Multi-degree-of-freedom lower limb rehabilitation robot

[0019] Embodiment 1: A lower limb rehabilitation robot with multiple degrees of freedom, comprising a lower limb rehabilitation robot main body 1, a foot support plate 2 is arranged at the bottom of the lower limb rehabilitation robot main body 1, and the foot support plate 2 is hinged with the lower end of the lower limb rehabilitation robot main body 1, and the feet The top of the support plate 2 is provided with a round hole, and a disc 7 is arranged in the round hole, and the disc 7 is connected to the round hole for rotation, and the top of the disc 7 is provided with a ball 5, and the ball 5 is driven by the disc 7 The rotation can have a massage effect on the angle of the patient. A cylindrical groove is provided on the disc 7, and the ball 5 is located in the cylindrical groove, and the ball 5 is slidably connected with the inner wall of the cylindrical groove, and the ball 5 The bottom is connected with the upper end of the compression spring 6, the lower end of the compression spring 6 is connected with the bottom edge of the cylindrical hole, and the two ends of the compression spring 6 respectively stand on the bottom edge of the ball 5 and the cylindrical hole, so that the ball 5 has elasticity , so as to form a more comfortable massage for the patient. The diameter of the top opening of the cylindrical hole is smaller than the diameter of the ball 5. This structure makes the ball 5 inseparable. The cylindrical hole, and the top of the ball 5 protrudes from the cylindrical hole. So that the ball 5 can stand on the sole of the patient's foot, there are multiple disks 7 on the top of the foot support plate 2, and multiple balls 5 are arranged around the top of the disk 7, the number of disks 7 and balls 5 like image 3 As shown in , this structure can massage the patient's soles more evenly, so as to be more comprehensive. An annular groove is arranged on the outer wall of the disc 7, and an annular protrusion is arranged on the inner wall of the round hole on the foot support plate 2. The annular protrusion The structure of the ring groove is matched with the structure of the ring groove. Through the restriction of the ring groove to the ring protrusion, the disc 7 can rotate stably in the round hole on the foot support plate 2. The bottom of the disc 7 is connected with a support shaft 8, which supports The shaft 8 is welded with the disc 7, the support shaft 8 is located in the cavity in the middle of the foot support plate 2, the lower end of the support shaft 8 is connected to the bottom of the cavity in rotation, and the support shaft 8 is covered with a worm wheel 9, and the worm wheel 9 is connected to the bottom of the cavity. The support shaft 8 is fixed by clamping, and one side of the worm wheel 9 is meshed with a worm 10. This structure enables the disk 7 to be rotated by the worm 10. One end of the worm 10 is connected to the inner wall of one side of the cavity, and here through the bushing Rotationally connected, and the other end of the worm 10 is connected through the rear end side wall of the foot support plate 2, the motor 3 and the worm screw 10 are connected through a coupling, and the motor 3 and the foot support plate 2 are fixed by screw connection, this structure makes Worm screw 10 can be rotated by motor 3, thereby can realize automatic massage, and the top of foot support plate 2 is provided with spacer 4, and the peripheral edge of spacer 4 is connected with the surrounding edge of foot support plate 2, and spacer 4 is connected with foot support plate 2. It is connected by sewing. The gasket 4 can be made of soft cotton cloth, which is more comfortable when the cotton cloth is in contact with the patient's skin. The two sides of the foot support plate 2 are respectively provided with straps 11, and one end of one of the straps 11 is provided with a nylon strap. Buckle the adhesive surface, and one end of the other strap 11 is provided with a Velcro lower adhesive surface, and the strap 11 is connected with the foot support plate 2 by sewing, and this structure can easily connect the foot support plate 2 with the foot.

[0020] Embodiment 2: The gasket 4 can be made of leather, which is easier to clean.

[0021] Working principle: When using the multi-degree-of-freedom lower limb rehabilitation robot, first check whether the device is damaged or not connected firmly, and then use it after checking, and tie the patient's leg to the lower limb rehabilitation robot through straps On the main body 1, the sole of the patient's foot rests on the top of the foot support plate 2. When a foot massage is required, the motor 3 is started, and the motor 3 drives the connected worm 10 to rotate, and the worm 10 drives the worm gear 9 to rotate. The support shaft 8 is fixedly connected, and the support shaft 8 is fixedly connected with the disk 7, so that the disk 7 can be driven to rotate together. The disk 7 is provided with a ball 5, so that the ball 5 is driven to rotate, and the ball 5 protrudes from the foot. The top of the support plate 2 enables the patient's feet to be in contact with the ball 5, so that the rotating ball 5 can massage the patient's bottom and promote the patient's blood circulation, thereby better meeting people's needs. The working principle of the lower extremity rehabilitation robot with degrees of freedom.