CN111888193A - Multi-posture lower limb rehabilitation robot - Google Patents

Abstract

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.

Description

Multi-pose lower limb rehabilitation robot

technical field

The invention belongs to the technical field of rehabilitation robots, in particular to a multi-position lower limb rehabilitation robot.

Background technique

In recent years, the number of patients with lower extremity motor dysfunction caused by accidents such as traffic accidents and sports disabilities has increased year by year. In addition to the serious national conditions of my country's aging population, the occurrence of diseases such as cerebral infarction and paraplegia will lead to a large number of physical disabilities. By. In the rehabilitation of these patients, in addition to treatment such as surgery and drugs, scientific rehabilitation training is also extremely important. According to statistics, there are currently about 24.07 million people with physical disabilities in my country. Relying on the bare-hand training of rehabilitation physicians is far from meeting the needs of patients. As an automated rehabilitation medical equipment, the lower limb rehabilitation robot can just fill this vacancy. At present, there are nearly 20,000 rehabilitation training service institutions for the disabled at all levels across the country, and the demand for rehabilitation equipment is particularly large.

The three degrees of freedom training of hip flexion and extension, knee flexion and ankle flexion are the main training degrees of freedom for lower limb training. At present, the existing lower limb rehabilitation robots on the market can only play a The role of auxiliary, and the function is single, the posture training mode is limited.

SUMMARY OF THE INVENTION

In view of the above situation, the purpose of the present invention is to overcome the defects of single function and limitation of human body posture mode during training in the prior art, and to provide a multi-functional and multi-posture training mode that can realize sitting, lying, and standing multiple times. Lower limb rehabilitation robot for posture training.

The technical scheme adopted by the present invention is a multi-position lower limb rehabilitation robot, which comprises a base, a base support frame fixedly installed on the base, a lower limb training mechanism symmetrically installed on the inner side of the base support frame, a seat mechanism slidably installed on the base; the lower limb training mechanism comprises a lower limb height adjustment mechanism fixed on the base support frame, a hip joint training mechanism fixedly connected to the lower limb height adjustment mechanism, A thigh training mechanism that is rotatably connected to the hip joint training mechanism, a knee joint training mechanism that is fixedly connected to the thigh training mechanism, a calf training mechanism that is rotatably connected to the knee joint training mechanism, and a calf training mechanism that is fixedly connected to the An ankle joint training mechanism on the calf training mechanism and a foot 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 adjustment mechanism, a The hip joint deceleration motor on the hip joint support frame, the hip joint worm coaxially arranged with the output shaft of the hip joint deceleration motor, the hip joint worm gear that is matched and connected with the hip joint worm, and is fixed on the hip joint. The thigh connecting plates on both sides of the worm gear, and the drive shaft of the hip joint worm gear is fixedly installed on the hip joint support frame; the thigh training mechanism includes a thigh nut screw fixed on the thigh connecting plate, the The thigh nut lead screw is in interference fit with the thigh training shell through the thigh nut fixing piece; the knee joint training mechanism includes a knee joint support frame fixedly installed on the thigh training shell, a knee joint support frame fixedly installed on the knee joint support frame A knee joint deceleration motor, a knee joint worm coaxially arranged with the output shaft of the knee joint deceleration motor, a knee joint worm wheel matched and connected with the knee joint worm wheel, and a calf connecting plate fixed on both sides of the knee joint worm wheel , and the drive shaft of the knee joint worm gear is fixedly installed on the knee joint support frame; the calf training mechanism includes a calf training shell fixed on the calf connecting plate, and the calf training shell is fixed by the calf nut fixing part interference fit with the shank nut lead screw; the ankle joint training mechanism includes a spring fixing bracket and an ankle joint support frame fixed on the calf nut lead screw from top to bottom in sequence, and is connected to the ankle joint support through the bearing rotation An ankle joint rotation shaft on the rack, a connection filter plate fixed on the ankle joint rotation shaft, a spring is installed between the spring fixing bracket and the connection filter plate, and a foot is fixedly installed at the lower end of the connection filter plate pedals; and the seat mechanism is mounted on a seat moving mechanism through a seat support frame, and the seat moving mechanism is fixedly mounted on the base.

Further, the lower limb height adjustment mechanism includes a second sliding rail and a third electric push rod fixed on the lower limb training connecting plate, and the second sliding rail is provided with a second sliding rail that is adapted to the second sliding rail. The second slider is fixedly connected to the hip joint training mechanism through a right-angle adapter block, and the telescopic end of the third electric push rod is fixedly installed on the right-angle adapter block.

Further, the seat mechanism includes a seat, a headrest adjustment mechanism fixed on a backboard bracket of the seat and used to adjust the position of the headrest frame, and a seat angle rotatably connected to the seat plate bracket of the seat. An adjustment mechanism, a seat lifting mechanism is fixedly installed on the seat plate bracket of the seat.

Further, the headrest adjustment mechanism includes a second electric push rod bracket fixed on the back plate bracket and a headrest adjustment sleeve, the headrest adjustment sleeve is sleeved with an adjustment rod, and the upper end of the adjustment rod is fixedly installed. On the headrest frame, a second electric push rod is fixedly installed on the second electric push rod bracket, and the telescopic end of the second electric push rod is installed on the headrest frame.

Further, the seat angle adjustment mechanism includes a right-angle link that is symmetrically rotatably connected to the front end of the seat plate bracket, a first link that is rotatably connected to the right-angle link, and one end that is rotatably connected to the first link. The other end of the upper end is rotatably connected to the second link at the tail of the seat plate bracket, the third electric push rod bracket fixed between the two second links, and the fixed end is fixedly installed on the third electric push rod bracket The telescopic end of the third electric push rod is fixedly connected to the second electric push rod bracket.

Further, the seat lifting mechanism includes a scissor lift table, one end of which is installed on the seat support frame and the other end is installed on the seat plate bracket of the seat, and is fixedly installed on the seat support frame. The fixed end of the first electric push rod is fixedly installed on the seat support frame, and the telescopic end of the first electric push rod is fixedly connected to the transmission link of the scissor lift table.

Further, the seat moving mechanism includes a seat connecting plate fixed on the base, a booster block fixed on the seat connecting plate and a first motor, the output shaft of the first motor passing through The coupling is coaxially connected to the screw rod of the ball screw, a first sliding rail is fixedly installed on the pad, and a first sliding rail that is adapted to the first sliding rail is arranged on the first sliding rail. A slider, the first slider is fixed on the seat support frame by bolts, and the seat support frame and the nut of the ball screw are fixedly connected by bolts.

Further, it also includes a weight reduction device fixed on the base support frame, and the weight reduction device includes a weight reduction device electric sliding table, a sliding connection and a weight reduction device fixed on the base support frame through a weight reduction device connecting plate. A weight reduction device connecting block on the electric sliding table of the weight reduction device, and a weight reduction functional piece fixed on the weight reduction device connection block.

Preferably, both the hip joint support frame and the knee joint support frame are fixedly installed with limiters.

Preferably, at least four universal wheels are installed on the lower end of the base.

The characteristics and beneficial effects of the present invention are:

1. A multi-position lower limb rehabilitation robot provided by the present invention has three degrees of freedom, including the flexion and extension of the hip joint, the flexion of the knee joint and the flexion of the ankle joint, wherein the hip joint and the knee joint are realized by worm gear transmission. The flexion, extension and flexion of the joint, and the passive follow-up training of the ankle joint are realized through the balance force structure. Get closer to the natural movement of the legs.

2. A multi-position lower limb rehabilitation robot provided by the present invention can adjust the seat height and seat position through the seat lifting mechanism and seat moving mechanism arranged between the seat and the base, and adjust the seat angle with the help of the seat. The mechanism adjusts the angle of the chair back, so as to realize the transformation of multiple postures such as standing posture, standing posture, lying posture and self-defined angle; at the same time, the thigh training mechanism and the calf training mechanism are equipped with manual nut screw mechanism, which can realize the adjustment of small The length of the thigh is adjusted, and through the expansion and contraction of the third electric push rod, the height adjustment of the two lower limb training mechanical legs is completed, so that it is suitable for patients with different heights.

3. The multi-position lower limb rehabilitation robot provided by the present invention drives the worm wheel to rotate through the motor driving the worm to realize the flexion and extension of the hip joint and the flexion of the knee joint. The worm gear and worm drive mode enables the rehabilitation robot to have stable transmission and low noise. As well as the advantages of a larger single-stage transmission ratio, the patient's hip and knee joint training is more stable during the lower limb rehabilitation training process, and the noise is small to reduce the patient's fear of training.

4. In a multi-position lower limb rehabilitation robot provided by the present invention, the ankle joint spring fixed on the ankle joint support frame constitutes a balance force structure, and the ankle joint is realized by converting the pressure of the body weight on the foot pedal into the power of the ankle joint movement. The passive training of flexion, and the adjustment of the seat back elevation angle through the expansion and contraction of the third electric push rod, drive the movement of the second link, the first link and the right-angle link of the seat, and then promote the movement of the back plate bracket to realize the adjustment of the seat back angle. adjust.

Description of drawings

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

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

3 is a schematic structural diagram of a lower limb training mechanism according to an embodiment of the present invention;

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

Fig. 5 is the structural representation of the hip joint training mechanism of the embodiment of the present invention;

Fig. 6 is the partial structural schematic diagram of the hip joint training mechanism of the embodiment of the present invention;

Fig. 7 is the structural representation of the thigh training mechanism of the embodiment of the present invention;

8 is a schematic structural diagram of a knee joint training mechanism according to an embodiment of the present invention;

9 is a partial structural schematic diagram of a knee joint training mechanism according to an embodiment of the present invention;

10 is a schematic structural diagram of an ankle joint training mechanism according to an embodiment of the present invention;

11 is a schematic diagram of the internal transmission structure of the ankle joint training mechanism according to the embodiment of the present invention;

12 is a schematic structural diagram of an ankle joint bearing seat according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of the front view of the seat mechanism part of the embodiment of the present invention;

14 is a schematic diagram of the rear view of the seat mechanism part of the embodiment of the present invention;

15 is a schematic view of the structure of the seat mechanism part of the embodiment of the present invention viewed from the bottom;

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

17 is a schematic diagram of the installation structure of the seat moving mechanism and the seat support frame according to the embodiment of the present invention; and

FIG. 18 is a schematic structural diagram of a weight reduction device according to an embodiment of the present invention.

Main reference signs:

1. Base, 2. Base support frame, 3. Weight reduction device, 31, Weight reduction device connecting plate, 32, Weight reduction device electric sliding table, 33, Weight reduction device connection block, 34, Weight reduction function piece, 4. Lower extremity training connecting plate, 5. Lower extremity training mechanism, 51, Lower extremity height adjustment mechanism, 511, Second slide rail, 512, Second slider, 513, Third electric push rod, 52, Hip joint training mechanism, 521 , right-angle adapter block, 522, hip joint support frame, 523, hip joint gear motor, 524, hip joint worm, 525, hip joint worm gear, 526, first worm gear gasket, 527, angular contact ball bearing, 53, thigh Training mechanism, 531, Thigh connecting plate, 532, Thigh nut screw, 533, Thigh nut fixing, 534, Thigh training shell, 54, Knee joint training mechanism, 541, Knee joint support frame, 542, Knee joint reduction motor, 543, knee joint worm, 544, knee joint worm gear, 545, second worm wheel gasket, 546, bearing end cover, 55, calf training mechanism, 551, calf connecting plate, 552, calf training shell, 553, calf nut fixing part , 554, calf nut screw, 56, ankle joint training mechanism, 561, spring fixed bracket, 562, ankle joint support frame, 563, ankle joint rotation axis, 564, connection filter plate, 565, spring, 566, ankle joint rotation Shaft retaining ring, 567, deep groove ball bearing, 568, ankle bearing retaining ring, 569, ankle bearing seat, 57, footrest, 7, seat mechanism, 71, seat, 72, seat plate bracket, 73 , Back plate bracket, 74, Pillow frame, 75, Pillow adjustment mechanism, 751, Second electric push rod bracket, 752, Pillow adjustment sleeve, 753, Adjusting rod, 754, Second electric push rod, 76, Seat angle Adjustment mechanism, 761, right angle link, 762, first link, 763, second link, 764, third electric push rod bracket, 765, third electric push rod, 77, seat lift mechanism, 771, scissors Type lifting platform, 772, First electric push rod, 773, Transmission link, 774, Pulley, 78, Seat moving mechanism, 781, Seat connecting plate, 782, Elevator block, 783, First motor, 784, Ball screw, 7841, screw, 7842, nut, 786, first slide rail, 787, first slider, 788, moving positioning block, 789, position sensor, 7810, seat moving limit block, 7811, seat Moving block, 8. Seat support frame, 9. Limiting piece, 10. Universal wheel, 11. Triangular fixing piece, 12. Clamping beam.

Detailed ways

In order to detail the technical content, structural features, achieved objects and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

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

As shown in FIG. 3 , the lower extremity training mechanism 5 includes a lower extremity height adjustment mechanism 51 fixed on the lower extremity training connecting plate 4 , a hip joint training mechanism 52 fixedly connected to the lower extremity height adjustment mechanism 51 , and rotatably connected to the hip joint training mechanism 52 The upper thigh training mechanism 53, the knee joint training mechanism 54 fixedly connected to the thigh training mechanism 53, the calf training mechanism 55 rotatably connected to the knee joint training mechanism 54, the ankle joint training mechanism fixedly connected to the calf training mechanism 55 56 and a foot pedal 57 fixedly connected to the lower end of the ankle joint training mechanism 56 .

As shown in FIG. 4 , the lower limb height adjustment mechanism 51 includes a second sliding rail 511 and a third electric push rod 513 fixed on the lower limb training connecting plate 4 . The matching second slider 512 is fixedly connected to the hip joint training mechanism 52 through a right-angle adapter block 521 , and the telescopic end of the third electric push rod 513 is fixedly installed on the right-angle adapter block 521 . Using the extension and contraction of the third electric push rod 513, the second slider 512 is driven to move up and down on the second slide rail 511, so as to adjust the height of the mechanical leg fixedly connected to the right-angle adapter block 521, and the entire lower limb training mechanism 5 Adjust the height to adapt to the application of the human body in different postures of lying, sitting and standing during the rehabilitation training process.

As shown in FIGS. 5 and 6 , the hip joint training mechanism 52 includes a hip joint support frame 522 fixed on the lower limb height adjustment mechanism 51 through a right-angle adapter block 521 , and a hip joint deceleration motor 523 installed on the hip joint support frame 522 . , a hip joint worm 524 coaxially arranged with the output shaft of the hip joint deceleration motor 523, a hip joint worm wheel 525 cooperating with the hip joint worm wheel 524, and the thighs fixed on both sides of the hip joint worm wheel 525 through the first worm wheel washer 526 The connecting plate 531 and the drive shaft of the hip joint worm gear 525 are fixedly mounted on the hip joint support frame 522 . The upper and lower ends of the hip joint support frame 522 encapsulate the hip joint training mechanism 52 through bearing end caps 546. The upper and lower ends of the hip joint worm 525 are fixed on the hip joint support frame 522 through angular contact ball bearings 527. The hip joint worm gear Both sides of 525 are respectively fixed with the first worm wheel gasket 526, the output end of the entire hip joint training mechanism 52 is the thigh connecting plate 531 on the thigh training mechanism 53, and the thigh connecting plate 531 is fixed on both sides of the hip joint worm wheel 525 by bolts. on the first worm wheel washer 526 .

As shown in FIG. 7 , the thigh training mechanism 53 includes a thigh nut lead screw 532 fixed on the thigh connecting plate 531 by bolts. The thigh nut screw 532 , the thigh nut fixing member 533 and the thigh training shell 534 are clamped and fixed by interference fit. The thigh training mechanism 53 can be adjusted to the thigh training mechanism 53 by manually adjusting the nut on the thigh nut screw 532 Length adjustment, so as to apply to different heights of the human body.

As shown in FIGS. 8 and 9 , the knee joint training mechanism 54 includes a knee joint support frame 541 fixedly installed on the thigh training shell 534 , a knee joint deceleration motor 542 fixedly installed on the knee joint support frame 541 , and a knee joint deceleration motor 542 . The knee joint worm 543 coaxially arranged on the output shaft of the motor 542, the knee joint worm wheel 544 matched and connected with the knee joint worm wheel 543, the calf connecting plate 551 fixed on both sides of the knee joint worm wheel 544 through the second worm wheel washer 545; the knee joint worm wheel 544; The drive shaft of the joint worm gear 544 is fixedly installed on the knee joint support frame 541 , and the upper and lower ends of the knee joint worm 543 are fixed on the knee joint support frame 541 through angular contact ball bearings 527 . In order to prevent the thigh training mechanism 53 and the calf training mechanism 55 from transitioning upward during the training process, the hip joint support frame 522 and the knee joint support frame 541 are fixedly installed with the limiter 9, and the limiter installed on the hip joint support frame 522. 9. Limit the forward bending motion of the hip joint, and the limit of the backward bending motion is realized by the specific mechanical structure of the hip joint worm gear 525 worm support frame. The limiter 9 on the knee joint support frame 541 limits the backward bending movement of the hip joint, and the limit of the forward bending movement is realized by the specific mechanical structure of the knee joint support frame 541 .

As shown in FIG. 8 , the calf training mechanism 55 includes a calf training casing 552 fixed on the calf connecting plate 551 , the calf training casing 552 is in interference fit with the calf nut screw 554 through the calf nut fixing member 553 , and the calf training casing 552 , the calf The nut fixing member 553 and the calf nut screw 554 are clamped and fixed by interference fit, and the calf training mechanism 55 can adjust the length of the calf training mechanism 55 by manually adjusting the nut on the calf nut screw 554, so as to adapt to different Human body at calf length.

The motor drives the worm to drive the worm gear to rotate to realize the flexion and extension of the hip joint and the flexion of the knee joint. The present invention adopts the worm gear and worm drive mode, which has the advantages of stable transmission, low noise and large single-stage transmission ratio. During the training process, the training of the patient's hip and knee joints is more stable, and the noise is less to reduce the patient's fear of training.

As shown in FIGS. 10 and 11 , the ankle joint training mechanism 56 includes a spring 565 fixed on the calf nut screw 554 from top to bottom, a fixed bracket 561 and an ankle joint support bracket 562, which are rotatably connected to the ankle joint support bracket through bearings. The ankle joint rotation shaft 563 on the 562, the connection filter plate 564 fixed on the ankle joint rotation shaft 563, the spring 565 is installed between the spring 565 fixing bracket 561 and the connection filter plate 564, and the lower end of the connection filter plate 564 is fixedly installed with a foot The pedal 57 is fixed with the clamp beam 12 on the pedal board 57, and the two sides of the pedal board 57 are respectively connected with the two ends of the clamp beam 12, and the clamp beam 12 is gate-shaped. During the rehabilitation training process of the human body, the foot is prevented from slipping off the footboard 57 , thereby avoiding secondary injury to the human body caused by the foot slipping off the footboard 57 . The ankle joint spring 565 fixed on the ankle joint support frame 562 of the present invention constitutes a balance force structure, and the passive training of the ankle joint flexion is realized by converting the pressure of the body weight on the footboard 57 into the power of the ankle joint movement.

As shown in FIG. 12 , the ankle joint rotation shaft 563 and the ankle joint connection transition plate are fixed by key connection, and are connected with the deep groove ball bearing 567 in the interior. The deep groove ball bearing 567 is fixed on the ankle joint by the ankle joint bearing retaining ring 568 on the spherical plain bearing housing 569. The ankle joint rotation shaft retaining ring 566 is fixed on the outside of the ankle joint rotation shaft 563 to ensure that the transition plate connected with the ankle joint is clamped and fixed. A retaining ring is provided on the inner side of the ankle joint support frame 562 to radially fix the ankle joint rotating shaft 563 to prevent it from shaking left and right. The rear end of the ankle joint support frame 562 is provided with a rear cover, which plays the role of overall packaging.

As shown in FIGS. 13 to 15 , the seat mechanism 7 includes a seat 71 , a headrest adjustment mechanism 75 fixed on the back plate bracket 73 of the seat 71 for adjusting the position of the headrest frame 74 , and a seat rotatably connected to the seat 71 . The seat angle adjustment mechanism 76 on the plate bracket 72, the seat lift mechanism 77 is fixedly installed on the seat plate bracket 72 of the seat 71, and the seat lift mechanism 77 is installed on the seat moving mechanism 78 through the seat support frame 8, The seat moving mechanism 78 is fixedly mounted on the base 1 through the seat connecting plate 781 .

The base 1 is a horizontal base plate, and at least four universal wheels 10 are installed on the lower end of the base 1. In the embodiment of the present invention, the four corners under the horizontal base plate are respectively connected with universal wheels 10 by bolts, which is convenient for The entire lower limb rehabilitation robot moves to adapt to more usage environments. The universal wheels 10 all have the self-locking function, which can make the lower limb rehabilitation robot with the human body in various postures of sitting, lying and standing, more stable as a whole during the working process. The base support frame 2 is fixed on the upper part of the base 1 by bolts, the base support frame 2 is used to support the weight reduction device 3 and the lower limb training mechanism 5, and the connection between the base 1 and the base support frame 2 is fixed with a triangle The parts 11 are fixed to improve the stability and reliability of the base support frame 2 .

The lower limb rehabilitation robot of the present invention has three degrees of freedom, including the flexion and extension of the hip joint, the flexion of the knee joint and the flexion of the ankle joint; wherein the hip joint and the knee joint adopt a worm gear and worm drive mode to realize the flexion and extension of the joint, and the ankle joint. The joints realize passive follow-up training through the balance force structure. Each joint forms a three-degree-of-freedom space mechanism, so as to realize the rehabilitation training of the patient's legs with three degrees of freedom, and make the patient's leg training closer to the natural movement of the legs. .

As shown in FIG. 14 , the headrest adjustment mechanism 75 includes a second electric push rod bracket 751 fixed on the back plate bracket 73 and a headrest adjustment sleeve 752 . The headrest adjustment sleeve 752 is sleeved with an adjustment rod 753 . The upper end is fixedly installed on the headrest frame 74 , the second electric push rod bracket 751 is fixedly installed with a second electric push rod 754 , and the telescopic end of the second electric push rod 754 is installed on the headrest frame 74 .

As shown in FIG. 14 , the seat angle adjustment 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 , and one end rotatably connected to the first link 762 The other end of the upper end is rotatably connected to the second link 763 at the tail of the seat plate bracket 72, the third electric push rod bracket 764 fixed between the two second links 763, and the fixed end fixedly installed on the third electric push rod bracket 764. The third electric push rod 765, the telescopic end of the third electric push rod 765 is fixedly connected to the second electric push rod bracket 751. The telescopic end of the third electric push rod 765 and the second electric push rod bracket 751 are connected and fixed by pins, and the seat back elevation is adjusted through the expansion and contraction of the third electric push rod 765 to drive the second link 763 on the seat 71, the first The connecting rod 762 and the right-angle connecting rod 761 move, and then push the movement of the backboard bracket 73 to adjust the angle of the seat back. The two headrest adjustment sleeves 752 fixed on the back plate bracket 73, the telescopic end of the second electric push rod 754 is connected with the headrest frame 74 by a key, and the telescopic end of the second electric push rod 754 is used to drive the sleeve to be set on the headrest adjustment sleeve. The adjustment rod 753 in the tube 752 moves, so as to realize the position adjustment of the headrest frame 74 .

The lower limb rehabilitation robot of the present invention 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 arranged between the seat 71 and the base 1 . Adjust the angle of the seat back, so as to realize the transformation of multiple postures such as standing posture, standing posture, lying posture and custom angle.

As shown in FIG. 15 , the seat lift mechanism 77 includes a scissor lift table 771 , one end of which is mounted on the seat support frame 8 and the other end is mounted on the seat plate bracket 72 of the seat 71 , and is fixedly mounted on the seat support frame 8 . The fixed end of the first electric push rod 772 is fixedly installed on the seat support frame 8 , and its telescopic end is fixedly connected to the transmission link 773 of the scissor lift table 771 . The bottom moving end of the scissor lift table 771 is equipped with rollers to reciprocate on the seat support frame 8 . Similarly, the top fixed end of the scissor lift table 771 and the seat plate bracket 72 are fixed by bolts, and the top movable end of the scissor lift table 771 is equipped with rollers to reciprocate on the seat plate bracket 72 . The middle beam on the scissor lift table 771 is used as the transmission link 773 . The embodiment of the present invention utilizes the expansion and contraction of the first electric push rod 772 to push the transmission link 773 of the scissor lift table 771 to move up and down, thereby driving the scissor lift table 771 The bottom moving end pulley and the top moving end pulley on the upper part move, so as to realize the rising and falling of the seat 71 .

As shown in FIGS. 16 and 17 , the seat moving mechanism 78 includes a seat connecting plate 781 fixed on the base 1 , a booster block 782 fixed on the seat connecting plate 781 , and a first motor 783 . The output shaft of 783 is coaxially connected to the screw 7841 of the ball screw 784 through the coupling, the first slide rail 786 is fixedly installed on the pad block 782, and the first slide rail 786 is provided with the first slide rail 786. The first sliding block 787 is adapted, the first sliding block 787 is fixed on the seat support frame 8 by bolts, and the seat support frame 8 and the nut 7842 of the ball screw 784 are fixedly connected by bolts. Moving positioning blocks 788 are respectively fixed on the two first sliding blocks 787 on the right leg side of the human body through bolts, and the moving position sensor 789 of the seat 71 is fixed on the first sliding block 787 on the front side of the left leg of the human body. An end close to the first motor 783 is provided with a seat moving block 7811, and the seat moving block 7811 is fixed on the seat connecting plate 781 by bolts to further prevent the seat 71 from moving forwards and backwards. security incident. While preventing the seat support frame 8 from sliding relative to the first slider 787 , the seat moving position sensor 789 can timely record the front and rear positions of the seat 71 moving. In order to further ensure the safe operation of the seat moving mechanism 78, it is mechanically limited, and the seat moving limit block 7810 is fixed on the seat connecting plate 781 by bolts at the far end of the ball screw 784, and the ball The bearing cooperates with the ball screw 784 to realize the limit function.

The lower limb rehabilitation robot of the present invention 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 arranged between the seat 71 and the base 1, and cooperate with the seat angle adjustment mechanism 76 pairs of chair back angles can be adjusted, so as to realize the transformation of multiple postures such as standing posture, standing posture, lying posture and custom angle.

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. The weight reduction device 3 includes a weight reduction device fixed on the base support frame 2 through a weight reduction device connecting plate 31 The sliding table 32 , the weight reducing device connecting block 33 slidably connected to the electric sliding table 32 of the weight reducing device, and the weight reducing functional part 34 fixed on the weight reducing device connecting block 33 . The weight reduction device 3 plays a role in weight reduction for the patient in the standing training mode and ensures the patient's safe rehabilitation training.

The above-mentioned embodiments are only to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art can make various modifications to the technical solutions of the present invention. Such deformations and improvements shall fall within the protection scope determined by the claims of the present invention.

Claims (10)

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.

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