Limb training device

Abstract

The invention discloses a limb training device, which relates to the field of neurosurgery and comprises a base, a fixing seat, a first oil cylinder, a second oil cylinder, a back plate, an upper limb training mechanism, a seat plate, a lower limb training mechanism, a first connecting block and a second connecting block. The device is reasonable and simple in structure, low in production cost and convenient to install, the angles of the back plate and the seat plate can be adjusted by operating the oil cylinder according to the physical condition and the rehabilitation stage of a patient, the patient can be trained in a comfortable posture, and the personalized adjustment requirement is met; the hand-pulling transmission mechanism and the forward and reverse transmission device are arranged, a series of components are driven to operate by pulling the grip, upper limb stretching and contracting actions can be simulated, upper limb training is achieved, transmission resistance can be changed by adjusting screws, and training modes are enriched; the forward and reverse driving device, the motor and related transmission parts are used for driving the leg swing arms to swing and simulating lower limb flexion and extension movement, lower limb training is achieved, the swing directions of the two legs can be opposite, the lower limb movement characteristics of the human body are better fit, and diversified rehabilitation requirements are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of neurosurgery, in particular to a limb training device. BACKGROUND

[0002] In the field of neurosurgery, surgery is an important means of treating nervous system diseases. However, patients with nervous system diseases, such as brain, spinal cord and peripheral nervous system disorders, often have varying degrees of limb movement disorders. These disorders seriously affect the patient's self-care ability and rehabilitation process, and bring heavy burden to the patient and his family.

[0003] Rehabilitation training is a key link to help neurology patients recover limb movement function. Through appropriate training, it can promote the recovery of neural function, improve muscle strength and joint range of motion, enhance the patient's balance and coordination ability, and effectively improve the patient's rehabilitation quality.

[0004] At present, there are various types of limb rehabilitation training equipment on the market, but there are still many problems. Some devices have complex structure and inconvenient operation, not only increasing the use difficulty of patients and medical staff, but also increasing the maintenance cost of the equipment; some devices have single function and cannot meet the diversified rehabilitation needs of different patients, and it is difficult to conduct comprehensive and effective training according to the different movement characteristics of upper limbs and lower limbs; some devices cannot be adjusted individually according to the physical condition and rehabilitation stage of patients during the training process, resulting in poor training effect.

[0005] Therefore, it has important practical significance to develop a limb training device with reasonable and simple structure, low production cost, easy installation, and flexible adjustment according to the specific condition of patients, which can meet the rehabilitation training needs of upper limbs and lower limbs. It can provide more effective and convenient rehabilitation training means for neurology patients, help them recover limb movement function as soon as possible, and improve the quality of life. SUMMARY

[0006] The purpose of the present application is to solve the above problems and provide a limb training device, which solves the problems of complex structure, inconvenient operation, high maintenance cost, single function, and poor training effect caused by the inability to adjust individually according to the physical condition and rehabilitation stage of patients of the existing limb rehabilitation training equipment.

[0007] In order to solve the above problems, the present application provides a technical scheme: a limb training device, comprising a base, a fixed seat, an oil cylinder one, an oil cylinder two, a back plate, an upper limb training mechanism, a seat plate, a lower limb training mechanism, a connecting block one and a connecting block two; the upper left side of the base is fixedly connected with the fixed seat; the lower side of the oil cylinder one is movably connected to the right side inside the fixed seat; the lower side of the oil cylinder two is movably connected to the left side inside the fixed seat; the upper side of the fixed seat is movably connected with the lower side of the back plate and the left side of the seat plate; the right side of the connecting block one is fixedly connected to the lower left side of the back plate, and the left side of the connecting block one is hingedly connected with the upper side of the piston rod of the oil cylinder two; the upper side of the connecting block two is fixedly connected to the lower left side of the seat plate, and the lower side of the connecting block two is hingedly connected with the upper side of the piston rod of the oil cylinder one; the upper limb training mechanism is arranged outside the back plate and the seat plate; and the upper limb training mechanism is arranged at the right lower side of the seat plate.

[0008] As a preferred, the specific structure of the upper limb training mechanism comprises a connecting arm, a connecting shaft one, a connecting shaft two, a connecting rod, a hand-pulling transmission mechanism, a forward-reverse transmission device and a connecting shaft three; the connecting arm is two, the left side of the two connecting arms is movably connected with the connecting shaft one respectively outside the central part of the back plate, the right side of the two connecting arms is fixedly connected with the connecting shaft two, the upper side of the two connecting arms is provided with the hand-pulling transmission mechanism inside, the left side of the two connecting arms is fixedly connected with the forward-reverse transmission device, and the outer side of the forward-reverse transmission device is connected with the left side of the hand-pulling transmission mechanism; the connecting rod is two, the upper side of the two connecting rods is movably connected with the connecting shaft two outside respectively, the lower side of the two connecting rods is movably connected with the connecting shaft three inside, and the connecting shaft three is fixedly connected with the right side of the seat plate outside.

[0009] As a preferred, the specific structure of the hand-pulling transmission mechanism comprises a cavity, a synchronous belt, a pulley one, a guide groove, a sliding block, a handle and a pulley two; the cavity is arranged inside the connecting arm, the right upper side of the cavity is provided with a horizontal guide groove; the pulley one is movably connected with the left side of the cavity, the center of the pulley one is connected with the outer side shaft end of the forward-reverse transmission device; the pulley two is movably connected with the right side of the cavity, and the pulley two is connected with the pulley one through the synchronous belt; the sliding block is movably connected with the inside of the guide groove outside, the bottom of the sliding block is fixedly connected with the top surface of the synchronous belt, and the top of the sliding block is fixedly connected with the handle.

[0010] As preferred, the specific structure of the positive and negative transmission device comprises a connecting seat, a transmission shaft one, a transmission gear one, an adjusting screw, a spring, a friction block, a friction shaft, a transmission gear two, a transmission shaft two, a connecting gear and a thrust ball bearing; the transmission shaft one is movably connected to the inner front side of the connecting seat, and the transmission gear one is fixedly connected to the rear end of the transmission shaft one; the transmission shaft two is movably connected to the inner rear side of the connecting seat, and the transmission gear two is fixedly connected to the front end of the transmission shaft two; the adjusting screw is connected with the threaded hole arranged in the left center of the connecting seat; the friction block is movably connected to the inner center of the connecting seat, and the spring is arranged between the left inner side of the friction block and the right side of the adjusting screw; the friction shaft is movably connected to the right inner center of the connecting seat, the left side of the friction shaft is connected with the right side of the friction block, the thrust ball bearing is arranged between the right side of the friction shaft and the right inner center of the connecting seat, and the connecting gear is fixedly connected to the outer side of the friction shaft and connected with the transmission gear two and the transmission gear one.

[0011] As preferred, the hexagonal hole is arranged in the left center of the adjusting screw.

[0012] As preferred, the connecting rod is parallel to the back plate.

[0013] As preferred, the specific structure of the lower limb training mechanism comprises a fixed block, a positive and negative driving device, an arc-shaped guide block, an arc-shaped rack, a sliding groove, a connecting rod, a leg swing arm and a baffle; the two fixed blocks are fixedly connected to the top of the seat plate, the positive and negative driving device is fixedly connected between the lower sides of the two fixed blocks, the sliding grooves are arranged in the outer lower sides of the two fixed blocks, the arc-shaped guide blocks are movably connected to the inner sides of the sliding grooves, and the arc-shaped racks are fixedly connected to the inner side surfaces of the arc-shaped guide blocks; the arc-shaped racks are connected with the output gears on the outer side of the positive and negative driving device; the two leg swing arms are movably connected to the inner sides of the seat plate, the baffles are fixedly connected to the right lower sides of the two leg swing arms, the connecting rods are movably connected to the left upper sides of the two leg swing arms, and the left sides of the connecting rods are movably connected with the right outer sides of the arc-shaped guide blocks.

[0014] As preferred, the specific structure of the positive and negative driving device comprises an outer shell, a transmission shaft three, an output gear, a transmission gear three, a driving gear, a transmission shaft four and a motor; the transmission shaft three is movably connected to the inner sides of the outer shell, the transmission gear three is fixedly connected to the inner end of the transmission shaft three, and the output gear is fixedly connected to the outer end of the transmission shaft three; the motor is fixedly connected to the bottom center of the outer shell, the transmission shaft four is fixedly connected to the upper output shaft of the motor; the driving gear is fixedly connected to the upper outer side of the transmission shaft four, and the driving gear is connected with the transmission gear three.

[0015] As a preference, the electric motor 827 is a servo motor or a step motor.

[0016] The present application has the following advantages: (1) The present application has reasonable and simple structure, low production cost and convenient installation, and can adjust the angle of the back plate and the seat plate through the operation of the oil cylinder according to the physical condition and rehabilitation stage of the patient, so that the patient can train in a comfortable posture, and meet the individual adjustment requirements.

[0017] (2) The present application sets a hand-pulling transmission mechanism and a forward-reverse transmission device, which can simulate the stretching and contraction of the upper limbs by pulling the handle to drive a series of components to operate, realize the upper limb training, and change the transmission resistance through the adjusting screw to enrich the training mode.

[0018] (3) The present application uses the forward-reverse driving device, the motor and the related transmission components to drive the leg swing arm to swing, simulates the flexion and extension movement of the lower limbs, realizes the lower limb training, and can make the swinging directions of the two legs opposite, which is more in line with the movement characteristics of the human lower limbs, and meets the diversified rehabilitation requirements. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present application.

[0020] Figure 2 It is a sectional view of Figure 1

[0021] Figure 3 It is a structural schematic diagram of the upper limb training mechanism.

[0022] Figure 4 It is a structural schematic diagram of the hand-pulling transmission mechanism.

[0023] Figure 5 It is a structural schematic diagram of the forward-reverse transmission device.

[0024] Figure 6 It is a structural schematic diagram of the lower limb training mechanism.

[0025] Figure 7 It is a structural schematic diagram of the forward-reverse driving device.

[0026] ​1-base; 2-fixed seat; 3-oil cylinder one; 4-oil cylinder two; 5-back plate; 6-upper limb training mechanism; 7-seat plate; 8-lower limb training mechanism; 9-connection block one; 10-connection block two; 61-connection arm; 62-connection shaft one; 63-connection shaft two; 64-connecting rod; 65-hand pull transmission mechanism; 66-forward and reverse transmission device; 67-connection shaft three; 651-internal cavity; 652-synchronous belt; 653-belt pulley one; 654-guide groove; 655-sliding block; 656-grip; 657-belt pulley two; 661-connection seat; 662-transmission shaft one; 663-transmission gear one; 664-adjusting screw; 665-spring; 666-friction block; 667-friction shaft; 668-transmission gear two; 669-transmission shaft two; 6610-connection gear; 6111-thrust ball bearing; 81-fixed block; 82-forward and reverse drive device; 83-arc-shaped guide block; 84-arc-shaped rack; 85-sliding groove; 86-connection rod; 87-leg swing arm; 88-baffle; 821-outer housing; 822-transmission shaft three; 823-output gear; 824-transmission gear three; 825-driving gear; 826-transmission shaft four; 827-motor. DETAILED DESCRIPTION

[0027] As shown in Figure 1 and Figure 2 , the present detailed description adopts the following technical solution: a limb training device, comprising a base 1, a fixed seat 2, an oil cylinder one 3, an oil cylinder two 4, a back plate 5, an upper limb training mechanism 6, a seat plate 7, a lower limb training mechanism 8, a connection block one 9 and a connection block two 10; the fixed seat 2 is fixedly connected to the upper left side of the base 1; the oil cylinder one 3 is movably connected to the inside right side of the fixed seat 2; the oil cylinder two 4 is movably connected to the inside left side of the fixed seat 2; the upper side of the fixed seat 2 is movably connected with the lower side of the back plate 5 and the left side of the seat plate 7; the left lower side of the back plate 5 is fixedly connected with the right side of the connection block one 9, and the left side of the connection block one 9 is hingedly connected with the upper side of the piston rod of the oil cylinder two 4; the lower left side of the seat plate 7 is fixedly connected with the upper side of the connection block two 10, and the upper side of the connection block two 10 is hingedly connected with the piston rod of the oil cylinder one 3; the upper limb training mechanism 6 is arranged outside the back plate 5 and the seat plate 7; the right lower side of the seat plate 7 is provided with the upper limb training mechanism 6.

[0028] As shown in Figure 3As shown, the specific structure of the upper limb training mechanism 6 includes connecting arm 61, connecting shaft one 62, connecting shaft two 63, connecting rod 64, hand-pulling transmission mechanism 65, positive and negative transmission device 66 and connecting shaft three 67; the connecting arm 61 is two, the left side of the two connecting arms 61 is movably connected to the outside of the front and rear of the back plate 5 through the connecting shaft one 62 respectively, the right side of the outer part of the two connecting arms 61 is fixedly connected with the connecting shaft two 63, the upper inside of the two connecting arms 61 is provided with the hand-pulling transmission mechanism 66, the left side between the two connecting arms 61 is fixedly connected with the positive and negative transmission device 66, and the left side of the positive and negative transmission device 66 is connected with the hand-pulling transmission mechanism 65; the connecting rod 64 is two, the upper inside of the two connecting rods 64 is movably connected to the outside of the corresponding connecting shaft two 63 respectively, the lower inside of the two connecting rods 64 is movably connected with the connecting shaft three 67, and the connecting shaft three 67 is fixedly connected to the right side of the seat plate 7.

[0029] As shown in the figure, Figure 4 The specific structure of the hand-pulling transmission mechanism 65 includes inner cavity 651, synchronous belt 652, pulley one 653, guide groove 654, sliding block 655, handle 656 and pulley two 657; the inner cavity 651 is arranged inside the connecting arm 61, and the right upper side of the inner cavity 651 is provided with a horizontal guide groove 654; the pulley one 653 is movably connected to the left side of the inner cavity 651, and the center of the pulley one 653 is connected with the outer side shaft end of the positive and negative transmission device 66; the pulley two 657 is movably connected to the right side of the inner cavity 651, and the pulley two 657 is connected with the pulley one 653 through the synchronous belt 652; the sliding block 655 is movably connected inside the guide groove 654, the bottom of the sliding block 655 is fixedly connected with the top surface of the synchronous belt 652, and the top of the sliding block 655 is fixedly connected with the handle 656.

[0030] As shown in the figure, Figure 5As shown, the specific structure of the forward and reverse transmission device 66 includes a connecting seat 661, a first transmission shaft 662, a first transmission gear 663, an adjusting screw 664, a spring 665, a friction block 666, a friction shaft 667, a second transmission gear 668, a second transmission shaft 669, a connecting gear 6610, and a thrust ball bearing 6111; the first transmission shaft 662 is movably connected to the front interior of the connecting seat 661, and the first transmission gear 663 is fixedly connected to the rear end of the first transmission shaft 662; the second transmission shaft 669 is movably connected to the rear interior of the connecting seat 661, and the second transmission gear 668 is fixedly connected to the front end of the second transmission shaft 669; the adjusting screw 664 and the connecting seat A threaded hole is provided in the center of the left side of 661 for connection; the friction block 666 is laterally movably connected to the center of the connecting seat 661, and a spring 665 is provided between the left side of the friction block 666 and the right side of the adjusting screw 664; the friction shaft 667 is movably connected to the right side of the center of the connecting seat 661, the left side of the friction shaft 667 is connected to the right side of the friction block 666, a thrust ball bearing 6111 is provided between the right side of the friction shaft 667 and the right side of the center of the connecting seat 661, and a connecting gear 6610 is fixedly connected to the outside of the friction shaft 667, and the connecting gear 6610 is connected to the second transmission gear 668 and the first transmission gear 663.

[0031] The adjusting screw 664 has an internal hexagonal hole in the center of its left side; the connecting rod 64 is parallel to the back plate 5.

[0032] like Figure 6 As shown, the specific structure of the lower limb training mechanism 8 includes a fixed block 81, a forward and reverse drive device 82, an arc-shaped guide block 83, an arc-shaped rack 84, a slide groove 85, a connecting rod 86, a leg swing arm 87, and a baffle 88. There are two fixed blocks 81, with their tops fixedly connected to the front and rear positions on the right side of the bottom surface of the seat plate 7, respectively. The forward and reverse drive device 82 is fixedly connected between the lower sides of the two fixed blocks 81. A slide groove 85 is provided on the lower outer side of each of the two fixed blocks 81, and an arc-shaped guide block is movably connected inside each slide groove 85. 83, and an arc-shaped rack 84 is fixedly connected to the inner side of the arc-shaped guide block 83; the arc-shaped rack 84 is connected to the output gear on the outer side of the forward and reverse drive device 82; there are two leg swing arms 87, the upper sides of the two leg swing arms 87 are respectively movably connected to the inner front and rear sides of the right side of the seat plate 7, the lower right side of the two leg swing arms 87 is fixedly connected to the front and rear positions of the two leg swing arms 87, and the upper left side of the two leg swing arms 87 is movably connected to the connecting rod 86, and the left side of the connecting rod 86 is respectively movably connected to the outer right side of the corresponding arc-shaped guide block 83.

[0033] like Figure 7As shown, the specific structure of the positive and reverse drive device 82 includes an outer shell 821, a transmission shaft three 822, an output gear 823, a transmission gear three 824, a driving gear 825, a transmission shaft four 826 and a motor 827; both sides of the inner part of the outer shell 821 are movably connected with the transmission shaft three 822, and the inner side end of the transmission shaft three 822 is fixedly connected with the transmission gear three 824, and the outer side end of the transmission shaft three 822 is fixedly connected with the output gear 823; the motor 827 is fixedly connected at the bottom center of the outer shell 821, and the transmission shaft four 826 is fixedly connected on the upper output shaft of the motor 827; the driving gear 825 is fixedly connected on the upper outer part of the transmission shaft four 826, and the driving gear 825 is connected with the transmission gear three 824.

[0034] Among them, the motor 827 is a servo motor or a stepping motor,

[0035] The use state of the application is: the application has reasonable and simple structure, low production cost and convenient installation. When used, first, the patient sits on the seat plate 7, and then the angle of the back plate 5 and the seat plate 7 is adjusted by operating the oil cylinder one 3 and the oil cylinder two 4 in the fixed seat 2 according to the physical condition and rehabilitation stage of the patient. The lower side of the oil cylinder one 3 is movably connected to the right side inside the fixed seat 2, the lower side of the oil cylinder two 4 is movably connected to the left side inside the fixed seat 2, the right side of the connecting block one 9 is fixedly connected to the lower left side of the back plate 5, and the left side thereof is hinged to the upper side piston rod of the oil cylinder two 4. The upper side of the connecting block two 10 is fixedly connected to the lower left side of the seat plate 7, and the lower side is hinged to the upper side piston rod of the oil cylinder one 3. By controlling the extension and retraction of the oil cylinder, the relative position of the back plate 5 and the seat plate 7 can be changed, so that the patient can sit on the seat plate 7 in a comfortable posture and back against the back plate 5. When the upper limb training is performed, the patient sits on the seat plate 7, holds the handle 656 in the hand-pulling transmission mechanism 65, the inner cavity 651 in the hand-pulling transmission mechanism 65 is arranged inside the connecting arm 61, the pulley one 653 is movably connected to the left side of the inner cavity 651, and the center thereof is connected to the outer side shaft end of the positive and negative transmission device 66. The pulley two 657 is movably connected to the right side of the inner cavity 651 and connected to the pulley one 653 through the synchronous belt 652. The slider 655 is movably connected to the inside of the guide groove 654 in a transverse manner, the bottom is fixedly connected to the top surface of the synchronous belt 652, the top is fixedly connected with the handle 656, the patient pulls the handle 656 to drive the slider 655 to move in the guide groove 654, and then drives the pulley one 653 to rotate through the synchronous belt 652. The rotation of the pulley one 653 drives the positive and negative transmission device 66 to work. The front side inside of the connecting seat 661 movably connects the transmission shaft one 662, the rear end is fixedly connected with the transmission gear one 663, the rear inside movably connects the transmission shaft two 669, and the front end is fixedly connected with the transmission gear two 668. The adjusting screw 664 is connected with the threaded hole arranged in the left center of the connecting seat 661, the outer side of the friction block 666 is movably connected to the central inside of the connecting seat 661 in a transverse manner, the spring 665 is arranged between the left inside of the friction block 666 and the right side of the adjusting screw 664, the friction shaft 667 is movably connected to the right side of the central inside of the connecting seat 661, the left side surface is connected to the right side surface of the friction block 666, the right side is provided with the thrust ball bearing 6111 between the right side of the connecting seat 661 and the central inside right side, the outer side is fixedly connected with the connecting gear 6610, and the connecting gear 6610 is connected with the transmission gear two 668 and the transmission gear one 663. By adjusting the adjusting screw 664, the pressure of the friction block 666 on the friction shaft 667 can be adjusted, so that the resistance of the transmission is changed. Under the action of the positive and negative transmission device 66, the two handles 656 can move in opposite directions, so as to simulate the stretching and contraction action of the upper limbs, and the purpose of training the upper limbs is achieved.When the lower limb training is carried out, the patient sits on the seat plate 7, and the two legs are placed on the leg swing arms 87 respectively, the upper sides of the leg swing arms 87 are movably connected to the right side inner front and back of the seat plate 7 respectively, the right lower side front and back positions are fixedly connected with the baffle plates 88, the baffle plates 88 can prevent the legs from falling, then the forward and reverse driving devices 82 are started, the motor 827 (a servo motor or a stepping motor) is fixedly connected to the bottom center of the outer shell 821, a transmission shaft four 826 is fixedly connected to the output shaft of the motor 827, a driving gear 825 is fixedly connected to the upper side of the transmission shaft four 826, the driving gear 825 is connected with a transmission gear three 824, the transmission gear three 824 is fixedly connected to the inner side end of a transmission shaft three 822, an output gear 823 is fixedly connected to the outer side end of the transmission shaft three 822, the motor 827 is rotated to drive the transmission shaft four 826 to rotate, and then the transmission shaft three 822 is driven to rotate through the driving gear 825 and the transmission gear three 824, the output gear 823 is rotated, the output gear 823 is connected with the arc-shaped rack 84, the arc-shaped rack 84 is fixedly connected to the inner side surface of the arc-shaped guide block 83, the arc-shaped guide block 83 is movably connected in the sliding groove 85 opened in the outer lower side of the fixed block 81, the two fixed blocks 81 are fixedly connected to the right side front and back positions of the bottom surface of the seat plate 7 respectively, and the forward and reverse driving devices 82 are fixedly connected between the lower sides, the arc-shaped guide block 83 is driven to slide back and forth in the sliding groove 85 through the rotation of the output gear 823, and the leg swing arms 87 are driven to swing through the connecting rods 86 and the connecting points between the leg swing arms 87 and the seat plate 7 as the shaft, the two legs can be driven to swing in opposite directions through the forward and reverse driving devices 82, so that the flexion and extension movement of the lower limbs can be simulated, and the training of the lower limbs can be realized.

[0036] The control mode of the present application is controlled by manual starting or by existing automation technology, and the wiring diagram of the power element and the provision of the power source belong to the common knowledge in the art, and the present application is mainly used to protect the mechanical device, so the control mode and the wiring arrangement will not be explained in detail.

[0037] In the description of the application, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the application.

[0038] In the invention, unless otherwise explicitly specified and limited, the terms "mounting", "setting", "connecting", "fixing", "screwed" and other terms should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited, the above-mentioned terms in the invention can be understood according to the specific meaning of the above-mentioned terms in the invention according to the specific circumstances.

[0039] The basic principles and main features of the invention and the advantages of the invention are shown and described above, and those skilled in the art should understand that the invention is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the invention, and various changes and improvements can be made to the invention without departing from the spirit and scope of the invention, and these changes and improvements all fall within the scope of the claimed invention, and the scope of protection of the invention is defined by the appended claims and their equivalents.

Claims

1. A limb training device, characterized in that: The base (1), the fixed seat (2), the oil cylinder (3), the oil cylinder (4), the back plate (5), the upper limb training mechanism (6), the seat plate (7), the lower limb training mechanism (8), the connecting block (9) and the connecting block (10) are connected. The fixed seat (2) is fixedly connected to the upper left side of the base (1). The oil cylinder (3) is movably connected to the right side inside of the fixed seat (2). The oil cylinder (4) is movably connected to the left side inside of the fixed seat (2). The fixed seat (2) is movably connected to the lower left side of the back plate (5) and the seat plate (7). The connecting block (9) is fixedly connected to the lower left side of the back plate (5), and the connecting block (9) is hingedly connected to the upper side of the oil cylinder (4). The connecting block (10) is fixedly connected to the lower left side of the seat plate (7), and the connecting block (10) is hingedly connected to the upper side of the oil cylinder (3). The upper limb training mechanism (6) is arranged outside the back plate (5) and the seat plate (7). The upper limb training mechanism (6) is arranged on the lower right side of the seat plate (7).

2. The device of claim 1, wherein: The specific structure of the upper limb training mechanism (6) comprises a connecting arm (61), a connecting shaft (62), a connecting shaft (63), a connecting rod (64), a hand-pulling transmission mechanism (65), a forward-reverse transmission device (66) and a connecting shaft (67). The two connecting arms (61) are movably connected to the central front and rear outside of the back plate (5) through the connecting shaft (62), and the right outer sides of the two connecting arms (61) are fixedly connected with the connecting shaft (63). The two connecting rods (64) are movably connected to the outer sides of the corresponding connecting shaft (63), and the lower inner sides of the two connecting rods (64) are movably connected with the connecting shaft (67).

3. The device of claim 2, wherein: The specific structure of the hand-pulling transmission mechanism (65) comprises an inner cavity (651), a synchronous belt (652), a pulley (653), a guide groove (654), a sliding block (655), a handle (656) and a pulley (657). The inner cavity (651) is arranged in the connecting arm (61), and the right upper side of the inner cavity (651) is provided with a horizontal guide groove (654). The pulley (653) is movably connected to the left side of the inner cavity (651), and the center of the pulley (653) is connected with the outer shaft end of the forward-reverse transmission device (66). The pulley (657) is movably connected to the right side of the inner cavity (651), and the pulley (657) is connected with the pulley (653) through the synchronous belt (652). The slider (655) is movably connected to the guide groove (654) outside, the bottom of the slider (655) is fixedly connected to the top surface of the synchronous belt (652), and the top of the slider (655) is fixedly connected with a handle (656).

4. The device of claim 2, wherein: The specific structure of the positive and negative transmission device (66) comprises a connecting seat (661), a transmission shaft (662), a transmission gear (663), an adjusting screw (664), a spring (665), a friction block (666), a friction shaft (667), a transmission gear (668), a transmission shaft (669), a connecting gear (6610) and a thrust ball bearing (6111); The connecting seat (661) is movably connected with the transmission shaft (662) inside the front side, and the rear end of the transmission shaft (662) is fixedly connected with the transmission gear (663); the connecting seat (661) is movably connected with the transmission shaft (669) inside the rear side, and the front end of the transmission shaft (669) is fixedly connected with the transmission gear (668); The adjusting screw (664) is connected with the threaded hole arranged in the left side of the connecting seat (661); The spring (665) is arranged between the left side of the friction block (666) and the right side of the adjusting screw (664); The friction shaft (667) is movably connected inside the right side of the central part of the connecting seat (661), the left side of the friction shaft (667) is connected with the right side of the friction block (666), the right side of the friction shaft (667) is connected with the thrust ball bearing (6111) between the right side of the central part of the connecting seat (661), and the connecting gear (6610) is fixedly connected outside the friction shaft (667) and connected with the transmission gear (668) and the transmission gear (663).

5. The device of claim 4, wherein: An inner hexagonal hole is formed in the left side of the adjusting screw (664).

6. The device of claim 2, wherein: The connecting rod (64) is parallel to the back plate (5).

7. The device of claim 1, wherein: The specific structure of the lower limb training mechanism (8) comprises a fixed block (81), a positive and negative driving device (82), an arc-shaped guide block (83), an arc-shaped rack (84), a sliding groove (85), a connecting rod (86), a leg swing arm (87) and a baffle (88). The two fixed blocks (81) are fixedly connected to the right side of the bottom of the seat plate (7) at the front and rear positions, respectively, the positive and negative driving device (82) is fixedly connected between the lower sides of the two fixed blocks (81), the sliding grooves (85) are formed in the outer lower sides of the two fixed blocks (81), the arc-shaped guide blocks (83) are movably connected inside the sliding grooves (85), and the arc-shaped racks (84) are fixedly connected to the inner side surfaces of the arc-shaped guide blocks (83); The arc-shaped rack (84) is connected with the output gear outside the positive and negative driving device (82); Two leg swing arms (87) are movably connected to the right side of the seat plate (7) on the inside, and the lower right side of the two leg swing arms (87) is fixedly connected with a baffle (88), the upper left side of the two leg swing arms (87) is movably connected with a connecting rod (86), and the left side of the connecting rod (86) is movably connected with the right outer side of the corresponding arc-shaped guide block (83).

8. The device of claim 7, wherein: The specific structure of the positive and negative driving device (82) comprises an outer shell (821), a transmission shaft three (822), an output gear (823), a transmission gear three (824), a driving gear (825), a transmission shaft four (826) and a motor (827); The transmission shaft three (822) is movably connected to the inner side of the outer shell (821), and the inner side end of the transmission shaft three (822) is fixedly connected with the transmission gear three (824), and the outer side end of the transmission shaft three (822) is fixedly connected with the output gear (823); The motor (827) is fixedly connected to the bottom center of the outer shell (821), and the upper output shaft of the motor (827) is fixedly connected with the transmission shaft four (826); The upper outer side of the transmission shaft four (826) is fixedly connected with the driving gear (825), and the driving gear (825) is connected with the transmission gear three (824).

9. The device of claim 8, wherein: The motor (827) is a servo motor or a stepping motor.

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