Double-output shaft active passive upper and lower limbs rehabilitation training mechanism

The present invention discloses a double-output shaft active passive upper and lower limbs rehabilitation training mechanism, including a DC machine and a rack, and the DC machine is disposed on the rack, output shaft of the DC machine is provided with a force sensor with one terminal connecting with output shaft of the DC machine, another terminal of the force sensor is connected with a second shaft, the second shaft is disposed with a upper limbs rehabilitation training mechanism and a first bevel gear that meshing with a second bevel gear, a second straight gear meshing with a first straight gear is disposed on a first shaft connected with the second bevel gear, a lower limbs rehabilitation training mechanical arm is disposed on a third shaft connected with the first straight gear, output shaft of the DC machine is provided with a third straight gear meshing with a fourth straight gear, the fourth straight gear is provided with magneto-rheological damper.