阅读说明：本技术 多姿态下肢康复机器人 (Multi-posture lower limb rehabilitation robot ) 是由 王洪波 李云贵 吕泽民 苏博文 刘师赫 陈鹏 王思博 张永顺 于 2020-08-05 设计创作，主要内容包括：本发明涉及一种多姿态下肢康复机器人,其包括基座、固定安装在基座上的基座支撑架、通过直角连接板固定在基座支撑架上端的减重装置、通过下肢训练连接板对称安装在基座支撑架内侧的下肢训练机构、通过座椅连接板固定在基座上的座椅机构。本发明下肢康复机器人通过设置在座椅和基座之间的座椅升降机构、座椅移动机构,可以调节座椅高度及座椅位置,配合座椅角度调节机构对椅背角度的调节,从而实现站姿、立姿、躺姿及自定义角度等多姿态的变换。(The invention relates to a multi-posture lower limb rehabilitation robot which comprises a base, a base support frame fixedly arranged on the base, a weight reduction device fixed at the upper end of the base support frame through a right-angle connecting plate, lower limb training mechanisms symmetrically arranged on the inner side of the base support frame through a lower limb training connecting plate, and a seat mechanism fixed on the base through a seat connecting plate. The lower limb rehabilitation robot can adjust the height and the position of the seat through the seat lifting mechanism and the seat moving mechanism which are arranged between the seat and the base, and is matched with the seat angle adjusting mechanism to adjust the angle of the chair back, so that the transformation of multiple postures such as standing posture, lying posture, user-defined angle and the like is realized.)

1. A multi-posture lower limb rehabilitation robot is characterized by comprising a base, a base support frame fixedly arranged on the base, lower limb training mechanisms symmetrically arranged on the inner side of the base support frame, and a seat mechanism slidably arranged on the base;

the lower limb training mechanism comprises a lower limb height adjusting mechanism fixed on the base supporting frame, a hip joint training mechanism fixedly connected to the lower limb height adjusting mechanism, a thigh training mechanism rotatably connected to the hip joint training mechanism, a knee joint training mechanism fixedly connected to the thigh training mechanism, a shank training mechanism rotatably connected to the knee joint training mechanism, an ankle joint training mechanism fixedly connected to the shank training mechanism and a pedal fixedly connected to the lower end of the ankle joint training mechanism;

the hip joint training mechanism comprises a hip joint support frame fixed on the lower limb height adjusting mechanism, a hip joint speed reducing motor arranged on the hip joint support frame, a hip joint worm coaxially arranged with an output shaft of the hip joint speed reducing motor, a hip joint worm wheel matched and connected with the hip joint worm, and thigh connecting plates fixed on two sides of the hip joint worm wheel, wherein a transmission shaft of the hip joint worm wheel is fixedly arranged on the hip joint support frame;

the thigh training mechanism comprises a thigh nut lead screw fixed on the thigh connecting plate, and the thigh nut lead screw is in interference fit with the thigh training shell through a thigh nut fixing part;

the knee joint training mechanism comprises a knee joint support frame fixedly arranged on the thigh training shell, a knee joint speed reducing motor fixedly arranged on the knee joint support frame, a knee joint worm coaxially arranged with an output shaft of the knee joint speed reducing motor, a knee joint worm wheel matched and connected with the knee joint worm, and shank connecting plates fixed on two sides of the knee joint worm wheel, and a transmission shaft of the knee joint worm wheel is fixedly arranged on the knee joint support frame;

the shank training mechanism comprises a shank training shell fixed on the shank connecting plate, and the shank training shell is in interference fit with a shank nut lead screw through a shank nut fixing piece;

the ankle joint training mechanism comprises a spring fixing support and an ankle joint support frame which are sequentially fixed on the shank nut screw rod from top to bottom, an ankle joint rotating shaft which is rotatably connected onto the ankle joint support frame through a bearing, and a connecting filter plate which is fixed on the ankle joint rotating shaft, wherein a spring is arranged between the spring fixing support and the connecting filter plate, and a pedal plate is fixedly arranged at the lower end of the connecting filter plate; and

the seat mechanism is arranged on the seat moving mechanism through a seat support frame, and the seat moving mechanism is fixedly arranged on the base.

2. The multi-posture lower limb rehabilitation robot according to claim 1, wherein the lower limb height adjusting mechanism comprises a second slide rail and a third electric push rod, the second slide rail is fixed on the lower limb training connecting plate, a second slide block matched with the second slide rail is arranged on the second slide rail, the second slide block is fixedly connected to the hip joint training mechanism through a right-angle adapter block, and a telescopic end of the third electric push rod is fixedly mounted on the right-angle adapter block.

3. The multi-posture lower limb rehabilitation robot according to claim 1, wherein the seat mechanism comprises a seat, a headrest adjusting mechanism fixed on a back plate bracket of the seat for adjusting the position of a headrest frame, and a seat angle adjusting mechanism rotatably connected on a seat plate bracket of the seat, and a seat lifting mechanism is fixedly mounted on the seat plate bracket of the seat.

4. The multi-posture lower limb rehabilitation robot according to claim 1, wherein the headrest adjusting mechanism comprises a second electric push rod support and a headrest adjusting sleeve fixed on the back plate support, an adjusting rod is sleeved in the headrest adjusting sleeve, the upper end of the adjusting rod is fixedly installed on the headrest support, a second electric push rod is fixedly installed on the second electric push rod support, and the telescopic end of the second electric push rod is installed on the headrest support.

5. The multi-posture lower limb rehabilitation robot according to claim 1, wherein the seat angle adjusting mechanism comprises a right-angle connecting rod connected to the front end of the seat plate bracket in a symmetrical and rotating manner, a first connecting rod connected to the right-angle connecting rod in a rotating manner, a second connecting rod connected to the first connecting rod in a rotating manner at one end and connected to the tail portion of the seat plate bracket in a rotating manner at the other end, a third electric push rod bracket fixed between the two second connecting rods, and a third electric push rod fixedly mounted on the third electric push rod bracket at a fixed end, and the telescopic end of the third electric push rod is fixedly connected to the second electric push rod bracket.

6. The multi-posture lower limb rehabilitation robot as claimed in claim 1, wherein the seat lifting mechanism comprises a scissors lifting platform with one end mounted on the seat support frame and the other end mounted on the seat plate bracket of the seat, and a first electric push rod fixedly mounted on the seat support frame, wherein the fixed end of the first electric push rod is fixedly mounted on the seat support frame, and the telescopic end of the first electric push rod is fixedly connected to the transmission connecting rod of the scissors lifting platform.

7. The multi-posture lower limb rehabilitation robot according to claim 1, wherein the seat moving mechanism comprises a seat connecting plate fixed on the base, an elevating block fixed on the seat connecting plate, and a first motor, an output shaft of the first motor is coaxially connected to a screw rod of a ball screw through a coupling, a first slide rail is fixedly mounted on the elevating block, a first slide block matched with the first slide rail is arranged on the first slide rail, the first slide block is fixed on the seat supporting frame through a bolt, and the seat supporting frame is fixedly connected with a nut of the ball screw through a bolt.

8. The multi-posture lower limb rehabilitation robot according to claim 1, further comprising a weight reduction device fixed on the base support frame, wherein the weight reduction device comprises a weight reduction device electric sliding table fixed on the base support frame through a weight reduction device connecting plate, a weight reduction device connecting block slidably connected on the weight reduction device electric sliding table, and a weight reduction function piece fixed on the weight reduction device connecting block.

9. The multi-pose lower extremity rehabilitation robot of claim 1, wherein a stop is fixedly mounted to each of said hip joint support frame and said knee joint support frame.

10. The multi-pose lower extremity rehabilitation robot of any of claims 1 to 9, wherein at least four universal wheels are mounted to a lower end of said base.

Technical Field

The invention belongs to the technical field of rehabilitation robots, and particularly relates to a multi-posture lower limb rehabilitation robot.

Background

In recent years, patients with lower limb movement dysfunction caused by accidents such as traffic accidents, sports disabilities and the like are growing year by year, and in addition, the national conditions of severe aging of the population in China, such as occurrence of diseases such as cerebral infarction, paraplegia and the like, can cause a large number of limb disabilities. The recovery of these patients is very important to perform scientific rehabilitation training in addition to treatment with surgical drugs and the like. According to statistics, about 2407 thousands of people with limb disabilities in China currently can not meet the requirements of patients by relying on bare-handed training of rehabilitation doctors alone. The lower limb rehabilitation robot can just fill the gap as an automatic rehabilitation medical device. At present, the rehabilitation training service institutions of various disabled people at all levels in China are nearly 2 thousands, and the demand for rehabilitation equipment is particularly large.

The three degrees of freedom of flexion and extension of hip joints, flexion of knee joints and flexion of ankle joints are the main degrees of freedom of lower limb training, and the existing lower limb rehabilitation robot in the market can only play an auxiliary role in the process of rehabilitation training, and is single in function and limited in posture training mode.

Disclosure of Invention

In view of the above circumstances, the present invention aims to overcome the defects of single function and limitation of human posture mode during training in the prior art, and provides a lower limb rehabilitation robot which has a multifunctional and multi-posture training mode and can realize multi-posture training of sitting, lying and standing.

The invention adopts the technical scheme that the multi-posture lower limb rehabilitation robot comprises a base, a base support frame fixedly arranged on the base, lower limb training mechanisms symmetrically arranged on the inner side of the base support frame, and a seat mechanism slidably arranged on the base; the lower limb training mechanism comprises a lower limb height adjusting mechanism fixed on the base supporting frame, a hip joint training mechanism fixedly connected to the lower limb height adjusting mechanism, a thigh training mechanism rotatably connected to the hip joint training mechanism, a knee joint training mechanism fixedly connected to the thigh training mechanism, a shank training mechanism rotatably connected to the knee joint training mechanism, an ankle joint training mechanism fixedly connected to the shank training mechanism and a pedal fixedly connected to the lower end of the ankle joint training mechanism; the hip joint training mechanism comprises a hip joint support frame fixed on the lower limb height adjusting mechanism, a hip joint speed reducing motor arranged on the hip joint support frame, a hip joint worm coaxially arranged with an output shaft of the hip joint speed reducing motor, a hip joint worm wheel matched and connected with the hip joint worm, and thigh connecting plates fixed on two sides of the hip joint worm wheel, wherein a transmission shaft of the hip joint worm wheel is fixedly arranged on the hip joint support frame; the thigh training mechanism comprises a thigh nut lead screw fixed on the thigh connecting plate, and the thigh nut lead screw is in interference fit with the thigh training shell through a thigh nut fixing part; the knee joint training mechanism comprises a knee joint support frame fixedly arranged on the thigh training shell, a knee joint speed reducing motor fixedly arranged on the knee joint support frame, a knee joint worm coaxially arranged with an output shaft of the knee joint speed reducing motor, a knee joint worm wheel matched and connected with the knee joint worm, and shank connecting plates fixed on two sides of the knee joint worm wheel, and a transmission shaft of the knee joint worm wheel is fixedly arranged on the knee joint support frame; the shank training mechanism comprises a shank training shell fixed on the shank connecting plate, and the shank training shell is in interference fit with a shank nut lead screw through a shank nut fixing piece; the ankle joint training mechanism comprises a spring fixing support and an ankle joint support frame which are sequentially fixed on the shank nut screw rod from top to bottom, an ankle joint rotating shaft which is rotatably connected onto the ankle joint support frame through a bearing, and a connecting filter plate which is fixed on the ankle joint rotating shaft, wherein a spring is arranged between the spring fixing support and the connecting filter plate, and a pedal plate is fixedly arranged at the lower end of the connecting filter plate; and the seat mechanism is arranged on the seat moving mechanism through a seat support frame, and the seat moving mechanism is fixedly arranged on the base.

Furthermore, the lower limb height adjusting mechanism comprises a second slide rail and a third electric push rod which are fixed on the lower limb training connecting plate, a second slide block matched with the second slide rail is arranged on the second slide rail, the second slide block is fixedly connected to the hip joint training mechanism through a right-angle switching block, and the telescopic end of the third electric push rod is fixedly installed on the right-angle switching block.

Furthermore, the seat mechanism comprises a seat, a headrest adjusting mechanism fixed on a back plate support of the seat and used for adjusting the position of a headrest frame, and a seat angle adjusting mechanism rotatably connected on a seat plate support of the seat, wherein a seat lifting mechanism is fixedly installed on the seat plate support of the seat.

Further, the back cushion adjusting mechanism comprises a second electric push rod support and a back cushion adjusting sleeve which are fixed on the back plate support, an adjusting rod is sleeved in the back cushion adjusting sleeve, the upper end of the adjusting rod is fixedly installed on the back cushion frame, a second electric push rod is fixedly installed on the second electric push rod support, and the telescopic end of the second electric push rod is installed on the back cushion frame.

Further, the seat angle adjusting mechanism comprises a right-angle connecting rod, a first connecting rod, a second connecting rod, a third electric push rod support and a third electric push rod, wherein the right-angle connecting rod is symmetrically and rotatably connected to the front end of the seat plate support, the first connecting rod is rotatably connected with the right-angle connecting rod, one end of the second connecting rod is rotatably connected to the first connecting rod, the other end of the second connecting rod is rotatably connected to the tail portion of the seat plate support, the third electric push rod support is fixed between the two second connecting rods, the fixed end of the third electric push rod support is fixedly installed on the third electric push rod support, and the.

Furthermore, the seat lifting mechanism comprises a scissor type lifting table and a first electric push rod, wherein one end of the scissor type lifting table is arranged on the seat support frame, the other end of the scissor type lifting table is arranged on a seat plate support of the seat, the first electric push rod is fixedly arranged on the seat support frame, and the telescopic end of the first electric push rod is fixedly connected to a transmission connecting rod of the scissor type lifting table.

Further, the seat moving mechanism comprises a seat connecting plate fixed on the base, a heightening block fixed on the seat connecting plate and a first motor, an output shaft of the first motor is coaxially connected to a screw rod of a ball screw through a coupler, a first sliding rail is fixedly mounted on the heightening block, a first sliding block matched with the first sliding rail is arranged on the first sliding rail, the first sliding block is fixed on the seat supporting frame through a bolt, and the seat supporting frame is fixedly connected with a nut of the ball screw through a bolt.

Further, still including fixing subtract the heavy device on the base support frame, it fixes to subtract the heavy device including subtracting the heavy device connecting plate on the base support frame subtract electronic slip table of heavy device, sliding connection subtract on the heavy device electronic slip table heavy device connecting block, fix subtract heavy function piece on the heavy device connecting block.

Preferably, the hip joint support frame and the knee joint support frame are both fixedly provided with limiting pieces.

Preferably, the lower end of the base is provided with at least four universal wheels.

The invention has the characteristics and beneficial effects that:

1. the multi-posture lower limb rehabilitation robot provided by the invention has three degrees of freedom, including flexion and extension of hip joints, flexion of knee joints and flexion of ankle joints, wherein the flexion and extension of the joints and the flexion of the knee joints are realized by adopting a worm gear and worm transmission mode at the hip joints and the knee joints, the ankle joints realize passive following training through a balance force structure, and each joint forms a three-degree-of-freedom space mechanism, so that the rehabilitation training of the three degrees of freedom of the legs of a patient is realized, and the leg training of the patient is closer to the natural motion of the legs.

2. According to the multi-posture lower limb rehabilitation robot, the height and the position of a seat can be adjusted through the seat lifting mechanism and the seat moving mechanism which are arranged between the seat and a base, and the seat angle adjusting mechanism is matched for adjusting the angle of a chair back, so that the multi-posture transformation of standing posture, lying posture, user-defined angle and the like is realized; meanwhile, the thigh training mechanism and the shank training mechanism are respectively provided with a manual nut and screw mechanism, so that the length of the small thigh can be adjusted, and the adjustment of the height of the mechanical leg for training the lower limbs can be completed through the extension and retraction of the third electric push rod, so that the leg training mechanism is suitable for patients with different heights.

3. According to the multi-posture lower limb rehabilitation robot, the worm is driven by the motor to drive the worm gear to rotate, so that flexion and extension actions of hip joints and flexion actions of knee joints are achieved, the rehabilitation robot has the advantages of being stable in transmission, low in noise, large in single-stage transmission ratio and the like due to the adoption of the worm gear and worm driving mode, training of the hip joints and the knee joints of patients is more stable in the lower limb rehabilitation training process, noise is low, and training fear of the patients is reduced.

4. According to the multi-posture lower limb rehabilitation robot, the ankle joint springs fixed on the ankle joint support frame form a balance force structure, the pressure of the foot pedal is converted into the power of ankle joint movement through the self weight of a human body to achieve passive training of ankle joint buckling, meanwhile, the chair back elevation angle is adjusted through the stretching of the third electric push rod, the second connecting rod, the first connecting rod and the right-angle connecting rod of the chair are driven to move, the movement of the back plate support is further pushed, and the adjustment of the chair back angle is achieved.

Drawings

FIG. 1 is a front perspective view of an embodiment of the present invention;

FIG. 2 is a rear perspective view of an embodiment of the present invention;

FIG. 3 is a schematic structural view of a lower limb training mechanism of an embodiment of the present invention;

FIG. 4 is a schematic structural view of an upper limb height adjustment mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a hip training mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a portion of a hip training mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a thigh training mechanism of an embodiment of the present invention;

FIG. 8 is a schematic structural view of a knee training mechanism according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a portion of a knee training mechanism in accordance with an embodiment of the present invention;

FIG. 10 is a schematic structural view of an ankle training mechanism according to an embodiment of the present invention;

FIG. 11 is a schematic view of the internal transmission structure of the ankle training mechanism according to the embodiment of the present invention;

FIG. 12 is a schematic view of the ankle bearing seat of an embodiment of the invention;

FIG. 13 is a schematic front view of a portion of a seating mechanism according to an embodiment of the invention;

FIG. 14 is a schematic rear view of a portion of the seat mechanism in accordance with an embodiment of the present invention;

FIG. 15 is a schematic view of a partial underside view of a seat mechanism in accordance with an embodiment of the present invention;

FIG. 16 is a schematic structural view of a seat moving mechanism according to an embodiment of the present invention;

FIG. 17 is a schematic view of a seat moving mechanism and a seat support frame according to an embodiment of the present invention; and

fig. 18 is a schematic structural view of a weight-reducing device according to an embodiment of the present invention.

The main reference numbers:

1. a base, 2, a base support frame, 3, a weight reducing device, 31, a weight reducing device connecting plate, 32, a weight reducing device electric sliding table, 33, a weight reducing device connecting block, 34, a weight reducing function part, 4, a lower limb training connecting plate, 5, a lower limb training mechanism, 51, a lower limb height adjusting mechanism, 511, a second sliding rail, 512, a second sliding block, 513, a third electric push rod, 52, a hip joint training mechanism, 521, a right-angle switching block, 522, a hip joint support frame, 523, a hip joint speed reducing motor, 524, a hip joint worm, 525, a hip joint worm gear, 526, a first worm gear gasket, 527, an angular contact, 53, a thigh training mechanism, a ball bearing, a thigh connecting plate, 532, a thigh nut screw rod, 533, a thigh nut fixing part, 534, a thigh training shell, 54, a knee joint training mechanism, 541, a knee joint support frame, 542 and a knee joint speed reducing motor, 543. knee worm 544, knee worm gear, 545, second worm gear washer, 546, bearing end cap, 55, shank training mechanism, 551, shank link plate, 552, shank training case, 553, shank nut mount, 554, shank nut screw, 56, ankle training mechanism, 561, spring mount, 562, ankle support, 563, ankle joint rotation shaft, 564, connection filter plate, 565, spring, 566, ankle joint rotation shaft retainer, 567, deep groove ball bearing, 568, ankle joint bearing retainer, 569, ankle joint bearing seat, 57, foot pedal, 7, seat mechanism, 71, seat, 72, seat plate support, 73, back plate support, 74, headrest frame, 75, headrest adjusting mechanism, 751, second electric putter support, 752, headrest adjusting sleeve, 753, adjusting lever, 754, second electric putter, 76, seat angle adjusting mechanism, 761. a right-angle connecting rod, 762, a first connecting rod, 763, a second connecting rod, 764, a third electric push rod bracket, 765, a third electric push rod, 77, a seat lifting mechanism, 771, a scissor lifting platform, 772, a first electric push rod, 773, a transmission connecting rod, 774, a pulley, 78, a seat moving mechanism, 781, a seat connecting plate, 782, a heightening block, 783, a first motor, 784, a ball screw, 7841, a screw, 7842, a nut, 786, a first sliding rail, 787, a first sliding block, 788, a moving positioning block, 789, a position sensor, 7810, a seat moving limiting block, 7811, a seat moving block, 8, a seat supporting frame, 9, a limiting block, 10, a universal wheel, 11, a triangular fixing block, 12, and a clamping beam.

Detailed Description

The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.

The invention provides a multi-posture lower limb rehabilitation robot which comprises a base 1, a base support frame 2 fixedly arranged on the base 1, a weight reduction device 3 fixed on the base support frame 2 through a right-angle connecting plate, lower limb training mechanisms 5 symmetrically arranged on the inner side of the base support frame 2 through a lower limb training connecting plate 4, and a seat mechanism 7 fixed on the base 1 through a seat connecting plate 781, as shown in figures 1 and 2.

As shown in fig. 3, the lower limb training mechanism 5 includes a lower limb height adjustment mechanism 51 fixed to the lower limb training link plate 4, a hip joint training mechanism 52 fixedly connected to the lower limb height adjustment mechanism 51, a thigh training mechanism 53 rotatably connected to the hip joint training mechanism 52, a knee joint training mechanism 54 fixedly connected to the thigh training mechanism 53, a lower leg training mechanism 55 rotatably connected to the knee joint training mechanism 54, an ankle joint training mechanism 56 fixedly connected to the lower leg training mechanism 55, and a foot board 57 fixedly connected to the lower end of the ankle joint training mechanism 56.

As shown in fig. 4, the lower limb height adjusting mechanism 51 includes a second slide rail 511 and a third electric push rod 513 fixed on the lower limb training connecting plate 4, the second slide rail 511 is provided with a second slide block 512 adapted to the second slide rail 511, the second slide block 512 is fixedly connected to the hip joint training mechanism 52 through a right-angle joint block 521, and an expansion end of the third electric push rod 513 is fixedly mounted on the right-angle joint block 521. The second sliding block 512 is driven to move up and down on the second sliding rail 511 by the extension and retraction of the third electric push rod 513, so that the height of the mechanical leg fixedly connected to the right-angle transfer block 521 is adjusted, and the height of the whole lower limb training mechanism 5 is adjusted to adapt to the application of different postures of lying, sitting and standing of a human body in the rehabilitation training process.

As shown in fig. 5 and 6, the hip joint training mechanism 52 includes a hip joint support frame 522 fixed to the lower limb height adjustment mechanism 51 by a right angle joint block 521, a hip joint reduction motor 523 mounted on the hip joint support frame 522, a hip joint worm 524 coaxially disposed with an output shaft of the hip joint reduction motor 523, a hip joint worm wheel 525 coupled to the hip joint worm 524 in a fitting manner, and thigh link plates 531 fixed to both sides of the hip joint worm wheel 525 by first worm wheel spacers 526, and a transmission shaft of the hip joint worm wheel 525 is fixedly mounted on the hip joint support frame 522. The upper end and the lower end of the hip joint support frame 522 encapsulate the hip joint training mechanism 52 through a bearing end cover 546, the upper end and the lower end of the hip joint worm 525 are both fixed on the hip joint support frame 522 through an angular contact ball bearing 527 in a matched manner, first worm wheel gaskets 526 are respectively fixed on two sides of the hip joint worm wheel 525, the output end of the whole hip joint training mechanism 52 is a thigh connecting plate 531 on the thigh training mechanism 53, and the thigh connecting plate 531 is fixed on the first worm wheel gaskets 526 on two sides of the hip joint worm wheel 525 through bolts.

As shown in fig. 7, the thigh training mechanism 53 includes a thigh nut screw 532 fixed to the thigh link plate 531 by bolts, and the thigh nut screw 532 is interference-fitted to the thigh training housing 534 by a thigh nut holder 533. Wherein thigh nut lead screw 532, thigh nut fixing 533 and thigh training shell 534 three adopt interference fit to press from both sides tight fixedly, and thigh training mechanism 53 can realize the regulation to thigh training mechanism 53's length through the nut on the manual regulation thigh nut lead screw 532 to be suitable for the human body of co-altitude not.

As shown in fig. 8 and 9, the knee joint training mechanism 54 includes a knee joint support 541 fixedly mounted on the thigh training housing 534, a knee joint reduction motor 542 fixedly mounted on the knee joint support 541, a knee joint worm 543 coaxially disposed with an output shaft of the knee joint reduction motor 542, a knee joint worm wheel 544 coupled with the knee joint worm 543, and a shank link plate 551 fixed on both sides of the knee joint worm wheel 544 by a second worm wheel spacer 545; the transmission shaft of the knee joint worm gear 544 is fixedly mounted on the knee joint support 541, and the upper end and the lower end of the knee joint worm 543 are both fixed on the knee joint support 541 through the angular contact ball bearings 527 in a matched manner. In order to prevent the thigh training mechanism 53 and the shank training mechanism 55 from transitionally rotating upwards in the training process, the hip joint support frame 522 and the knee joint support frame 541 are both fixedly provided with limiting pieces 9, the limiting pieces 9 arranged on the hip joint support frame 522 limit the forward bending movement of the hip joint, and the limiting of the backward bending movement is realized by using a specific mechanical structure of a hip joint worm wheel 525 worm support frame. The limiting member 9 on the knee joint support 541 limits the hip joint backward bending movement, and the limitation of the forward bending movement is realized by using a specific mechanical structure of the knee joint support 541.

As shown in fig. 8, the lower leg training mechanism 55 includes a lower leg training shell 552 fixed on a lower leg connecting plate 551, the lower leg training shell 552 is in interference fit with a lower leg nut screw 554 through a lower leg nut fixing member 553, the lower leg training shell 552, the lower leg nut fixing member 553 and the lower leg nut screw 554 are clamped and fixed in interference fit, and the lower leg training mechanism 55 can adjust the length of the lower leg training mechanism 55 by manually adjusting a nut on the lower leg nut screw 554, so as to adapt to human bodies with different lower leg lengths.

The invention adopts the driving mode of the worm gear and the worm screw, has the advantages of stable transmission, low noise, larger single-stage transmission ratio and the like, leads the training of the hip joint and the knee joint of a patient to be more stable in the lower limb rehabilitation training process, has smaller noise and reduces the training fear of the patient.

As shown in fig. 10 and 11, the ankle training mechanism 56 includes a spring 565 fixing support 561 and an ankle support 562 which are fixed on a lower leg nut screw 554 in sequence from top to bottom, an ankle rotating shaft 563 which is rotatably connected to the ankle support 562 through a bearing, and a connection filter 564 which is fixed on the ankle rotating shaft 563, wherein a spring 565 is installed between the spring 565 fixing support 561 and the connection filter 564, a foot board 57 is fixedly installed at the lower end of the connection filter 564, a clamp beam 12 is fixedly installed on the foot board 57, and both sides of the foot board 57 are respectively connected to both ends of the clamp beam 12, and the clamp beam 12 is in a portal shape. Prevents the feet from sliding off the pedal plate 57 in the process of rehabilitation training of the human body, thereby avoiding secondary injury to the human body caused by the feet sliding off the pedal plate 57. The ankle joint spring 565 fixed on the ankle joint support 562 of the invention forms a balance force structure, and the passive training of ankle joint flexion is realized by converting the pressure of the dead weight of the human body on the foot pedal 57 into the power of ankle joint movement.

As shown in fig. 12, the ankle joint rotation shaft 563 is fixed to the ankle joint connection transition plate by a key connection, and is connected to the deep groove ball bearing 567 in a fitting manner inside thereof, and the deep groove ball bearing 567 is fixed to the ankle joint bearing seat 569 by the ankle joint bearing retaining ring 568. An ankle joint pivot retainer 566 is secured outboard of the ankle joint pivot shaft 563 to ensure a clamp-on securement with the ankle joint transition plate. A retainer ring is provided on the inner side of the ankle support 562 to radially fix the ankle rotation shaft 563 against left and right shaking. The rear end of the ankle joint support 562 is provided with a rear cover plate which plays a role of integral encapsulation.

As shown in fig. 13 to 15, the seat mechanism 7 includes a seat 71, a headrest adjusting mechanism 75 fixed to a back plate bracket 73 of the seat 71 for adjusting a position of a headrest frame 74, and a seat angle adjusting mechanism 76 pivotally connected to a seat plate bracket 72 of the seat 71, wherein a seat lifting mechanism 77 is fixedly mounted to the seat plate bracket 72 of the seat 71, the seat lifting mechanism 77 is mounted to a seat moving mechanism 78 via a seat support frame 8, and the seat moving mechanism 78 is fixedly mounted to the base 1 via a seat connecting plate 781.

The base 1 is a horizontal bottom plate, at least four universal wheels 10 are installed at the lower end of the base 1, and the universal wheels 10 are fixedly connected to four corners below the horizontal bottom plate through bolts respectively in the embodiment of the invention, so that the whole lower limb rehabilitation robot can move conveniently, and the lower limb rehabilitation robot is suitable for more use environments. The universal wheels 10 have self-locking function, so that the lower limb rehabilitation robot can be integrally more stable in the working process when a human body sits, lies and stands in various postures. Wherein base support frame 2 passes through the bolt fastening on the upper portion of base 1, and base support frame 2 is used for supporting subtract heavy device 3 and low limbs training mechanism 5, fixes with triangle mounting 11 at the junction of base 1 and base support frame 2 to improve the steadiness and the reliability of base support frame 2.

The lower limb rehabilitation robot has three degrees of freedom, including flexion and extension of hip joints, flexion of knee joints and flexion of ankle joints; the hip joint and the knee joint adopt a worm gear transmission mode to realize flexion and extension and flexion of the joints, the ankle joint realizes passive following training through a balance force structure, and each joint forms a three-degree-of-freedom space mechanism, so that the rehabilitation training of three degrees of freedom of the leg of a patient is realized, and the leg training of the patient is closer to the natural motion of the leg.

As shown in fig. 14, the headrest adjusting mechanism 75 includes a second electric push rod support 751 and a headrest adjusting sleeve 752 fixed on the back plate support 73, an adjusting rod 753 is sleeved in the headrest adjusting sleeve 752, an upper end of the adjusting rod 753 is fixedly mounted on the headrest frame 74, a second electric push rod 754 is fixedly mounted on the second electric push rod support 751, and a telescopic end of the second electric push rod 754 is mounted on the headrest frame 74.

As shown in fig. 14, the seat angle adjusting mechanism 76 includes a right angle link 761 symmetrically rotatably connected to the front end of the seat plate bracket 72, a first link 762 rotatably connected to the right angle link 761, a second link 763 rotatably connected to the first link 762 at one end and rotatably connected to the rear end of the seat plate bracket 72 at the other end, a third electric push rod bracket 764 fixed between the two second links 763, a third electric push rod 765 having a fixed end fixedly mounted on the third electric push rod bracket 764, and a telescopic end of the third electric push rod 765 fixedly connected to the second electric push rod bracket 751. The telescopic end of the third electric push rod 765 is fixedly connected with the second electric push rod bracket 751 through a pin, and the chair back elevation angle adjustment drives the second connecting rod 763, the first connecting rod 762 and the right-angle connecting rod 761 on the chair 71 to move through the telescopic of the third electric push rod 765, so that the movement of the back plate bracket 73 is pushed, and the adjustment of the chair back angle is realized. Two back cushion adjusting sleeves 752 fixed on the back plate bracket 73, the telescopic end of the second electric push rod 754 is in key connection with the back cushion frame 74, and the telescopic end of the second electric push rod 754 drives the adjusting rod 753 sleeved in the back cushion adjusting sleeve 752 to move, so that the position of the back cushion frame 74 is adjusted.

The lower limb rehabilitation robot can adjust the height of the seat 71 and the position of the seat 71 through the seat lifting mechanism 77 and the seat moving mechanism 78 which are arranged between the seat 71 and the base 1, and can realize the transformation of multiple postures such as standing posture, lying posture, custom angle and the like by matching with the adjustment of the chair back angle through the seat angle adjusting mechanism 76.

As shown in fig. 15, the seat lifting mechanism 77 includes a scissors lifting platform 771 having one end mounted on the seat support frame 8 and the other end mounted on the seat plate bracket 72 of the seat 71, and a first electric push rod 772 fixedly mounted on the seat support frame 8, wherein a fixed end of the first electric push rod 772 is fixedly mounted on the seat support frame 8, and a telescopic end thereof is fixedly connected to a transmission link 773 of the scissors lifting platform 771. The bottom moving end of the scissor lift platform 771 is provided with rollers capable of reciprocating on the seat support frame 8. Similarly, the top fixed end of the scissors lift platform 771 is fixed with the seat plate bracket 72 by bolts, and the top movable end of the scissors lift platform 771 is provided with rollers capable of reciprocating on the seat plate bracket 72. The middle cross beam on the scissors type lifting platform 771 is used as the transmission connecting rod 773, and in the embodiment of the present invention, the first electric push rod 772 stretches and retracts to push the transmission connecting rod 773 of the scissors type lifting platform 771 to move up and down, so as to drive the bottom moving end pulley and the top moving end pulley on the scissors type lifting platform 771 to move, thereby realizing the lifting and lowering of the seat 71.

As shown in fig. 16 and 17, the seat moving mechanism 78 includes a seat connecting plate 781 fixed to the base 1, a bed-up block 782 fixed to the seat connecting plate 781, and a first motor 783, an output shaft of the first motor 783 is coaxially connected to a screw 7841 of a ball screw 784 through a coupling, a first slide rail 786 is fixedly mounted on the bed-up block 782, a first slide block 787 adapted to the first slide rail 786 is provided on the first slide rail 786, the first slide block 787 is fixed to the seat support frame 8 through a bolt, and the seat support frame 8 is fixedly connected to a nut 7842 of the ball screw 784 through a bolt. The two first sliders 787 on the right leg side of the human body are respectively fixed with a movable positioning block 788 through bolts, the seat 71 movable position sensor 789 is fixed on the first slider 787 on the front side of the left leg of the human body, one end of the ball screw 784 close to the first motor 783 is provided with a seat movable stop block 7811, and the seat movable stop block 7811 is fixed on the seat connecting plate 781 through bolts, so that the seat 71 is further prevented from transiting and moving in the process of moving back and forth, and safety accidents are caused. The seat movement position sensor 789 can timely record the forward and backward positions of the movement of the seat 71 while preventing the seat support frame 8 and the first slider 787 from sliding relative to each other. In order to further ensure the safe operation of the seat moving mechanism 78, the seat moving mechanism is mechanically limited, a seat moving limiting block 7810 is fixed on the seat connecting plate 781 through bolts at the far end of the ball screw 784, and a ball bearing is adopted to be matched with the ball screw 784 to realize a limiting function.

The lower limb rehabilitation robot can adjust the height of the seat 71 and the position of the seat 71 through the seat lifting mechanism 77 and the seat moving mechanism 78 which are arranged between the seat 71 and the base 1, and can realize the transformation of multiple postures such as standing posture, lying posture, custom angle and the like by matching with the adjustment of the chair back angle through the seat angle adjusting mechanism 76.

As shown in fig. 18, the upper end of the base support frame 2 is fixedly connected with a weight reduction device 3 through a right-angle connecting plate, and the weight reduction device 3 includes a weight reduction device electric slide table 32 fixed on the base support frame 2 through a weight reduction device connecting plate 31, a weight reduction device connecting block 33 slidably connected on the weight reduction device electric slide table 32, and a weight reduction function 34 fixed on the weight reduction device connecting block 33. The weight reduction device 3 plays a role in reducing weight of the patient in the standing posture training mode and ensures the safety of the patient to carry out rehabilitation training.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.