Multifunctional pedal-driven lower limb rehabilitation robot

Abstract

The present application relates to the technical field of medical devices, and discloses a multifunctional riding type lower limb rehabilitation robot, which comprises a frame, an exoskeleton lifting assembly installed on one side wall of the frame, and a detachable gear shifting riding device. The rehabilitation auxiliary robot can be used in two ways. A waist support structure is fixedly installed on one side outer wall of the exoskeleton lifting assembly. Hip joints are respectively installed on the two side outer walls of the waist support structure. The frame, the waist support structure, the hip joints, the knee joints, the ankle joints and the foot palm support and the walking stick can be used to perform muscle strength training and motion support and motion control training on patients with central palsy. The riding device can effectively complete rehabilitation training through the riding posture. After the gear is shifted, the riding device can drive the frame to move. The muscle strength training can also be performed on patients with peripheral nerves. After the muscle strength is enhanced, the patients can effectively stand, stand steadily, maintain balance and perform gait training.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of auxiliary human body movement training limb rehabilitation equipment, in particular to a multifunctional riding type lower limb rehabilitation robot. BACKGROUND

[0002] Due to the aggravation of population aging, the number of elderly patients with stroke, cerebrovascular injury, brain trauma and hemiplegia is increasing. During the recovery period of these patients, symptoms such as hemiplegia, peripheral paralysis and central nervous paralysis may occur, which may seriously affect the normal activities of the patients and even cause the loss of normal life ability. Due to the limitation of medical resources, the attending physicians cannot help every patient from the early stage of the disease to the whole recovery process, so in addition to drug treatment, this condition increases the difficulty of personal rehabilitation training for patients in the later stage. SUMMARY

[0003] The present application is designed by adopting a scientific training method for effective treatment. The exoskeleton driven by the power supply box can replace the double legs to realize normal walking function. The design function of the product can be applied to patients in different recovery stages for self-bending, stretching and walking training in different environments, and is provided with a wall-mounted folding seat for the patient to rest. The multifunctional design such as adjustable bicycle is lacking in the prior art. Therefore, we design a multifunctional rehabilitation training robot for lower limbs, which greatly improves the somatic function recovery of patients with nerve injury, disabled people and elderly patients and brings convenience to their life.

[0004] A multifunctional riding type lower limb rehabilitation auxiliary robot, comprising a frame and a riding device, the frame is designed in the shape of a seat without a seat plate, the lower end of the handrails on both sides of the frame is provided with an omnidirectional wheel, the back plate of the frame is erected on a base with double drive wheels, a pair of drive wheels are driven by an output shaft on the base, the output shaft is driven by a motor through a differential, and the output shaft is also engaged with a transmission shaft on the base through a gear;

[0005] The lower side of the shell of the riding device is provided with a pulley, and the rear end of the shell of the riding device is provided with a rotating shaft driven and rotated by the riding device, the rotating shaft is detachably connected with the transmission shaft and can drive the transmission shaft to rotate;

[0006] The riding device is also provided with a gear shifting mechanism, a lifting mechanism, a forward driving mechanism and a riding driving mechanism, the lifting mechanism is connected with the bottom end of the seat plate, the riding driving mechanism is driven by the foot pedal, the forward driving mechanism is used for driving the rotating shaft to rotate, and the gear shifting mechanism can connect the riding driving mechanism with the lifting mechanism or connect the riding driving mechanism with the forward driving mechanism.

[0007] Preferably, the back plate of the frame is provided with a lifting guide rod, a waist adjusting mechanism is sleeved on the lifting guide rod, and a pair of waist support structures are connected to the side of the waist adjusting mechanism facing the armrests, and the opposite side of the pair of waist support structures is connected to an exoskeleton swing robot, and the waist adjusting mechanism is used to realize the up-down movement of the lower limb type rehabilitation exoskeleton robot and complete the adjustment of the waist width size, and the exoskeleton swing robot is used to support the legs of the patient.

[0008] Preferably, the side of the rotating shaft and the transmission shaft facing each other is configured to have a concave-convex structure that matches each other, and the concave-convex structure is respectively provided with a bolt hole that can be aligned with each other, and the rotating shaft and the transmission shaft are connected coaxially by inserting the bolt into the bolt hole after being inserted into each other.

[0009] Preferably, the lifting mechanism comprises an Archimedes spiral gear, a rack, and a seat rod, the rack is arranged at the lower end of the seat rod, the upper end of the seat rod is connected to the seat plate, and the rack is engaged with the Archimedes spiral gear.

[0010] The forward transmission mechanism comprises a chain, a rotating shaft, a gear, and a sprocket, one end of the rotating shaft opposite to the transmission shaft is connected to the sprocket through the chain, and the sprocket is pivotally connected to the gear.

[0011] The pedal transmission mechanism comprises a pedal plate, a gear shaft, a chain, a gear, and a sprocket, the pedal plate is used to drive the gear shaft to rotate, and the gear shaft is connected to the sprocket through the chain.

[0012] The gear shaft, the sliding rod, the Archimedes spiral gear, the gear, and the gear are arranged on the same axis, the gear shaft is rotatably installed on the lower side of the shaft support, the upper side of the shaft support is transversely penetrated by the sliding rod, the shaft support can rotate around the sliding rod and translate along the sliding rod, the upper side of the shaft support is further connected to the handle and the lower end of the pull rod, and the upper end of the handle extends through the window of the gear position indicator to above the pedal device.

[0013] The Archimedes spiral gear and the gear are arranged on one side of the gear shaft and close to the two ends of the gear shaft, the gear is arranged on the other side of the gear shaft, when the shaft support is rotated to the low position around the sliding rod and slides to one end along the sliding rod, the gear shaft is engaged with one of the Archimedes spiral gear and the gear and the gear, and when the shaft support is lifted by the pull rod and rotated to the high position around the sliding rod, the gear shaft is separated from the Archimedes spiral gear, the gear, and the gear.

[0014] Preferably, the rear end of the housing of the riding device is provided with a pair of first straight sliding grooves on the upper and lower sides of the rotating shaft, a pair of second straight sliding grooves, an annular sliding groove one and an annular sliding groove two around the rotating shaft, the pair of first straight sliding grooves and the pair of second straight sliding grooves are horizontal and face the front end of the housing of the riding device, the annular sliding groove one is tangent to and communicates with the pair of first straight sliding grooves, the annular sliding groove two is tangent to and communicates with the pair of second straight sliding grooves, a semicylindrical sliding cover one and a semicylindrical sliding cover two that can slide along the annular sliding groove one and the annular sliding groove two are respectively installed in the annular sliding groove one and the annular sliding groove two, when the semicylindrical sliding cover two and the semicylindrical sliding cover one slide into the pair of first straight sliding grooves and the pair of second straight sliding grooves respectively, the semicylindrical sliding cover two can be accommodated in the semicylindrical sliding cover one, the first straight sliding groove on the upper side and the second straight sliding groove on the lower side are provided with a reset mechanism, the front ends of the semicylindrical sliding cover two and the semicylindrical sliding cover one are respectively pushed to slide into one end of the annular sliding groove one and the annular sliding groove two away from the front end of the riding device, so that the rotating shaft is accommodated in the cylindrical space surrounded by the semicylindrical sliding cover two and the semicylindrical sliding cover one, when the semicylindrical sliding cover two and the semicylindrical sliding cover one are reset by the reset mechanism, the outer sides of the semicylindrical sliding cover two and the semicylindrical sliding cover one are respectively provided with an antenna extending upward, and the two antennas simultaneously face the rear end of the riding device.

[0015] The base is provided with horizontal cross bars above and below the transmission shaft, and a pair of cross bars can respectively push the semicylindrical sliding cover two and the semicylindrical sliding cover one to rotate along the annular sliding groove one and the annular sliding groove two when the rotating shaft of the riding device is aligned with the transmission shaft, and then slide along the pair of first straight sliding grooves and the pair of second straight sliding grooves.

[0016] Further, the front end of the housing of the riding device is provided with a steering shaft that rotates with the rotation of the gear shaft two, the steering shaft is vertically arranged, the lower end of the steering shaft extends below the housing and an omnidirectional wheel is installed at the lower end of the steering shaft.

[0017] Further, the exoskeleton swing robot comprises symmetrically installed hip joints, the hip joints can horizontally move parallel to the back plate of the frame on one side of the waist adjusting mechanism, the lower end of each hip joint is connected with a knee joint, the lower end of each knee joint is connected with an ankle joint and a foot sole supporting structure, the waist supporting structure comprises a waist pad, left and right telescopic plates, a left waist plate and a right waist plate, the hip joints, the knee joints and the ankle joints are all provided with servo motors and are electrically connected with the controller respectively, and the movement of the hip joints, the knee joints and the ankle joints can be controlled through the controller.

[0018] The present application has the following beneficial effects:

[0019] 1. The frame can be independently equipped with an exoskeleton swing robot. This combination, along with the omnidirectional, lift-assisted frame and electronic controls, supports rehabilitation training and daily assisted walking for patients with mild lower limb motor dysfunction. By adjusting the swing speed and angle, the rehabilitation therapist's prescribed training can be met. The omnidirectional, lift-assisted frame prevents falls, allows for flexible turning, and accommodates patients of varying body shapes.

[0020] 2. The frame can be connected to the pedaling device, and the seat height adjustment needs of patients with lower limb motor dysfunction can be met through the shifting mechanism, lifting mechanism, pedaling transmission mechanism, and forward transmission mechanism. By lifting the axle frame in the shifting mechanism, the pedaling transmission mechanism can be pedaled under no-load conditions to reduce the training load; the axle frame in the shifting mechanism can also be lowered, and the pedaling transmission mechanism can be pedaled under loaded conditions to move the frame forward and increase the training load; this meets the rehabilitation training needs of patients with severe lower limb motor dysfunction.

[0021] 3. The frame is connected to the pedaling device. When the frame is driven by a motor, the axle frame in the shift mechanism can be pulled up, and the steering of the frame can be controlled by the pedaling transmission mechanism, meeting the daily medium and long-distance travel needs of patients with severe lower limb motor dysfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is an overall schematic diagram of a multifunctional pedal-type lower limb rehabilitation assistive robot;

[0023] Figure 2 It is a structural diagram of the waist adjustment mechanism;

[0024] Figure 3 It is a schematic diagram of the structure of the exoskeleton swing robot;

[0025] Figure 4 It is a schematic diagram of the detachable structure of the rear end of the pedaling device and the base of the frame;

[0026] Figure 5 It is a schematic diagram of the detachable structure of the pedaling device;

[0027] Figure 6 It is a partial structural diagram of the pedaling transmission mechanism;

[0028] Figure 7 It is a partial structural diagram of the pedaling transmission mechanism;

[0029] Figure 8 It is a structural diagram of the steering shaft of the pedaling transmission mechanism. DETAILED DESCRIPTION

[0030] The following clearly and completely describes the technical solutions in the embodiments of the present invention, which are a multifunctional riding-type lower limb rehabilitation assistive robot. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] The present invention provides Figures 1-3 The multifunctional riding lower limb rehabilitation assistive robot shown in the figure includes a frame 1, which is constructed into a chair shape without a seat plate. Omnidirectional wheels are provided at the lower ends of the armrests on both sides of the frame 1. The back panel of the frame 1 is installed with a lifting guide rod 22, and the waist adjustment mechanism 2 is sleeved on the lifting guide rod 22. The waist adjustment mechanism 2 can be lifted and lowered along the lifting guide rod 22. A pair of waist support structures 3 are installed on the side of the waist adjustment mechanism 2 facing the armrest, and the opposite sides of the pair of waist support structures 3 are connected to an exoskeleton swinging robot. The waist adjustment mechanism 2 is used to realize the upper and lower position movement of the lower limb rehabilitation exoskeleton robot and complete the adjustment of the waist width size. The exoskeleton swinging robot is used to support the patient's legs. The exoskeleton swinging robot includes hip joints 4 symmetrically installed on both sides of the waist support structure 3. The hip joints 4 can move horizontally parallel to the back panel of the frame 1 on one side of the waist adjustment mechanism 2. The lower end of the hip joint 4 is connected to the knee joint 5, and the lower end of the knee joint 5 is connected to the ankle joint 16 and the foot support structure 6. The lumbar support structure 3 includes a lumbar pad, left and right telescopic plates, a left lumbar plate and a right lumbar plate. A wheel 13 is provided at the lower end of the frame 1 .

[0032] The hip joint 4, knee joint 5 and ankle joint 16 are all equipped with servo motors, which are electrically connected to the controller respectively. The movement of the hip joint 4, knee joint 5 and ankle joint 16 is controlled by the controller 8. The patient can control the walking of the exoskeleton by changing the torso and center of gravity, thereby enabling it to provide physical therapy for people with limb dysfunction and support their independent walking. A power supply box 7 is installed on the rear side of the back plate of the frame 1. The power supply box is equipped with a battery to power the controller and servo motor. A cooling fan is installed on the side of the power supply box close to the battery to effectively cool the battery. A controller is installed on the frame 1. The controller's telescopic length and rotation angle can be adjusted through the gear rack and bevel gear structure inside the controller to meet the comfort of different patients when operating the device.

[0033] A push handle 11 is installed on the rear side of the back plate of the frame 1. The push handle 11 can be adjusted in height through a buckle structure to facilitate use by patients and their families of different heights. The push handle 11 allows the patient's family to push the device to a suitable position on the outside of the frame 1 or push the device forward while the patient is using it, thereby improving the patient's safety.

[0034] The rear side of the power supply box 7 is provided with a clamping piece 9, and the power supply box 7 is clamped with a walking stick 10 through the clamping piece 9. The height of the walking stick 10 can be adjusted through the buckle structure to meet the use of patients of different heights. Through the walking stick 10, the patient can stand, stand steadily and keep balance, thereby facilitating gait training and improving the stability and safety effect of the patient. The waist supporting structure 3, the hip joint 4, the knee joint 5, the ankle joint and the sole supporting structure 6 and the controller 8 are electrically connected with the power supply box 7. The power supply box 7 is connected with the storage battery, thereby facilitating power supply of the device and use of the device.

[0035] In the embodiment, the waist adjusting mechanism 2 comprises a fixed seat 21 connected with the rear back plate of the frame 1, the fixed seat 21 is fixedly connected with a lifting guide rod 22, the fixed seat 21 is rotatably connected with a lead screw 23 through a bearing, the lead screw 23 is threadedly connected with a lifting seat 24, and the lifting guide rod penetrates through the lifting seat 24. The controller 8 drives the lifting seat 24 to lift or lower through the motor controlling the lead screw 23. The lifting seat 24 is provided with a positioning rod 25, two fixed pieces 26 are inserted into the positioning rod 25, and the waist supporting structure 3 is connected with the fixed pieces 26 through screws. The interval of the two fixed pieces 26 is adjusted, so that the width between the waist supporting structure 3 can be adjusted according to the body shape of the wearer, thereby meeting the body shape requirement.

[0036] As shown in the figure, Figures 4-5 In the embodiment, the rear back plate of the frame 1 is erected on the base 111 with the double driving wheels 13. The pair of driving wheels 13 are driven by the output shaft 102 on the base 111. The output shaft 102 is driven by the motor 101 through the differential 110. The output shaft 102 is also engaged with the transmission shaft 108 on the base 111 through the gear set (104, 105, 106).

[0037] The lower side of the shell of the riding pedal device 15 is provided with a pulley, and the rear end of the shell of the riding pedal device 15 is provided with a rotating shaft 1504 driven to rotate by the riding pedal device 15. The rotating shaft 1504 is detachably connected with the transmission shaft 108, and can drive the transmission shaft 108 to rotate.

[0038] The riding pedal device 15 is also provided with a gear shifting mechanism, a lifting mechanism, a forward driving mechanism and a riding pedal driving mechanism. The lifting mechanism is connected with the bottom end of the seat plate 14. The riding pedal driving mechanism is driven by the pedal plate. The forward driving mechanism is used to drive the rotating shaft 1504 to rotate. The gear shifting mechanism can connect the riding pedal driving mechanism with the lifting mechanism, or connect the riding pedal driving mechanism with the forward driving mechanism.

[0039] Specifically, as shown in the figure, Figure 4The side of the rotating shaft 1504 facing the transmission shaft 108 is constructed with a concave-convex structure that matches each other, and the concave-convex structure is respectively provided with pin holes that can be aligned with each other. After the rotating shaft 1504 and the transmission shaft 108 are plugged into each other, the pin is inserted into the pin hole to realize the coaxial connection between the rotating shaft 1504 and the transmission shaft 108.

[0040] In this embodiment, Figure 5 The lifting mechanism includes an Archimedes spiral gear 1513, a rack, and a seat rod 1514. The rack is arranged at the lower end of the seat rod 1514. The upper end of the seat rod 1514 is connected to the seat plate. The rack is engaged with the Archimedes spiral gear 1513.

[0041] The forward transmission mechanism includes a chain 1512, a rotating shaft 1504, a gear 1511, and a sprocket 1. The end of the rotating shaft 1504 facing away from the transmission shaft is connected to the sprocket 1 through the chain 1512, and the sprocket 1 is pivotally connected to the gear 1511.

[0042] The pedaling transmission mechanism includes a pedal 1530, a second gear shaft 1515, a second chain, a second gear 1509, and a third sprocket pivotally connected to the second gear 1509. The pedal 1530 is used to drive the second gear shaft 1515 to rotate. The second gear shaft 1515 is connected to the third sprocket via the second chain.

[0043] The gear shifting mechanism includes a gear shaft 1510, an axis frame 1540, a slide bar 1541, and a handle 1506. The axes of the gear shaft 1510, the slide bar 1541, the Archimedean screw gear 1513, the gear 1511, and the gear 2 1509 are parallel. The gear shaft 1510 is rotatably installed on the lower side of the axis frame 1540. The upper side of the axis frame 1540 is crossed by the slide bar 1541, and the axis frame 1540 can rotate around the slide bar 1541 and translate along the slide bar 1541. The upper side of the axis frame 1540 is also connected to the lower end of the handle 1505 and the pull rod 1508. The upper end of the handle 1505 extends through the window of the gear indicator plate 1506 to the top of the pedaling device 15, and the gear indicator plate 1506 is fixed on the gear indicator plate 1506.

[0044] The Archimedes spiral gear 1513 and gear 1 1511 are arranged on one side of gear shaft 1510 and close to the two ends of gear shaft 1510. Gear 2 1509 is arranged on the other side of gear shaft 1510. When the shaft frame 1540 rotates to a low position around the slide rod 1541 and slides to one end along the slide rod 1541, gear shaft 1510 simultaneously engages with the Archimedes spiral gear 1513, one of gear 1511 and gear 2 1509. When the shaft frame 1540 is pulled by the pull rod 1508 and rotates to a high position around the slide rod 1541, gear shaft 1510 simultaneously separates from the Archimedes spiral gear 1513, gear 1 1511 and gear 2 1509.

[0045] The rear end of the housing of the pedaling device 15 is provided with a pair of first straight slides 1503, a pair of second straight slides 15031, an annular slide 1551 and an annular slide 2 1552 located on the upper and lower sides of the rotating shaft 1504. The pair of first straight slides 1503 and the pair of second straight slides 15031 are horizontal and face the front end of the housing of the pedaling device 15. The pair of second straight slides 15031 are located between the pair of first straight slides 1503. The annular slide 1551 is located on the outer periphery of the annular slide 2 1552. The upper and lower edges of the annular slide 1551 are tangent to and connected with the pair of first straight slides 1503. The upper and lower edges of groove 2 1552 are tangent to and connected with a pair of second straight grooves 15031. Semi-cylindrical sliding cover 1 1501 and semi-cylindrical sliding cover 2 1502 are respectively installed on annular groove 1551 and annular groove 2 1552, which can slide along them. When semi-cylindrical sliding cover 2 1502 and semi-cylindrical sliding cover 1 1501 slide into a pair of first straight grooves 1503 and a pair of second straight grooves 15031 respectively, semi-cylindrical sliding cover 2 1502 can be accommodated in semi-cylindrical sliding cover 1 1501. A reset mechanism, such as a spring, is provided in the upper first straight groove 1503 and the lower second straight groove 15031. It is used to push the front ends of the semi-cylindrical sliding cover 1502 and the semi-cylindrical sliding cover 1501 to slide into the annular slide groove 1551 and the annular slide groove 1552 respectively, away from the front end of the riding device 15, so that the rotating shaft 1504 is accommodated in the columnar space surrounded by the semi-cylindrical sliding cover 1502 and the semi-cylindrical sliding cover 1501. When the semi-cylindrical sliding cover 1502 and the semi-cylindrical sliding cover 1501 are reset by the reset mechanism, the outer sides of the semi-cylindrical sliding cover 1502 and the semi-cylindrical sliding cover 1501 are respectively provided with tentacles 1553 extending obliquely upward, and the two tentacles 1553 are simultaneously directed towards the rear end of the riding device 15;

[0046] The base 111 is provided with a horizontal crossbar ( Figure 4 Not shown in the figure, but easily understood by those skilled in the art), a pair of cross bars can respectively move the tentacles 1553 of the semi-cylindrical slide cover 2 1502 and the semi-cylindrical slide cover 1 1501 when the rotating shaft 1504 of the pedaling device 15 is aligned with the transmission shaft 108, so that the semi-cylindrical slide cover 2 1502 and the semi-cylindrical slide cover 1 1501 rotate along the annular slide groove 1 1551 and the annular slide groove 2 1552, and then slide along a pair of first straight slide grooves 1503 and a pair of second straight slide grooves 15031.

[0047] In this example, when the foot pedal 1530 is in operation, the gear shaft 1515 is driven to rotate.

[0048] When the pull rod 1508 is pulled up, the gear shifting mechanism changes from the original lock to relaxation, the handle 1505 moves to the left, the gear shifting mechanism moves to the right, the gear shaft 1510 is engaged with the gear two 1509 and the Archimedes spiral gear 1513 at the same time, the pedal 1530 drives the chain two, the gear two 1509 is engaged with the gear shaft 1510, the gear shaft 1510 is engaged with the Archimedes spiral gear 1513, the Archimedes spiral gear 1513 drives the seat rod 1514 to move up and down, and the seat plate 14 is adjusted up and down.

[0049] In this example, when the gear shaft 1510 is lifted, the pedal 1530 drives the chain two to move, and the model only corresponds to the idle pedal leg training. When the pull rod 1508 is pulled up, the gear shifting mechanism changes from the original lock to relaxation, the handle 1505 moves to the right, the gear shifting mechanism moves to the left, the gear shaft 1510 is engaged with the gear two 1509 and the gear one 1511 at the same time, the pedal 1530 drives the chain two to move, the gear two 1509 is engaged with the gear shaft 1510, the gear shaft 1510 is engaged with the gear one 1511, the gear one 1511 drives the chain one 1512 to move, the chain one 1512 is engaged with the rotating shaft 1504 through the gear, and the rotating shaft 1504 drives the driving wheel 13 to move. In this way, the pedal moves while driving the vehicle to move forward.

[0050] As Figures 6-7 , the shell front end of the pedal device 15 is provided with a steering shaft 1519 which rotates with the gear shaft two 1515, the steering shaft 1519 is vertically arranged, the lower end of the steering shaft 1519 extends below the shell and the lower end of the steering shaft 1519 is provided with an omnidirectional wheel.

[0051] Specifically, the left and right sides of the gear shaft two 1515 are respectively provided with cams 1560 in opposite directions, below the gear shaft two 1515, the housing of the pedal device 15 is provided with the gear shaft two 1515 at the front end, the gear shaft two 1515 extends to the left and right sides to form symmetrical wings 1521, the front and back sides of the wings opposite to each other are respectively in contact with an elastic mechanism 1523, the elastic mechanism keeps the line between the wings parallel to the axial direction of the drive wheel, that is, the omni-directional wheel is returned to normal, and the omni-directional wheel is forward; the upper ends of the wings 1521 extend upward to form a lever 1517, the side of each lever 1517 away from the corresponding elastic mechanism 1523 is provided with an arc plate 1516, the arc plates 1516 are symmetrically arranged around the gear shaft two 1515 above the outer periphery of the gear shaft two 1515, the inner arc surface of each arc plate 1516 is close to the corresponding lever 1517, and the outer arc surface of each arc plate 1516 is connected with the lower end of the connecting rod 1544. The housing of the pedal device 15 is also provided with a pair of swing rods 1545 arranged in cross, which are respectively located on the left and right sides of the gear shaft two 1515, the upper ends of the swing rods 1545 are respectively located on the front and back sides of the cam 1560, the lower ends of the swing rods 1545 are rotatable around the fulcrum, the middle lower ends of the swing rods 1545 are connected with the upper ends of the connecting rods 1544, and the connecting rods 1544 extend to the opposite upper sides symmetrically with respect to the axis of the gear shaft two 1515. The middle parts of the swing rods 1545 are also supported by the elastic mechanism 1522, so that the swing rods 1545 are close to the cam, and the arc plates 1516 are separated from the levers 1517.

[0052] Because the swing rod 1545 is in contact with the cam of the gear shaft two 1515, when the cam rotates to a certain angle, the swing rod 1545 will rotate, at this time, the connecting rod mechanism composed of the swing rod 1545 and the connecting rod 1544 will move, the arc plate 1516 will push the lever 1517, so that the rotation center of the steering shaft 1519 rotates, thereby achieving the purpose of steering. Therefore, the pedal rotates uniformly and quickly for one circle, and is deflected by the same angle to the left and right, and the actual effect is equivalent to no steering. If the left foot is kept in front, the wheel can be turned to the left, and then the whole vehicle is turned to the left. The right foot is in front, and the same is true.

Claims

1. A multifunctional riding-type lower limb rehabilitation assistive robot, characterized in that: The invention comprises a frame (1) and a pedaling device (15), wherein the frame (1) is constructed in the shape of a seat without a seat plate, omnidirectional wheels are provided at the lower ends of the armrests on both sides of the frame (1), and the back plate of the frame (1) is erected on a base (111) having a pair of driving wheels (13), wherein the pair of driving wheels (13) are driven by an output shaft (102) on the base (111), and the output shaft (102) is driven by a motor (101) through a differential (110), and the output shaft (102) is also engaged with a transmission shaft (108) on the base (111) through a gear. A pulley is installed on the lower side of the housing of the pedaling device (15), and a rotating shaft (1504) driven to rotate by the pedaling device (15) is provided at the rear end of the housing of the pedaling device (15), and the rotating shaft (1504) is detachably connected to the transmission shaft (108) and can drive the transmission shaft (108) to rotate; The pedaling device (15) is further provided with a shifting mechanism, a lifting mechanism, a forward transmission mechanism, and a pedaling transmission mechanism. The lifting mechanism is connected to the bottom end of the seat (14). The pedaling transmission mechanism is driven by the pedal (1530). The forward transmission mechanism is used to drive the rotating shaft (1504) to rotate. The shifting mechanism can connect the pedaling transmission mechanism with the lifting mechanism or with the forward transmission mechanism. The bicycle frame (1) can be connected to a pedaling device (15), and can meet the needs of seat height adjustment for patients with lower limb motor dysfunction through a shifting mechanism, a lifting mechanism, a pedaling transmission mechanism, and a forward transmission mechanism. The shifting mechanism can be used to pedal the pedaling transmission mechanism in an empty state to reduce the training load; or the bicycle frame can be moved forward by pedaling the pedaling transmission mechanism in a loaded state to increase the training load.

2. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 1, characterized in that: A lifting guide rod (22) is installed on the back plate of the frame (1), and a waist adjustment mechanism (2) is sleeved on the lifting guide rod (22). The side of the waist adjustment mechanism facing the armrest is connected to a pair of waist support structures (3), and the opposite sides of the pair of waist support structures (3) are connected to an exoskeleton swing robot. The waist adjustment mechanism (2) is used to realize the upper and lower position movement of the lower limb rehabilitation exoskeleton robot and to complete the adjustment of the waist width size. The exoskeleton swing robot is used to support the patient's legs.

3. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 1, characterized in that: The side of the rotating shaft (1504) facing the transmission shaft (108) is constructed to have mutually matching concave and convex structures, and the concave and convex structures are respectively provided with latch holes that can be aligned with each other. After the rotating shaft (1504) and the transmission shaft (108) are mutually socketed, the latch pin is inserted into the latch hole to achieve a coaxial connection between the rotating shaft (1504) and the transmission shaft (108).

4. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 1, characterized in that: The lifting mechanism comprises an Archimedes spiral gear (1513), a rack, and a seat rod (1514), wherein the rack is arranged at the lower end of the seat rod (1514), the upper end of the seat rod (1514) is connected to the seat plate, and the rack is meshed with the Archimedes spiral gear (1513); The forward transmission mechanism includes a chain (1512), a rotating shaft (1504), a gear (1511), and a sprocket (1). One end of the rotating shaft (1504) facing away from the transmission shaft is connected to the sprocket (1) via the chain (1512). The sprocket (1) is pivotally connected to the gear (1511). The pedaling transmission mechanism includes a pedal (1530), a second gear shaft (1515), a second chain, a second gear (1509), and a third sprocket pivotally connected to the second gear (1509). The pedal (1530) is used to drive the second gear shaft (1515) to rotate, and the second gear shaft (1515) and the third sprocket are connected to each other through the second chain. The shift mechanism comprises a gear shaft 1 (1510), an axis frame (1540), a slide bar (1541), and a handle (1505). The axes of the gear shaft 1 (1510), the slide bar (1541), the Archimedean spiral gear (1513), the gear 1 (1511), and the gear 2 (1509) are parallel. The gear shaft 1 (1510) is rotatably mounted on the lower side of the axis frame (1540). The upper side of the axis frame (1540) is crossed by the slide bar (1541). The axis frame (1540) can rotate around the slide bar (1541) and translate along the slide bar (1541). The upper side of the axis frame (1540) is also connected to the lower ends of the handle (1505) and the pull rod (1508). The upper end of the handle (1505) passes through the window of the gear position indicator (1506) and extends to the upper side of the riding device (15). The Archimedes spiral gear (1513) and gear 1 (1511) are arranged on one side of gear shaft 1 (1510) and close to both ends of gear shaft 1 (1510). Gear 2 (1509) is arranged on the other side of gear shaft 1 (1510). When the shaft frame (1540) rotates to a low position around the slide bar (1541) and slides to one end along the slide bar (1541), gear shaft 1 (1510) is simultaneously engaged with one of the Archimedes spiral gear (1513), gear 1 (1511) and gear 2 (1509). When the shaft frame (1540) is pulled by the pull rod (1508) and rotates to a high position around the slide bar (1541), gear shaft 1 (1510) is simultaneously separated from the Archimedes spiral gear (1513), gear 1 (1511) and gear 2 (1509).

5. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 1, characterized in that: The rear end of the housing of the pedaling device (15) is provided with a pair of first straight slide grooves (1503) located on the upper and lower sides of the rotating shaft (1504), a pair of second straight slide grooves (15031), an annular slide groove 1 (1551) and an annular slide groove 2 (1552) around the rotating shaft (1504), the pair of first straight slide grooves (1503) and the pair of second straight slide grooves (15031) are horizontal and face the front end of the housing of the pedaling device (15), and the annular slide groove 1 (1551) and the pair of first straight slide grooves (1503) are connected to each other. The annular chute (1503) is tangent to and connected with the pair of second straight chute (15031), and the annular chute (1551) and the annular chute (1552) are tangent to and connected with the pair of second straight chute (15031). The annular chute (1551) and the annular chute (1552) are respectively installed with a semi-cylindrical slide cover (1501) and a semi-cylindrical slide cover (1502) that can slide along them. When the semi-cylindrical slide cover (1502) and the semi-cylindrical slide cover (1501) slide to the pair of first straight chute (1503) and the pair of second straight chute (15031), the semi-cylindrical slide cover (1501) and the semi-cylindrical slide cover (1502) slide to the pair of first straight chute (1503) and the pair of second straight chute (15031). When the semi-cylindrical slide cover 2 (1502) is in the groove (15031), the semi-cylindrical slide cover 1 (1501) can be accommodated in the semi-cylindrical slide cover 1 (1501), and the first straight slide groove (1503) on the upper side and the second straight slide groove (15031) on the lower side are provided with a reset mechanism, which pushes the front ends of the semi-cylindrical slide cover 2 (1502) and the semi-cylindrical slide cover 1 (1501) to slide into the annular slide groove 1 (1551) and the annular slide groove 2 (1552) respectively away from the front end of the riding device (15), so that The rotating shaft (1504) is accommodated in a columnar space surrounded by the semi-cylindrical sliding cover 2 (1502) and the semi-cylindrical sliding cover 1 (1501). When the semi-cylindrical sliding cover 2 (1502) and the semi-cylindrical sliding cover 1 (1501) are reset by the reset mechanism, the outer sides of the semi-cylindrical sliding cover 2 (1502) and the semi-cylindrical sliding cover 1 (1501) are respectively provided with tentacles (1553) extending obliquely upward, and the two tentacles (1553) are simultaneously directed toward the rear end direction of the riding device (15); The base (111) is provided with horizontal cross bars located above and below the transmission shaft (108). When the rotating shaft of the pedaling device (15) is aligned with the transmission shaft (108), the pair of cross bars can respectively move the semi-cylindrical sliding cover 2 (1502) and the semi-cylindrical sliding cover 1 (1501) to rotate along the annular sliding groove 1 (1551) and the annular sliding groove 2 (1552), and then slide along a pair of first straight sliding grooves (1503) and a pair of second straight sliding grooves (15031).

6. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 4, characterized in that: A steering shaft (1519) is installed in the front end of the housing of the pedaling device (15) and rotates with the rotation of the gear shaft 2 (1515). The steering shaft (1519) is arranged vertically, and the lower end of the steering shaft (1519) extends to the bottom of the housing and an omnidirectional wheel is installed at the lower end.

7. The multifunctional riding-type lower limb rehabilitation assistive robot according to claim 2, characterized in that: The exoskeleton swing robot comprises a symmetrically mounted hip joint (4), wherein the hip joint (4) can move horizontally parallel to the back plate of the frame (1) on one side of the waist adjustment mechanism (2), the lower end of the hip joint (4) is connected to the knee joint (5), and the lower end of the knee joint (5) is connected to the ankle joint (16) and the sole support structure (6), and the waist support structure (3) comprises a waist pad, left and right telescopic plates, a left waist plate and a right waist plate, and the hip joint (4), the knee joint (5) and the ankle joint (16) are all provided with servo motors, which are respectively electrically connected to a controller, and the controller controls the movement of the hip joint (4), the knee joint (5) and the ankle joint (16).

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