Upper and lower limb passive assessment rehabilitation training system

Abstract

The utility model provides a kind of upper and lower limb passive evaluation rehabilitation training system, including rack, upper limb executor, telescopic component, rotating component and lifting assembly, lifting assembly is set in the bottom of rack;Telescopic component includes at least one outer shaft sleeve and first rotating sleeve;Upper limb executor is installed in telescopic component terminal.The utility model proposes telescopic component, and the rotation angle is fixed by hand pull elastic pin, and the front and back telescoping of executor in horizontal direction is realized;Through rotating component, its rocking wheel driving portion utilizes screw nut mechanism to convert the rotary motion of rocking wheel into the linear motion of telescopic pipe, and by limit screw ensure safety stroke, realize the fine adjustment of executor working radius;Through lifting assembly, lifting cylinder is directly jacked and connected with lifting platform of rack to realize the adjustment of entire equipment working height.

Description

Technical Field

[0001] This utility model relates to the field of training and rehabilitation equipment technology, specifically to an active and passive assessment and rehabilitation training system for the upper and lower limbs. Background Technology

[0002] With the accelerating aging of the global population and the continuous rise in the incidence of various neurological and orthopedic diseases, the patient population with limb movement disorders is constantly expanding. Rehabilitation training has become a crucial link in helping patients rebuild function and reintegrate into society. However, current mainstream rehabilitation training models and equipment are facing increasingly severe challenges, and their limitations are becoming more and more prominent. The dilemmas of traditional rehabilitation models and the shortcomings of existing equipment include: high dependence on manual labor and low resource efficiency: The traditional "one-on-one" manual rehabilitation training model not only places a huge physical burden on therapists, making it difficult to sustain, but also limits the number of patients that can be served, leading to a scarcity of high-quality rehabilitation resources and a serious lack of training time per person, affecting the continuity and intensity of rehabilitation. At the same time, rehabilitation equipment has limited functions and cannot achieve coordinated training: Most rehabilitation training devices on the market have fixed functions, often focusing only on single training of the upper or lower limbs. However, daily activities (such as walking, standing up, and picking up objects) are the result of high coordination between the upper and lower limbs. Existing equipment cannot simulate this natural coordinated movement pattern, resulting in a disconnect between training effects and real-life scenarios, limiting the recovery of patients' overall motor function. Due to the wide variety of patients' conditions, extremely high personalized requirements are placed on rehabilitation equipment. A typical example is patients with polio, stroke sequelae, or leg length discrepancies, whose legs differ significantly in length, muscle strength, and joint range of motion. Limitations of adjustment: Existing equipment typically has fixed foot pedal spacing and angles or only allows for limited symmetrical adjustment, failing to provide "asymmetrical," customized training trajectories and support for both legs. This not only affects rehabilitation outcomes but may even lead to secondary injuries due to forced symmetrical movements.

[0003] Therefore, there is an urgent need to develop a rehabilitation training system that can simultaneously train both the upper and lower limbs, adapt to the needs of different patients, and is easy and comfortable to operate. This system should offer multiple training modes, such as active, passive, assisted, and resistance modes, to meet the rehabilitation needs of patients at different stages. It should also have a flexible height adjustment function to accommodate patients of different heights. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an active and passive assessment and rehabilitation training system for the upper and lower limbs, so as to solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an active and passive assessment and rehabilitation training system for the upper and lower limbs, comprising: The device comprises a frame, an upper limb actuator, a telescopic assembly, a rotating assembly, and a lifting assembly. The lifting assembly is located at the bottom of the frame and is used to drive the top of the frame to move up and down. The telescopic assembly includes at least one outer bushing and a first rotating sleeve. The outer bushing is fixed to the frame, and the first rotating sleeve is telescopically and rotatably disposed within the outer bushing and fixed in position by a hand-pulled elastic pin. The upper limb actuator is installed at the end of the telescopic assembly. The rotating assembly includes a rocker wheel drive assembly, which includes a rocker wheel, a lead screw, a lead screw nut, a telescopic tube, and a second rotating sleeve slidably sleeved on the outer edge of the telescopic tube. The lead screw nut is built into the telescopic tube, and the rocker wheel is connected to the lead screw via a transmission. By rotating the rocker wheel, the lead screw is driven to rotate, thereby causing the lead screw nut to drive the telescopic tube to move linearly relative to the second rotating sleeve.

[0006] Furthermore, the frame (1) includes a column (11), a support leg (12), a directional wheel (13), a braked caster (15), and a touch screen (14); wherein, the support leg (12) is fixedly connected to the bottom of the column (11); the directional wheel (13) and the braked caster (15) are rotatably mounted on the bottom of the support leg (12); and the touch screen (14) is mounted at the front end of the frame (1).

[0007] Furthermore, it also includes a lower limb actuator with the same structure as the upper limb actuator (2), and both the upper limb actuator (2) and the lower limb actuator are detachably installed at the end of the telescopic assembly (4) via a quick switching mechanism.

[0008] Furthermore, the quick switching mechanism includes a lifting handle (21), a torsion spring (22), and a rotating shaft (23). By lifting or releasing the lifting handle (21), the actuator body (24) can be engaged or disengaged from the rotating shaft (23).

[0009] Furthermore, it also includes a locking mechanism (7), which is mounted on the leg body (78) of the outrigger (12) and includes a foot pedal (71), a rotating shaft (72), a cam (73) and a bearing seat (79); the bearing seat (79) is fixed on the outrigger body (78), the rotating shaft (72) is rotatably supported in the bearing seat (79), the foot pedal (71) is fixed to one end of the rotating shaft (72), and the cam (73) is fixed on the rotating shaft (72).

[0010] Furthermore, the locking mechanism (7) also includes a locking actuator connected from top to bottom as a whole. The actuator includes a pressure plate (74), a foot support (75), a silicone pad (76), and a rectangular spring (77). The actuator is vertically installed in the guide structure of the support leg body (78) and can move up and down. The rectangular spring (77) is sleeved on the foot support (75) and pre-pressed between the pressure plate (74) and the support leg body (78).

[0011] Furthermore, the rotating assembly (5) also includes a suspension rope assembly, which includes a roller (53), a ratchet (54), and a tension spring pin (55); the roller (53) is rotatably connected to the frame (1) by a long screw and a nut; the ratchet (54) is coaxially fixedly connected to the roller (53) by a flat key (541) provided thereon; the tension spring pin (55) is coaxially arranged with the roller (53); one end of the suspension rope (531) is fixedly wound around the roller (53).

[0012] Furthermore, the lifting assembly (6) includes a lifting cylinder (61) and a lifting platform (62); the cylinder body of the lifting cylinder (61) is fixedly installed on the frame (1); the piston rod of the lifting cylinder (61) is connected to the lifting platform (62); the lifting platform (62) is vertically connected to the top of the frame (1).

[0013] Furthermore, the rocker drive assembly also includes a guide end cap (58) and a limiting screw (59). The guide end cap (58) is fixedly installed inside the second rotating sleeve (521) to provide precise guidance and support for the linear movement of the telescopic tube (522). The limiting screw (59) is screwed onto the tube wall of the second rotating sleeve (521), and its screw end extends into the inner cavity of the second rotating sleeve (521). By adjusting its extension length, it cooperates with the corresponding structure on the telescopic tube (522) to limit the maximum extension stroke of the telescopic tube (522) relative to the second rotating sleeve (521).

[0014] Furthermore, it also includes an electrical control component (3) for controlling the rehabilitation training system to operate in multiple training modes. The electrical control component (3) is electrically connected to a touch screen (14), a lifting cylinder (61), and a stepper motor (8) to control the rehabilitation training system to operate in active, passive, assisted, resistance, or active-passive mixed training modes.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. To address the problem of fixed positions and difficulty in flexibly adjusting existing rehabilitation equipment according to different patient body shapes and rehabilitation postures, this utility model uses nested first and second rotating sleeves, with the rotation angle fixed by a hand-pulled elastic pin, to achieve the horizontal forward and backward extension of the actuator; through the rotating component, its rocker wheel drive part uses a screw and nut mechanism to convert the rotational motion of the rocker wheel into the linear motion of the telescopic tube, and the limit screw ensures safe stroke, achieving fine adjustment of the actuator's working radius; through the lifting component, a lifting electric cylinder directly lifts the lifting platform connected to the frame to achieve adjustment of the entire equipment's working height; 2. In addition, the suspension rope assembly and ratchet mechanism enable unidirectional tightening and self-locking at any position of the suspension rope, which is used to assist in supporting the patient's limbs, allowing the therapist to quickly and accurately position the upper or lower limb actuator to the optimal treatment position beside or at the foot of the patient's bed. 3. The two upper and lower actuators are connected by a quick switching mechanism. The lifting handle compresses the torsion spring to achieve rapid engagement and disengagement with the rotating shaft, enabling second-level replacement and significantly improving treatment efficiency. Then, the foot pedal drives the cam to overcome the elasticity of the rectangular spring and push the foot support assembly with silicone pads downward, lifting the casters off the ground. The huge friction between the foot support and the ground is used to lock the system, reducing the risk of slippage during training. Attached Figure Description

[0016] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein: Figure 1 This is a schematic diagram of the overall structure of the multi-joint active and passive training rehabilitation system proposed in one embodiment of the present invention; Figure 2 This is a schematic diagram of the linkage structure between the telescopic component and the rocker wheel drive component proposed in one embodiment of the present invention; Figure 3 This is a schematic diagram of the suspension rope assembly structure proposed in one embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the suspension rope assembly structure proposed in one embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the rapid switching mechanism structure proposed in one embodiment of the present invention; Figure 6 This is a schematic diagram of the rotating shaft mounting structure proposed in one embodiment of the present utility model; Figure 7 This is a schematic diagram of the locking mechanism structure proposed in one embodiment of the present utility model; Figure 8 This is a schematic diagram of the process for realizing human-computer interaction based on electrical control components in one embodiment of the present invention.

[0017] Figure label: 1-Frame, 11-Column, 12-Legs, 13-Casing, 14-Touchscreen, 15-Casing with brakes; 2-Upper limb actuator, 21-Lifting handle, 22-Torsion spring, 23-Rotating shaft, 24-Actuator body; 3-Electrical control components; 4-Telescopic assembly, 41-Outer bushing, 42-First rotating sleeve, 4-Hand-operated elastic pin, 44-First support seat; 5-Rotating assembly, 51-Rocker wheel, 52-Lead screw, 521-Second rotating sleeve, 522-Telescopic tube, 53-Roller, 531-Lifting rope, 54-Ratchet, 541-Flat key, 55-Tension spring pin, 56-Flat key, 57-Lead screw nut, 58-Guide end cap, 59-Limit screw; 6: Lifting assembly; 61: Lifting electric cylinder; 62: Lifting platform; 7: Locking mechanism, 71-Foot pedal, 72-Rotating shaft, 73-Cam, 74-Pressure plate, 75-Foot support, 76-Silicone pad, 77-Rectangular spring, 78-Outrigger body, 79-Bearing seat; 8-Stepper motor. Detailed Implementation

[0018] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0019] As a means of understanding the technical concept and implementation principle of this utility model, such as Figure 1 As shown, this utility model proposes an active and passive assessment and rehabilitation training system for the upper and lower limbs, aiming to solve the problems of single function, poor adjustability, and inability to meet personalized needs in the existing technology. It includes: frame 1, upper limb actuator 2, electrical control component 3, telescopic component 4, rotation component 5, lifting component 6, locking mechanism 7, and lower limb actuator.

[0020] In one embodiment of this utility model, the frame 1 serves as the basic support structure for the entire system, including a column 11, legs 12, and directional wheels 13. The column is fixedly connected to the ground via the legs, while the directional wheels 13 installed at the bottom of the legs 12 facilitate the movement and positioning of the entire device, improving its flexibility. To accommodate users of different heights, a lifting assembly 6 is provided at the bottom of the frame 1. The lifting assembly includes a lifting cylinder 61 and a lifting platform 62. The cylinder body of the lifting cylinder 61 is fixed to the frame, and its piston rod is connected to the top of the frame via the lifting platform 62. A touch screen 14 is installed at the front end of the frame 1. The touch screen 14 is connected to the peripheral electrical control assembly 3 via a data cable, serving as the core interface for human-computer interaction.

[0021] like Figure 2 As shown, in one embodiment of this utility model, a telescopic component 4 and a rotating component 5 are proposed to achieve flexible adjustment of the training position and angle. The telescopic component 4 includes at least one outer bushing 41, a first rotating sleeve 42, and a hand-operated elastic pin 43. The outer bushing 41 is fixed to the frame 1, and the outer bushing 41 is fixedly connected to the front end of the first rotating sleeve 42, thereby enabling the first rotating sleeve 42 to be rotatably disposed within the outer bushing 41. The first rotating sleeve 42 can extend and retract within the outer bushing 41, and the rotation angle is determined by pulling the elastic pin 43. When the first rotating sleeve 42 rotates to a suitable angle, the rotation angle can be fixed by inserting the pin into the corresponding positioning hole on the outer bushing 41.

[0022] The rotating assembly 5 includes a rocker wheel drive assembly and a suspension rope assembly. The rocker wheel drive assembly includes a rocker wheel 51, a lead screw 52, ​​a lead screw nut 57, a guide end cap 58, a limit screw 59, a telescopic tube 522, and a second rotating sleeve 521 slidably sleeved on the outer edge of the telescopic tube 522. The rocker wheel 51 is connected to the lead screw 52 via a key 56, and the lead screw nut 57 is built into the telescopic tube 522. Rotating the rocker wheel 51 drives the actuators (upper limb actuator 2 and lower limb actuator) to move within a certain range. The guide end cap 58 is installed inside the second rotating sleeve 521 to guide the movement of the telescopic tube 522. Simultaneously, the limit screw 59 is screwed onto the wall of the second rotating sleeve 521, with its screw end extending into the inner cavity of the second rotating sleeve 521. By adjusting its extension length, it engages with corresponding structures on the telescopic tube 522, such as screw holes, to limit the maximum extension stroke of the telescopic tube 522 relative to the second rotating sleeve 521, ensuring safety.

[0023] Furthermore, the telescopic assembly 4 also includes a first support base 44 and a second support base for fixing and supporting the upper limb actuator 2 and the lower limb actuator, respectively. The first support base 44 is installed inside the second rotating sleeve 521 and is used to support the lead screw 52.

[0024] The principle is as follows: When the hand crank wheel 51 is turned, the lead screw 52 is rotated via the flat key 56, which engages with the lead screw nut 57 built into and fixed inside the telescopic tube 522. The internal thread of the lead screw nut 57 and the lead screw 52 form a helical transmission pair. It can be understood that the lead screw nut 57 engages with the external thread of the lead screw 52 through its internal thread, forming a helical transmission pair. The outer side of the lead screw nut is fixed inside the telescopic tube 522 by fasteners, so that when the hand crank wheel drives the lead screw to rotate, it drives the telescopic tube 522 to move forward or backward relative to the second rotating sleeve 521.

[0025] Furthermore, such as Figure 3 - Figure 4 As shown, the lifting rope assembly includes a roller 53, a ratchet 54, and a tension spring pin 55, used to achieve the winding, unwinding, and locking of the auxiliary lifting rope 531. The roller 53 is connected to the frame 1 via a long screw and a nut, and the ratchet 54 is connected to the roller 53 via a flat key 541. The roller 53 rotates forward to wind up the lifting rope 531 fixed on it, with one end of the rope 531 wrapped around it. The tension spring pin 55 is coaxial with the roller 53, and its rotation causes the roller to rotate in the opposite direction to release the rope 531. Unidirectional tightening of the rope 531 to any position achieves a self-locking state.

[0026] In one embodiment of this utility model, it can be understood that the core training execution mechanism is implemented by the upper limb actuator 2 and the lower limb actuator.

[0027] In practical implementation, both the upper limb actuator 2 and the lower limb actuator include an actuator body and a quick-switching mechanism. Taking the upper limb actuator 2 as an example, it includes an actuator body and a quick-switching mechanism.

[0028] It should be noted that the actuator body is covered with a rubber sleeve for direct contact with the patient's upper and lower limbs, and achieves rotational movement through an internal transmission mechanism (motor drive) to simulate the movement of joints such as the shoulder and elbow.

[0029] like Figure 5 - Figure 6 As shown, the quick-switching mechanism includes a lifting handle 21, a torsion spring 22, and a rotating shaft 23. The torsion spring 22 is mounted on the actuator body 24, and the lifting handle 21 is sleeved around the torsion spring 22 and connected to the actuator body 24. During installation, the actuator is connected to the system main frame (such as the front end of the telescopic assembly 4) via the rotating shaft 23. Figure 1 As shown, its specific position is located at the end of the first rotating sleeve of the frame 1, which is easy to adjust to accommodate different patient positions.

[0030] Furthermore, the actuator body 24 is indirectly coupled to the built-in drive system (such as a stepper motor 8 with an encoder) through the rotating shaft 23. The stepper motor 8 drives the rotating shaft 23 to rotate through the transmission device, thereby driving the actuator body 24 to move. Understandably, in this process, the quick switching mechanism ensures reliable connection and quick disassembly between the actuator and the rotating shaft.

[0031] In the training process described in this embodiment, the stepper motor 8 controls the rotation of the shaft 23 according to the set mode (such as active, passive, assisted, resistance, or active-passive mode), causing the actuator to drive the upper limb to perform repetitive joint movements, promoting rehabilitation. When it is necessary to switch actuators, the user pulls the handle 21 to compress the torsion spring 22, putting the actuator into or out of the shaft. After releasing the handle, the torsion spring 22 rebounds, locking the handle to prevent accidental dislodgement, achieving safe and efficient replacement. Similarly, the lower limb actuator adopts the same structure and quick-change mechanism to ensure the flexibility and convenience of the system under different training needs, improve treatment effects and reduce the burden on medical manpower, which will not be elaborated here.

[0032] In one embodiment of this utility model, it can be understood that, as Figure 7 As shown, the locking mechanism 7 is used to fix and brake the equipment to ensure stability during training. Its principle is to lift the machine partially through a mechanical structure and use the friction between the foot support and the ground to keep the machine in a stable locked state, preventing accidental movement during rehabilitation training.

[0033] In specific implementation, the locking mechanism 7 includes a foot pedal 71, a rotating shaft 72, a cam 73, a pressure plate 74, a foot support 75, a silicone pad 76, a friction sleeve, a rectangular spring 77, a leg body 78, and a bearing seat 79. The bearing seat 79 is fixedly mounted on the leg body 78. It can be understood that the leg body and the column 11 of the frame 1 are rigidly connected by welding or high-strength bolts to form a stable "frame" as a whole. The rotating shaft 72 passes through and is supported within the bearing seat, ensuring smooth rotation. The foot pedal 71 is fixedly connected to one end of the rotating shaft 72 and is located outside the active and passive training rehabilitation system for easy user operation with their feet. The cam 73 is fixed to the middle of the rotating shaft 72 by a key or fasteners and rotates synchronously with the rotating shaft. The pressure plate 74, foot support 75, rectangular spring 77, and silicone pad 76 are connected from top to bottom to form a locking actuator. This actuator is vertically mounted within the guide structure of the leg body and can perform reciprocating up-and-down movements. The friction sleeve is fitted onto the outside of the foot support, and the rectangular spring 77 is fitted onto the friction sleeve and pre-pressed between the pressure plate 74 and the support leg body, thereby providing an upward restoring force for the entire actuator.

[0034] The principle is as follows: When the active and passive training rehabilitation system needs to be locked, the user presses down on the foot pedal, which drives the rotating shaft 72 to rotate within the bearing seat. The rotating shaft 72 then drives the cam 73 to rotate. During the rotation of the cam, its contour pushes the pressure plate 74, overcoming the elastic force of the rectangular spring, and driving the pressure plate 74, foot support 75, and silicone pad 76 as a whole to move downwards, ultimately pressing the silicone pad 76 firmly against the ground. In this state, the active and passive training rehabilitation system is completely supported by the legs and foot support, and a huge static friction force is generated between the silicone pad and the ground, thereby achieving reliable locking of the machine. Pressing the other end of the foot pedal 71 on the rotating shaft 72 causes the foot support to leave the ground under the reset action of the rectangular spring, and the machine is then supported by the braked casters 15 installed at the bottom of the legs 12, allowing it to move freely.

[0035] like Figure 8 As shown in one embodiment of this utility model, it should be noted that the intelligent control core of the proposed upper and lower limb active and passive assessment rehabilitation training system is the peripheral electrical control component 3, which includes multiple training mode switching switches, an encoder, and a controller. The encoder is connected to the stepper motor 8 to monitor the movement status in real time. The controller receives instructions from the touchscreen 14 and feedback from the encoder, controlling the operating status of various electric components (such as the lifting cylinder 61). The multiple training mode switching switches include: active mode: the patient actively exerts force, and the system only records it; passive mode: the system drives the patient's limb movement; assisted mode: the system provides auxiliary power based on the patient's exertion; resistance mode: the system provides controllable resistance for strength training; and active-passive mode: a hybrid training mode combining active and passive methods.

[0036] Thus, this utility model, through a highly integrated and adjustable mechanical structure combined with an electrical control system, provides a comprehensive, flexible, safe, and comfortable upper and lower limb coordinated rehabilitation training system, effectively meeting the personalized rehabilitation needs of different patients.

[0037] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. A system for active and passive assessment and rehabilitation training of the upper and lower limbs, characterized in that: include: The frame (1), upper limb actuator (2), telescopic assembly (4), rotating assembly (5) and lifting assembly (6); The lifting assembly (6) is located at the bottom of the frame (1) and is used to drive the top of the frame to move up and down. The telescopic assembly (4) includes at least one outer bushing (41) and a first rotating sleeve (42). The outer bushing (41) is fixed on the frame (1). The first rotating sleeve (42) is telescopically and rotatably disposed in the outer bushing (41) and its position is fixed by a hand-pulled elastic pin (43). The upper limb actuator (2) is installed at the end of the telescopic assembly (4). The rotating assembly (5) includes a rocker drive assembly, which includes a rocker (51), a lead screw (52), a lead screw nut (57), a telescopic tube (522), and a second rotating sleeve (521) that is slidably sleeved on the outer edge of the telescopic tube (522). The lead screw nut (57) is built into the telescopic tube (522). The rocker (51) is connected to the lead screw (52) in a transmission. By rotating the rocker (51), the lead screw (52) is driven to rotate, thereby causing the lead screw nut (57) to drive the telescopic tube (522) to move linearly relative to the second rotating sleeve (521).

2. The rehabilitation training system according to claim 1, characterized in that: The frame (1) includes a column (11), a support leg (12), a directional wheel (13), a caster with brake (15), and a touch screen (14); wherein, the support leg (12) is fixedly connected to the bottom of the column (11); the directional wheel (13) and the caster with brake (15) are rotatably mounted on the bottom of the support leg (12); and the touch screen (14) is mounted at the front end of the frame (1).

3. The rehabilitation training system according to claim 1, characterized in that: It also includes a lower limb actuator with the same structure as the upper limb actuator (2), and both the upper limb actuator (2) and the lower limb actuator are detachably mounted on the end of the telescopic assembly (4) via a quick switching mechanism.

4. The rehabilitation training system according to claim 3, characterized in that: The quick switching mechanism includes a lifting handle (21), a torsion spring (22), and a rotating shaft (23). By lifting or releasing the lifting handle (21), the actuator body (24) can be engaged or disengaged from the rotating shaft (23).

5. The rehabilitation training system according to claim 1, characterized in that: It also includes a locking mechanism (7), which is mounted on the leg body (78) of the outrigger (12) and includes a foot pedal (71), a rotating shaft (72), a cam (73) and a bearing seat (79); the bearing seat (79) is fixed on the outrigger body (78), the rotating shaft (72) is rotatably supported in the bearing seat (79), the foot pedal (71) is fixed to one end of the rotating shaft (72), and the cam (73) is fixed on the rotating shaft (72).

6. The rehabilitation training system according to claim 5, characterized in that: The locking mechanism (7) also includes a locking actuator connected from top to bottom as a whole. The actuator includes a pressure plate (74), a foot support (75), a silicone pad (76), and a rectangular spring (77). The actuator is vertically installed in the guide structure of the support leg body (78) and can move up and down. The rectangular spring (77) is sleeved on the foot support (75) and pre-pressed between the pressure plate (74) and the support leg body (78).

7. The rehabilitation training system according to claim 1, characterized in that: The rotating assembly (5) further includes a suspension rope assembly, which includes a roller (53), a ratchet (54), and a tension spring pin (55). The roller (53) is rotatably connected to the frame (1) by a long screw and a nut. The ratchet (54) is coaxially fixedly connected to the roller (53) by a flat key (541) provided thereon. The tension spring pin (55) is coaxially arranged with the roller (53). One end of the suspension rope (531) is fixedly wound around the roller (53).

8. The rehabilitation training system according to claim 1, characterized in that: The lifting assembly (6) includes a lifting cylinder (61) and a lifting platform (62); the cylinder body of the lifting cylinder (61) is fixedly installed on the frame (1); the piston rod of the lifting cylinder (61) is connected to the lifting platform (62); the lifting platform (62) is vertically connected to the top of the frame (1).

9. The rehabilitation training system according to claim 1, characterized in that: The rocker drive assembly also includes a guide end cap (58) and a limiting screw (59). The guide end cap (58) is fixedly installed inside the second rotating sleeve (521) to provide precise guidance and support for the linear movement of the telescopic tube (522). The limiting screw (59) is screwed onto the tube wall of the second rotating sleeve (521), and its screw end extends into the inner cavity of the second rotating sleeve (521). By adjusting its extension length, it cooperates with the corresponding structure on the telescopic tube (522) to limit the maximum extension stroke of the telescopic tube (522) relative to the second rotating sleeve (521).

10. The rehabilitation training system according to claim 1, characterized in that: It also includes an electrical control component (3) for controlling the rehabilitation training system to operate in multiple training modes. The electrical control component (3) is electrically connected to a touch screen (14), a lifting cylinder (61) and a stepper motor (8) to control the rehabilitation training system to operate in active, passive, assisted, resistance or active-passive mixed training modes.

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