A lower limb rehabilitation training robot

Abstract

The present invention discloses a lower limb rehabilitation training robot, comprising: a frame, a control system, an input mechanism for inputting the physical signs of a patient into the control system, a driving mechanism for binding the two legs of the patient and driving the two legs of the patient to move, an adjusting mechanism for adjusting the binding position of the driving mechanism binding the two legs, a walking conveyor belt mechanism for the patient to walk, the adjusting mechanism is connected to the driving mechanism, the driving mechanism is movably arranged on the frame, and both the driving mechanism and the adjusting mechanism are in signal connection with the control system. By inputting the physical signs of the patient into the input mechanism, the control system will automatically calculate the position that the driving mechanism needs to adjust, and control the adjusting mechanism to adjust the position of the driving mechanism, so as to adjust the binding position of the driving mechanism binding the two legs of different patients, reduce the adjustment time, and the structure of the present application is simple and lightweight, reducing the burden on the patient during assembly and improving the comfort level.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation technologies, and more particularly, to a lower limb rehabilitation training robot. Background Art

[0002] In recent years, lower limb rehabilitation robots have been increasingly widely used in the field of rehabilitation equipment. It binds to the patient's lower limbs through a mechanical structure and simulates the walking movement of a normal person to achieve the purpose of exercising the lower limb muscles and restoring nerve function.

[0003] For existing lower limb rehabilitation robots, most are connected to the patient's body in an exoskeleton manner through straps, and the patient's joints are driven by machinery to move. The prior art requires binding the mechanical drive mechanism to the patient's lower limbs with straps. For patients of different heights, it is necessary to adjust the lengths of the corresponding thighs and calves of the robot, which is time-consuming and laborious. In addition, the mechanical structure of the prior art needs to be bound to the patient's body, which is large, bulky, causes a great weight burden on the patient, and is extremely uncomfortable after wearing.

[0004] In summary, how to reduce the adjustment time of the lower limb rehabilitation robot, relieve the burden on the patient, and improve comfort is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a lower limb rehabilitation training robot, which can automatically adjust the binding positions on the patient's two legs, reduces the adjustment time, has a simple structure, can relieve the burden on the patient, and improves the comfort of the patient's use.

[0006] To achieve the above object, the present invention provides the following technical solution:

[0007] A lower limb rehabilitation training robot, comprising: a frame, a control system, an input mechanism for inputting the patient's physical signs to the control system, a drive mechanism for binding the patient's two legs and driving the patient's two legs to move, an adjustment mechanism for adjusting the binding positions of the drive mechanism on the two legs, and a walking conveyor belt mechanism for the patient to walk. The adjustment mechanism is connected to the drive mechanism, the drive mechanism is movably arranged on the frame, and both the drive mechanism and the adjustment mechanism are signal-connected to the control system.

[0008] Preferably, the driving mechanism includes a first driving mechanism for binding the patient's first leg to drive the first leg to move in a first vertical plane, and a second driving mechanism for binding the patient's second leg to drive the second leg to move in a second vertical plane; the adjusting mechanism includes a first adjusting mechanism for adjusting the position of the binding point of the first driving mechanism binding the first leg in the first vertical plane, and a second adjusting mechanism for adjusting the position of the binding point of the second driving mechanism binding the second leg in the second vertical plane. The first adjusting mechanism is connected to the first driving mechanism, the second adjusting mechanism is connected to the second driving mechanism. The first driving mechanism and the second driving mechanism are both movably arranged on the frame, and the first driving mechanism, the second driving mechanism, the first adjusting mechanism, and the second adjusting mechanism are all connected to the control system in a signal manner.

[0009] Preferably, the first driving mechanism includes a first driving part for binding the patient's first knee joint to drive the first knee joint to move in the first vertical plane, and a second driving part for binding the patient's first ankle joint to drive the first ankle joint to move in the first vertical plane. The second driving mechanism includes a third driving part for binding the patient's second knee joint to drive the second knee joint to move in the second vertical plane, and a fourth driving part for binding the patient's second ankle joint to drive the second ankle joint to move in the second vertical plane.

[0010] Preferably, the first driving part includes a first rope for binding the first knee joint, and a first motor for driving the first rope to reciprocate in the first vertical plane; the second driving part includes a second rope for binding the first ankle joint, and a second motor for driving the second rope to reciprocate in the first vertical plane; the third driving part includes a third rope for binding the second knee joint, and a third motor for driving the third rope to reciprocate in the second vertical plane; the fourth driving part includes a fourth rope for binding the second ankle joint, and a fourth motor for driving the fourth rope to reciprocate in the second vertical plane.

[0011] Preferably, a first winding disc is arranged on the output shaft of the first motor, and the first rope is wound around the first winding disc; a second winding disc is arranged on the output shaft of the second motor, and the second rope is wound around the second winding disc; a third winding disc is arranged on the output shaft of the third motor, and the third rope is wound around the third winding disc; a fourth winding disc is arranged on the output shaft of the fourth motor, and the fourth rope is wound around the fourth winding disc.

[0012] Preferably, the first motor, the second motor, the third motor, and the fourth motor are all servo motors.

[0013] Preferably, on the frame in front of and behind the walking conveyor mechanism, two first fixed pulleys and two second fixed pulleys in the first vertical plane are respectively arranged. The two first fixed pulleys are on the first horizontal line, and the two second fixed pulleys are on the second horizontal line. The first horizontal line is higher than the second horizontal line. The first rope respectively bypasses the two first fixed pulleys, and the two second ropes respectively bypass the two second fixed pulleys;

[0014] On the frame in front of and behind the walking conveyor mechanism, two third fixed pulleys and two fourth fixed pulleys in the second vertical plane are respectively arranged. The two third fixed pulleys are on the first horizontal line, and the two fourth fixed pulleys are on the second horizontal line. The third rope respectively bypasses the two third fixed pulleys, and the two fourth ropes respectively bypass the two fourth fixed pulleys.

[0015] Preferably, the first adjustment mechanism includes a first adjustment part and a second adjustment part. The first adjustment part includes a first pulley group, and the second adjustment part includes a second pulley group. The first movable pulley of the first pulley group is arranged on the first driving member that reciprocates, and the second movable pulley of the second pulley group is arranged on the second driving member that reciprocates; the second adjustment mechanism includes a third adjustment part and a fourth adjustment part. The third adjustment part includes a third pulley group, and the fourth adjustment part includes a fourth pulley group. The third movable pulley of the third pulley group is arranged on the third driving member that reciprocates, and the fourth movable pulley of the fourth pulley group is arranged on the fourth driving member that reciprocates;

[0016] The first rope is wound around the first pulley group, the second rope is wound around the second pulley group, the third rope is wound around the third pulley group, and the fourth rope is wound around the fourth pulley group.

[0017] Preferably, the first driving member, the second driving member, the third driving member, and the fourth driving member are all electric push rods.

[0018] Preferably, a weight reduction mechanism for lifting the patient is arranged above the frame.

[0019] By inputting the patient's physical signs into the input mechanism, the control system will automatically calculate the position that the driving mechanism needs to adjust, and control the adjustment mechanism to adjust the position of the driving mechanism, so as to adjust the binding positions of the driving mechanism to the two legs of different patients, reducing the adjustment time. And the structure of this application is simple and light, reducing the burden on the patient during assembly and improving comfort. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0021] Figure 1 Schematic diagram of the use of the lower limb rehabilitation training robot provided by the present invention;

[0022] Figure 2 Schematic diagram of the movement of the first rope and the third rope of the lower limb rehabilitation training robot provided by the present invention;

[0023] Figure 3 Schematic diagram of the first adjustment mechanism provided by the present invention;

[0024] Figure 4 Schematic diagram of the preset adjustment position of the first rope provided by the present invention;

[0025] Figure 5 Schematic diagram of the first adjustment mechanism adjusting the first rope and the first motor not adjusting the position of the first rope provided by the present invention;

[0026] Figure 6 Movement trajectory diagram of the binding point of the first rope provided by the present invention;

[0027] Figure 7 Gait cycle and angle relationship diagram of the ankle joint moving in the sagittal plane;

[0028] Figure 8 Gait cycle and angle relationship diagram of the knee joint moving in the sagittal plane.

[0029] Figure 1-8 In:

[0030] 1 - First motor, 2 - Second motor, 3 - Third motor, 4 - Fourth motor, 5 - First rope, 6 - Second rope, 7 - Third rope, 8 - Fourth rope, 9 - First adjustment part, 10 - Second adjustment part, 11 - Third adjustment part, 12 - Fourth adjustment part, 13 - Walking conveyor belt mechanism, 14 - Frame, 15 - Weight reduction mechanism, 16 - Fifth fixed pulley, 17 - First driving part, 18 - First movable pulley, 19 - First fixed pulley, 20 - Second fixed pulley. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] The core of the present invention is to provide a lower limb rehabilitation training robot, which can automatically adjust the positions bound to the patient's two legs, reduce the adjustment time, and has a simple structure, which can reduce the burden on the patient and improve the comfort of the patient's use.

[0033] Please refer to Figures 1 to 8 , Figure 1 which is a schematic diagram of the use of the lower limb rehabilitation training robot provided by the present invention; Figure 2 which is a schematic diagram of the movement of the first rope and the third rope of the lower limb rehabilitation training robot provided by the present invention; Figure 3 which is a schematic diagram of the first adjustment mechanism provided by the present invention; Figure 4 which is a schematic diagram of the preset adjustment position of the first rope provided by the present invention; Figure 5 which is a schematic diagram of the first adjustment mechanism adjusting the first rope and the first motor not adjusting the position of the first rope provided by the present invention; Figure 6 which is a movement trajectory diagram of the binding point of the first rope provided by the present invention; Figure 7 which is a gait cycle and angle relationship diagram of the ankle joint moving in the sagittal plane; Figure 8 which is a gait cycle and angle relationship diagram of the knee joint moving in the sagittal plane.

[0034] A lower limb rehabilitation training robot includes: a frame 14, a control system, an input mechanism for inputting the patient's physical signs to the control system, a driving mechanism for binding the patient's two legs and driving the patient's two legs to move, an adjustment mechanism for adjusting the binding position of the driving mechanism binding the two legs, and a walking conveyor belt mechanism 13 for the patient to walk. The adjustment mechanism is connected to the driving mechanism, the driving mechanism is movably arranged on the frame 14, and both the driving mechanism and the adjustment mechanism are signal-connected to the control system.

[0035] It should be noted that the frame 14 includes a base and side frames arranged on the front side and the rear side of the base. The walking conveyor belt mechanism 13 is arranged on the base. Side frames are respectively arranged on the front side and the rear side of the transmission direction of the walking conveyor belt mechanism 13. Transmission parts are arranged on the front side and the rear side frames. The driving mechanism respectively binds the patient's two legs and drives the patient's two legs to move in two vertical planes. The vertical planes in which the two legs move are parallel to the sagittal plane of the human body.

[0036] The adjusting mechanism adjusts the binding points where the driving mechanism binds the two legs respectively, so as to be applicable to the binding of the first leg and the second leg of patients with different body signs. The body signs of patients include height, thigh length, and calf length.

[0037] By inputting the patient's body signs into the input mechanism, the control system will automatically calculate the positions that the driving mechanism needs to adjust, and control the adjusting mechanism to adjust the position of the driving mechanism, so as to adjust the binding positions of the driving mechanism to the two legs of different patients, reducing the adjustment time. Moreover, the structure of this application is simple and lightweight, reducing the burden on patients during assembly and improving comfort.

[0038] On the basis of the above embodiments, as a further preference, the driving mechanism includes a first driving mechanism for binding the first leg of the patient to drive the first leg to move in a first vertical plane, and a second driving mechanism for binding the second leg of the patient to drive the second leg to move in a second vertical plane; the adjusting mechanism includes a first adjusting mechanism for adjusting the position of the binding point where the first driving mechanism binds the first leg in the first vertical plane, and a second adjusting mechanism for adjusting the position of the binding point where the second driving mechanism binds the second leg in the second vertical plane. The first adjusting mechanism is connected to the first driving mechanism, and the second adjusting mechanism is connected to the second driving mechanism. Both the first driving mechanism and the second driving mechanism are movably arranged on the frame 14, and the first driving mechanism, the second driving mechanism, the first adjusting mechanism, and the second adjusting mechanism are all signal-connected to the control system.

[0039] It should be noted that the first driving mechanism is movably arranged on the front and rear side frames. The first driving mechanism is used to bind the first leg of the patient, and drives the first leg of the patient to perform walking movement in the first vertical plane through driving. The second driving mechanism is movably arranged on the front and rear side frames. The second driving mechanism is used to bind the second leg of the patient, and drives the second leg of the patient to perform walking movement in the second vertical plane through driving. Both the first vertical plane and the second vertical plane are parallel to the sagittal plane of the human body.

[0040] By inputting the patient's body signs into the input mechanism, the control system will automatically calculate the positions that the first driving mechanism and the second driving mechanism need to adjust, and control the first adjusting mechanism to adjust the position of the first driving mechanism, and control the second adjusting mechanism to adjust the position of the second driving mechanism, so as to adjust the position of the binding point of the first driving mechanism in the first vertical plane and simultaneously adjust the position of the binding point of the second driving mechanism in the second vertical plane, reducing the adjustment time. Moreover, the driving mechanism and the adjusting mechanism provided in this embodiment have a simple and lightweight structure, reducing the burden on patients during assembly and improving comfort.

[0041] On the basis of the above embodiments, as a further preference, the first driving mechanism includes a first driving part for binding the first knee joint of the patient to drive the first knee joint to move in the first vertical plane, and a second driving part for binding the first ankle joint of the patient to drive the first ankle joint to move in the first vertical plane. The second driving mechanism includes a third driving part for binding the second knee joint of the patient to drive the second knee joint to move in the second vertical plane, and a fourth driving part for binding the second ankle joint of the patient to drive the second ankle joint to move in the second vertical plane.

[0042] It should be noted that the first driving part is bound near the first knee joint, specifically at a preset position above the knee. The first driving part includes a first strap for binding above the first knee of the patient and a first driving part for driving the first strap. The second driving part includes a second strap for binding the first ankle of the patient and a second driving part for driving the second strap. The third driving part includes a third strap for binding above the second knee of the patient and a third driving part for driving the third strap. The fourth driving part includes a fourth strap for binding the second ankle of the patient and a fourth driving part for driving the fourth strap.

[0043] In this embodiment, by driving the knees and ankles of the patient's two legs respectively, one driving part drives one part, and the four driving parts drive four parts respectively, which can help the patient walk steadily on the walking conveyor mechanism 13, and the structure is simple, which can reduce the burden on the patient.

[0044] On the basis of the above embodiments, as a further preference, the first driving part includes a first rope 5 for binding the first knee joint, and a first motor 1 for driving the first rope 5 to reciprocate in the first vertical plane; the second driving part includes a second rope 6 for binding the first ankle joint, and a second motor 2 for driving the second rope 6 to reciprocate in the first vertical plane; the third driving part includes a third rope 7 for binding the second knee joint, and a third motor 3 for driving the third rope 7 to reciprocate in the second vertical plane; the fourth driving part includes a fourth rope 8 for binding the second ankle joint, and a fourth motor 4 for driving the fourth rope 8 to reciprocate in the second vertical plane.

[0045] It should be noted that the first rope 5 is a rope tied above the first knee of the patient, the motor controlling the movement of the first rope 5 is the first motor 1, and the first adjusting mechanism is used to adjust the length of the first rope 5; the second rope 6 is a rope tied to the first ankle of the patient, the motor controlling the movement of the second rope 6 is the second motor 2, and the first adjusting mechanism is used to adjust the length of the second rope 6; the third rope 7 is a rope tied to the second knee of the patient, the motor controlling the movement of the third rope 7 is the third motor 3, and the second adjusting mechanism is used to adjust the length of the third rope 7; the fourth rope 8 is a rope tied to the second ankle of the patient, the motor controlling the movement of the fourth rope 8 is the fourth motor 4, and the second adjusting mechanism is used to adjust the length of the fourth rope 8.

[0046] The first rope 5 is provided with a first strap, the second rope 6 is provided with a second strap, the third rope 7 is provided with a third strap, the fourth rope 8 is provided with a fourth strap, and the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8 are all closed-loop ropes.

[0047] It can be stipulated that when the first motor 1 rotates counterclockwise, the first rope 5 moves forward in the direction the patient is facing. Since the first rope 5 is a closed-loop rope, the first rope 5 in front of the patient pulls the first knee of the patient forward, and the first rope 5 behind the patient also moves forward. When the first motor 1 rotates in the opposite direction, the first rope 5 behind the patient pulls the first knee of the patient backward, and the first rope 5 in front of the patient also moves backward.

[0048] As Figure 2 shown, the figure only shows an example of the first motor 1 driving the first knee and the third motor 3 driving the third knee to move. In actual use, the control system will, according to the information of the simulated normal walking pace built-in, control the movement of the 4 motors in real time, including the rotation direction and rotation speed, and cooperate with the lower walking conveyor mechanism 13 to achieve the lower limb rehabilitation exercise training of the patient.

[0049] When the calf lengths of different patients are different, the binding points above the first knee and the second knee need to be moved up or down. As Figure 4 shown, the dotted line part shown in the figure is the rope that needs to be adjusted, and the binding point of the dotted line part is below the binding point of the solid line part.

[0050] Taking the first rope 5 as an example, when adjusting the length of the first rope 5, for example, after elongation, when the first motor 1 does not rotate, due to the elongation of the first rope 5, the binding point above the first knee will move forward, resulting in the binding point not being in the initial position on the leg, Figure 5 as shown by the dotted line in

[0051] In the control system, the patient's height, thigh length, and calf length are input, and the control system automatically calculates the lengths of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8 that need to be set. It controls the first adjustment mechanism and the second adjustment mechanism to adjust the lengths of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8, and controls the first motor 1 to finely adjust the position of the strap on the first rope 5, controls the second motor 2 to finely adjust the position of the strap on the second rope 6, controls the third motor 3 to finely adjust the position of the strap on the third rope 7, and controls the fourth motor 4 to finely adjust the position of the strap on the fourth rope 8, so that the 4 straps located above the patient's ankle and knee are in the correct positions.

[0052] By controlling the rotation angle of the first motor 1 and the position adjusted by the first adjustment mechanism, the position of the binding point of the first rope 5 in the first vertical plane can be achieved. In terms of motion control, after adjusting the position of the binding point, trajectory planning needs to be carried out according to the patient data and set parameters to obtain the motion trajectory of each binding point. The trajectory planning is carried out according to the motion of the hip and knee joints in the first vertical plane, as Figure 6 shown. Assuming that the trajectory of the binding point after planning is as shown by the dotted line in Figure 4 , then during the motion, by controlling the first motor 1 and the first driving mechanism in real time, the binding point can move along the predetermined trajectory.

[0053] On the basis of the above embodiments, as a further preference, a first winding disc is provided on the output shaft of the first motor 1, and the first rope 5 is wound around the first winding disc; a second winding disc is provided on the output shaft of the second motor 2, and the second rope 6 is wound around the second winding disc; a third winding disc is provided on the output shaft of the third motor 3, and the third rope 7 is wound around the third winding disc; a fourth winding disc is provided on the output shaft of the fourth motor 4, and the fourth rope 8 is wound around the fourth winding disc.

[0054] It should be noted that the first motor 1 and the first winding disc are on the left side of the frame 14, and the first adjustment mechanism is arranged on the right side of the first winding disc. Therefore, when the first rope 5 extends by a length L and the first winding disc does not rotate, the first rope 5 on the right side of the binding point becomes longer by L. Therefore, the first winding disc should adjust the left side of the first rope 5 to extend by L / 2. If the circumference of the first winding disc is M, then the relationship between the rotation angle n of the first motor 1, L, and M is as follows: n·M / 360 = L / 2, from which the rotation angle that the first motor 1 needs to rotate can be obtained. The second motor 2 and the second winding disc, the third motor 3 and the third winding disc, and the fourth motor 4 and the fourth winding disc are all arranged in the same way as the first motor 1 and the first winding disc, and the adjustment methods are the same. The structure set in this embodiment can facilitate the calculation of the rotation angles of the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4, so as to facilitate the adjustment of the positions of the binding points of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8.

[0055] On the basis of the above embodiments, as a further preference, the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are all servo motors.

[0056] It should be noted that the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 all adopt servo motors, which is beneficial for the control system to directly control the rotation speeds and rotation angles of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4, etc.

[0057] Preferably, on the basis of the above embodiments, as a further preference, two first fixed pulleys 19 and two second fixed pulleys 20 in the first vertical plane are respectively arranged on the front and rear frames 14 of the walking conveyor mechanism 13. The two first fixed pulleys 19 are on the first horizontal line, and the two second fixed pulleys 20 are on the second horizontal line. The first horizontal line is higher than the second horizontal line. The first ropes 5 respectively bypass the two first fixed pulleys 19, and the two second ropes 6 respectively bypass the two second fixed pulleys 20;

[0058] Two third fixed pulleys and two fourth fixed pulleys in the second vertical plane are respectively arranged on the front and rear frames 14 of the walking conveyor mechanism 13. The two third fixed pulleys are on the first horizontal line, and the two fourth fixed pulleys are on the second horizontal line. The third ropes 7 respectively bypass the two third fixed pulleys, and the two fourth ropes 8 respectively bypass the two fourth fixed pulleys.

[0059] It should be noted that the first ropes 5 respectively bypass the two first fixed pulleys 19. The binding points of the first ropes 5 are arranged between the two first fixed pulleys 19. And for the convenience of installing the first ropes 5, a first inflection pulley can be arranged at the rear side of the frame 14. The first ropes 5 behind the binding points bypass the first fixed pulley 19 behind the frame 14, then bypass the first inflection pulley and pass through the first adjusting mechanism and then pass through the first winding disc, and then bypass the first fixed pulley 19 in front of the frame 14 and form a closed loop with the first ropes 5 behind the binding points.

[0060] The second ropes 6 respectively bypass the two second fixed pulleys 20. The binding points of the second ropes 6 are arranged between the two second fixed pulleys 20. And for the convenience of installing the second ropes 6, a second inflection pulley can be arranged at the rear side of the frame 14. The second ropes 6 behind the binding points bypass the second fixed pulley 20 behind the frame 14, then bypass the second inflection pulley and pass through the first adjusting mechanism and then pass through the second winding disc, and then bypass the second fixed pulley 20 in front of the frame 14 and form a closed loop with the second ropes 6 behind the binding points.

[0061] The third rope 7 respectively bypasses two third fixed pulleys. The binding point of the third rope 7 is set between the two third fixed pulleys. And in order to facilitate the installation of the third rope 7, a third inflection pulley can be arranged at the rear side of the frame 14. The third rope 7 behind the binding point bypasses the third fixed pulley behind the frame 14, then bypasses the third inflection pulley, passes through the second adjusting mechanism and then passes through the third winding disc, and then bypasses the third fixed pulley in front of the frame 14 and forms a closed loop with the third rope 7 behind the binding point.

[0062] The fourth rope 8 respectively bypasses two fourth fixed pulleys. The binding point of the fourth rope 8 is set between the two fourth fixed pulleys. And in order to facilitate the installation of the fourth rope 8, a fourth inflection pulley can be arranged at the rear side of the frame 14. The fourth rope 8 behind the binding point bypasses the fourth fixed pulley 18 behind the frame 14, then bypasses the fourth inflection pulley, passes through the second adjusting mechanism and then passes through the fourth winding disc, and then bypasses the fourth fixed pulley 18 in front of the frame 14 and forms a closed loop with the fourth rope 8 behind the binding point.

[0063] The structure provided in this embodiment can facilitate the installation of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8, and can reduce the friction of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8 during movement.

[0064] On the basis of the above embodiment, as a further preference, the first adjusting mechanism includes a first adjusting part 9 and a second adjusting part 10. The first adjusting part 9 includes a first pulley group, and the second adjusting part 10 includes a second pulley group. The first movable pulley 18 of the first pulley group is arranged on the reciprocating first driving part 17, and the second movable pulley of the second pulley group is arranged on the reciprocating second driving part; the second adjusting mechanism includes a third adjusting part 11 and a fourth adjusting part 12. The third adjusting part 11 includes a third pulley group, and the fourth adjusting part 12 includes a fourth pulley group. The third movable pulley of the third pulley group is arranged on the reciprocating third driving part, and the fourth movable pulley of the fourth pulley group is arranged on the reciprocating fourth driving part;

[0065] The first rope 5 is wound around the first pulley group, the second rope 6 is wound around the second pulley group, the third rope 7 is wound around the third pulley group, and the fourth rope 8 is wound around the fourth pulley group.

[0066] It should be noted that the first pulley group includes a fifth fixed pulley 16 and a first movable pulley 18. The first rope 5 changes its direction after passing around the fifth fixed pulley 16 and then changes its direction again after passing around the first movable pulley 18. By adjusting the position of the first driving member 17, the first movable pulley 18 can be driven to move, so as to adjust the distance between the first movable pulley 18 and the fifth fixed pulley 16 in the first pulley group, thereby realizing the adjustment of the length of the first rope 5. The adjusted length is twice the distance L between the first movable pulley 18 and the fifth fixed pulley 16 in the first pulley group, that is, the length by which the first rope 5 is folded.

[0067] The structure of the second pulley group and the winding mode of the second rope 6, the structure of the third pulley group and the winding mode of the third rope 7, and the structure of the fourth pulley group and the winding mode of the fourth rope 8 are all the same as the structure of the first pulley group and the winding mode of the first rope 5.

[0068] The first adjusting mechanism and the second adjusting mechanism provided in this embodiment have a simple structure, are convenient to adjust, and the adjusted distance is controllable, which can improve the adjustment accuracy of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8.

[0069] On the basis of the above embodiment, as a further preference, the first driving member 17, the second driving member, the third driving member and the fourth driving member are all electric push rods.

[0070] It should be noted that the cylinder part of the electric push rod can be arranged on the ground, and a movable pulley is arranged at the end of the rod part of an electric push rod. The fixed pulley of each pulley group can be arranged on the ground.

[0071] The electric push rod has a small volume and high precision, which can improve the precision of adjusting the lengths of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8.

[0072] In order to further reduce the burden on the patient during assembly and improve comfort, on the basis of the above embodiment, as a further preference, a weight reduction mechanism 15 for lifting the patient is arranged above the frame 14. The weight reduction mechanism 15 is arranged above the walking conveyor belt mechanism 13. The weight reduction mechanism 15 is provided with a downward elastic rope, and the elastic rope can be tied to the upper body of the patient and provide a certain lifting force to the upper body of the patient, further reducing the burden on the patient during assembly.

[0073] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0074] The above has introduced the lower limb rehabilitation training robot provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A lower limb rehabilitation training robot, characterized in that, Including: A frame (14), a control system, an input mechanism for inputting patient signs to the control system, a driving mechanism for binding the two legs of the patient and driving the two legs of the patient to move, an adjusting mechanism for adjusting the binding position of the driving mechanism for binding the two legs, and a walking conveyor mechanism (13) for the patient to walk. The adjusting mechanism is connected to the driving mechanism, and the driving mechanism is movably arranged on the frame (14); The driving mechanism includes a first driving mechanism for binding the first leg of the patient to drive the first leg to move in a first vertical plane, and a second driving mechanism for binding the second leg of the patient to drive the second leg to move in a second vertical plane; The adjusting mechanism includes a first adjusting mechanism for adjusting the position of the binding point of the first driving mechanism for binding the first leg in the first vertical plane, and a second adjusting mechanism for adjusting the position of the binding point of the second driving mechanism for binding the second leg in the second vertical plane. The first adjusting mechanism is connected to the first driving mechanism, the second adjusting mechanism is connected to the second driving mechanism, the first driving mechanism and the second driving mechanism are both movably arranged on the frame (14), and the first driving mechanism, the second driving mechanism, the first adjusting mechanism, and the second adjusting mechanism are all signal-connected to the control system; The first driving mechanism includes a first rope (5) for binding the first knee joint, a first motor (1) for driving the first rope (5) to reciprocate in the first vertical plane, a second rope (6) for binding the first ankle joint, and a second motor (2) for driving the second rope (6) to reciprocate in the first vertical plane; The second driving mechanism includes a third rope (7) for binding the second knee joint, a third motor (3) for driving the third rope (7) to reciprocate in the second vertical plane, a fourth rope (8) for binding the second ankle joint, and a fourth motor (4) for driving the fourth rope (8) to reciprocate in the second vertical plane; A first winding disc is arranged on the output shaft of the first motor (1), and the first rope (5) is wound around the first winding disc; a second winding disc is arranged on the output shaft of the second motor (2), and the second rope (6) is wound around the second winding disc; a third winding disc is arranged on the output shaft of the third motor (3), and the third rope (7) is wound around the third winding disc; a fourth winding disc is arranged on the output shaft of the fourth motor (4), and the fourth rope (8) is wound around the fourth winding disc; The first adjusting mechanism includes a first adjusting part (9) and a second adjusting part (10). The first adjusting part (9) includes a first pulley group, and the second adjusting part (10) includes a second pulley group. The first movable pulley (18) of the first pulley group is arranged on the first driving part (17) that reciprocates, and the second movable pulley of the second pulley group is arranged on the second driving part that reciprocates; The second adjustment mechanism includes a third adjustment part (11) and a fourth adjustment part (12). The third adjustment part (11) includes a third pulley set, and the fourth adjustment part (12) includes a fourth pulley set. The third movable pulley of the third pulley set is arranged on the reciprocating third driving part, and the fourth movable pulley of the fourth pulley set is arranged on the reciprocating fourth driving part; The first rope (5) is wound around the first pulley set, the second rope (6) is wound around the second pulley set, the third rope (7) is wound around the third pulley set, and the fourth rope (8) is wound around the fourth pulley set; Above the frame (14), a weight reduction mechanism (15) for lifting the patient is provided.

2. The lower limb rehabilitation training robot according to claim 1, wherein The first motor (1), the second motor (2), the third motor (3) and the fourth motor (4) are all servo motors.

3. The lower limb rehabilitation training robot according to claim 1, characterized in that, On the frame (14) in front of and behind the walking conveyor mechanism (13), two first fixed pulleys (19) and two second fixed pulleys (20) in the first vertical plane are respectively arranged. The two first fixed pulleys (19) are on the first horizontal line, and the two second fixed pulleys (20) are on the second horizontal line. The first horizontal line is higher than the second horizontal line. The first rope (5) respectively bypasses the two first fixed pulleys (19), and the two second ropes (6) respectively bypass the two second fixed pulleys (20); On the frame (14) in front of and behind the walking conveyor mechanism (13), two third fixed pulleys and two fourth fixed pulleys in the second vertical plane are respectively arranged. The two third fixed pulleys are on the first horizontal line, and the two fourth fixed pulleys are on the second horizontal line. The third rope (7) respectively bypasses the two third fixed pulleys, and the two fourth ropes (8) respectively bypass the two fourth fixed pulleys.

4. The lower limb rehabilitation training robot according to claim 1, wherein The first driving part (17), the second driving part, the third driving part and the fourth driving part are all electric push rods.

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