Multi-joint rehabilitation training device

Abstract

The utility model belongs to the limb rehabilitation assisting technology, and particularly relates to a multi-joint rehabilitation training device which comprises a base on the lower portion and a swing arm mechanism on the upper portion, the rear portion of the swing arm mechanism is installed on the top of a support through an installation shaft I in the width direction, and a first joint module for controlling the swing arm mechanism to deflect around the installation shaft I is arranged on the top of the support. The support is provided with an avoiding space for avoiding the swing arm mechanism, the width of the swing arm mechanism is smaller than that of the avoiding space, and the first joint module can drive the swing arm mechanism to turn downwards to penetrate through the avoiding space. The device can be suitable for both the upper limbs and the lower limbs, the used support is specially provided with the avoiding space for avoiding the swing arm mechanism, and the swing arm mechanism can deflect downwards to penetrate through the avoiding space, so that in the rehabilitation training process, the arranged support cannot interfere with movement of the swing arm mechanism, the swing arm mechanism has a larger deflection angle, and the rehabilitation training effect is improved. Therefore, the requirement for sufficient rehabilitation exercise of the legs or the arms within the movement range of the normal limbs is met.

Description

Technical Field

[0001] This utility model relates to limb rehabilitation technology, specifically a multi-joint rehabilitation training device. Background Technology

[0002] Limb rehabilitation training devices enable passive movement of the limbs in patients with limb dysfunction, thereby activating joints and muscles and aiding in limb function recovery. Current limb rehabilitation devices can only be independently adapted to the upper or lower limbs, and their structures are bulky, requiring users to be inside them for rehabilitation training. For example, application number 202411755846.6 discloses a supine limb joint rehabilitation physiotherapy device with independently designed exercise mechanisms for the arms and legs; users must lie on the device to adapt their limbs to it. However, in reality, most people with limb dysfunction have limited mobility, making the transfer from transfer machines, wheelchairs, or beds between rehabilitation devices a difficult process. Therefore, the versatility for both upper and lower limbs and ease of use remain unresolved issues in existing limb rehabilitation devices. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-joint rehabilitation training device that can meet the user's rehabilitation training needs for the upper and lower limbs. Moreover, the user does not need to change their body state; they can adapt the limbs to the device by adjusting the training device and the limb position, thereby solving the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: it includes a lower base and an upper swing arm mechanism, wherein a bracket is provided on the base, the rear part of the swing arm mechanism is mounted on the top of the bracket via a mounting shaft I along the width direction, and a first joint module is provided on the top of the bracket to control the swing arm mechanism to deflect around the mounting shaft I; the bracket has a clearance space to avoid the swing arm mechanism, the width of the swing arm mechanism is smaller than the width of the clearance space, and the first joint module can drive the swing arm mechanism to flip downward to pass through the clearance space.

[0005] In the above technical solution, the swing arm mechanism is mounted on the support frame. Under the control of the first joint module, the swing arm mechanism deflects, allowing the user to place their arm or leg on it. As the swing arm mechanism deflects, it drives the arm or leg to perform rehabilitation exercises, thus achieving rehabilitation training for the leg or arm. Because the support frame is specifically designed with clearance for the swing arm mechanism, and the swing arm mechanism can deflect downwards to pass through this clearance, the support frame will not interfere with the movement of the swing arm mechanism during rehabilitation training. This allows the swing arm mechanism to have a larger deflection angle, thereby meeting the need for sufficient rehabilitation exercises for the leg or arm within the normal range of motion.

[0006] As a preferred embodiment, the bracket has a set of support rod assemblies symmetrically distributed from left to right, with clearance space located between the two support rod assemblies. Each support rod assembly includes a first support arm and a second support arm, wherein the upper end of the second support arm is hinged to the middle of the first support arm. The bracket also includes a lifting adjustment mechanism, which includes two slide rails arranged along the length of the base. The lower ends of the first and second support arms are respectively hinged to sliders that cooperate with the slide rails. The two sliders at the lower end of the first support arm are fixedly connected by a first push rod, and the two sliders at the lower end of the second support arm are fixedly connected by a second push rod. The lifting adjustment mechanism also includes a drive mechanism mounted on the base, which controls the first and second push rods to move closer or further away synchronously. The symmetrically arranged support rod assemblies firstly meet the requirements for large-angle movement of the swing arm mechanism. Secondly, because the length of the second support arm is less than the length of the first support arm and it is hinged to the middle of the first support arm, this bracket allows for adjustment of the swing arm mechanism over a wide height range, even with a limited base length.

[0007] As a preferred embodiment, the swing arm mechanism includes a support arm connected to the bracket and an end mechanism mounted on the front of the support arm. At least one set of limb fixation components is provided on the support arm. The end mechanism includes an end control plate, the lower part of which is mounted on a mounting shaft II extending in the left-right direction and mounted on the front of the support arm via the mounting shaft II. A second joint module controlling the rotation of the mounting shaft II is provided at the front of the support arm. This second joint module can control the end mechanism to deflect forward or backward around the mounting shaft II. The limb fixation components are used to fix the leg or arm, preventing excessive limb displacement during rehabilitation and ensuring synchronized movement between the limb and the support arm. The end mechanism serves as an auxiliary movement mechanism for the hand or foot, enabling the hand or foot to deflect in the forward-backward direction. This allows for independent rehabilitation training of the wrist or ankle joints, or coordinated movement with the support arm.

[0008] As a preferred embodiment, the end effector can be flipped forward to support the front end of the support arm, and at this time the front of the end control plate faces forward and upward. That is, the end effector can remove the obstruction to the front space of the support arm by flipping forward, and the user can place the thigh on the support arm. At this time, the end control plate assists in supporting the lower leg. Therefore, the device can perform separate rehabilitation training for the user's thigh. Of course, at this time, the end effector can still drive the lower leg movement, thereby performing synchronous training for the knee joint.

[0009] As a preferred embodiment, the end effector control panel has a movable plate that can only move laterally at the center of its front side, and a positioning mechanism for positioning the hand or foot is provided on the movable plate. A mounting groove extending laterally and penetrating the front of the end effector control panel is provided within the mounting groove, and an electric lead screw mechanism is installed within this groove. A connector penetrating the mounting groove is fitted onto the lead screw of the electric lead screw mechanism, and this connector is fixedly connected to the movable plate. The electric lead screw mechanism can control the movable plate to move left or right. When the hand or foot is fixed by the positioning mechanism, the laterally moving movable plate will pull the hand or foot to turn left or right, thus exercising the wrist or ankle joints, and the limbs can also get some movement during this process.

[0010] As a preferred embodiment, a central shaft perpendicular to the mounting shaft II is provided in the middle. The end control plate is movably mounted on the central shaft through the lower shaft hole, and its front side remains parallel to the central shaft. An orientation adjustment motor assembly is provided on the back of the end control plate. The orientation adjustment motor assembly has a drive gear, and the axis of the drive gear is parallel to the axis of the central shaft. Correspondingly, a meshing gear disk that meshes with the drive gear is provided in the middle of the mounting shaft II. Therefore, the end control plate can be controlled to deflect around the mounting shaft II, thereby assisting the wrist or ankle joint to complete the forward and backward deflection movement and fully activating the joint.

[0011] As a preferred embodiment, the limb fixation component is an airbag assembly, which includes two symmetrically arranged airbag groups. Each airbag group includes an outer limiting plate and an inner limiting airbag, forming a fixation position for limb fixation between the two limiting airbags. At least one compression airbag is positioned between the limiting airbag and the corresponding limiting plate. Each airbag group also includes an airbag control component for controlling the airbag pressure. The fixation position between the two limiting airbags is used to fix the limb. As the airbag group inflates, the distance between the fixation positions decreases, while the compression airbag compresses the limiting airbag inward, ultimately fixing the limb in place. Furthermore, because the limiting airbag conforms better to the limb, it reduces limb discomfort. Additionally, the airbag group has a large deformation capacity, thus achieving good positioning effects for both the arm and leg.

[0012] As a preferred embodiment, the support arm includes a support arm along its length and a mounting rod disposed at the rear end of the support arm, the mounting rod being fixedly connected to the mounting shaft I; the support arm also includes a sliding support rod I and a sliding support rod II movably mounted on the support arm along its width, wherein the sliding support rod II is located between the sliding support rod I and the mounting rod, and the end mechanism is mounted on the sliding support rod I, and a set of the limb fixation components is mounted on the sliding support rod II; the support arm also includes a lead screw II controlled by a drive motor assembly II, the lead screw II being threadedly connected to the sliding support rod I through a threaded section I and to the sliding support rod II through a threaded section II, wherein the threaded sections I and II have the same direction of rotation and a pitch ratio of 2:1. When the lead screw II controlled by the drive motor assembly II rotates, the sliding support rod I and the sliding support rod II move in the same direction. Since the end mechanism is set on the sliding support rod I and the limb fixing assembly is set on the sliding support rod II, the support arm can adapt to limbs of different lengths. In addition, since the pitch ratio of the threaded section I to the threaded section II is 2:1, the position ratio of the sliding support rod II between the sliding support rod I and the mounting rod remains unchanged during the adjustment process. Therefore, regardless of the length of the limb, the limb fixing assembly set on the sliding support rod II can fix the same part of the limb, thereby ensuring the rationality of the fixing position.

[0013] As a preferred embodiment, the front of the support arm is provided with a telescopic support platform consisting of a front support section, a middle support section, and a rear support section. The front end of the front support section is mounted on a sliding support rod I, the rear end of the rear support section is mounted on a mounting rod, and the middle support section is mounted on a sliding support rod II. The support platform provides comprehensive support for the limb, and its length can be adjusted to accommodate changes in the length of the support arm.

[0014] As a preferred embodiment, the lower part of the base is provided with a corner platform, the virtual central axis of which extends along the length direction. Therefore, the rehabilitation training device can be tilted in the width direction through the corner platform to meet the needs of users to use the training device in different postures. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A schematic diagram of the overall structure of the multi-joint rehabilitation training device provided in the embodiments of this utility model;

[0017] Figure 2 for Figure 1A schematic diagram showing the swing arm mechanism passing through the clearance space in the multi-joint rehabilitation training device.

[0018] Figure 3 for Figure 1 Schematic diagram of the mounting structure of the middle bracket on the base;

[0019] Figure 4 This is a schematic diagram of the multi-joint rehabilitation training device after the support frame is fully retracted.

[0020] Figure 5 This is a schematic diagram of the internal structure of the swing arm structure;

[0021] Figure 6 for Figure 5 A schematic diagram of the back structure of the structure shown;

[0022] Figure 7 This is a schematic diagram of the airbag assembly on the support arm;

[0023] Figure 8 This is a schematic diagram of the overall structure of the end effector.

[0024] Figure 9 This is a schematic diagram of the internal structure of the end effector.

[0025] Figure 10 This diagram illustrates the position of the end effector of the training device during hip joint exercises.

[0026] Figure 11 A schematic diagram showing the tilted configuration of the training device.

[0027] In the diagram, 1 is the base, 2 is the bracket, 3 is the bearing arm, 4 is the first joint module, 5 is the end mechanism, 6 is the second joint module, 7 is the airbag assembly, 8 is the corner platform, 9 is the first support arm, 10 is the second support arm, 11 is the slide rail, 12 is the slider, 13 is the first push rod, 14 is the second push rod, 15 is the mounting rod, 16 is the lead screw, 17 is the drive motor assembly, 18 is the mounting rod, 19 is the mounting shaft, 20 is the support arm, 21 is the sliding support rod, 22 is the sliding support rod, 23 is the connecting rod, 24 is the plug-in rod, 25 is the plug-in rod, and 26 is the bearing seat. Drive motor assembly II28, lead screw II29, mounting shaft II50, central shaft 51, end control plate 52, meshing gear plate 53, drive gear 54, moving plate 55, contact center 56, mounting groove 57, lead screw assembly 58, connector 59, threaded section I291, threaded section II292, limiting plate 71, compression airbag I72, compression airbag II73, limiting airbag 74, fixed position 75, airbag control assembly 76, mounting shaft II50, bearing II92, storage groove 91, hinge shaft 101. Detailed Implementation

[0028] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0029] Figure 1 As one embodiment of this utility model, a multi-joint rehabilitation training device includes a lower rectangular base 1, a height-adjustable support 2 mounted on the rectangular base, and a swing arm mechanism mounted on the top of the support 2. Figure 1 In this embodiment, the swing arm mechanism includes a support arm 3 and an end mechanism 5 mounted on the front end of the support arm 3. The rear part of the support arm 3 is mounted on the top of the support 2, and a first joint module 4 for controlling the up-and-down deflection of the support arm 3 is provided on the top of the support 2. In this embodiment, the support arm 3 is used to support a limb, such as an arm or leg. The support arm 3 drives the limb to perform rehabilitation training by swinging up and down. In this embodiment, there is a clearance space between the supports 2, and the support arm 3 can deflect downward to pass through the clearance space, for example... Figure 2 The state shown is as described. Therefore, in this embodiment, the entire swing arm mechanism has a sufficient range of motion during use, allowing the limb to move fully. For example, during knee joint rehabilitation exercises, the swing arm mechanism can move the lower leg to a position close to the thigh, which is more in line with the normal activity state of the knee joint.

[0030] Specifically, regarding the height-adjustable bracket 2 in this embodiment, as follows: Figure 3 As shown, the bracket 2 includes a set of support rod assemblies symmetrically distributed from left to right, with clearance space located between the two support rod assemblies; the support rod assembly includes a first support arm 9 on the front side and a second support arm 10 on the rear side, wherein the length of the second support arm 10 is half the length of the first support arm 9, its upper end is hinged to the middle of the first support arm 9, and a storage groove 91 is provided on the rear side of the first support arm 9 to accommodate the second support arm 10; as Figure 3As shown, the bracket 2 also includes a lifting adjustment mechanism, which includes two slide rails 11 arranged along the length of the base 1. The lower ends of the first support arm 9 and the second support arm 10 are respectively hinged to sliders 12 that are installed in cooperation with the slide rails 11. The two sliders 12 at the lower end of the first support arm 9 are fixedly connected by a first push rod 13, and the two sliders 12 at the lower end of the second support arm 10 are fixedly connected by a second push rod 14. The lifting adjustment mechanism also includes a lead screw I16 and a drive motor assembly 17. The lead screw I16 extends along the length of the rectangular shape and is located in the middle of the base 1. Its two ends are respectively installed on the base 1. The drive motor assembly 17 is fixedly installed on the mounting rod 15 located in the middle of the base 1, and the drive motor assembly 17 drives the lead screw I16 to rotate. In addition, the lead screw I16 is threadedly connected to the first push rod 13 and the second push rod 14 respectively. The first half and the second half of the lead screw I16 have the same pitch but opposite rotation directions. Therefore, in this embodiment, the lifting adjustment mechanism can control the first push rod 13 and the second push rod 14 to move away or closer synchronously, and the bracket 2 can be deformed. Figure 4 In the fully retracted state shown, the user can adjust the height of the support arm 3 according to their own situation and the parts of the body that need to be exercised.

[0031] The bearing arm 3 used in this embodiment can be adjusted in length, such as... Figure 5 As shown, it includes two support arms 20 extending along the length direction. The front end of the support arms 20 is fixedly connected, and the rear end is fixedly connected to a mounting rod 18. The mounting rod 18 is movably mounted on a bearing seat II92 provided at the top of the first support arm 9 via a mounting shaft I19 extending along the width direction. A first joint module 4 for controlling the rotation of the mounting shaft I19 is mounted on the bearing seat II92. Figure 6As shown, the support arm 3 also includes a sliding support rod I21 and a sliding support rod II22 movably mounted on the two support arms 20 along the width direction. The sliding support rod II22 is located between the sliding support rod I21 and the mounting rod 18, and is provided with a screw mechanism for moving the sliding support rod I21 and the sliding support rod II22. The screw mechanism includes a drive motor assembly II28 mounted on the aforementioned mounting rod 18, and a lead screw II29 driven by the drive motor assembly II28. The lead screw II29 is divided into two parts with different pitches. It is threadedly connected to the sliding support rod I21 through the front threaded section I291, and threadedly connected to the sliding support rod II22 through the rear threaded section II292. The threaded sections I291 and II292 have the same direction of rotation and a pitch ratio of 2:1. Therefore, it can be seen that the position ratio of the sliding support rod II22 between the sliding support rod I21 and the mounting rod 18 remains unchanged during the adjustment process. The positional proportion of the sliding support rod II22 is controlled primarily because, in this embodiment, the limb fixation component is mounted on the sliding support rod II22. When different users adjust the length of the support arm 3 to suit their individual needs, the limb fixation component will always maintain a fixed position. Additionally, a set of limb fixation components near the end mechanism 5 can be provided between the sliding support rod I21 and the sliding support rod II22. These limb fixation components move with the sliding support rod I21 and are used to fix the wrist or ankle joints.

[0032] Additionally, the front of the support arm 3 is equipped with a retractable support platform consisting of a front insert rod I24, a middle docking rod 23, and a rear insert rod II25. The front end of the insert rod I24 is fixedly connected to a sliding support rod I21, and the rear end of the insert rod II25 is fixedly connected to a mounting rod 18. The insert rods I24 and II25 are respectively movably inserted into and fixedly mounted on the docking rod 23 on the sliding support rod II22. This support platform provides comprehensive support for the limbs, and its length can be adjusted to accommodate the length of the support arm 3. Furthermore, this embodiment also includes a telescopic cover that conceals the lower structure of the support arm 3. Figure 1 As can be seen, the telescopic cover is divided into three sections, with the front section fixedly connected to the sliding support rod I21, the middle section fixedly connected to the sliding support rod II22, and the rear section fixedly connected to the mounting rod 18. The front and rear sections are respectively inserted and connected to the middle section.

[0033] Regarding the limb fixation components installed on the support arm 3, such as Figure 7As shown, it employs an airbag assembly 7, which includes two symmetrically arranged airbag groups. Specifically, each airbag group includes a limiting plate 71 fixedly mounted on a sliding support rod II22 on the outer side. From the limiting plate 71 inwards, compression airbag I72, compression airbag II73, and limiting airbag 74 are sequentially arranged. The adjacent surfaces of the two limiting airbags 74 are arc-shaped, forming a limb-accommodating fixation position 75. The airbag group also includes an airbag control assembly 76. During inflation, the limiting airbag 74 gradually expands and encloses the limb within the fixation position 75. The compression airbags I72 and II73, through expansion, compress the limiting airbag 74 towards the fixation position 75, thereby achieving limb fixation. This limb fixation assembly can automatically fix and release the limb, and the airbags can also deform to a certain extent during fixation, preventing discomfort to the limb.

[0034] Regarding the end mechanism 5 installed on the support arm 3, such as Figure 5 As shown, it includes an end control plate 52 with a rectangular front surface. This end control plate 52 is mounted on bearing seats I26 at both ends of the sliding support rod I21 via a horizontally arranged mounting shaft II 50 at its lower part. A second joint module 6, which drives the mounting shaft II 50, is mounted on the bearing seats I26. In this embodiment, the second joint module 6 can control the end control plate 52 to deflect forward or backward, allowing for independent rehabilitation training of the wrist or ankle joint, or coordinated movement with the support arm 3. Specifically, in conjunction with... Figure 8 and Figure 9 A movable plate 55, capable of only lateral movement, is provided in the center of the front of the end control plate 52. A mounting groove 57, extending laterally and penetrating the front of the end control plate 52, is provided within the mounting groove 57. An electric lead screw mechanism is installed within this mounting groove 57, and a connector 59, penetrating the mounting groove 57, is fitted onto the lead screw of this electric lead screw mechanism, and the connector 59 is fixedly connected to the movable plate 55. The function of the movable plate 55 is to drive the hand or foot to rotate laterally, thereby exercising the wrist or ankle joints. Therefore, the hand or foot needs to be restrained on the movable plate 55. Figure 8 As shown, a positioning mechanism for positioning the hand or foot is provided on the movable plate 55. In this embodiment, hook and loop fasteners are used as the positioning mechanism. Users need to wear straps or covers that match the hook and loop fasteners on their hands or feet, so that the hands or feet move with the movable plate 55. Regarding the positioning mechanism, straps for binding the hands or feet can also be directly provided on the movable plate 55.

[0035] The end control board 52 provided in this embodiment also has a degree of freedom to deflect around the central axis, from Figure 8As can be seen, a central shaft 51 perpendicular to the middle of the mounting shaft II 50 is provided. The end control plate 52 is movably mounted on the central shaft 51 through the lower shaft hole, and its front side is parallel to the central shaft 51. An orientation adjustment motor assembly is provided on the back of the end control plate 52. The orientation adjustment motor assembly has a drive gear 54, and the axis of the drive gear 54 is parallel to the axis of the central shaft 51. Correspondingly, a meshing gear disk 53 that meshes with the drive gear 54 is provided in the middle of the mounting shaft II 50. When the adjustment motor assembly rotates, the entire end control plate 52 can deflect around the central shaft 51. When the hand or foot is bound (restrained) on the moving plate 55, the hand or foot will also deflect with the end control plate 52. This can also play a certain exercise role for the wrist or ankle joint. Of course, the various deflection functions of the end mechanism 5 can work in coordination, so that the user's wrist or ankle joint can receive rehabilitation exercises consistent with the normal joint movement characteristics.

[0036] Based on the above-described multi-joint rehabilitation training device, users can place their lower legs on the support arm 3 to exercise the knee and ankle joints, their forearms on the support arm 3 to exercise the elbow and wrist joints, and their upper arms on the support arm 3 to exercise the shoulder joint. Additionally, the end mechanism 5 located at the front of the support arm 3 can be flipped forward. Figure 10 In the state shown, the back of the end mechanism 5 is pressed against the front end of the support arm 3, and the front is facing forward and upward. The height of the support 2 can be adjusted according to the user's posture. At this time, the user can place their thigh on the support arm 3 and their lower leg on the end mechanism 5, so that the hip joint can also be rehabilitated.

[0037] In addition, in this embodiment, a corner platform 8 is installed at the bottom of the base 1, such as... Figure 11 As shown, the corner platform 8 is arranged along the width direction. In this embodiment, the corner platform 8 is equipped with an automatic adjustment mechanism. Of course, a manual adjustment mechanism can also be used. Depending on the usage requirements, the entire device can be tilted left and right, so that the movement state of the bearing arm 3 and the end mechanism 5 matches the joints.

[0038] The multi-joint rehabilitation training device disclosed in this embodiment controls each movement structure via electric components, thus enabling intelligent adjustment through the control system. Users or caregivers can automatically adjust the usage mode and range of motion through the control system. Additionally, the control system can also have magnetic card recognition functionality. After the user swipes their card, the control system retrieves preset or previously adjusted parameters based on the card information, and then controls the training device to automatically adjust the position of each component, thereby meeting the user's needs.

[0039] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0040] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0041] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A multi-joint rehabilitation training device, characterized in that: It includes a lower base and an upper swing arm mechanism, wherein a bracket is provided on the base, the rear part of the swing arm mechanism is mounted on the top of the bracket via a mounting shaft I along the width direction, and a first joint module for controlling the swing arm mechanism to deflect around the mounting shaft I is provided on the top of the bracket. The bracket has a clearance space to avoid the swing arm mechanism. The width of the swing arm mechanism is smaller than the width of the clearance space, and the first joint module can drive the swing arm mechanism to flip downwards to pass through the clearance space.

2. The multi-articulating rehabilitation training device of claim 1, wherein: The bracket has a set of support rod assemblies symmetrically distributed from left to right, with clearance space between the two support rod assemblies; the support rod assembly includes a first support arm and a second support arm, wherein the upper end of the second support arm is hinged to the middle part of the first support arm; the bracket also includes a lifting adjustment mechanism, which includes two slide rails arranged along the length of the base, the lower ends of the first and second support arms are respectively hinged to sliders that cooperate with the slide rails, and the two sliders at the lower end of the first support arm are fixedly connected by a first push rod, and the two sliders at the lower end of the second support arm are fixedly connected by a second push rod; the lifting adjustment mechanism also includes a drive mechanism, which is mounted on the base and controls the first and second push rods to move closer or further away synchronously.

3. The multi-articulating rehabilitation training device of claim 1, wherein: The swing arm mechanism includes a support arm connected to the bracket and an end mechanism installed at the front of the support arm, wherein at least one set of limb fixation components is provided on the support arm; the end mechanism includes an end control plate, the lower part of which is mounted on a mounting shaft II extending in the left-right direction and is mounted at the front of the support arm through the mounting shaft II, and a second joint module for controlling the rotation of the mounting shaft II is provided at the front of the support arm, the second joint module being able to control the end mechanism to deflect forward or backward around the mounting shaft II.

4. The multi-articulating rehabilitation training device of claim 3, wherein: The end mechanism can be flipped forward to be supported on the front end of the support arm, and at this time the front of the end control panel faces forward and upward.

5. The multi-articulating rehabilitation training device of claim 3, wherein: The end control board has a movable plate that can only move laterally in the center of its front side, and a positioning mechanism for positioning the hand or foot is provided on the movable plate; a mounting groove extending in the left and right direction and penetrating the front side of the end control board is provided in the end control board, and an electric lead screw mechanism is provided in the mounting groove. A connector that penetrates the mounting groove is matched on the lead screw of the electric lead screw mechanism, and the connector is fixedly connected to the movable plate.

6. The multi-articulating rehabilitation training device of claim 5, wherein: A central shaft perpendicular to the middle of the mounting shaft II is provided. The end control plate is movably mounted on the central shaft through the lower shaft hole, and its front side is parallel to the central shaft. An orientation adjustment motor assembly is provided on the back of the end control plate. The orientation adjustment motor assembly has a drive gear, and the axis of the drive gear is parallel to the axis of the central shaft. Correspondingly, a meshing gear disk that meshes with the drive gear is provided in the middle of the mounting shaft II.

7. The multi-articulating rehabilitation training device of claim 3, wherein: The limb fixation component is an airbag assembly, which includes two symmetrical airbag groups. Each airbag group includes an outer limiting plate and an inner limiting airbag, and the two limiting airbags form a fixation position for fixing the limb. At least one compression airbag is provided between the limiting airbag and the corresponding limiting plate. Each airbag group also includes an airbag control component for controlling the airbag pressure.

8. A multi-articulating rehabilitation training device as claimed in any one of claims 3 to 7, characterized in that: The support arm includes a support arm along its length and a mounting rod disposed at the rear end of the support arm, the mounting rod being fixedly connected to the mounting shaft I; the support arm also includes a sliding support rod I and a sliding support rod II movably mounted on the support arm along its width, wherein the sliding support rod II is located between the sliding support rod I and the mounting rod, and the end mechanism is mounted on the sliding support rod I, and a set of the limb fixation components is mounted on the sliding support rod II; the support arm also includes a lead screw II controlled by a drive motor assembly II, the lead screw II being threadedly connected to the sliding support rod I through a threaded section I and to the sliding support rod II through a threaded section II, wherein the threaded sections I and II have the same direction of rotation and a pitch ratio of 2:

1.

9. The multi-joint rehabilitation training device as described in claim 8, characterized in that: The front of the support arm is provided with a telescopic support platform consisting of a front support section, a middle support section and a rear support section. The front end of the front support section is mounted on a sliding support rod I, the rear end of the rear support section is mounted on a mounting rod, and the middle support section is mounted on a sliding support rod II.

10. The multi-joint rehabilitation training device as described in claim 1, characterized in that: The lower part of the base is provided with a corner platform, which allows the rehabilitation training device to be tilted in the width direction, so that the arm swing mechanism can adapt to limbs in different postures.

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