CN102068367A - Lower limb multi-training mode rehabilitation robot - Google Patents

Lower limb multi-training mode rehabilitation robot Download PDF

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CN102068367A
CN102068367A CN 201110043360 CN201110043360A CN102068367A CN 102068367 A CN102068367 A CN 102068367A CN 201110043360 CN201110043360 CN 201110043360 CN 201110043360 A CN201110043360 A CN 201110043360A CN 102068367 A CN102068367 A CN 102068367A
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shaft
pedal
transmission
transmission mechanism
lower limb
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CN102068367B (en
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孙容磊
何元飞
熊蔡华
熊有伦
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

本发明公开了一种下肢多训练模式康复机器人，包括踏板转动机构、膝髋关节运动机构和脚踝关节运动机构。踏板转动机构中踏板轴一端与踏板连接，另一端与腿膝髋关节运动机构和脚踝关节运动机构连接。膝髋关节运动机构中连杆与中轴的端部固定连接，减速传动装置的输入端与制动器和驱动源连接，输出端与中轴连接。脚踝关节运动机构的左、右套筒由传动方向相反的传动机构传动，输入传动机构与驱动源连接，输出传动机构与踏板轴连接。本装置实现了绕同一个中心线的膝髋和脚踝关节运动的传动，采用制动器和两个驱动源的实时控制，实现了患者下肢六个关节被动、助力、主动、阻尼四种康复训练模式，结构紧凑、控制准确、运行安全、易于实现批量生产。

Figure 201110043360

The invention discloses a rehabilitation robot with multiple training modes for lower limbs, which comprises a pedal rotation mechanism, a knee and hip joint movement mechanism and an ankle joint movement mechanism. In the pedal rotation mechanism, one end of the pedal shaft is connected with the pedal, and the other end is connected with the leg-knee-hip joint motion mechanism and the ankle joint motion mechanism. The connecting rod in the knee-hip joint motion mechanism is fixedly connected with the end of the central shaft, the input end of the reduction transmission device is connected with the brake and the driving source, and the output end is connected with the central shaft. The left and right sleeves of the ankle joint movement mechanism are driven by transmission mechanisms with opposite transmission directions, the input transmission mechanism is connected with the driving source, and the output transmission mechanism is connected with the pedal shaft. This device realizes the transmission of the knee, hip and ankle joints around the same centerline, adopts the real-time control of the brake and two driving sources, and realizes four rehabilitation training modes of passive, assisting, active and damping for the six joints of the patient's lower limbs. The structure is compact, the control is accurate, the operation is safe, and it is easy to realize mass production.

Figure 201110043360

Description

Many training modes of lower limb healing robot
Technical field
The invention belongs to the rehabilitation medical mechanical field, relate to a kind of many training modes of lower limb healing robot, be specifically related to a kind of many training modes of lower limb healing robot that is used for the leg exercise dysfunction patient that causes because of disease, lower limb hemiplegia, various damages etc.
Background technology
Along with the development of society, the limb movement disturbance patient that aged tendency of population and various diseases, accident etc. cause is increasing.This class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves extremely importantly for suffering from the limb motor function, and simultaneously, along with improving constantly of development of science and technology and people quality of life, people are more and more higher to the requirement of health care.Under such background, the limb rehabilitating robot has obtained development rapidly as a kind of instrument of rehabilitation.
At present, family's laboratory is engaged in the research of lower limb rehabilitation robot surplus in the of nearly in the world ten, and wherein the Japan and the U.S. are walked in the prostatitis.Japan has developed rotary healing robot.Berlin, Germany Free University (FREE UNIVERSITY BERLIN) has carried out the research of shank healing robot, and has developed MGT type healing robot model machine.The RUTGERS university of the U.S. has carried out the research of foot's healing robot, and has developed RUTGER foot recovery exercising robot model machine.The federal polytechnical university of Zurich, Switzerland has put on display the healing robot of LOKOMAT by name on Hanover's calendar year 2001 world industry exhibition, the lower limb step that the healing robot model of LOKOMAT adopts a kind of active gait apparatus for correcting to drive the patient trains on the pedal machine, the auxiliary walking movement of patient on whole treadmill of LOKOMAT simultaneously, and use progressive functional movement treatment and patient's assessment, feedback system to organically combine.China starts to walk than later to the research of healing robot, and the achievement in research of auxiliary type healing robot is more relatively, and the achievement in research of recovery exercising robot aspect is then fewer.Tsing-Hua University takes the lead in having developed horizontal lower limbs rehabilitation training robot model machine at home.
The advantage of above-mentioned lower limb rehabilitation robot is simple in structure, be easy to control, but the robot degree of freedom is on the low side, and during gait training, the important joint motions of some of patient can not get training or correct.Simultaneously, these lower limb rehabilitations robot motion pattern is single, mainly is to carry out various types of CPM (Continuous Passive Motion, continuous passive motion), and a spot of lower limb rehabilitation robot can be with aggressive mode work.Current research shows, the dysfunction that produces because of factors such as contingency, birth defect, disease, war and organism aging processes or the rehabilitation training of disabled patient are needed four kinds of training modes usually, be passive exercise pattern, power-assisted training mode, active training mode, damping training mode, do not support simultaneously both at home and abroad that at present above-mentioned multi-joint has the healing robot of four kinds of rehabilitation training patterns simultaneously again.
Summary of the invention
The purpose of this invention is to provide a kind of rehabilitation training that is used for lower limb disorder or six joints of disabled patient lower limb (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint), and realize many training modes of lower limb healing robot of passive exercise pattern, power-assisted training mode, active training mode, four kinds of rehabilitation training patterns of damping training mode.
Many training modes of lower limb healing robot provided by the present invention comprises pedal rotating mechanism, knee joint hip joint motion and ankle articulation mechanism,
Described pedal rotating mechanism comprises pedal and pedal shaft, and pedal shaft one end is connected with pedal, and the other end is connected with the ankle articulation mechanism with knee joint hip joint motion, and described pedal rotating mechanism is two groups;
Described knee joint hip joint motion comprises axis, two connecting rods, first clutch, brake, speed reduction gearing and first drive sources, one end of connecting rod is fixedlyed connected with axis, the other end has a stomidium, pedal shaft passes stomidium and connecting rod flexibly connects, two bar linkage structures are identical with connected mode, the central point of axis is arranged relatively, and the input of speed reduction gearing is connected with brake by first clutch, and described input is connected with first drive source simultaneously; The outfan of speed reduction gearing is fixedlyed connected in the centre position with axis, and described speed reduction gearing can positive and negative both direction transmission;
Described ankle articulation mechanism comprises left sleeve, right sleeve, input driver structure, Left Drive mechanism, right drive mechanism, two groups of output drive mechanisms and second drive source, left and right sleeve is placed in the axis two ends respectively and can rotates around axis, the left sleeve right-hand member is connected with the driven end of Left Drive mechanism, and the left sleeve left end is connected with the drive end of one group of output drive mechanism; Right sleeve left end is connected with the driven end of right drive mechanism, right sleeve right-hand member is connected with the drive end of another group output drive mechanism, the transmission direction of described left and right drive mechanism is opposite, the driven end of input driver structure is connected with the drive end of Left Drive mechanism, right drive mechanism simultaneously, the drive end of input driver structure is connected with second drive source, the driven end of output drive mechanism is fixedlyed connected away from the axle head of pedal with pedal shaft, and described input driver structure, Left Drive mechanism, right drive mechanism, two groups are exported drive mechanisms can both positive and negative both direction transmission.
Described many training modes of lower limb healing robot, it is further characterized in that:
The gear drive that described speed reduction gearing is made up of the gear shaft and the gear of mutual external toothing and with driving-chain intermeshing before the sprocket transmission device formed of sprocket wheel and back sprocket wheel form, the input of speed reduction gearing is a gear shaft, outfan is the back sprocket wheel, the gear shaft left end by first clutch link to each other with brake, right-hand member links to each other with first drive motors by second clutch, gear and preceding sprocket wheel are fixedly connected on the same rear axle.
Left Drive mechanism is made up of the driven gear and the driving gear of mutual external toothing; Right drive mechanism is by forming with being with intermeshing driven synchronous pulley and active synchronization belt wheel synchronously; The input driver structure is made up of intermeshing turbine and worm screw, driving gear, active synchronization belt wheel and turbine are fixedly connected on the same lower shaft, driving gear, active synchronization belt wheel lay respectively at the turbine both sides, worm screw links to each other with second drive motors by three-clutch, and 180 ° of motor revolutions are reverse; The output drive mechanism is by forming with being with intermeshing active synchronization belt wheel and driven synchronous pulley synchronously.
Brake is a magnetic powder brake.
Axis is provided with two axle head location divisions, and described axle head location division is made up of the holding screw of locking back-up ring and screw-in locking back-up ring.
Left and right sides sleeve is connected with axis by bearing, and bearing is positioned at the sleeve two ends, and the axial inner ring of left bearing that wherein is used to locate left sleeve is by location, axle head location division, and the outer ring is by step location in the sleeve; The axial inner ring of right bearing that is used to locate left sleeve is by axis step location, and the outer ring is by step location in the sleeve, the connection locate mode of right sleeve and axis and left sleeve and axis to be connected locate mode identical.
Pedal shaft is connected with pedal by flat key, holding screw, and flat key has connected radial location to this, and holding screw has connected axial location to this.
The gear ratio of described speed reduction gearing is 8, and the gear ratio of described left and right drive mechanism is 1.5, and the gear ratio of described output drive mechanism is 1.
In the middle of middle, the right sleeve of described left sleeve, lower shaft two axial ends, rear axle two axial ends, worm screw two axial ends, gear shaft two axial ends be provided with and be used for locating the location bearing of entire mechanism in casing.
Described many training modes of lower limb healing robot also comprises the casing of placing entire mechanism, and except pedal rotating mechanism, connecting rod, output drive mechanism are exposed at the casing, other all mechanisms all are sealed in the casing.
The present invention is owing to take above technical scheme, and it has the following advantages:
1. the present invention adopts that backshaft drive drives that axis rotates, two ends active link two sleeves, lower shaft transmission drive the mechanism form that two sleeves rotate around axis on the axis, realized the transmission of motion of knee joint hip joint and ankle joint motions around same centrage, realized the rehabilitation training in six joints of patient's lower limb, compact conformation, space utilization is abundant, and simultaneously, it is more reasonable to adopt the chain transmission to make each drive mechanism position place, overall structure is compact more, and space utilization is more abundant.
2. many training modes of lower limb healing robot provided by the invention has a plurality of degree of freedom, adopt the real-time control of brake and two drive motors, realized that six joints of patient's lower limb are passive, power-assisted, initiatively, four kinds of training modes of damping, precise control, security of operation.
3. the part of many training modes of lower limb healing robot provided by the invention more than 85% is standard component, is easy to realize producing in batches, upgrading upgrading, reduced cost.
Description of drawings
Fig. 1 is the schematic perspective view of many training modes of lower limb healing robot of the present invention;
Fig. 2 is the half sectional view of many training modes of lower limb healing robot part body of the present invention.
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, many training modes of lower limb healing robot comprises pedal rotating mechanism, knee joint hip joint motion and ankle articulation mechanism.
The pedal rotating mechanism comprises pedal 31 and pedal shaft 32.Pedal shaft 32 1 ends are connected with pedal 31 by flat key 33, holding screw 34, and 33 pairs of flat keys should connect radial location, and 34 pairs of holding screws should connect axial location, and pedal shaft 32 other ends are connected with the ankle articulation mechanism with knee joint hip joint motion.The pedal rotating mechanism is two groups in this device.
Knee joint hip joint motion comprises axis 1, two connecting rods 2, first clutch 111, magnetic powder brake 10, speed reduction gearing, second clutch 112 and first drive motors 121.
As shown in Figure 2, one end of connecting rod 2 is fixedlyed connected with the end of axis 1, and the other end of connecting rod 2 has a stomidium, and pedal shaft 32 passes stomidium and flexibly connects by bearing 93 and connecting rod 2, two connecting rod 2 structures are identical with connected mode, and the central point of axis 1 is arranged relatively.
Axis 1 is provided with two axle head location divisions 15, and described axle head location division 15 is made up of the holding screw of locking back-up ring and screw-in locking back-up ring.
Speed reduction gearing by the gear shaft 41 of mutual external toothing, gear 42 and with driving-chain 45 intermeshing before sprocket wheels 43 and back sprocket wheel 44 form, the gear ratio of speed reduction gearing is 8: 1.Gear shaft 41 left ends by first clutch 111 be connected with magnetic powder brake 10, right-hand member passes through second clutch 112 and is connected with first drive motors 121, gear 42 is fixedly connected on the same rear axle 14 with preceding sprocket wheel 43, and back sprocket wheel 44 and axis 1 are fixedlyed connected in the centre position.
The ankle articulation mechanism comprises left sleeve 51, right sleeve 52, input driver structure, Left Drive mechanism, right drive mechanism, two groups of outputs drive mechanism, three-clutch 113 and second drive motors 122.
Left and right sleeve 51,52 is connected with axis 1 by bearing, bearing is positioned at the sleeve two ends, wherein be used to locate the left bearing 91 axial inner rings of left sleeve 51 by 15 location, axle head location division, the outer ring is by step location in the sleeve, the right bearing 92 axial inner rings that are used to locate left sleeve 51 are located by axis 1 step, the outer ring is by step location in the sleeve, the connection locate mode of right sleeve 52 and axis 1 and left sleeve 51 and axis 1 to be connected locate mode identical.
Left Drive mechanism is made up of the driven gear 62 and the driving gear 61 of mutual external toothing.Right drive mechanism is by forming with being with 65 intermeshing driven synchronous pulleys 64 and active synchronization belt wheel 63 synchronously.The input driver structure is made up of intermeshing turbine 72 and worm screw 71.Wherein, driven gear 62 is fixedlyed connected with left sleeve 51 right-hand members, driven synchronous pulley 64 is fixedlyed connected with right sleeve 52 left ends, driving gear 61, active synchronization belt wheel 63 and turbine 72 are fixedly connected on the same lower shaft 13, driving gear 61, active synchronization belt wheel 63 lay respectively at turbine 72 both sides, worm screw 71 links to each other with second drive motors 122 by three-clutch 113, and 180 ° of motor revolutions are reverse.
The gear ratio of Left Drive mechanism and the gear ratio of right drive mechanism are 1.5: 1.The turbine and worm of described input driver structure is non-self-locking whorl worm and gear.
The output drive mechanism is by forming with being with 83 intermeshing active synchronization belt wheels 81 and driven synchronous pulley 82 synchronously, two active synchronization belt wheels 81 of two groups of output drive mechanisms are fixedlyed connected with right sleeve 52 right-hand members with left sleeve 51 left ends respectively, driven synchronous pulley 82 is fixedlyed connected away from pedal 34 axle heads with pedal shaft 32, and the gear ratio of output drive mechanism is 1: 1.
Many training modes of lower limb healing robot of the present invention, the transmission combination in the speed reduction gearing can be by single or combination transmission replacements such as the belt wheel transmission of satisfying space requirement and deceleration requirement, gear drive, chain gear transmission.The gear drive of Left Drive mechanism can by chain gear transmission, belt wheel transmission, etc. transmission replace, the belt wheel transmission of corresponding right drive mechanism can be replaced by transmissions such as gear drive, gear drives.The non-self-locking whorl worm and gear transmission of input driver structure can be by replacements such as spur gear transmission, Bevel Gear Transmission, chain gear transmission or various deceleration transmission.The belt wheel transmission of output drive mechanism can be replaced by gear drive or chain gear transmission.First drive motors and second drive motors can single or combination driving device replacements with other.Magnetic powder brake can replace with the brake of other adjustable braking moments.
Many training modes of lower limb healing robot of the present invention can be placed entire mechanism in casing by the location bearing that is arranged in left sleeve 51 middle, right sleeves 52 centres, lower shaft 13 two axial ends, rear axle 14 two axial ends, worm screw 71 two axial ends, gear shaft 41 two axial ends.Entire mechanism is exposed at the casing except pedal rotating mechanism, connecting rod 2, output drive mechanism, and other all mechanisms all are sealed in the casing.
Before present embodiment places wheelchair with many training modes of these lower limb healing robot, the patient is sitting on the wheelchair, foot places on the pedal and to be example, illustrate that many training modes of lower limb healing robot realization six joints of patient's lower limb (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint) are passive, power-assisted, initiatively, four kinds of training modes of damping:
(1) passive exercise pattern
121 work of first drive motors, second clutch 112 is operated in engagement state, speed reduction gearing in the knee joint hip joint motion drives axis 1 and rotates, the output torque of first drive motors 121 is passed to connecting rod 2 reposefully, connecting rod 2 drives the nearly gait motion of patient's lower limb, thus rehabilitation training patient knee joint and hip joint.Simultaneously, 122 work of second drive motors, three-clutch 113 is operated in engagement state, left side in the ankle articulation mechanism, right drive mechanism drives a left side, right sleeve 51,52 around axis 1 rotation, by the output drive mechanism output torque of second drive motors 122 is passed to pedal 31 reposefully then, pedal 31 is with pedal shaft 32 rotation in connecting rod 2 stomidiums, because the gear drive of Left Drive mechanism is the external toothing transmission, the belt wheel transmission of right drive mechanism is interior engaged transmission, two sleeve rotation directions are just in time opposite, thereby two pedal 31 senses of rotation are opposite, 180 ° of the second drive motors revolutions are reverse,, pedal 31 drives patient's foot and does the motion of foot appearance, thus rehabilitation training patient ankle joint.The angle of rotation of pedal 31 anthropomorphic ankle joint motions and revolution angle are controlled in real time by two drive motors.
(2) power-assisted training mode
First drive motors 121, second drive motors 122 is in duty, second clutch 112, three-clutch 113 is operated in bonding state, detect the electromyographic signal of patient's lower limb nerve muscle, control first drive motors 121, second removes the size and Orientation of the output torque of drive motors 122, speed reduction gearing in the knee joint hip joint motion drives axis 1 and rotates, the output torque of first drive motors 121 is passed to connecting rod 2 reposefully, connecting rod 2 applies and the consistent power of patient's lower limb attempt direction of motion, simultaneously, left and right sides drive mechanism in the ankle articulation mechanism drives a left side, right sleeve 51,52 around axis 1 rotation, by the output drive mechanism output torque of second drive motors 122 is passed to pedal 31 reposefully, pedal 31 applies and the consistent power of patient's ankle attempt direction of motion, helps patient's lower limb to carry out rehabilitation training.
(3) active training mode
First drive motors 121, second drive motors 122 quits work, second clutch 112, three-clutch 113 is operated in released state, because speed reduction gearing, Left Drive mechanism, right drive mechanism, but all both forward and reverse directions transmissions of output drive mechanism, the turbine and worm of input driver structure adopts non-self-locking whorl worm and gear, the input driver structure also can the both forward and reverse directions transmission, axis 1 is in free rotary state, pedal 31 also is in free rotary state, at this moment, returning to a certain degree patient people's foot can place and carry out the initiatively rehabilitation training of lower limb undamped on the pedal 31.
(4) damping training mode
In the active training mode, magnetic powder brake 10 work, first clutch 111 is operated in engagement state, pedal 31 is free to rotate, thereby the size of current by control magnetic powder brake 10 applies resistance apart from the moment of resistance of regulating control axis 1 to gear shaft 41, at this moment, returning to a certain degree patient people's foot can place and carry out lower limb on the pedal 31 the damping rehabilitation training is arranged.
The present invention is not limited to the above-mentioned specific embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple specific embodiment to implement the present invention; therefore; every employing project organization of the present invention and thinking; do some simple designs that change or change, all fall into the scope of protection of the invention.

Claims (10)

1. 一种下肢多训练模式康复机器人，其特征在于：包括踏板转动机构、膝1. A lower limb multi-training mode rehabilitation robot is characterized in that: it comprises a pedal rotation mechanism, a knee 髋关节运动机构和脚踝关节运动机构， Hip joint kinematic mechanism and ankle joint kinematic mechanism, 所述踏板转动机构包括踏板（31）和踏板轴（32），踏板轴（32）一端与踏板（31）连接，另一端与膝髋关节运动机构和脚踝关节运动机构连接，所述踏板转动机构为两组；The pedal rotation mechanism includes a pedal (31) and a pedal shaft (32). One end of the pedal shaft (32) is connected to the pedal (31), and the other end is connected to the knee-hip joint movement mechanism and the ankle joint movement mechanism. The pedal rotation mechanism for two groups; 所述膝髋关节运动机构包括中轴（1）、两个连杆（2）、第一离合器（111）、制动器(10)、减速传动装置和第一驱动源，连杆（2）的一端与中轴（1）的端部固定连接，另一端有一端孔，踏板轴（32）穿过端孔与连杆（2）活动连接，两个连杆（2）结构和连接方式相同，相对中轴（1）的中心点对称布置；减速传动装置的输入端通过第一离合器（111）与制动器（10）连接，同时所述输入端与第一驱动源连接；减速传动装置的输出端与中轴（1）在中间位置固定连接，所述减速传动装置能够正反两个方向传动；The knee-hip joint movement mechanism includes a central axis (1), two connecting rods (2), a first clutch (111), a brake (10), a reduction transmission device and a first driving source, and one end of the connecting rod (2) It is fixedly connected with the end of the center shaft (1), and the other end has an end hole. The pedal shaft (32) passes through the end hole and is flexibly connected with the connecting rod (2). The two connecting rods (2) have the same structure and connection method. The center shaft (1) is symmetrically arranged; the input end of the reduction transmission device is connected to the brake (10) through the first clutch (111), and at the same time, the input end is connected to the first driving source; the output end of the reduction transmission device is connected to the The middle shaft (1) is fixedly connected at the middle position, and the reduction transmission device can drive in both positive and negative directions; 所述脚踝关节运动机构包括左套筒（51）、右套筒（52）、输入传动机构、左传动机构、右传动机构、两组输出传动机构和第二驱动源，左、右套筒（51、52）分别套于中轴（1）两端且能够绕中轴（1）转动，左套筒（51）右端与左传动机构的从动端连接，左套筒（51）左端与一组输出传动机构的主动端连接；右套筒（52）左端与右传动机构的从动端连接，右套筒（52）右端与另一组输出传动机构的主动端连接，所述左、右传动机构的传动方向相反，输入传动机构的从动端同时与左传动机构、右传动机构的主动端连接，输入传动机构的主动端与第二驱动源连接，输出传动机构的从动端与踏板轴（32）远离踏板（31）的轴端固定连接，所述输入传动机构、左传动机构、右传动机构、两组输出传动机构都能够正反两个方向传动。The ankle joint movement mechanism includes a left sleeve (51), a right sleeve (52), an input transmission mechanism, a left transmission mechanism, a right transmission mechanism, two sets of output transmission mechanisms and a second drive source, and the left and right sleeves ( 51, 52) are respectively set on the two ends of the central axis (1) and can rotate around the central axis (1). The right end of the left sleeve (51) is connected with the driven end of the left transmission mechanism, and the left end of the left sleeve (51) is connected with a The driving end of the group output transmission mechanism is connected; the left end of the right sleeve (52) is connected with the driven end of the right transmission mechanism, and the right end of the right sleeve (52) is connected with the driving end of another group of output transmission mechanism. The transmission direction of the transmission mechanism is opposite, the driven end of the input transmission mechanism is connected with the driving ends of the left transmission mechanism and the right transmission mechanism at the same time, the driving end of the input transmission mechanism is connected with the second driving source, and the driven end of the output transmission mechanism is connected with the pedal The shaft end of the shaft (32) away from the pedal (31) is fixedly connected, and the input transmission mechanism, the left transmission mechanism, the right transmission mechanism, and the two groups of output transmission mechanisms can all transmit in forward and reverse directions. 2. 根据权利要求1所述的下肢多训练模式康复机器人，其特征在于：所述减速传动装置由相互外啮合的齿轮轴（41）和齿轮（42）组成的齿轮传动装置和与传动链（45）相互啮合的前链轮（44）和后链轮（43）组成的链轮传动装置组成，减速传动装置的输入端为齿轮轴（41），输出端为后链轮（44），齿轮轴（41）左端通过第一离合器（111）与制动器（10）相连，右端通过第二离合器（112）与第一驱动电机（121）相连，齿轮（42）与前链轮（43）固定连接在同一根后轴（14）上。2. The lower limb multi-training mode rehabilitation robot according to claim 1, characterized in that: the reduction transmission device is composed of a gear transmission device composed of a gear shaft (41) and a gear (42) meshing with each other and a transmission chain ( 45) The sprocket transmission device is composed of the front sprocket (44) and the rear sprocket (43) that are meshed with each other. The input end of the reduction transmission device is the gear shaft (41), and the output end is the rear sprocket (44). The left end of the shaft (41) is connected with the brake (10) through the first clutch (111), the right end is connected with the first driving motor (121) through the second clutch (112), and the gear (42) is fixedly connected with the front sprocket (43) on the same rear axle (14). 3. 根据权利要求1或2所述的下肢多训练模式康复机器人，其特征在于：左传动机构由相互外啮合的从动齿轮（62）和主动齿轮（61）组成；右传动机构由与同步带（65）相互啮合的从动同步带轮（64）和主动同步带轮（63）组成；输入传动机构由相互啮合的涡轮（72）和蜗杆（71）组成，主动齿轮（61）、主动同步带轮（63）和涡轮（72） 固定连接在同一根下轴（13）上，主动齿轮（61）、主动同步带轮（63）分别位于涡轮（72）两侧，蜗杆（71）通过第三离合器（113）与第二电机（122）相连，电机每转180°反向，输出传动机构由与同步带（83）相互啮合的主动同步带轮（81）和从动同步带轮（82）组成。3. The lower limb multi-training mode rehabilitation robot according to claim 1 or 2, characterized in that: the left transmission mechanism is composed of a driven gear (62) and a driving gear (61) that are meshed with each other; the right transmission mechanism is composed of a synchronous The driven synchronous pulley (64) and the driving synchronous pulley (63) are composed of the belt (65) meshing with each other; the input transmission mechanism is composed of the worm gear (72) and the worm (71) meshing with each other, the driving gear (61), the driving The synchronous pulley (63) and the worm gear (72) are fixedly connected on the same lower shaft (13), the driving gear (61) and the driving synchronous pulley (63) are respectively located on both sides of the worm gear (72), and the worm (71) passes through The third clutch (113) is connected with the second motor (122), and the motor is reversed every 180°, and the output transmission mechanism is composed of a driving synchronous pulley (81) and a driven synchronous pulley ( 82) Composition. 4.根据权利要求1或2所述的下肢多训练模式康复机器人，其特征在于：所述制动器（10）为磁粉制动器。4. The lower limb multi-training mode rehabilitation robot according to claim 1 or 2, characterized in that: the brake (10) is a magnetic powder brake. 5.根据权利要求1所述的下肢多训练模式康复机器人，其特征在于：中轴（1）上设置有两个轴端定位部（15），所述轴端定位部（15）由锁紧挡圈和旋入锁紧挡圈的紧定螺钉组成。5. The lower limb multi-training mode rehabilitation robot according to claim 1, characterized in that: two shaft end positioning parts (15) are arranged on the central shaft (1), and the shaft end positioning parts (15) are locked by locking It consists of a retaining ring and a set screw screwed into the locking retaining ring. 6. 根据权利要求5所述的下肢多训练模式康复机器人，其特征在于：左右套筒（51、52）通过轴承与中轴（1）连接，轴承位于套筒两端，其中用于定位左套筒（51）的左轴承（91）轴向内圈由轴端定位部（15）定位，外圈由套筒内台阶定位；用于定位左套筒（51）的右轴承（92）轴向内圈由中轴（1）台阶定位，外圈由套筒内台阶定位，右套筒（52）与中轴（1）的连接定位方式与左套筒（51）与中轴（1）的连接定位方式相同。6. The lower limb multi-training mode rehabilitation robot according to claim 5, characterized in that: the left and right sleeves (51, 52) are connected to the central shaft (1) through bearings, and the bearings are located at both ends of the sleeves, which are used for positioning the left The axial inner ring of the left bearing (91) of the sleeve (51) is positioned by the shaft end positioning part (15), and the outer ring is positioned by the inner step of the sleeve; it is used to locate the shaft of the right bearing (92) of the left sleeve (51) The inner ring is positioned by the step of the central shaft (1), and the outer ring is positioned by the inner step of the sleeve. The connection and positioning method of the right sleeve (52) and the central shaft (1) is the same as that of the left sleeve (51) and the central shaft (1). The connections are located in the same way. 7. 根据权利要求1所述的下肢多训练模式康复机器人，其特征在于：踏板轴（32）通过平键（33）、紧定螺钉（34）与踏板（31）连接，平键（33）对该连接起径向定位，紧定螺钉（34）对该连接起轴向定位。7. The lower limb multi-training mode rehabilitation robot according to claim 1, characterized in that: the pedal shaft (32) is connected to the pedal (31) through a flat key (33) and a set screw (34), and the flat key (33) The connection is positioned radially and the set screw (34) is positioned axially to the connection. 8. 根据权利要求1所述的下肢多训练模式康复机器人，其特征在于：所述减速传动装置的传动比为8，所述左、右传动机构的传动比均为1.5，所述输出传动机构的传动比为1。8. The lower limb multi-training mode rehabilitation robot according to claim 1, characterized in that: the transmission ratio of the reduction transmission device is 8, the transmission ratios of the left and right transmission mechanisms are 1.5, and the output transmission mechanism The transmission ratio is 1. 9.根据权利要求3所述的下肢多训练模式康复机器人，其特征在于：所述左套筒（51）中间、右套筒（52）中间、下轴（13）两轴端、后轴（14）两轴端、蜗杆（71）两轴端、齿轮轴（41）两轴端均设置有用于定位整个机构于箱体中的定位轴承。9. The lower limb multi-training mode rehabilitation robot according to claim 3, characterized in that: the middle of the left sleeve (51), the middle of the right sleeve (52), the two shaft ends of the lower shaft (13), and the rear shaft ( 14) The two shaft ends, the two shaft ends of the worm (71) and the two shaft ends of the gear shaft (41) are all provided with positioning bearings for positioning the whole mechanism in the casing. 10.根据权利要求1所述的下肢多训练模式康复机器人，其特征在于：所述下肢多训练模式康复机器人还包括放置整个机构的箱体，除了踏板转动机构、连杆（2）、输出传动机构露在箱体外，其他所有机构都密封在箱体内。10. The lower limb multi-training mode rehabilitation robot according to claim 1, characterized in that: the lower limb multi-training mode rehabilitation robot also includes a box for placing the entire mechanism, except for the pedal rotation mechanism, connecting rod (2), output drive The mechanism is exposed outside the box, and all other mechanisms are sealed in the box.
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