in the vertical direction, so as to reduce the weight of the fixing frame (22).

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