Lower limb rehabilitation training robot

Abstract

The invention discloses a lower limb rehabilitation training robot, and belongs to the technical field of medical instruments. The lower limb rehabilitation training robot comprises a weight reduction suspension system, a width adjusting system, a weight reduction driving system and a motion control system. Auxiliary supporting force is provided for a patient through the weight reduction suspension system, appearance adjustment is achieved through the width adjusting mechanism and the height adjusting mechanism, the device adapts to the patient and a use scene, a motion control system is formed through the omni-directional wheels and the damping modules, and the device adapts to different road conditions; the device is used for posture following training of daily walking of a patient in the rehabilitation period or weight reduction assistance of a fixed scene (such as a treadmill), and switching installation of different functional modules is achieved through a modular interface.

Description

Technical Field

[0001] The invention relates to a lower limb rehabilitation training robot, belonging to the technical field of medical equipment. Background Art

[0002] Traditional rehabilitation training relies on the assistance of medical staff. Rehabilitation doctors learn about patients' rehabilitation ideas through communication with them, and use this to mobilize patients' enthusiasm for training, constantly arouse patients' confidence in rehabilitation, and ensure that patients actively participate in rehabilitation training; but the effect is limited by the professional ability and number of auxiliary personnel, and it is difficult to promote in remote and underdeveloped areas, and it is difficult to meet widespread training needs.

[0003] Rehabilitation training robots can provide auxiliary support and strength for patients whose lower limb muscles are weak or unable to actively contract. Through repetitive walking exercises, they help prevent muscle atrophy and restore part or all of the muscle function.

[0004] Early rehabilitation robots used completely passive training and could not fully utilize the patient's residual muscle strength. Based on clinical biological experiments, it was proved that the nervous system can be reconstructed after injury, which laid the theoretical foundation for rehabilitation training. The effect of robot-assisted training on neuroplasticity was proved, and rehabilitation robot-assisted rehabilitation training formed a rehabilitation theory based on neuroplasticity. Rehabilitation robots have the common advantages of robots with high consistency, high strength and clear tasks. However, current rehabilitation robots only consider training methods from the aspects of limb strength and movement, cannot perceive the patient's willingness for rehabilitation, ignore the patient's initiative in the rehabilitation treatment process, cannot well integrate the patient's autonomous rehabilitation ideas into the training, cannot provide comprehensive personalized training prescriptions, and cannot make real-time training adjustments.

[0005] Improving the rehabilitation level of rehabilitation robots, making them more humane, enhancing patients' initiative, physical and mental pleasure, and quality of life during rehabilitation training, and enriching the development of rehabilitation medicine are issues that urgently need to be addressed by rehabilitation robots. Summary of the invention

[0006] In order to solve the problem of a single training mode for rehabilitation robots to assist patients in their rehabilitation training, the purpose of the present invention is to provide a lower limb rehabilitation training robot, which provides auxiliary support for patients through a weight-reducing suspension system, realizes shape adjustment through a width adjustment mechanism and a height adjustment mechanism to adapt to patients and usage scenarios, and forms a motion control system through omnidirectional wheels and multiple shock-absorbing modules to adapt to different road conditions. It is used for posture following training for daily walking of patients in the rehabilitation period or weight reduction assistance in fixed scenarios (such as treadmills), and realizes the switching and installation of different functional modules through a modular interface.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A lower limb rehabilitation training robot of the present invention includes: a weight reduction suspension system, a width adjustment system, a weight reduction drive system, and a motion control system;

[0009] The weight reduction suspension system includes: a left suspension support frame, a second weight reduction suspension telescopic rod, a weight reduction support frame modular interface, a left telescopic rod fixed shaft, a first weight reduction suspension telescopic rod, a connecting ring fixing screw, a connecting ring, a tension sensor, a suspension ring, a right telescopic rod fixed shaft, a support frame guide rail limit block, a guide rail slider, a guide rail slider and a scissor arm fixing screw, a support frame and a scissor arm fixing screw, a linear guide rail, and a right suspension support frame;

[0010] The width adjustment system includes: an upper electric push rod, an upper electric push rod fixed shaft, a lower electric push rod, a push rod motor, a pressure sensor fixing screw, a pressure sensor, a spring fixing rod, a buffer spring, a push rod fixed shaft, a push rod connection part, and a push rod fixing hole;

[0011] The weight reduction drive system includes: a right scissor arm, a positive thread trapezoidal nut, a flange, a stepping motor, a motor fixing seat, a trapezoidal nut fixing screw, a lead screw, a guide rail, a reverse thread trapezoidal nut, and a left scissor arm;

[0012] The motion control system includes: a cross beam fixing block, a rear support frame, an angle code, a support frame fixing hole, a first battery pack, a rear omnidirectional wheel rotation fixed shaft, a rear omnidirectional wheel damping spring, a rear omnidirectional wheel, a rear omnidirectional wheel fixed shaft, a rear omnidirectional wheel support frame, a disc motor, a hub motor damping module support plate, a hub motor damping module, a hub motor fixing frame, a hub motor, a hub motor fixing nut, a front omnidirectional wheel and a damping module, a second battery pack, a front support frame fixing block, a bottom support frame, a main control board, a hub motor driver, a front support frame, an upper support frame fixing block, a control system cover plate, and an upper support frame;

[0013] The left suspension support frame and the right suspension support frame are respectively provided with the weight reduction support frame modular interfaces. Both ends of the first weight reduction suspension telescopic rod are provided with connection holes connected to the weight reduction support frame modular interfaces, and are respectively fixed to the weight reduction support frame modular interfaces through the left telescopic rod fixed shaft and the right telescopic rod fixed shaft passing through the connection holes. When the width adjustment system adjusts the width, the first weight reduction suspension telescopic rod is telescopically moved passively to adapt to the width. Two of the connection rings are sleeved on the first weight reduction suspension telescopic rod. The lower part of the connection ring is fixed to the tension sensor by a screw. The suspension ring is fixed below the tension sensor, and the suspension ring is connected to the rehabilitation training suit strap;

[0014] The first weight-reducing suspension telescopic rod is sleeved in the connection ring, and the distance between the two connection rings on the first weight-reducing suspension telescopic rod can be manually adjusted along the axial direction of the first weight-reducing suspension telescopic rod to adapt to the shoulder width of the patient, and the connection ring is fastened by the connection ring fixing screw;

[0015] The second weight-reducing suspension telescopic rod has the same structure as the first weight-reducing suspension telescopic rod;

[0016] The linear guide rail is connected to the side of the right suspension support frame through the positioning holes and screws. There is a guide rail slider on the linear guide rail. One side above the right scissor arm is connected to the right suspension support frame through the support frame and the scissor arm fixing screw. The other side above the right scissor arm is connected to the guide rail slider through the scissor arm fixing screw. The travel of the guide rail slider is limited by the raised part of the right suspension support frame and the guide rail limit block on both sides of the linear guide rail;

[0017] The left suspension support frame and the right suspension support frame are mirror-symmetrical in structure and have exactly the same connection relationship;

[0018] The push rod fixing holes at both ends of the upper electric push rod are respectively connected to the push rod connection parts on the left suspension support frame and the right suspension support frame through the push rod fixing shaft;

[0019] The lower electric push rod has exactly the same structure and composition as the upper electric push rod. The push rod fixing holes at both ends of the lower electric push rod are respectively connected to the upper support frames on both sides in the motion control system through the push rod fixing shaft;

[0020] Two pressure sensors are arranged at the tail end of the upper electric push rod. The two ends of the pressure sensor are respectively connected to the tail end of the upper electric push rod and the right suspension support frame through the spring fixing rod and the buffer spring;

[0021] Two pressure sensors are also arranged at the tail end of the lower electric push rod. The two ends of the pressure sensor are respectively connected to the tail end of the lower electric push rod and the upper support frame through the spring fixing rod and the buffer spring;

[0022] When adjusting the width, if the speeds of the upper electric push rod, the lower electric push rod and the hub motor of the motion control system are not coordinated well, it will cause the upper electric push rod and the lower electric push rod to deviate vertically around the push rod fixed axis, and the buffer spring will generate pressure. By detecting the real-time return value of the pressure sensor through the controller, the speeds of the upper electric push rod, the lower electric push rod and the hub motor of the motion control system are adjusted to form a closed loop, and the width is adjusted on the premise of ensuring vertical parallelism to prevent tilting caused by inconsistent telescopic amounts of the upper electric push rod and the lower electric push rod;

[0023] There are two groups of the pressure sensors at the connection parts of the upper electric push rod and the lower electric push rod, and the structural compositions of the pressure sensors are completely the same;

[0024] The right scissor arm and the left scissor arm on the upper part of the weight reduction drive system are respectively connected to the linear guide rail. One of the two connection points is fixedly connected, and the other is connected to the guide rail slider. The right scissor arm and the left scissor arm are connected together through the weight reduction suspension system;

[0025] The stepping motor is connected to the lead screw through the flange. The stepping motor drives the lead screw to rotate. The positive thread trapezoidal nut and the reverse thread trapezoidal nut are installed on the lead screw. The positive thread trapezoidal nut and the reverse thread trapezoidal nut are exactly the same in size. When the lead screw rotates, the positive thread trapezoidal nut and the reverse thread trapezoidal nut move in opposite directions and the moving distances are the same. The positive thread trapezoidal nut and the reverse thread trapezoidal nut are connected to the guide rail, and the guide rail fixes the moving directions of the positive thread trapezoidal nut and the reverse thread trapezoidal nut. When the stepping motor moves, it drives the positive thread trapezoidal nut and the reverse thread trapezoidal nut to move relatively or in the reverse direction in the moving direction specified by the guide rail, driving the bottom parts of the right scissor arm and the left scissor arm to extend / contract, and the right scissor arm and the left scissor arm to lower / raise;

[0026] The structural compositions on the left and right sides of the weight reduction drive system are the same, the structures are mirror-symmetrical, and the connection relationships are completely the same;

[0027] The rear support frame and the bottom support frame are fixedly connected by the angle code. The rear support frame and the upper support frame are connected and coupled by the crossbeam fixing block. The upper support frame and the front support frame are connected together by the upper support frame fixing block. The front support frame and the bottom support frame are connected together by the front support frame fixing block. The main control board and the hub motor driver are installed in the rear half of the bottom support frame. The main control board and the hub motor driver are covered by the control system cover plate. The first battery pack and the second battery pack are stuffed in the internal space of the bottom support frame;

[0028] The rear omnidirectional wheel and the rear omnidirectional wheel support frame are connected together by the rear omnidirectional wheel fixing shaft. There are protrusions on the surface of the rear omnidirectional wheel support frame for fixedly connecting with the rear omnidirectional wheel damping spring. The rear omnidirectional wheel support frame and the bottom support frame are fixedly connected by the rear omnidirectional wheel rotating fixing shaft;

[0029] The connection relationship between the front omnidirectional wheel and the damping module is the same as that of the rear omnidirectional wheel;

[0030] The upper part of the disc motor is fixedly connected to the bottom support frame. The lower part of the disc motor is fixedly connected to the hub motor damping module support plate. The hub motor damping module support plate is fixedly connected to the hub motor damping module. The lower part of the hub motor damping module is fixedly connected to the hub motor fixing frame. The hub motor is directly installed on the hub motor fixing frame and fixed by the hub motor fixing nut;

[0031] When the patient accidentally falls during the rehabilitation process, the rear omnidirectional wheel damping spring and the hub motor damping module play a buffering role to prevent the lifting rope from being directly pulled;

[0032] When adjusting the width, the disc motor rotates the hub motor 90°. The hub motor, the upper electric push rod and the lower electric push rod below jointly stretch / contract to adjust the overall width;

[0033] When the width is adjusted wider than the treadmill, a lower limb rehabilitation training robot can assist the patient to exercise on the treadmill and provide weight loss support for the patient training on the treadmill;

[0034] When the height is adjusted to suit the height of the hospital bed, a lower limb rehabilitation training robot can assist the patient to perform rehabilitation training after being pulled up from the bedside;

[0035] The modular interface of the weight loss support frame can be connected to both the rehabilitation training clothing for weight loss and the exoskeleton module for gait correction to achieve rehabilitation training at different stages;

[0036] After reducing the height and width, a lower limb rehabilitation training robot can adapt to the body sizes of different patients, easily pass through ordinary household doors and elevators, while reducing the occupied space, facilitating transportation and storage.

[0037] Beneficial effects:

[0038] 1. For a lower limb rehabilitation training robot of the present invention, through the modular interface structure in the weight reduction suspension system, an exoskeleton module for gait correction and a suspension telescopic rod for weight reduction assistance can be respectively mounted, achieving a multi-functional and multi-mode training method and increasing the applicability of the rehabilitation robot.

[0039] 2. For a lower limb rehabilitation training robot of the present invention, by matching an attitude sensor to identify the patient's attitude, controlling the differential movement of the hub motors of the bottom movement control system, tracking the patient's attitude, and realizing follow-up training, the training process is closer to the real walking process, giving the patient the feeling of real walking, enhancing the patient's rehabilitation confidence, and accelerating the rehabilitation progress.

[0040] 3. For a lower limb rehabilitation training robot of the present invention, when the weight reduction suspension system assists the patient in weight reduction, the tension sensor is connected to the rehabilitation training suit strap through a hanging ring. After the patient wears the training suit, the weight reduction drive system drives the scissor arms on both sides to lift respectively, and the tension sensor accurately senses the weight reduction data, providing an accurate weight reduction value for the patient. When facing hemiplegic patients, different weight reduction values are provided by the scissor arms on both sides, achieving universal applicability to patients with different physical conditions and reducing the burden on the patient's lower limbs.

[0041] 4. For a lower limb rehabilitation training robot of the present invention, when the weight reduction suspension system mounts an exoskeleton module for gait correction training, the bottom movement control system controls the differential movement of the hub motors on both sides, imitating the pelvic rotation situation of normal gait. The weight reduction drive system controls the lifting height of the scissor arms connected to the exoskeleton on both sides respectively, realizing the periodic movement of the center of gravity of the real gait. The final effect is closer to the real walking gait, accelerating the muscle training process of the patient.

[0042] 5. For a lower limb rehabilitation training robot of the present invention, electric push rods are used to connect the left and right sides of the robot, acting as a crossbeam to fix and shape the robot. At the same time, the hub motor orientation and speed are controlled by the disc motors at the bottom of the robot. The overall width of the device is adjusted by the telescopic movement of the electric push rods in the horizontal direction, and the overall height of the robot is adjusted by the motor drive device under the scissor arms in the vertical direction. It can smoothly pass through ordinary household doors and elevators, achieving strong passability without setting up separate equipment passages and elevators. Moreover, after the overall occupied space is reduced, it is convenient for storage and transportation.

[0043] 6. A lower limb rehabilitation training robot of the present invention, a method for monitoring the deformation of the robot based on pressure sensors, sets a group of pressure sensors at the end of each electric push rod respectively, and judges the parallelism in the vertical direction by monitoring the real-time data of the pressure sensors, preventing structural damage or mechanical structure interference caused by the lack of parallelism, and ensuring durability and reliability.

[0044] 7. A lower limb rehabilitation training robot of the present invention is supported by 3 pairs of moving wheels, where the middle pair is the driving wheels, and there is a suspension system above each wheel, a shock absorption system composed of springs. When encountering ditches and obstacles, the springs will support each moving wheel to land in real time, improving the obstacle-crossing ability of the robot, enabling training on relatively rough outdoor roads, being closer to the real walking road conditions, and improving the rehabilitation effect. If the patient accidentally falls, several springs on the chassis can play a buffering role, reducing the harm to the patient and ensuring the safety of the patient during rehabilitation training.

[0045] 8. The chassis of a lower limb rehabilitation training robot disclosed by the present invention, the weight reduction drive system controls the height of the two side scissor arms respectively. By lifting / lowering the scissor arms, it can adapt to users of different heights. Then, by adjusting the distance between the connecting rings on the weight reduction suspension system, it can adapt to the shoulder widths of different patients, having stronger adaptability.

[0046] 9. A rehabilitation training robot disclosed by the present invention adjusts the overall width of the device through the extension / retraction of the electric push rod in the horizontal direction, and adjusts the overall height of the robot through the motor drive device under the scissor arm, crossing the treadmill to provide weight reduction support force and anti-fall safety guarantee for the patient on the treadmill; after widening the robot, getting close to the bedside to wear training clothes for the patient in a sitting position on the bed, directly pulling the patient up on the bed for rehabilitation training, or only helping the patient to stand up, realizing the use requirements of multiple functions and multiple scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is the overall schematic diagram of a lower limb rehabilitation training robot of the present invention;

[0048] Among them, 1 - weight reduction suspension system, 2 - width adjustment system, 3 - weight reduction drive system, 4 - motion control system, 5 - training suit straps, and 6 - rehabilitation training suit;

[0049] Figure 2 is the schematic diagram of the weight reduction suspension system of a lower limb rehabilitation training robot of the present invention;

[0050] Among them, 1-1 left suspension support frame, 1-2 second weight-reducing suspension telescopic rod, 1-3 weight-reducing support frame modular interface, 1-4 left telescopic rod fixed shaft, 1-5 first weight-reducing suspension telescopic rod, 1-6 connecting ring fixing screw, 1-7 connecting ring, 1-8 tension sensor, 1-9 suspension ring, 1-10 right telescopic rod fixed shaft, 1-11 support frame guide rail limit block, 1-12 guide rail slider, 1-13 guide rail slider and scissor arm fixing screw, 1-14 support frame and scissor arm fixing screw, 1-15 linear guide rail, and 1-16 right suspension support frame;

[0051] Figure 3 Schematic diagram of the width adjustment system of a lower limb rehabilitation training robot according to the present invention;

[0052] Among them, 2-1 upper electric push rod, 2-2 upper electric push rod fixed shaft, and 2-3 lower electric push rod;

[0053] Figure 4 Partial enlarged schematic diagram of the width adjustment system of a lower limb rehabilitation training robot according to the present invention;

[0054] Among them, 2-4 push rod motor, 2-5 pressure sensor fixing screw, 2-6 pressure sensor, 2-7 spring fixing rod, 2-8 buffer spring, 2-9 push rod fixed shaft, 2-10 push rod connection point, and 2-11 push rod fixing hole;

[0055] Figure 5 Schematic diagram of the weight-reducing drive system of a lower limb rehabilitation training robot according to the present invention;

[0056] Among them, 3-1 right scissor arm, 3-2 right-handed trapezoidal nut, 3-3 flange, 3-4 stepper motor, 3-5 motor fixing seat, 3-6 trapezoidal nut fixing screw, 3-7 lead screw, 3-8 guide rail, 3-9 left-handed trapezoidal nut, and 3-10 left scissor arm;

[0057] Figure 6 Schematic diagram of the motion control system of a lower limb rehabilitation training robot according to the present invention;

[0058] Among them, 4-1 crossbeam fixing block, 4-2 rear support frame, 4-3 angle code, 4-4 support frame fixing hole, 4-5 first battery pack;, 4-6 rear omnidirectional wheel rotation fixing shaft, 4-7 rear omnidirectional wheel damping spring, 4-8 rear omnidirectional wheel, 4-9 rear omnidirectional wheel fixing shaft, 4-10 rear omnidirectional wheel support frame, 4-11 disc motor, 4-12 hub motor damping module support plate, 4-13 hub motor damping module, 4-14 hub motor fixing bracket, 4-15 hub motor, 4-16 hub motor fixing nut, 4-17 front omnidirectional wheel and damping module, 4-18 second battery pack, 4-19 front support frame fixing block, 4-20 bottom support frame, 4-21 main control board, 4-22 hub motor driver, 4-23 front support frame, 4-24 upper support frame fixing block, 4-25 control system cover plate, and 4-26 upper support frame;

[0059] Figure 7 Schematic diagram of height adjustment of a lower limb rehabilitation training robot according to the present invention;

[0060] Figure 8 Schematic diagram of width adjustment of a lower limb rehabilitation training robot according to the present invention;

[0061] Figure 9 Schematic diagram of the movement direction of the hub motor changed by the bottom disc motor during width adjustment of a lower limb rehabilitation training robot according to the present invention;

[0062] Figure 10 Overall schematic diagram of a lower limb rehabilitation training robot assisting a patient to walk according to the present invention;

[0063] Figure 11 Schematic diagram of a lower limb rehabilitation training robot assisting a patient to exercise on a treadmill according to the present invention;

[0064] Figure 12 Schematic diagram of a lower limb rehabilitation training robot pulling a patient up from the bedside and then performing rehabilitation training according to the present invention;

[0065] Figure 13 Schematic diagram of a lower limb rehabilitation training robot paired with a lower limb rehabilitation exoskeleton according to the present invention;

[0066] Figure 14 Schematic diagram of a lower limb rehabilitation training robot passing through a daily use door after reducing height and adjusting width according to the present invention. Detailed implementation method

[0067] To better illustrate the purpose and advantages of the present invention, the following further describes the content of the invention with reference to the accompanying drawings and examples.

[0068] Example 1:

[0069] A lower limb rehabilitation training robot disclosed in this embodiment, as Figure 1 shown, includes: a weight reduction suspension system 1, a width adjustment system 2, a weight reduction drive system 3, and a motion control system 4;

[0070] As Figure 2 shown, the weight reduction suspension system 1 includes: a left suspension support frame 1-1, a second weight reduction suspension telescopic rod 1-2, a weight reduction support frame modular interface 1-3, a left telescopic rod fixed shaft 1-4, a first weight reduction suspension telescopic rod 1-5, a connecting ring fixing screw 1-6, a connecting ring 1-7, a tension sensor 1-8, a suspension ring 1-9, a right telescopic rod fixed shaft 1-10, a support frame guide rail limit block 1-11, a guide rail slider 1-12, a guide rail slider and a scissor arm fixing screw 1-13, a support frame and a scissor arm fixing screw 1-14, a linear guide rail 1-15, and a right suspension support frame 1-16;

[0071] As Figure 3 , Figure 4 shown, the width adjustment system 2 includes: an upper electric push rod 2-1, an upper electric push rod fixed shaft 2-2, a lower electric push rod 2-3, a push rod motor 2-4, a pressure sensor fixing screw 2-5, a pressure sensor 2-6, a spring fixing rod 2-7, a buffer spring 2-8, a push rod fixed shaft 2-9, a push rod connection part 2-10, and a push rod fixing hole 2-11;

[0072] As Figure 5 shown, the weight reduction drive system 3 includes: a right scissor arm 3-1, a right-hand trapezoidal nut 3-2, a flange 3-3, a stepping motor 3-4, a motor fixing seat 3-5, a trapezoidal nut fixing screw 3-6, a lead screw 3-7, a guide rail 3-8, a left-hand trapezoidal nut 3-9, and a left scissor arm 3-10;

[0073] As Figure 6 shown, the motion control system 4 includes: a cross beam fixing block 4-1, a rear support frame 4-2, an angle bracket 4-3, a support frame fixing hole 4-4, a first battery pack 4-5, a rear omnidirectional wheel rotation fixed shaft 4-6, a rear omnidirectional wheel damping spring 4-7, a rear omnidirectional wheel 4-8, a rear omnidirectional wheel fixed shaft 4-9, a rear omnidirectional wheel support frame 4-10, a disc motor 4-11, a hub motor damping module support plate 4-12, a hub motor damping module 4-13, a hub motor fixing bracket 4-14, a hub motor 4-15, a hub motor fixing nut 4-16, a front omnidirectional wheel and damping module 4-17, a second battery pack 4-18, a front support frame fixing block 4-19, a bottom support frame 4-20, a main control board 4-21, a hub motor driver 4-22, a front support frame 4-23, an upper support frame fixing block 4-24, a control system cover plate 4-25, and an upper support frame 4-26;

[0074] There are 2 weight reduction support frame modular interfaces 1-3 on the left suspension support frame 1-1 and the right suspension support frame 1-16 respectively. Both ends of the first weight reduction suspension telescopic rod 1-5 have connection holes connected to the weight reduction support frame modular interfaces 1-3, and are fixed to the weight reduction support frame modular interfaces 1-3 respectively through the left telescopic rod fixed shaft 1-4 and the right telescopic rod fixed shaft 1-10 passing through the connection holes. When the width adjustment system 2 adjusts the width, the first weight reduction suspension telescopic rod 1-5 telescopically moves passively to adapt to the width. Two connection rings 1-7 are sleeved on the first weight reduction suspension telescopic rod 1-5. The lower part of the connection ring 1-7 is fixed to the tension sensor 1-8 by screws. The lower part of the tension sensor 1-8 is fixed with a suspension ring 1-9, and the suspension ring 1-9 is connected to the rehabilitation training suit strap 5;

[0075] The first weight reduction suspension telescopic rod 1-5 is sleeved inside the connection ring 1-7. The distance between the two connection rings 1-7 on the first weight reduction suspension telescopic rod 1-5 can be manually adjusted along the axial direction of the first weight reduction suspension telescopic rod 1-5 to adapt to the shoulder width of the patient, and the connection ring 1-7 is fastened by the connection ring fixing screw 1-6;

[0076] The second weight reduction suspension telescopic rod 1-2 has the same structure as the first weight reduction suspension telescopic rod 1-5;

[0077] The linear guide rail 1-15 is connected to the side of the right suspension support frame 1-16 through positioning holes and screws. There is a guide rail slider 1-12 on the linear guide rail 1-15. One side above the right scissor arm 3-1 is connected to the right suspension support frame 1-16 through the support frame and the scissor arm fixing screw 1-14. The other side above the right scissor arm 3-1 is connected to the guide rail slider and the scissor arm fixing screw 1-13. The travel of the guide rail slider 1-12 is limited by the protruding part of the right suspension support frame 1-16 and the guide rail limit block 1-11 on both sides of the linear guide rail 1-15;

[0078] The left suspension support frame 1-1 and the right suspension support frame 1-16 are mirror-symmetrical in structure and have exactly the same connection relationship;

[0079] The push rod fixing holes 2-11 at both ends of the upper electric push rod 2-1 are connected to the push rod connection parts 2-10 on the left suspension support frame 1-1 and the right suspension support frame 1-16 respectively through the push rod fixing shafts 2-9;

[0080] The structure and composition method of the lower electric push rod 2-3 are exactly the same as those of the upper electric push rod 2-1. The push rod fixing holes 2-11 at both ends of the lower electric push rod 2-3 are connected to the upper support frames 4-26 on both sides in the motion control system 4 respectively through the push rod fixing shafts 2-9;

[0081] At the end of the upper electric push rod 2-1, two pressure sensors 2-6 are arranged. The two ends of the pressure sensor 2-6 are respectively fixed to the end of the upper electric push rod 2-1 and the right suspension support frame 1-16 through a spring fixing rod 2-7 and a buffer spring 2-8;

[0082] At the end of the lower electric push rod 2-3, two pressure sensors 2-6 are also arranged. The two ends of the pressure sensor 2-6 are respectively fixed to the end of the lower electric push rod 2-3 and the upper support frame 4-26 through a spring fixing rod 2-7 and a buffer spring 2-8;

[0083] When adjusting the width, if the speeds of the upper electric push rod 2-1, the lower electric push rod 2-3 and the hub motor 4-15 of the motion control system 4 are not coordinated well, it will cause the upper electric push rod 2-1 and the lower electric push rod 2-3 to deviate around the push rod fixed shaft 2-9 in the vertical direction, and the buffer spring 2-8 will generate pressure. By detecting the real-time return value of the pressure sensor 2-6, the speeds of the upper electric push rod 2-1, the lower electric push rod 2-3 and the hub motor 4-15 of the motion control system 4 are adjusted to form a closed loop, and the width is adjusted on the premise of ensuring vertical parallelism to prevent the telescopic amounts of the upper electric push rod 2-1 and the lower electric push rod 2-3 from being inconsistent and causing inclination;

[0084] There are two groups of pressure sensors 2-6 at the connection of the upper electric push rod 2-1 and the lower electric push rod 2-3, and the structural compositions of the pressure sensors 2-6 are exactly the same;

[0085] The right scissor arm 3-1 and the left scissor arm 3-10 on the upper part of the weight reduction drive system 3 are respectively connected to the linear guide rail 1-15. One of the two connection points is a fixed connection, and the other is connected to the guide rail slider 1-12. The right scissor arm 3-1 and the left scissor arm 3-10 are connected together through the weight reduction suspension system 1;

[0086] The stepping motor 3-4 is connected to the lead screw 3-7 through a flange 3-3. The stepping motor 3-4 drives the lead screw 3-7 to rotate. A right-handed trapezoidal nut 3-2 and a left-handed trapezoidal nut 3-9 are installed on the lead screw 3-7. The right-handed trapezoidal nut 3-2 and the left-handed trapezoidal nut 3-9 are exactly the same in size. When the lead screw 3-7 rotates, the right-handed trapezoidal nut 3-2 and the left-handed trapezoidal nut 3-9 move in opposite directions and the moving distances are the same. The right-handed trapezoidal nut 3-2 and the left-handed trapezoidal nut 3-9 are connected to the guide rail 3-8. The guide rail 3-8 fixes the moving directions of the right-handed trapezoidal nut 3-2 and the left-handed trapezoidal nut 3-9. When the stepping motor 3-4 moves, it drives the right-handed trapezoidal nut 3-2 and the left-handed trapezoidal nut 3-9 to move relative to each other or in the reverse direction in the moving direction specified by the guide rail 3-8, driving the bottoms of the right scissor arm 3-1 and the left scissor arm 3-10 to extend / contract, and the right scissor arm 3-1 and the left scissor arm 3-10 to lower / raise;

[0087] The structures on the left and right sides of the weight reduction drive system 3 are identical, with mirror symmetry in structure and exactly the same connection relationship;

[0088] The rear support frame 4-2 and the bottom support frame 4-20 are fixedly connected by an angle code 4-3. The rear support frame 4-2 and the upper support frame 4-26 are coupled by a crossbeam fixing block 4-1. The upper support frame 4-26 and the front support frame 4-23 are connected together by an upper support frame fixing block 4-24. The front support frame 4-23 and the bottom support frame 4-20 are connected together by a front support frame fixing block 4-19. The main control board 4-21 and the hub motor driver 4-22 are installed in the rear half of the bottom support frame 4-20, and the main control board 4-21 and the hub motor driver 4-22 are covered by a control system cover plate 4-25. The first battery pack 4-5 and the second battery pack 4-18 are stuffed into the internal space of the bottom support frame 4-20;

[0089] The rear omnidirectional wheel 4-8 and the rear omnidirectional wheel support frame 4-10 are connected together by a rear omnidirectional wheel fixing shaft 4-9. There are protrusions on the surface of the rear omnidirectional wheel support frame 4-10 for fixedly connecting with the rear omnidirectional wheel damping spring 4-7. The rear omnidirectional wheel support frame 4-10 and the bottom support frame 4-20 are fixedly connected by a rear omnidirectional wheel rotating fixing shaft 4-6;

[0090] The connection relationship between the front omnidirectional wheel and the shock absorption module 4-17 is the same as that of the rear omnidirectional wheel 4-8;

[0091] The upper part of the disc motor 4-11 is directly fixedly connected to the bottom support frame 4-20 by screws. The lower part of the disc motor 4-11 is fixedly connected to the hub motor damping module support plate 4-12 by screws. The hub motor damping module support plate 4-12 and the hub motor damping module 4-13 are fixedly connected by screws. The lower part of the hub motor damping module 4-13 is fixedly connected to the hub motor fixing frame 4-14 by screws. The hub motor 4-15 is directly installed on the hub motor fixing frame 4-14 and fixed by a hub motor fixing nut 4-16;

[0092] When the patient accidentally falls during the rehabilitation process, the rear omnidirectional wheel damping spring 4-7 and the hub motor damping module 4-13 play a buffering role to prevent the lifting rope from being directly pulled;

[0093] As Figure 7 shown, by controlling the rotation direction of the stepper motor 3-4, the stepper motor 3-4 drives the lead screw 3-7 to rotate. The right-hand trapezoidal nut 3-2 and the left-hand trapezoidal nut 3-9 installed on the lead screw 3-7 move in different directions. When the right-hand trapezoidal nut 3-2 and the left-hand trapezoidal nut 3-9 move towards each other, the scissor structure rises. When the right-hand trapezoidal nut 3-2 and the left-hand trapezoidal nut 3-9 move in opposite directions, the scissor structure descends, realizing the height adjustment of the scissor-type weight reduction system;

[0094] As Figure 8 , Figure 9 shown, when adjusting the width, the disc motor 4-11 rotates the hub motor 4-15 by 90°. The lower hub motor 4-15, the upper electric push rod 2-1 and the lower electric push rod 2-3 stretch / contract together to adjust the overall width. Information is fed back through the pressure sensor 2-6 to adjust the propulsion speed of the upper electric push rod 2-1 and the lower electric push rod 2-3;

[0095] As Figure 10 shown, when performing weight-reduced walking training, the patient wears a rehabilitation training suit and is connected to the lower limb rehabilitation training robot through four training suit straps. When the weight-reduced suspension system 1 is lifted upward, each training suit strap will pull the tension sensor 1-8, causing a change in the value of the tension sensor 1-8 to determine the specific weight-reduced value (auxiliary support force);

[0096] As Figure 11 shown, when the width is adjusted wider than the treadmill, the lower limb rehabilitation training robot can assist the patient to exercise on the treadmill and provide weight-reduced support for the patient training on the treadmill;

[0097] As Figure 12 shown, when the height is adjusted to suit the height of the hospital bed, a lower limb rehabilitation training robot can assist the patient to perform rehabilitation training after being pulled up from the bedside;

[0098] As Figure 13 shown, the modular interface 1-3 of the weight-reduced support frame can not only connect the rehabilitation training suit for weight reduction, but also connect the exoskeleton module for gait correction to achieve rehabilitation training of different parts;

[0099] As Figure 14 shown, after reducing the height and width, a lower limb rehabilitation training robot can adapt to the body shapes of different patients, can easily pass through ordinary household doors and elevators, while reducing the occupied space, facilitating transportation and storage.

[0100] The above specific description further details the purpose, technical solution and beneficial effects of the invention. It should be understood that the above is only a specific embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lower limb rehabilitation training robot, characterized in that: Weight reduction suspension system (1), width adjustment system (2), weight reduction drive system (3) and motion control system (4); The weight reduction suspension system (1) includes: left suspension support frame (1-1), second weight reduction suspension telescopic rod (1-2), weight reduction support frame modular interface (1-3), left telescopic rod fixed shaft (1-4), first weight reduction suspension telescopic rod (1-5), connecting ring fixing screw (1-6), connecting ring (1-7), tension sensor (1-8), suspension ring (1-9), right telescopic rod fixed shaft (1-10), support frame guide rail limit block (1-11), guide rail slider (1-12), guide rail slider and scissors arm fixing screw (1-13), support frame and scissors arm fixing screw (1-14), linear guide rail (1-15) and right suspension support frame (1-16); The width adjustment system (2) includes: upper electric push rod (2-1), upper electric push rod fixed shaft (2-2), lower electric push rod (2-3), push rod motor (2-4), pressure sensor fixing screw (2-5), pressure sensor (2-6), spring fixing rod (2-7), buffer spring (2-8), push rod fixed shaft (2-9), push rod connection part (2-10) and push rod fixing hole (2-11); The weight reduction drive system (3) includes: right scissors arm (3-1), positive thread trapezoidal nut (3-2), flange (3-3), stepping motor (3-4), motor fixing seat (3-5), trapezoidal nut fixing screw (3-6), lead screw (3-7), guide rail (3-8), reverse thread trapezoidal nut (3-9) and left scissors arm (3-10); The motion control system (4) includes: crossbeam fixing block (4-1), rear support frame (4-2), angle code (4-3), support frame fixing hole (4-4), first battery pack (4-5), rear omnidirectional wheel rotation fixed shaft (4-6), rear omnidirectional wheel damping spring (4-7), rear omnidirectional wheel (4-8), rear omnidirectional wheel fixed shaft (4-9), rear omnidirectional wheel support frame (4-10), disc motor (4-11), hub motor damping module support plate (4-12), hub motor damping module (4-13), hub motor fixing frame (4-14), hub motor (4-15), hub motor fixing nut (4-16), front omnidirectional wheel and damping module (4-17), second battery pack (4-18), front support frame fixing block (4-19), bottom support frame (4-20), main control board (4-21), hub motor driver (4-22), front support frame (4-23), upper support frame fixing block (4-24), control system cover plate (4-25) and upper support frame (4-26); There are multiple modular interfaces for weight-reducing support frames (1-3) on the left suspension support frame (1-1) and the right suspension support frame (1-16) respectively. Both ends of the first weight-reducing suspension telescopic rod (1-5) have connection holes connected to the modular interfaces of the weight-reducing support frames (1-3). The left telescopic rod fixing shaft (1-4) and the right telescopic rod fixing shaft (1-10) pass through the connection holes respectively and are fixed to the modular interfaces of the weight-reducing support frames (1-3). When the width adjustment system (2) adjusts the width, the first weight-reducing suspension telescopic rod (1-5) telescopically moves passively to adapt to the width. A connection ring (1-7) is sleeved on the first weight-reducing suspension telescopic rod (1-5). The tension sensor (1-8) is fixed below the connection ring (1-7), and a suspension hanging ring (1-9) is fixed below the tension sensor (1-8). The suspension hanging ring (1-9) is connected to the rehabilitation training suit strap (5). The first weight-reducing suspension telescopic rod (1-5) is sleeved in the connection ring (1-7). The distance between the connection rings (1-7) on the first weight-reducing suspension telescopic rod (1-5) can be manually adjusted along the axial direction of the first weight-reducing suspension telescopic rod (1-5) to adapt to the shoulder width of the patient, and the connection ring (1-7) is fastened by the connection ring fixing screw (1-6). The structure of the second weight-reducing suspension telescopic rod (1-2) is the same as that of the first weight-reducing suspension telescopic rod (1-5). The linear guide rail (1-15) is connected to the side of the right suspension support frame (1-16). There is a guide rail slider (1-12) on the linear guide rail (1-15). One side above the right scissor arm (3-1) is connected to the right suspension support frame (1-16) through the support frame and the scissor arm fixing screw (1-14). The other side above the right scissor arm (3-1) is connected to the guide rail slider and the scissor arm fixing screw (1-13). The travel of the guide rail slider (1-12) is restricted by the raised part of the right suspension support frame (1-16) and the guide rail limit block (1-11) on both sides of the linear guide rail (1-15). The left suspension support frame (1-1) and the right suspension support frame (1-16) are mirror-symmetrical in structure and have exactly the same connection relationship. The push rod fixing holes (2-11) at both ends of the upper electric push rod (2-1) are connected to the push rod connection parts (2-10) on the left suspension support frame (1-1) and the right suspension support frame (1-16) respectively through the push rod fixing shaft (2-9). The structure and composition method of the lower electric push rod (2-3) are exactly the same as those of the upper electric push rod (2-1). The push rod fixing holes (2-11) at both ends of the lower electric push rod (2-3) are connected to the upper support frames (4-26) on both sides in the motion control system (4) respectively through the push rod fixing shaft (2-9). A pressure sensor (2-6) is arranged at the tail end of the upper electric push rod (2-1). Both ends of the pressure sensor (2-6) are connected to the tail end of the upper electric push rod (2-1) and the right suspension support frame (1-16) respectively through the spring fixing rod (2-7) and the buffer spring (2-8). A pressure sensor (2-6) is also arranged at the end of the lower electric push rod (2-3). The two ends of the pressure sensor (2-6) are respectively connected to the end of the lower electric push rod (2-3) and the upper support frame (4-26) through a spring fixing rod (2-7) and a buffer spring (2-8). When adjusting the width, if the speeds of the upper electric push rod (2-1), the lower electric push rod (2-3), and the hub motor (4-15) of the motion control system (4) are not coordinated properly, the upper electric push rod (2-1) and the lower electric push rod (2-3) will deflect vertically around the push rod fixed shaft (2-9). The buffer spring (2-8) will then generate pressure. By detecting the real-time return value of the pressure sensor (2-6) and adjusting the speeds of the upper electric push rod (2-1), the lower electric push rod (2-3), and the hub motor (4-15) of the motion control system (4), a closed loop is formed. The width is adjusted while ensuring vertical parallelism to prevent tilting caused by inconsistent telescopic amounts of the upper electric push rod (2-1) and the lower electric push rod (2-3). Pressure sensors (2-6) are provided at the connection points of the upper electric push rod (2-1) and the lower electric push rod (2-3), and the structural compositions of the pressure sensors (2-6) are exactly the same. The right scissor arm (3-1) and the left scissor arm (3-10) on the upper part of the weight reduction drive system (3) are respectively connected to the linear guide rail (1-15). One of the two connection points is a fixed connection, and the other is connected to the guide rail slider (1-12). The right scissor arm (3-1) and the left scissor arm (3-10) are connected together through the weight reduction suspension system (1). The stepper motor (3-4) is connected to the lead screw (3-7) through a flange (3-3). The stepper motor (3-4) drives the lead screw (3-7) to rotate. A right-handed trapezoidal nut (3-2) and a left-handed trapezoidal nut (3-9) are installed on the lead screw (3-7). The right-handed trapezoidal nut (3-2) and the left-handed trapezoidal nut (3-9) are exactly the same in size. When the lead screw (3-7) rotates, the right-handed trapezoidal nut (3-2) and the left-handed trapezoidal nut (3-9) move in opposite directions and the moving distances are the same. The right-handed trapezoidal nut (3-2) and the left-handed trapezoidal nut (3-9) are connected to the guide rail (3-8). The guide rail (3-8) fixes the moving directions of the right-handed trapezoidal nut (3-2) and the left-handed trapezoidal nut (3-9). When the stepper motor (3-4) moves, it drives the right-handed trapezoidal nut (3-2) and the left-handed trapezoidal nut (3-9) to move relatively or in the reverse direction in the moving direction specified by the guide rail (3-8), driving the bottoms of the right scissor arm (3-1) and the left scissor arm (3-10) to extend / contract, and the right scissor arm (3-1) and the left scissor arm (3-10) to lower / raise. The left and right sides of the weight reduction drive system (3) have the same structural composition, are mirror-symmetric in structure, and have exactly the same connection relationship. The rear support frame (4-2) and the bottom support frame (4-20) are fixedly connected by an angle bracket (4-3). The rear support frame (4-2) and the upper support frame (4-26) are connected and coupled by a crossbeam fixing block (4-1). The upper support frame (4-26) and the front support frame (4-23) are connected together by an upper support frame fixing block (4-24). The front support frame (4-23) and the bottom support frame (4-20) are connected together by a front support frame fixing block (4-19). The rear half of the bottom support frame (4-20) is equipped with a main control board (4-21) and a hub motor driver (4-22). The main control board (4-21) and the hub motor driver (4-22) are covered by a control system cover plate (4-25). The first battery pack (4-5) and the second battery pack (4-18) are placed in the internal space of the bottom support frame (4-20). The rear omnidirectional wheel (4-8) and the rear omnidirectional wheel support frame (4-10) are connected together by a rear omnidirectional wheel fixing shaft (4-9). The surface of the rear omnidirectional wheel support frame (4-10) has protrusions for fixedly connecting with the rear omnidirectional wheel damping spring (4-7). The rear omnidirectional wheel support frame (4-10) and the bottom support frame (4-20) are connected and fixed by a rear omnidirectional wheel rotating fixing shaft (4-6). The connection relationship between the front omnidirectional wheel and the shock absorption module (4-17) is the same as that of the rear omnidirectional wheel (4-8). The upper part of the disc motor (4-11) is fixedly connected to the bottom support frame (4-20). The lower part of the disc motor (4-11) is fixedly connected to the hub motor damping module support plate (4-12). The hub motor damping module support plate (4-12) is fixedly connected to the hub motor damping module (4-13). The lower part of the hub motor damping module (4-13) is fixedly connected to the hub motor fixing frame (4-14). The hub motor (4-15) is directly installed on the hub motor fixing frame (4-14) and fixed by a hub motor fixing nut (4-16). When the patient accidentally falls during the rehabilitation process, the rear omnidirectional wheel damping spring (4-7) and the hub motor damping module (4-13) play a buffering role to prevent the direct pulling of the lifting rope. When adjusting the width, the disc motor (4-11) rotates the hub motor (4-15) by 90°. The lower hub motor (4-15), the upper electric push rod (2-1) and the lower electric push rod (2-3) jointly stretch / contract to adjust the overall width.

2. The lower limb rehabilitation training robot according to claim 1, characterized in that: The upper electric push rod (2-1) and the lower electric push rod (2-3) are adjusted by the feedback information of the pressure sensor (2-6).

3. The lower limb rehabilitation training robot according to claim 1, characterized in that: When the width is adjusted wider than the treadmill, it can assist the patient in exercising on the treadmill and provide weight loss support for the patient training on the treadmill.

4. The lower limb rehabilitation training robot according to claim 1, characterized in that: When the height is adjusted to suit the height of the hospital bed, it can assist the patient in pulling up from the bedside for rehabilitation training.

5. The lower limb rehabilitation training robot according to claim 1, wherein: The modular interface (1-3) of the weight loss support frame can be connected to both the rehabilitation training clothing for weight loss and the exoskeleton module for gait correction to achieve rehabilitation training for different parts.

6. The lower limb rehabilitation training robot according to claim 1, wherein: When performing weight-supported walking training, the patient wears a rehabilitation training suit. The modular interfaces (1-3) of the weight-supported support frame are respectively connected to the suspension straps of the rehabilitation training suit. When the weight-supported system is lifted upward, each sling will pull the force sensor (1-8), and the value of the force sensor (1-8) changes to determine the specific weight reduction value.

7. The lower limb rehabilitation training robot according to claim 1, characterized in that: After reducing the height and width, it can adapt to the body sizes of different patients, can easily pass through ordinary household doors and elevators, while reducing the occupied space, facilitating transportation and storage.

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