CN108578181A - A kind of four-footed power-assisted healing robot - Google Patents

Abstract

The invention discloses a quadruped power-assisted rehabilitation robot, which comprises four limbs of the robot, an upper plate, a lower plate, an upper and lower connecting plate, a steering mechanism, a middle leg, an upper bracket of the middle leg, and a lower bracket of the middle leg. The upper plate and the lower plate pass through The upper and lower connecting plates are fixed together, and the four limbs of the robot are respectively connected with the upper plate and the lower plate through four leg chain shafts; the present invention uses four stepping motors and four electric push rods as power sources, and four stepping motors Independently drive the walking of the robot's limbs, two electric push rods control the steering of the quadruped assisted rehabilitation robot, and two electric push rods are used to adjust the height of the robot, which has stronger adaptability and higher stability. The invention adopts symmetrical structure design, flexible movement, strong bearing capacity, simple and compact structure, reasonable design, good processing and assembly technology and the like.

Description

A quadruped assisting rehabilitation robot

technical field

The present invention relates to the field of quadruped robots, and more specifically, relates to a quadruped assisting rehabilitation robot.

Background technique

Assisted rehabilitation robot is a typical human-machine integration system, which can provide assistance, protection, and body support for the operator. At the same time, it integrates control, mobile computing and other technologies to enable the robot to complete certain functions and tasks.

Although the existing power-assisted rehabilitation robots can meet the needs of people's rehabilitation training, they also have various problems. For example, the Chinese invention patent with the application number CN1O6621207A discloses a training method for a rehabilitation robot and a rehabilitation robot. The cabinet and the robotic arm are used to assist in training. Patients can follow the robotic arm for passive exercise and rehabilitation, or they can drive the robotic arm for active exercise and rehabilitation; the Chinese invention patent with application number CN1O6264989A discloses a lower limb exoskeleton assisting robot, including The robot body, back and pedals can assist walking by wearing the power-assisted robot; the Chinese invention patent application number CN1O6618979A discloses a gait rehabilitation robot and a control method for a gait rehabilitation robot. The sensor system measures the two-dimensional posture of the lower limbs of the user when walking in real time and calculates the user's walking speed, and controls the running speed of the robot according to the walking speed; It is convenient to assist walking, and some need to be worn on the body for use, which is cumbersome, and some have a more complicated structure and higher cost. Moreover, the above-mentioned invention patent can only realize the function of assisting walking or rehabilitation training, and it is difficult to meet the multi-functional requirements.

In view of the above-mentioned deficiencies, it is necessary to design and develop a quadruped assisting rehabilitation robot, which can make up for the above-mentioned deficiencies.

Contents of the invention

The purpose of the present invention is to solve the existing problems of inconvenient movement, difficulty in daily activities, long rehabilitation time, complex structure, inconvenient use and high cost of existing rehabilitation robots for patients or the elderly, and to provide a quadruped-assisted rehabilitation robot , It can solve the problems of complex mechanism, inconvenient use and high cost of the existing rehabilitation robot, solve the walking problem of the patient or the elderly, and help the patient to recover as soon as possible.

The present invention achieves the above object through the following technical solutions: a quadruped power-assisted rehabilitation robot, including robot limbs, an upper plate, a lower plate, an upper and lower connecting plate, a steering mechanism, a middle leg, an upper bracket of the middle leg, and a lower bracket of the middle leg. The upper plate and the lower plate are fixed together through the upper and lower connecting plates, and the limbs of the robot are respectively connected with the upper plate and the lower plate through four leg branch chain shafts; the limbs of the robot include the left front and right front , left forelimb, right forelimb, left hindlimb and right hindlimb in the four directions of left rear and right rear; there are two middle legs, one of which is arranged between the left forelimb and the right forelimb, and the other is arranged between the left hindlimb and the right forelimb. Between the right hind limbs, the middle leg passes through the lower plate, the upper end of the middle leg is fixed on the upper plate by the upper bracket of the middle leg, the middle part of the middle leg passes through the lower bracket of the middle leg and the lower bracket of the middle leg fixed on the lower plate;

The structures of the left forelimb, the right forelimb, the left hindlimb and the right hindlimb are exactly the same, and the structure of any one of the four limbs includes a first rod, a second rod, a third rod, a fourth rod, a fifth rod, Sixth rod, seventh rod, eighth rod, ninth rod, tenth rod, eighth rod, leg bracket, crank, stepper motor, conical pinion, conical bull gear; leg chain The rotating shaft passes through the upper and lower ends of the leg bracket and is respectively connected to the upper plate and the lower plate; the stepping motor is fixed on the leg bracket through the motor connecting plate, and the motor head of the stepping motor is connected to the conical pinion, and the conical pinion and the The bevel gears mesh with each other to transmit power, the bevel gears are connected to one end of the gear input shaft, and the gear input shaft is installed on the leg bracket; the crank is installed on the gear input shaft, and the seventh rod and the tenth rod One end is hinged on the crank through the seventh connecting shaft, the first rod, the third rod and the feet for contacting the ground are hinged through the first connecting shaft, the first rod, the second rod The member and the fourth rod are hinged through the second connecting shaft, the fourth rod, the fifth rod, and the eighth rod are hinged through the third connecting shaft, and the eighth rod, the ninth rod and the The tenth rod is hinged through the fourth connecting shaft, the second rod, the third rod, the sixth rod, and the seventh rod are hinged through the sixth connecting shaft, and the sixth rod, the fifth The rod and the ninth rod are hinged through the fifth connecting shaft and the fifth connecting shaft is installed on the leg bracket; the crank, the tenth rod, the eighth rod, the fourth rod and the first rod The member constitutes the first five-bar linkage mechanism with the crank as the active pair, and the crank, the tenth rod, the ninth rod, the sixth rod and the third rod constitute the second five-bar linkage with the crank as the active pair. The connecting rod mechanism, the crank, the seventh rod, the third rod and the leg bracket constitute a four-bar linkage with the crank as the active pair; the stepper motor drives the crank through the conical pinion and conical gear to drive the limbs exercise;

There are two electric push rods, one end of one electric push rod is hinged on an upper and lower connecting plate through a push rod joint, and the other end is hinged on the side of the steering push rod close to the left forelimb through a push rod joint. One end of the push rod is connected to the leg support of the left forelimb through the push rod joint, and the other end of the steering push rod is hinged on the leg support of the left hind limb through the push rod joint; the electric push rod and the steering push rod are provided with symmetrical One pair, the other electric push rod and steering push rod are symmetrically arranged on the other side of the quadruped power-assisted rehabilitation robot, and are used to steer the right forelimb and rear right hind limb.

Further, the first rod is composed of one rod, the second rod is composed of two left-right symmetrical rods; the third rod is composed of two left-right symmetrical rods ; The fourth rod is composed of two symmetrical rods; the fifth rod is composed of two symmetrical rods; the sixth rod is composed of two symmetrical The seventh rod is composed of a long rod; the eighth rod is composed of a rod; the ninth rod is composed of two symmetrical rods; The tenth rod is composed of two symmetrical rods; the first rod, the second rod and the third rod form a triangular structure; the second rod, the fourth rod, the third rod The fifth bar and the sixth bar form a parallelogram structure; the fifth bar, the eighth bar and the ninth bar form a triangular structure; the sixth bar, the seventh bar, and the bracket form a triangular structure.

Further, the middle leg includes a leg electric push rod, a second caster connecting piece, a spring, a first caster connecting piece and a caster, and a counterbore is opened at one end of the second caster connecting piece, and at a position perpendicular to the counterbore There is a through hole; the bottom of the first caster connector is provided with the optical axis of the square plate, and the upper end of the optical axis of the first caster connector passes through the counterbore of the second caster connector and passes through the pin shaft with the second caster connector Fixed connection, the spring is set on the optical axis of the first caster connector, and the caster is installed on the bottom of the square plate at the bottom of the first caster connector; the upper bracket of the middle leg is fixed on the upper plate by welding, and the middle leg The shape of the bracket is convex, the two sides of the bracket on the middle leg are provided with ribs for increasing strength, the top of the boss on the bracket on the middle leg is provided with a groove for connecting the upper end of the electric push rod of the leg, and the two sides of the groove There is a through hole on the side, and the upper end of the electric push rod of the leg is fixedly connected with the upper bracket of the middle leg through the pin shaft passing through the through holes on both sides of the groove; the lower bracket of the middle leg is fixed on the lower plate by welding, The shape of the lower bracket of the middle leg is convex, and the middle part of the lower bracket of the middle leg has a square through hole. The lower end of the electric push rod of the leg passes through the lower bracket of the middle leg and is fixedly connected with the second caster connector. The movement of the electric push rod plays a guiding role.

Further, a square hole is provided in the middle of the upper plate.

Further, there are two upper and lower connecting plates, both of which are in the shape of "I", one of which is set between the left forelimb and left hind limb, and the other upper and lower connecting plate is set between the right forelimb and right hind limb.

Further, the four push rod joints on any side are located at the same level.

The technical concept of the present invention is as follows: when a patient or an elderly person walks, firstly, according to the height of different people, drive the electric push rod of the legs, and the electric push rod can compress the spring to adjust the height of the quadruped power-assisted rehabilitation robot; the robot limbs of the quadruped power-assisted rehabilitation robot The structure is exactly the same and distributed symmetrically. When the quadruped assisted rehabilitation robot walks forward smoothly, its left and right structures move in the same way. There is no output of the rod, which can realize the state of one front and one back when walking; when the quadruped power-assisted rehabilitation robot needs to turn and the corner is not large, the small-scale steering of the quadruped power-assisted rehabilitation robot can be realized by controlling the speed of the left and right cranks; When the quadruped assisted rehabilitation robot needs to turn and the turning angle is slightly large, it can be used in conjunction with the electric push rod, and a large turn can be achieved through the action of the electric push rod walking leg mechanism. The leg chains of each quadruped assisted rehabilitation robot have their own independent control of the stepping motor, which greatly improves the flexibility of the quadruped assisted rehabilitation robot when walking.

The control system of the present invention comprises a PLC controller, four stepper motor drivers, and the four stepper motor drivers are respectively a first driver, a second driver, a third driver and a fourth driver, which are respectively used to drive four robot limbs Four stepping motors, i.e. the first motor, the second motor, the third motor and the fourth motor; the output terminals of the controller are respectively connected with the input terminals of the first driver, the second driver, the third driver and the fourth driver connected in parallel; the output end of the first driver is connected with the first motor, and receives the pulse signal sent by the controller to control the first motor; the output end of the second driver is connected with the second motor, and receives the pulse signal sent by the controller Control the second motor; the output end of the third driver is connected with the third motor, and accepts the pulse signal sent by the controller to control the third motor; the output end of the fourth driver is connected with the fourth motor, and accepts the pulse signal sent by the controller The pulse signal controls the fourth motor.

The working process of the present invention is as follows: the stepper motor drives the crank to rotate, and the crank drives the leg of the robot to rotate, and the foot at the end can maintain a straight line at a constant speed for a long period of time during the walking link, which enhances the stability of the entire robot during the forward process; The forward and backward push of the electric actuator can control the steering of the legs of the transport robot.

The beneficial effect of the present invention is that: the present invention adopts four stepping motors and four electric push rods as power sources, the four stepping motors independently drive the walking of the robot's limbs, and two electric push rods control the steering of the quadruped power-assisted rehabilitation robot , In addition, two electric push rods are used to adjust the height of the robot, which has stronger adaptability and higher stability. The invention adopts symmetrical structure design, flexible movement, strong bearing capacity, simple and compact structure, reasonable design, good processing and assembly technology and the like.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a quadruped assisted rehabilitation robot of the present invention.

Fig. 2 is a schematic structural view of a quadruped-assisted rehabilitation robot of the present invention with half-symmetrical limbs.

Fig. 3 is a structural schematic diagram of the left forelimb of the present invention.

Fig. 4 is a structural diagram of the middle support leg of the present invention.

In the figure, 1-left forelimb, 2-right hind limb, 3-upper board, 4-lower board, 5-middle leg, 6-middle leg upper bracket, 7-middle leg lower bracket, 101-second leg bracket, 102-bracket upper horizontal plate, 103-tenth bar, 104-fourth connecting shaft, 105-ninth bar, 106-eighth bar, 107-fifth bar, 108-third connecting shaft , 109-the fourth rod, 110-the second rod, 111-the second connection shaft, 112-the first rod, 113-the third rod, 114-the first connection shaft, 115-the sixth connection Shaft, 116-sixth rod, 117-seventh rod, 118-crank, 119-first leg bracket, 120-conical bull gear, 121-conical pinion, 122-motor connecting plate, 123-up and down Connecting plate, 124-push rod joint, 125-steering push rod, 126-electric push rod, 127-stepping motor, 128-hinge shaft, 129-fifth connecting shaft, 130-bracket lower horizontal plate, 501-foot Electric push rod, 502-second caster connector, 503-spring, 504-first caster connector, 505-caster.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1 to 4, a quadruped power-assisted rehabilitation robot includes robot limbs, an upper plate 3, a lower plate 4, an upper and lower connecting plate 123, a steering mechanism, a middle leg 5, an upper bracket 6 of the middle leg and a lower bracket of the middle leg 7. The upper plate 3 and the lower plate 4 are fixed together through the upper and lower connecting plates 123, and the limbs of the robot are respectively connected with the upper plate 3 and the lower plate 4 through four leg branch chain shafts; The left forelimb 1, right forelimb, left hindlimb and right hindlimb 2 of the left front, right front, left rear and right rear of the foot-assisted rehabilitation robot use the principle of animal limbs and walking, through the cooperation of rods and axes of different sizes, The "bionic leg" assembled using the basic triangular truss structure and the geometry of the golden ratio has a purely mechanical structure, which is simpler and more stable; there are two middle legs 5, one of which is set on the left forelimb 1 and the right leg. Between the forelimbs, the other one is arranged between the left hind limb and the right hind limb 2, the middle leg 5 passes through the lower plate 4, and the upper end of the middle leg 5 is fixed on the upper plate 3 by a bracket 6 on the middle leg, and the middle leg The middle part of 5 passes through the lower bracket 7 of the middle leg and the lower bracket 7 of the middle leg is fixed on the lower plate 4 .

The structures of the left forelimb 1, the right forelimb, the left hindlimb and the right hindlimb 2 are exactly the same, and the structure of any limb includes a first rod 112, a second rod 110, a third rod 113, and a fourth rod 109 , the fifth rod 107, the sixth rod 116, the seventh rod 117, the eighth rod 106, the ninth rod 105, the tenth rod 103, the leg bracket, the crank 118, the stepper motor 127, the small cone Gear 121, conical bull gear 120; Leg support is made up of support upper cross plate 102, second support leg support 101, support lower transverse plate 130 and first support leg support 119, and support upper transverse plate 102 is parallel to support lower transverse plate 130 Set, the second outrigger support 101 is arranged in parallel with the first outrigger support 119, and the upper ends of the second outrigger support 101 and the first outrigger support 119 are vertically installed on the both sides of the horizontal plate 102 on the support, the second outrigger The lower ends of the bracket 101 and the first leg bracket 119 are vertically installed on both sides of the lower horizontal plate 130 of the bracket; the upper horizontal plate 102 of the bracket and the lower horizontal plate 130 of the bracket are provided with through holes, and the leg branch chain shafts pass through the upper horizontal plate of the bracket 102 is connected to the upper plate 3 and the lower plate 4 with the through hole on the lower cross plate 130 of the bracket.

The leg branch chain shaft passes through the upper and lower ends of the leg bracket and is respectively connected to the upper plate 3 and the lower plate 4; the stepper motor 127 is fixed on the leg bracket by the motor connecting plate 122, and the motor head of the stepper motor 127 is connected to The bevel pinion 121, the bevel pinion 121 and the conical bull gear 120 mesh with each other to transmit power, the bevel bull gear 120 is connected to one end of the gear input shaft, and the gear input shaft is installed on the leg bracket; the crank 118 is installed on the gear input shaft , one end of the seventh rod 117 and the tenth rod 103 is hinged on the crank 118 through the seventh connecting shaft, and the first rod 112, the third rod 113 and the feet used for contacting the ground Hinged by the first connecting shaft member 114, the first rod 112, the second rod 110 and the fourth rod 109 are hinged by the second connecting shaft 111, the fourth rod 109, the fifth rod 107 , the eighth rod 106 is hinged through the third connecting shaft 108, the eighth rod 106, the ninth rod 105 and the tenth rod 103 are hinged through the fourth connecting shaft 104, the second rod 110 , the third rod 113, the sixth rod 116, and the seventh rod 117 are hinged by the sixth connecting shaft 115, and the sixth rod 116, the fifth rod 107 and the ninth rod 105 are connected by the fifth The shaft member 129 is hinged and the fifth connecting shaft member 129 is installed on the leg support; the crank 118, the tenth rod 103, the eighth rod 106, the fourth rod 109 and the first rod 112 constitute the following The crank 118 is the first five-bar linkage mechanism of the active pair, and the crank 118, the tenth rod 103, the ninth rod 105, the sixth rod 116 and the third rod 113 constitute a chain with the crank 118 as the active pair. The second five-bar linkage mechanism, the crank 118, the seventh rod 117, the third rod 113 and the leg support constitute a four-bar linkage with the crank 118 as the active pair; the stepper motor 127 passes through the conical pinion 121 and The conical bull gear 120 drives the crank 118 to move and then drives the movement of the limbs.

Described electric push rod 126 is provided with two, and one end of one electric push rod 126 is hinged on the upper and lower connecting plate 123 through push rod joint 124, and the other end is hinged on steering push rod 125 near left forelimb 1 through push rod joint 124. One side of the push rod joint 124 and the steering push rod rotate freely around the hinge shaft 128; one end of the steering push rod 125 is connected to the leg support of the left forelimb 1 through the push rod joint 124, and the other end of the steering push rod 125 Hinged on the leg support of the left hind limb by push rod joint 124; Another electric push rod 126 and the second steering push rod 125 are symmetrically arranged on the other side of the quadruped power-assisted rehabilitation robot, and its structure is the same as that of the first electric push rod 126 It has the same structure as the steering push rod 125, and is used to turn the right hind limb 2 after the right forelimb.

The first rod 112 is composed of one rod, the second rod 110 is composed of two symmetrical rods; the third rod 113 is composed of two symmetrical rods ; The fourth rod 109 is made of two symmetrical rods; the fifth rod 107 is made of two symmetrical rods; the sixth rod 116 is made of two Left and right symmetrical bars are formed; the seventh bar 117 is made of a long bar; the eighth bar 106 is made of one bar; the ninth bar 105 is made of two Symmetric rods; the tenth rod 103 is composed of two symmetrical rods; the first rod 112, the second rod 110 and the third rod 113 form a triangular structure; Two rods 110, the fourth rod 109, the fifth rod 107 and the sixth rod 116 form a parallelogram structure; the fifth rod 107, the eighth rod 106 and the ninth rod 105 form a triangular structure; The sixth rod 116, the seventh rod 117, and the bracket form a triangular structure.

The middle leg 5 includes a leg electric push rod 501, a second caster connector 502, a spring 503, a first caster connector 504 and a caster 505. One end of the second caster connector 502 has a counterbore, and is connected with There is a through hole at the vertical position of the counterbore; the bottom of the first caster connector 504 is provided with an optical axis of a square plate, and the upper end of the optical axis of the first caster connector 504 passes through the counterbore of the second caster connector 502 and is connected to the second caster connector 502. The second caster connector 502 is fixedly connected by a pin shaft, the spring 503 is set on the optical axis of the first caster connector 504, and the caster 505 is installed on the bottom of the square plate at the bottom of the first caster connector 504; the upper bracket 6 of the middle leg It is fixed on the upper plate 3 by welding, the shape of the bracket 6 on the middle leg is convex, the two sides of the bracket 6 on the middle leg are provided with ribs for increasing the strength, and the top of the boss of the bracket 6 on the middle leg is provided with Due to the groove connecting the upper end of the electric push rod 501 of the leg, and the two sides of the groove are provided with through holes, the upper end of the electric push rod 501 of the leg and the upper bracket 6 of the middle leg pass through the pins passing through the through holes on both sides of the groove. The shaft is fixedly connected; the lower bracket 7 of the middle leg is fixed on the lower plate 4 by welding, the shape of the lower bracket 7 of the middle leg is convex, the middle part of the lower bracket 7 of the middle leg has a square through hole, and the electric push rod of the leg The lower end of 501 passes through the lower bracket 7 of the middle leg and is fixedly connected with the second caster connector 502. The lower bracket 7 of the middle leg guides the movement of the electric push rod 501 of the leg. The middle leg of the present invention can drive the electric push rod of the leg according to people of different heights, and appropriately adjust the height of the quadruped power-assisted rehabilitation robot, so as to adapt to the walking of people of different heights.

The middle part of the upper plate 3 is provided with a square hole to reduce the weight of the upper plate.

There are two upper and lower connecting plates 123, both of which are in the shape of an "I". One of the upper and lower connecting plates 123 is arranged between the left forelimb 1 and the left hind limb, and the other upper and lower connecting plate 123 is arranged between the right forelimb and the right hind limb 2. between.

The four push rod joints 124 on either side are all at the same level. To ensure the smoothness of the steering of the quadruped power-assisted rehabilitation robot; the electric push rods 126 on any forelimb and hind limb are installed on the same horizontal plane and arranged in parallel to facilitate the steering of the quadruped power-assisted rehabilitation robot.

Among the cooperation of various rods and shafts in the present invention, bearings are installed in the cooperation of rotating pairs, so as to reduce the wear of the rods.

The technical concept of the present invention is as follows: when a patient or an elderly person walks, firstly, according to the height of different people, drive the electric push rod of the legs, and the electric push rod can compress the spring to adjust the height of the quadruped power-assisted rehabilitation robot; the robot limbs of the quadruped power-assisted rehabilitation robot The structure is exactly the same and distributed symmetrically. When the quadruped assisted rehabilitation robot walks forward smoothly, its left and right structures move in the same way. There is no output of the rod, which can realize the state of one front and one back when walking; when the quadruped power-assisted rehabilitation robot needs to turn and the corner is not large, the small-scale steering of the quadruped power-assisted rehabilitation robot can be realized by controlling the speed of the left and right cranks; When the quadruped assisted rehabilitation robot needs to turn and the turning angle is slightly large, it can be used in conjunction with the electric push rod, and a large turn can be achieved through the action of the electric push rod walking leg mechanism. The leg chains of each quadruped assisted rehabilitation robot have their own independent control of the stepping motor, which greatly improves the flexibility of the quadruped assisted rehabilitation robot when walking.

The control system of the present invention comprises a PLC controller, four stepper motor drivers, and the four stepper motor drivers are respectively a first driver, a second driver, a third driver and a fourth driver, which are respectively used to drive four robot limbs Four stepping motors, i.e. the first motor, the second motor, the third motor and the fourth motor; the output terminals of the controller are respectively connected with the input terminals of the first driver, the second driver, the third driver and the fourth driver connected in parallel; the output end of the first driver is connected with the first motor, and receives the pulse signal sent by the controller to control the first motor; the output end of the second driver is connected with the second motor, and receives the pulse signal sent by the controller Control the second motor; the output end of the third driver is connected with the third motor, and accepts the pulse signal sent by the controller to control the third motor; the output end of the fourth driver is connected with the fourth motor, and accepts the pulse signal sent by the controller The pulse signal controls the fourth motor.

The working process of the present invention is as follows: the stepper motor drives the crank to rotate, and the crank drives the leg of the robot to rotate, and the foot at the end can maintain a straight line at a constant speed for a long period of time during the walking link, which enhances the stability of the entire robot during the forward process; The forward and backward push of the electric actuator can control the steering of the legs of the transport robot.

The above-described embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the above-mentioned embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights.

Claims (6)

1. A quadruped power-assisted rehabilitation robot is characterized in that: comprise robot limbs, upper plate (3), lower plate (4), connecting plate (123) up and down, steering mechanism, middle support foot (5), support on middle support foot (6) and the lower bracket (7) of the middle support foot, the upper plate (3) and the lower plate (4) are fixed together by the upper and lower connecting plates (123), and the robot limbs are connected with the upper plate ( 3) and the lower plate (4) are connected together; the robot limbs include the left forelimb (1), right forelimb, left hind limb and The right hind limb (2); the middle leg (5) is provided with two, one of which is arranged between the left forelimb (1) and the right forelimb, and the other is arranged between the left and right hindlimb (2), and the The middle leg (5) passes through the lower plate (4), the upper end of the middle leg (5) is fixed on the upper plate (3) through the upper bracket (6) of the middle leg, and the middle part of the middle leg (5) passes through the middle The lower bracket (7) of the leg and the lower bracket (7) of the middle leg are fixed on the lower plate (4); The structures of the left forelimb (1), the right forelimb, the left hindlimb and the right hindlimb (2) are identical, and the structure of any limb includes a first bar (112), a second bar (110), a third bar (113), the fourth rod (109), the fifth rod (107), the sixth rod (116), the seventh rod (117), the eighth rod (106), the ninth rod ( 105), the tenth rod (103), leg support, crank (118), stepper motor (127), conical pinion (121), conical bull gear (120); The two ends are respectively connected on the upper plate (3) and the lower plate (4); the stepping motor (127) is fixed on the leg bracket through the motor connection plate (122), and the motor head of the stepping motor (127) is connected The bevel pinion (121), the bevel pinion (121) and the conical bull gear (120) mesh with each other to transmit power, the bevel bull gear (120) is connected to one end of the gear input shaft, and the gear input shaft is installed on the leg support; The crank (118) is installed on the gear input shaft, and one end of the seventh rod (117) and the tenth rod (103) are hinged on the crank (118) through the seventh connecting shaft, and the first rod (112), the third rod (113) and the feet used to contact the ground are hinged through the first connecting shaft (114), the first rod (112), the second rod (110) and the first rod (110) The four rods (109) are hinged through the second connecting shaft (111), and the fourth rod (109), the fifth rod (107), and the eighth rod (106) are connected through the third connecting shaft (108) ) is hinged, the eighth rod (106), the ninth rod (105) and the tenth rod (103) are hinged through the fourth connecting shaft (104), the second rod (110), the Three rods (113), the sixth rod (116), the seventh rod (117) are hinged by the sixth connecting shaft (115), the sixth rod (116), the fifth rod (107) and the ninth rod (105) are hinged through the fifth connecting shaft (129) and the fifth connecting shaft (129) is installed on the leg bracket; the crank (118), the tenth rod (103), The eighth rod (106), the fourth rod (109) and the first rod (112) constitute the first five-bar linkage with the crank (118) as the active pair, and the crank (118), the tenth Rod (103), the 9th rod (105), the 6th rod (116) and the 3rd rod (113) have constituted the second five-bar linkage mechanism with crank (118) as active pair, and described crank (118), the seventh rod (117), the third rod (113) and the leg support have constituted the four-bar linkage with the crank (118) as the active pair; the stepper motor (127) passes through the bevel pinion (121 ) and the bevel gear (120) drive the crank (118) to move and then drive the movement of the limbs; Two electric push rods (126) are provided, one end of one electric push rod (126) is hinged on an upper and lower connecting plate (123) through a push rod joint (124), and the other end is connected through a push rod joint (124). Hinged on the side of the steering push rod (125) near the left forelimb (1), one end of the steering push rod (125) is connected to the leg support of the left forelimb (1) through a push rod joint (124), and the steering push rod The other end of (125) is hinged on the leg support of the left hind limb through push rod joint (124); Another electric push rod (126) and the second turning push rod (125) are symmetrically arranged on the other side of the quadruped power-assisted rehabilitation robot. side, its structure is exactly the same as that of the first electric push rod (126) and the steering push rod (125), which is used to turn to the right hind limb (2) after the right forelimb. 2. A quadruped power-assisted rehabilitation robot according to claim 1, characterized in that: the first bar (112) is made of one bar, and the second bar (110) is made of two The left and right symmetrical rods are formed; the third rod (113) is composed of two left and right symmetrical rods; the fourth rod (109) is composed of two left and right symmetrical rods; The fifth rod (107) is made of two symmetrical rods; the sixth rod (116) is made of two symmetrical rods; the seventh rod (117) is It is composed of a long rod; the eighth rod (106) is composed of a rod; the ninth rod (105) is composed of two symmetrical rods; the tenth rod The member (103) is composed of two symmetrical rods; the first rod (112), the second rod (110) and the third rod (113) form a triangular structure; the second rod (110), the fourth bar (109), the fifth bar (107) and the sixth bar (116) constitute a parallelogram structure; the fifth bar (107), the eighth bar (106) and The ninth bar (105) forms a triangular structure; the sixth bar (116), seventh bar (117), and the bracket form a triangular structure. 3. A quadruped power-assisted rehabilitation robot according to claim 1, characterized in that: the middle leg (5) includes a leg electric push rod (501), a second caster connector (502), a spring (503) , the first caster connector (504) and the caster (505), one end of the second caster connector (502) has a counterbore, and has a through hole at the vertical position with the counterbore; the first caster connection The bottom of the part (504) is provided with the optical axis of the square plate, and the upper end of the optical axis of the first caster connector (504) passes through the counterbore of the second caster connector (502) and is connected with the second caster connector (502) through a pin The shaft is fixedly connected, the spring (503) is set on the optical axis of the first caster connector (504), and the caster (505) is installed on the bottom of the square plate at the bottom of the first caster connector (504); (6) It is fixed on the upper plate (3) by welding, the shape of the bracket (6) on the middle leg is convex, the two sides of the bracket (6) on the middle leg are provided with ribs for increasing strength, the middle leg The top of the boss of the upper bracket (6) is provided with a groove for connecting the upper end of the electric push rod (501) of the legs, and the two sides of the groove are provided with through holes, and the upper end and the middle of the electric push rod (501) of the legs The upper bracket (6) of the leg is fixedly connected by the pin shaft passing through the through holes on both sides of the groove; the lower bracket (7) of the middle leg is fixed on the lower plate (4) by welding, and the lower bracket (7) of the middle leg The shape is convex, and there is a square through hole in the middle of the lower bracket (7) of the middle leg. The lower end of the electric push rod (501) passes through the lower bracket (7) of the middle leg and is fixed with the second caster connector (502). Connected, the lower bracket (7) of the middle leg plays a guiding role for the motion of the electric push rod (501) of the leg. 4. A quadruped assisting rehabilitation robot according to claim 1, characterized in that: a square hole is provided in the middle of the upper plate (3). 5. A quadruped assisting rehabilitation robot according to claim 1, characterized in that: there are two upper and lower connecting plates (123), both of which are in the shape of an "I", and one of the upper and lower connecting plates (123) is set Between the left forelimb (1) and the left hindlimb, another upper and lower connecting plate (123) is arranged between the right forelimb and the right hindlimb (2). 6. A quadruped power-assisted rehabilitation robot according to claim 1, characterized in that: the four push rod joints (124) on any side are all located at the same level.