Universal modular limb rehabilitation equipment

Abstract

The invention discloses universal modular limb rehabilitation equipment which comprises a width-adjustable treatment table, two horizontally-arranged lower limb rehabilitation driving modules, two vertically-arranged upper limb rehabilitation driving modules and a controller with an operation panel. The two lower limb rehabilitation driving modules are horizontally arranged on the platform face, close to the tail end, of the treatment table, the two upper limb rehabilitation driving modules are vertically arranged on the two sides, close to the head, of the treatment table, and the lower limb rehabilitation driving modules are arranged on the treatment table through sliding positioning structures. The upper limb rehabilitation driving module is arranged on the side wall of the treatment table through a vertical positioning structure; the rehabilitation equipment is a medical instrument which is brand new in design and is used for carrying out rehabilitation training on four limbs of a patient suffering from limb paralysis caused by cerebrovascular diseases (such as cerebral apoplexy), and the rehabilitation equipment has universality and adjustment flexibility in use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a universal modular limb rehabilitation device. Background Art

[0002] At present, for patients with limb paralysis caused by cerebrovascular diseases (such as stroke), passive rehabilitation correction devices (such as electric rehabilitation functional electrical stimulators, exoskeleton robots, etc.) have the following deficiencies in clinical applications: 1. Lack of personalized adaptation, and the rehabilitation effect is limited Most devices adopt standardized designs and are difficult to dynamically adjust according to the patient's paralysis degree, muscle atrophy condition, joint range of motion, etc., resulting in insufficient or excessive training intensity. For example, some lower limb rehabilitation robots only provide fixed gait patterns and cannot adapt to the stride and stride frequency requirements of different patients, affecting the rehabilitation effect.

[0003] 2. The current rehabilitation medical devices are costly and have low popularity High-end rehabilitation robots (such as lower limb exoskeletons) are expensive and difficult for most medical institutions or families to afford, restricting the wide application of such devices.

[0004] 3. The body parts for rehabilitation are limited to several relatively large joints, while each affected limb of the patient has more than 20 joints, resulting in most joints unable to receive rehabilitation correction. For example, the existing devices for rehabilitation correction are only limited to a few large joints such as the shoulder joint, elbow joint, hip joint or knee joint, and the driving effect on the rehabilitation of other parts is average. Summary of the Invention

[0005] The purpose of the present invention is to provide a universal modular limb rehabilitation device for the above situation. This rehabilitation device is a newly designed medical device for rehabilitating the limbs of patients with limb paralysis caused by cerebrovascular diseases (such as stroke), and its use has universality and adjustment flexibility.

[0006] The specific solution of the present invention is: a universal modular limb rehabilitation device, including a treatment table with adjustable width, two horizontally arranged lower limb rehabilitation driving modules, two vertically arranged upper limb rehabilitation driving modules, and a controller with an operation panel. The controller is arranged on one side of the treatment table and is used for controlling the telescopic movement of the lower limb rehabilitation driving module and the upper limb rehabilitation driving module. The two lower limb rehabilitation driving modules are horizontally arranged on the platform surface of the treatment table near the tail end, and the two upper limb rehabilitation driving modules are vertically arranged on both sides of the treatment table near the head. The lower limb rehabilitation driving module is arranged on the treatment table through a sliding positioning structure, and the upper limb rehabilitation driving module is arranged on the side wall of the treatment table through a vertical positioning structure.

[0007] Furthermore, the structures of the lower limb rehabilitation driving module and the upper limb rehabilitation driving module in the present invention are the same. Each of them includes a driving box body, a screw rod telescopic driving mechanism, and a traction pile. A traction guiding notch is formed on the driving box body. The screw rod telescopic driving mechanism is arranged in the driving box body. The traction pile is connected to the output end of the screw rod telescopic driving mechanism, and the traction pile extends out of the traction guiding notch and moves along the traction guiding notch by traction.

[0008] Furthermore, the screw rod telescopic driving mechanism in the present invention includes a driving motor, a traction screw rod, a nut slider, and two guiding optical rods. The driving motor is arranged in the driving box body. The traction screw rod is in transmission connection with the driving motor. The traction screw rod is arranged along the traction guiding notch. The guiding optical rods are parallel to the traction screw rod and are arranged in the driving box body. The nut slider is sleeved on the traction screw rod and the guiding optical rods at the same time. The rotation of the traction screw rod drives the nut slider to move along the guiding optical rods. The traction pile is arranged on the nut slider and moves along the traction guiding notch together with the nut slider. A proximal stroke positioning switch and a distal stroke positioning switch are also arranged on the side wall of the driving box body corresponding to the nut slider.

[0009] Furthermore, the driving box body in the present invention is in the shape of a box body welded by a rectangular strip and a box-shaped body. The length of the rectangular strip is greater than the length of the box-shaped body. One end of the rectangular strip extends out, and two parallel installation long holes are arranged on the extending part. A protective guiding plate is also arranged on the side edge of the rectangular strip close to the human limb.

[0010] Furthermore, the traction pile in the present invention has a connecting plate and a traction plate, which are perpendicularly and integrally fixed together. The connecting plate is connected to the output end of the screw rod telescopic driving mechanism. A plurality of limb fixing holes are formed on the traction plate, and the limb fixing holes are bound and connected to the relevant parts of the human limb through an upper limb connecting sleeve or a lower limb connecting sleeve.

[0011] Furthermore, the upper limb connecting sleeve in the present invention is composed of a dorsal hand pad, a wrist strap, a finger strap, a wrist guard strap, and a hand connecting strap. The lower limb connecting sleeve is composed of an ankle strap, a foot strap, a foot sole sleeve, a foot connecting strap, and an ankle guard strap.

[0012] Furthermore, in the present invention, the treatment table includes a support frame, parallel chutes provided at both ends of the support frame, and two lying boards. The chutes at both ends are made of U-shaped steel channels, and the openings of the two chutes are arranged opposite to each other. The two lying boards are horizontally slid and inserted from the openings at both ends of the two chutes respectively to form a combined lying board structure; on the board surface of each lying board at the lower limb part of the human body and on the side of the lying board at the upper limb position of the human body, long strip sliding grooves are provided; the lower limb rehabilitation driving module is arranged on the bottom surface of the lying board through a sliding positioning structure, and the upper limb rehabilitation driving module is arranged on the side wall of the lying board through a vertical positioning structure.

[0013] Furthermore, in the present invention, the support frame is composed of two U-shaped support feet. The upper ends of both sides of the two U-shaped support feet are respectively welded to the corresponding chutes made of U-shaped steel channels to form an integral body, and the middle of the two chutes is connected into an integral body by a cross bar; a rubber pad foot is also provided at the bottom of the U-shaped support foot.

[0014] Furthermore, in the present invention, the sliding positioning structure is arranged at the bottom of the corresponding lying board, and it includes two U-shaped groove plates. The two U-shaped groove plates are welded to the bottom of the corresponding long strip sliding groove. The lower limb rehabilitation driving module is placed in the chutes of the two U-shaped groove plates. A tightening bolt is also installed on one of the U-shaped groove plates, and the tightening bolt abuts against the corresponding lower limb rehabilitation driving module to lock and fix it; the vertical positioning structure includes a long strip sliding groove provided on the side of the lying board at the upper limb position of the human body and a locking bolt. The upper limb rehabilitation driving module is vertically inserted into the corresponding long strip sliding groove and is locked and positioned by the locking bolt.

[0015] Furthermore, in the present invention, the controller is provided with a display screen, and a parameter writing module is built in the controller. This parameter writing module is used to write and input the operating parameters of the lower limb rehabilitation driving module and the upper limb rehabilitation driving module.

[0016] The present invention has the following beneficial effects: 1. The present invention can be driven by the same driving module for rehabilitation training regardless of the left or right limb, or the upper or lower limb, and has particularly strong applicability.

[0017] 2. When in use, the speed, stroke, and time of driving the limbs for reciprocating training can be adjusted in real time on the display panel of the controller, so that specific parameter settings can be made according to the rehabilitation needs of different patients.

[0018] 3. Through multi-limb rehabilitation training, the present invention can drive the most number of limb joints, bones, nerves, muscles, etc.

[0019] 4. The present invention can still be used for patients with 2 to 4 affected limbs and has strong adaptability.

[0020] 5. The rehabilitation device of the present invention can perform lifting adjustment in the length direction of the upper limbs, adjustment in the length direction of the lower limbs, and adjustment in the width of the lying board, fully meeting the usage requirements of different patients, and having good practical usage value and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the exploded structural schematic diagram of the lower limb rehabilitation drive module in the present invention; Figure 3 is the overall structural schematic diagram of the lower limb rehabilitation drive module in the present invention; Figure 4 is the overall back structural schematic diagram of the lower limb rehabilitation drive module in the present invention; Figure 5 is the structural schematic diagram of the screw rod telescopic drive mechanism in the present invention; Figure 6 is the structural schematic diagram of the traction pile in the present invention; Figure 7 is the exploded structural schematic diagram of the treatment table in the present invention; Figure 8 is the structural schematic diagram of the support frame in the treatment table of the present invention; Figure 9 is the structural schematic diagram of the bottom mounting of the lying board in the treatment table of the present invention; Figure 10 is the schematic diagram of the adjustable directions of each component of the present invention; Figure 11 is the structural schematic diagram of the upper limb connecting sleeve in the present invention; Figure 12 is the structural schematic diagram of the lower limb connecting sleeve in the present invention.

[0022] In the figure: 1 - Lower limb rehabilitation drive module, 2 - Lying board, 3 - Upper limb rehabilitation drive module, 4 - Controller, 5 - U-shaped support feet, 6 - Rubber pad feet, 7 - Drive motor, 8 - Traction lead screw, 9 - Guide optical rod, 10 - Nut slider, 11 - Traction pile, 12 - Drive box body, 13 - Protection guide plate, 14 - Installation long strip hole, 15 - Rectangular strip board, 16 - Traction guide notch, 17 - Connecting plate, 18 - Traction plate, 19 - Proximal travel limit switch, 20 - Limb fixing hole, 21 - Cross bar, 22 - Slide groove, 23 - Long strip sliding groove, 24 - U-shaped groove plate, 25 - Tightening bolt, 26 - Horizontal adjustment direction of upper and lower limb rehabilitation drive module, 27 - Vertical adjustment direction of upper limb rehabilitation drive module, 28 - Adjustment direction of two lying boards, 29 - Hand connecting belt, 30 - Wrist guard belt, 31 - Finger strap, 32 - Wrist strap, 33 - Ankle guard belt, 34 - Foot connecting belt, 35 - Foot sole cover, 36 - Foot strap, 37 - Ankle strap, 38 - Distal travel limit switch, 39 - Dorsal hand cushion. Detailed implementation manners

[0023] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship when the product of this invention is usually placed. It is only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0024] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "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 an indirect connection through an intermediate medium, and it can be the communication inside 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 situations.

[0025] See Figures 1 to 12, the present invention is a general modular limb rehabilitation device, including a treatment table with adjustable width, two horizontally arranged lower limb rehabilitation drive modules 1, two vertically arranged upper limb rehabilitation drive modules 3, and a controller 4 with an operation panel. The controller is arranged on one side of the treatment table and is used for controlling the telescopic movement of the lower limb rehabilitation drive module and the upper limb rehabilitation drive module. Further, in the present invention, the controller is provided with a display screen, which is the operation panel. A parameter writing module is built into the controller, and this parameter writing module is used for writing and inputting the operation parameters of the lower limb rehabilitation drive module and the upper limb rehabilitation drive module. The two lower limb rehabilitation drive modules are horizontally arranged on the platform surface of the treatment table near the tail end, and the two upper limb rehabilitation drive modules are vertically arranged on both sides of the treatment table near the head. The lower limb rehabilitation drive module is arranged on the treatment table through a sliding positioning structure, and the upper limb rehabilitation drive module is arranged on the side wall of the treatment table through a vertical positioning structure.

[0026] Further, in the present invention, the treatment table includes a support frame, two parallel arranged chutes 22 provided at both ends of the support frame, and two lying boards 2. The chutes at both ends are made of U-shaped steel channels, and the openings of the two chutes are arranged opposite to each other. The two lying boards are horizontally slid and inserted into the openings at both ends of the two chutes respectively to form a combined lying board structure; long strip sliding grooves 23 are opened on the board surface of each lying board at the lower limb part of the human body and on the side part of the lying board at the upper limb position of the human body; the lower limb rehabilitation drive module is arranged on the bottom surface of the lying board through a sliding positioning structure, and the upper limb rehabilitation drive module is arranged on the side wall of the lying board through a vertical positioning structure.

[0027] Further, in the present invention, the support frame is composed of two U-shaped support feet 5. The upper ends of both sides of the two U-shaped support feet are respectively welded to the corresponding chutes made of U-shaped steel channels to form an integral body, and the middle parts of the two chutes are connected into an integral body by a cross bar 21; a rubber pad foot 6 is also provided at the bottom of the U-shaped support foot.

[0028] Further, in the present invention, the sliding positioning structure is arranged at the bottom of the corresponding lying board, and it includes two U-shaped groove plates 24. The two U-shaped groove plates are welded to the bottom of the corresponding long strip sliding groove. The lower limb rehabilitation drive module is placed in the chutes of the two U-shaped groove plates. A tightening bolt 25 is also installed on one of the U-shaped groove plates, and the tightening bolt presses against the corresponding lower limb rehabilitation drive module to realize its locking and fixing; the vertical positioning structure includes a long strip sliding groove opened on the side part of the lying board at the upper limb position of the human body and a locking bolt. The upper limb rehabilitation drive module is vertically inserted into the corresponding long strip sliding groove and is locked and positioned by the locking bolt.

[0029] Furthermore, in this embodiment, the lower limb rehabilitation driving module and the upper limb rehabilitation driving module have the same structure, each including a driving box body 12, a screw rod telescopic driving mechanism, and a traction pile 11. A traction guiding notch 16 is formed in the driving box body. The screw rod telescopic driving mechanism is arranged in the driving box body, and the traction pile is connected to the output end of the screw rod telescopic driving mechanism. The traction pile extends out of the traction guiding notch and moves along the traction guiding notch by traction.

[0030] Furthermore, in the present invention, the screw rod telescopic driving mechanism includes a driving motor 7, a traction screw rod 8, a nut slider 10, and two guiding optical rods 9. The driving motor is arranged in the driving box body. The traction screw rod is in transmission connection with the driving motor. The traction screw rod is arranged along the traction guiding notch. The guiding optical rods are parallel to the traction screw rod and are arranged in the driving box body. The nut slider is sleeved on the traction screw rod and the guiding optical rods at the same time. When the traction screw rod rotates, the nut slider moves along the guiding optical rods. The traction pile is arranged on the nut slider and moves along the traction guiding notch therewith. A proximal stroke positioning switch 19 and a distal stroke positioning switch 38 are further arranged on the side wall of the driving box body corresponding to the nut slider.

[0031] Furthermore, in the present invention, the driving box body is in the shape of a box body formed by welding a rectangular strip 15 and a box-shaped body. The length of the rectangular strip is greater than the length of the box-shaped body. One end of the rectangular strip extends out, and two parallel mounting long holes 14 are arranged on the extending part. A protective guiding plate 13 is further arranged on the side edge of the rectangular strip close to the human limb.

[0032] Furthermore, in the present invention, the traction pile has a connecting plate 17 and a traction plate 18, which are perpendicularly and integrally fixed together. The connecting plate is connected to the output end of the screw rod telescopic driving mechanism. A plurality of limb fixing holes 20 are formed in the traction plate. The limb fixing holes are bound and connected to relevant parts of the human limb through an upper limb connecting sleeve or a lower limb connecting sleeve.

[0033] Furthermore, in the present invention, the upper limb connecting sleeve is composed of a dorsal hand pad 39, a wrist strap 32, a finger strap 31, a wrist guard 30, and a hand connecting strap 29. The lower limb connecting sleeve is composed of an ankle strap 37, a foot strap 36, a foot sole sleeve 35, a foot connecting strap 34, and an ankle guard 33.

[0034] In the present invention, the two vertically installed upper limb rehabilitation drive modules drive the two upper limbs and perform reciprocating linear motion in the vertical direction. The two horizontally installed lower limb rehabilitation drive modules drive the two lower limbs and perform horizontal reciprocating linear motion. The upper limb rehabilitation drive modules and the lower limb rehabilitation drive modules can be adjusted in position in the up, down, left, and right directions on the treatment table, and the two lying boards can be adjusted longitudinally in width through sliding grooves to meet the rehabilitation needs of patients with different body builds and different clothing amounts.

[0035] The drive module of the present invention is composed of a drive motor, a traction screw rod, a traction pile, a drive box, etc. The drive module is the power source of the multi-limb rehabilitation machine as a whole.

[0036] The drive module adjusts the parameters of the entire rehabilitation machine in three ways. 1. By changing the power supply parameters of the drive motor (DC stepper motor) through the electric control system to achieve speed control; 2. By changing the proximal / distal travel limit switches to achieve travel control; 3. By adjusting the delay time of the delay circuit to achieve time control.

[0037] After the patient lies on the lying board, adjust the positions of the four limbs, and then fix the four limbs of the patient on the traction pile through the upper limb connecting sleeve and the lower limb connecting sleeve. Under the control of the electric control system, the drive module drives the stepper motor to operate, the stepper motor drives the traction screw rod to operate, the traction screw rod drives the nut slider to move, and the nut slider drives the traction pile, which drives the four limbs to perform reciprocating linear motion.

[0038] See Appendix Figure 11 and 12 In the present invention, the upper limb connecting sleeve is composed of a dorsal hand pad 39, a wrist strap 32, a finger strap 31, a wrist guard 30, and a hand connecting strap 29; the lower limb connecting sleeve is composed of an ankle strap 37, a foot strap 36, a foot sole cover 35, a foot connecting strap 34, and an ankle guard 33. This is a specially designed strap structure that can well adapt to the restraint of the patient's four limbs, is adjustable, and enhances comfort. The upper and lower limb connecting sleeves have three functions: 1. Protect the hands and soles of the feet; 2. Connect the affected limbs and the traction pile; 3. Adjust the force application points. The invention of the connecting sleeve realizes the idea of having the above three functions at the same time.

[0039] The multi-limb rehabilitation machine is applicable to patients who need rehabilitation and correction for two or more limbs. Of course, it is also feasible for single upper limb rehabilitation. At this time, relying on the linear reciprocating motion provided by the drive module, it drives the human limb to perform natural and passive stretching and contracting motion rehabilitation. It has three characteristics: 1. Regardless of the left or right limb, one lower limb rehabilitation drive module in the present invention can be used for training. 2. The speed, stroke and time of the driven limb can be adjusted. 3. The number of joints, bones, nerves, muscles, etc. of the driven limb is the largest.

[0040] The present invention can also perform single lower limb rehabilitation training. Relying on the linear reciprocating motion provided by the drive module, it drives the human limb to perform natural and passive stretching and contracting motion rehabilitation training. It has three characteristics: 1. Regardless of the left or right limb, it can be driven by one of the drive modules. 2. The speed, stroke and time of the driven limb can be adjusted. 3. The number of joints, bones, nerves, muscles, etc. of the driven limb is the largest.

Claims

1. A universal modular limb rehabilitation device, characterized in that: It includes a treatment table with adjustable width, two horizontally arranged lower limb rehabilitation driving modules, two vertically arranged upper limb rehabilitation driving modules, and a controller with an operation panel. The controller is arranged on one side of the treatment table and is used for controlling the telescopic movements of the lower limb rehabilitation driving modules and the upper limb rehabilitation driving modules. The two lower limb rehabilitation driving modules are horizontally arranged on the platform surface of the treatment table near the tail end, and the two upper limb rehabilitation driving modules are vertically arranged on both sides of the treatment table near the head. The lower limb rehabilitation driving modules are arranged on the treatment table through a sliding positioning structure, and the upper limb rehabilitation driving modules are arranged on the side wall of the treatment table through a vertical positioning structure.

2. The general modular limb rehabilitation device according to claim 1, wherein: The lower limb rehabilitation driving modules and the upper limb rehabilitation driving modules have the same structure, and each includes a driving box body, a screw rod telescopic driving mechanism, and a traction pile. A traction guiding notch is formed on the driving box body. The screw rod telescopic driving mechanism is arranged in the driving box body. The traction pile is connected to the output end of the screw rod telescopic driving mechanism. The traction pile extends out of the traction guiding notch and moves along the traction guiding notch.

3. The general modular limb rehabilitation device according to claim 2, characterized in that: The screw rod telescopic driving mechanism includes a driving motor, a traction screw rod, a nut slider, and two guiding optical rods. The driving motor is arranged in the driving box body. The traction screw rod is in transmission connection with the driving motor and is arranged along the traction guiding notch. The guiding optical rods are parallel to the traction screw rod and are arranged in the driving box body. The nut slider is sleeved on both the traction screw rod and the guiding optical rods at the same time. The rotation of the traction screw rod drives the nut slider to move along the guiding optical rods. The traction pile is arranged on the nut slider and moves along the traction guiding notch together with it. A proximal stroke positioning switch and a distal stroke positioning switch are also arranged on the side wall of the driving box body corresponding to the nut slider.

4. A general modular limb rehabilitation device according to claim 2, characterized in that: The driving box body is in the shape of a box composed of a rectangular strip and a box-shaped body welded together. The length of the rectangular strip is greater than the length of the box-shaped body. One end of the rectangular strip extends out, and two parallel installation long holes are arranged on the extended part. A protective guiding plate is also arranged on the side edge of the rectangular strip near the human limb.

5. The general modular limb rehabilitation device according to claim 2, characterized in that: The traction pile has a connecting plate and a traction plate, which are perpendicularly and integrally fixed together. The connecting plate is connected to the output end of the screw rod telescopic driving mechanism. A number of limb fixing holes are formed on the traction plate, and relevant parts of the human limb are bound and connected to the limb fixing holes through an upper limb connecting sleeve or a lower limb connecting sleeve.

6. The universal modular limb rehabilitation device according to claim 5, characterized in that: The upper limb connecting sleeve is composed of a dorsal hand pad, a wrist strap, a finger strap, a wrist guard strap, and a hand connecting strap. The lower limb connecting sleeve is composed of an ankle strap, a foot strap, a foot sole sleeve, a foot connecting strap, and an ankle guard strap.

7. A general modular limb rehabilitation device according to claim 1, characterized in that: The treatment table includes a support frame, parallel chutes arranged at both ends of the support frame, and two lying boards. The chutes at both ends are made of U-shaped steel channels, and the openings of the two chutes are arranged opposite to each other. The two lying boards are horizontally slid and inserted from the openings at both ends of the two chutes respectively to form a combined lying board structure; on the board surface of each lying board at the lower limb part of the human body and on the side of the lying board at the upper limb position of the human body, long strip sliding grooves are provided. The lower limb rehabilitation driving module is arranged on the bottom surface of the lying board through a sliding positioning structure, and the upper limb rehabilitation driving module is arranged on the side wall of the lying board through a vertical positioning structure.

8. The general modular limb rehabilitation device according to claim 7, wherein: The support frame is composed of two U-shaped support feet. The upper ends of both sides of the two U-shaped support feet are respectively welded to the corresponding chutes made of U-shaped steel channels to form an integral body, and the middle parts of the two chutes are connected into an integral body by a cross bar; a rubber pad foot is also provided at the bottom of the U-shaped support foot.

9. The universal modular limb rehabilitation device according to claim 7, characterized in that: The sliding positioning structure is arranged at the bottom of the corresponding lying board and includes two U-shaped groove plates. The two U-shaped groove plates are welded to the bottom of the corresponding long strip sliding groove. The lower limb rehabilitation driving module is placed in the chutes of the two U-shaped groove plates. A tightening bolt is also installed on one of the U-shaped groove plates, and the tightening bolt abuts against the corresponding lower limb rehabilitation driving module to lock and fix it; the vertical positioning structure includes a long strip sliding groove opened on the side of the lying board at the upper limb position of the human body and a locking bolt. The upper limb rehabilitation driving module is vertically inserted into the corresponding long strip sliding groove and is locked and positioned by the locking bolt.

10. A general modular limb rehabilitation device according to claim 1, characterized in that: The controller is equipped with a display screen, and a parameter writing module is built in the controller. The parameter writing module is used to write and input the operating parameters of the lower limb rehabilitation driving module and the upper limb rehabilitation driving module.

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