A movable medical robot for multi-joint rehabilitation training of lower limbs

Abstract

The application provides a movable medical robot for lower limb multi-joint rehabilitation training, comprising a main support module, a standing auxiliary seat module, a hip width adjusting module, a backrest module and a lower limb intelligent exoskeleton module for assisting lower limb movement. The main support module ensures that the robot closely follows the patient walking forward, and is provided with a height adjusting module, which can adapt to the height and other use requirements of different users. The hip width adjusting module enables the robot to use the hip width of different users. The lower limb intelligent exoskeleton module adopts a centering indication device to realize accurate centering of human-robot joints. The standing auxiliary seat module provides a seat and standing assistance and other functions, and realizes efficient, comfortable and safe, multifunctional intelligent rehabilitation training.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a medical rehabilitation robot for restoring walking ability of lower limbs. BACKGROUND

[0002] According to the theory of brain plasticity, by stimulating the output end of nerve control, i.e. the terminal nerve and muscle, through reasonable movement of the affected side of hemiplegia with external assistance, the motor center of the brain can be stimulated to change its structure and reorganize its function. Clinical practice has proved that motor rehabilitation training is effective for the rehabilitation treatment of hemiplegia, which not only prevents muscle atrophy of patients and maintains the flexibility of joints of patients, but also improves the final recovery degree of patients. Rehabilitation in China started relatively late, and the technology is relatively weak. Most rehabilitation departments mainly rely on medical personnel and simple equipment for rehabilitation training, making the rehabilitation work very heavy, and at the same time, the efficiency is not high. Medical personnel also need long-term training. These seriously hinder the development of the rehabilitation industry in China.

[0003] At present, there are some medical robots on the market for stroke hemiplegia rehabilitation, but overall there are many problems such as simple function, poor comfort, single training mode, lack of functional design in the preparation stage, and poor human-computer cooperation performance.

[0004] Song Hao in the Chinese patent for invention "A fixed multi-degree-of-freedom mechanical arm weight-reducing lower limb exoskeleton rehabilitation robot (CN113398527A)" combines the lower limb exoskeleton with the multi-degree-of-freedom mechanical arm to realize the support of the human body and the weight-reducing function of the human body. Huang Yuetong in the Chinese patent for invention CN111588595A provides a fixed lower limb rehabilitation robot with consideration of ankle joint training. Li Jian et al. in the Chinese patent for invention "A detachable mobile lower limb exoskeleton rehabilitation robot (CN112754871A)" modularly disassembles the lower limb rehabilitation robot, which has the advantages of convenient transportation and convenient maintenance. Wang Tian in the Chinese utility model patent "A following hanger with a folding seat (CN214318514U)" provides a following hanger with a folding seat for a lower limb rehabilitation robot. Although the foregoing patent applications consider the needs in the process of lower limb rehabilitation training from various aspects and propose corresponding solutions, the fixed lower limb rehabilitation robot is bulky and can only be used in a relatively closed rehabilitation training room for patients to perform walking rehabilitation training under the assistance of the rehabilitation exoskeleton and a treadmill. The patients have a low sense of participation in rehabilitation training, and the patients have less motivation to participate in training, thereby limiting the medical effect. In the mobile lower limb rehabilitation robot, the functional design in the preparation process is very simple, and only a few consider providing a seat, which has limited effect. SUMMARY

[0005] To solve at least one of the problems in the prior art, the application provides a movable medical robot for lower limb multi-joint rehabilitation training, which is capable of realizing convenient preparation, high human-machine coupling precision, intelligent, comfortable, human-friendly and actual walking environment in the process of rehabilitation training.

[0006] To achieve the object of the application, the application provides a movable medical robot for lower limb multi-joint rehabilitation training, which comprises a main support module, a hip width adjustment module, a lower limb intelligent exoskeleton module for assisting lower limb movement, a backrest module and a standing assistance seat module.

[0007] The main support module comprises a walking following chassis module and a height adjustment column module arranged on the walking following chassis module.

[0008] The hip width adjustment module comprises a width adjustment device and two cantilevers, the width adjustment device is arranged on the height adjustment column module at the height of the two cantilevers, and the two cantilevers are connected with the width adjustment device to adjust the distance between the two cantilevers under the drive of the width adjustment device.

[0009] The lower limb intelligent exoskeleton module comprises a left lower limb intelligent exoskeleton sub-module and a right lower limb intelligent exoskeleton sub-module, which are symmetrically arranged on the two cantilevers of the hip width adjustment module, respectively, to adjust the distance between the two cantilevers by the hip width adjustment module.

[0010] The backrest module is arranged between the two arms.

[0011] The standing assistance seat module is arranged on the walking following chassis and comprises a seat body and a seat position adjustment mechanism, the seat body comprises a seat base, a seat posture adjustment mechanism and a seat cushion arranged in sequence from bottom to top, the seat posture adjustment mechanism is located between the seat base and the seat cushion, is used for adjusting the posture of the seat cushion and providing upward thrust, and the seat base is connected with the seat position adjustment mechanism to realize position displacement under the drive of the seat position adjustment mechanism.

[0012] Further, the walking following chassis is provided with a pulley set at the lower part, so that the robot can automatically follow the walking forward in the process of walking training.

[0013] Further, the height adjustment column module comprises an inner column, an outer column and a height adjustment drive motor, the lower end of the inner column is fixedly connected to the walking following chassis, the outer column is sleeved outside the inner column through a slide rail set, one end of the height adjustment drive motor is fixedly connected to the walking following chassis, and the other end is fixedly connected to the outer column, the height adjustment drive motor drives the outer column to slide upward or downward relative to the walking following chassis, so as to realize the height adjustment function.

[0014] Further, the cantilever is in L shape.

[0015] Further, the width adjusting device is arranged at the upper part of the height adjusting column of the main support module, comprising a mounting platform arranged on the height adjusting column module and a width adjusting screw rod device arranged on the mounting platform; the core component of the width adjusting screw rod is a bidirectional screw rod nut assembly, and two oppositely arranged nuts can move symmetrically relative to each other when the bidirectional screw rod rotates; two cantilevers are arranged symmetrically left and right, one end of each cantilever is arranged on the mounting platform of the width adjusting device through a slide rail group, and the other end of each cantilever is connected with two nuts on the width adjusting screw rod device respectively. By rotating the screw rod, the relative movement of the left and right L-shaped cantilevers can be realized.

[0016] Preferably, the L-shaped cantilever is hollow inside, which can be used for cable arrangement.

[0017] Further, the free end of each cantilever is further provided with a handrail module, which can be axially extended and retracted, and can adapt to users with different arm lengths to provide a leverage point for active support of the user during the whole use process.

[0018] Further, the lower limb intelligent exoskeleton module for assisting lower limb movement comprises a left lower limb intelligent exoskeleton sub-module and a right lower limb intelligent exoskeleton sub-module, which are symmetrically arranged at the distal ends of the left and right L-shaped cantilevers of the hip width adjusting module, and the distance between the two can be adjusted by the hip width adjusting module to adapt to the hip width of different users.

[0019] The left lower limb intelligent exoskeleton sub-module and the right lower limb intelligent exoskeleton sub-module are similar in structure, comprising a damping mechanism, a hip joint driving mechanism, a thigh mechanism, a knee joint driving mechanism, a lower leg mechanism and a foot mechanism connected in sequence. The hip joint driving mechanism is used to realize the rotation of the hip joint, the thigh mechanism is used to adjust the length of the thigh, the knee joint driving mechanism is used to realize the rotation of the knee joint, the lower leg mechanism is used to adjust the length of the lower leg, and the foot mechanism is connected with the lower leg mechanism at the ankle joint position to tighten the foot.

[0020] Among them, a joint centering indication device is arranged at the position of the center of the robot knee joint and the center of the hip joint, which is used to realize the centering of the robot joint and the human joint.

[0021] Preferably, the joint centering indication device comprises a visual laser pointer, and the laser is emitted from the center of the robot joint to display a light spot on the human lower limb. By adjusting the thigh mechanism and the lower leg mechanism, the light spot can be aligned with the center of the knee joint or the hip joint, so as to realize the centering of the robot joint and the human joint, thereby ensuring the provision of high-quality rehabilitation training with high man-machine coupling accuracy.

[0022] Further, the backrest module comprises a backrest body, a waist fixing band and a shoulder fixing band, the backrest body comprises a backrest fixing rod group, a backrest support plate and an elastic pad, the backrest fixing rod group comprises four tubes, two tubes are a group and symmetrically arranged left and right, one end is connected with a left (right) L-shaped cantilever, the other end forms a sliding pair with the backrest support plate, and the backrest fixing rod group can adapt to the setting of different hip widths. The two ends of the waist fixing band and the shoulder fixing band are connected to the corresponding positions of the backrest support plate. Preferably, the band is designed according to the human body shape, the fixing position of the band can be adjusted within a certain range, the length of the band can be adjusted, the band can provide firm and comfortable tightening for patients of different body types, the trunk of the user is limited within the allowed range, the smooth progress of the rehabilitation training process is ensured, and the safety of the user is ensured. The buckle is used to connect the middle part of the band, which can ensure the simplicity of the wearing process.

[0023] Further, the seat body comprises a seat base, a seat posture adjusting mechanism and a seat cushion arranged in sequence from bottom to top, and the seat posture adjusting mechanism can realize mutual conversion between horizontal and vertical states of the seat cushion. The seat position adjusting mechanism comprises a driving mechanism, an adjusting screw rod, a slide rail group and a seat mounting plate. The driving mechanism is arranged on the side surface of the lifting column of the walking following chassis, the slide rail group and the adjusting screw rod are arranged on the bottom of the walking following chassis. The nut of the adjusting screw rod and the slide block of the slide rail group are connected with the seat mounting plate, the seat body is arranged on the seat mounting plate through the seat base, the driving mechanism rotates the adjusting screw rod, and then drives the screw rod nut and other components fixedly connected with the screw rod nut to slide along the screw rod, so that the position of the seat in the front-rear direction is adjusted.

[0024] The standing auxiliary seat module has three different forms: a seat form, a standing auxiliary form and a storage form. The seat form is characterized in that the standing auxiliary seat module is in the same position as the machine hip joint of the left (right) lower limb intelligent exoskeleton sub-module in the front-rear direction, and the seat cushion is in a horizontal state. The standing auxiliary form is characterized in that the seat module is in the same position as the machine hip joint of the left (right) lower limb intelligent exoskeleton sub-module in the front-rear direction, and the seat cushion is in a transition stage from a horizontal state to a vertical state under the pushing of the seat adjusting mechanism. At this time, the seat cushion can provide an upward inclined pushing force, which pushes the human body from the hips to stand up during the process of standing up from a sitting position, thereby achieving the function of standing assistance. The storage form is characterized in that the standing auxiliary wheelchair as a whole is close to the lifting column in the front-rear direction, and the seat cushion is in the highest position. At this time, the seat occupies less space in the front-rear direction.

[0025] The robot has three working stages of sitting posture preparation, standing preparation and walking training.

[0026] The sitting preparation stage is characterized in that the standing assistance seat is in a seat form, the trainee sits on the seat, the hip joint mechanism of the lower extremity exoskeleton is roughly aligned with the human hip joint under the joint action of the height adjustment column of the main support module and the seat position adjustment mechanism of the standing assistance seat module, the human foot is on the foot bottom mechanism, and the human body is against the backrest module. The work to be completed in this stage includes: aligning the lower leg mechanism and the knee joint mechanism of the lower extremity intelligent exoskeleton with the human lower leg and knee joint respectively, and tightening the bandage at the lower leg; tightening the shoulder and waist bandages; and the user holding the front handrail.

[0027] In the transition process from the sitting preparation stage to the standing preparation stage, the standing assistance wheelchair is in a standing assistance form. In this process, multiple modules work together to complete the transition of the human body from a sitting position to a standing position: the height adjustment column module adjusts the height of the hip joint of the exoskeleton from the height of the hip joint of the human body in a sitting position to the height of the hip joint of the human body in a standing position; the lower leg adjustment mechanism and the hip-knee driving structure of the lower extremity intelligent exoskeleton work together to complete the shape transition of the lower extremity from a sitting position to a standing position; the standing assistance wheelchair changes from a sitting position to a standing assistance position, and the seat cushion is pushed up forward under the action of the seat position adjustment mechanism, providing a pushing force to the hips and bearing most of the work required to raise the center of gravity of the human body from a sitting position to a standing position, instead of relying on the lifting of the shoulder and waist bandages, which can greatly improve the comfort of the standing-up process. The transition process ends when the seat cushion of the standing assistance seat rises to the highest position and the human body completes standing, entering the standing preparation stage.

[0028] The standing preparation stage requires the following work: the lower extremity intelligent exoskeleton module adjusts the length of the lower leg, completes joint centering, tightens the thigh bandage, adjusts the bandages of the lower leg, waist and shoulder, and initializes gait parameters, etc. At the same time, the seat position adjustment module starts to work, moving the standing assistance wheelchair module backward to leave space for the walking training stage.

[0029] The walking training stage is characterized in that the lower extremity intelligent exoskeleton module provides the required walking assistance training of different degrees and modes using personalized natural gait parameters generated by a natural gait prediction algorithm.

[0030] Further, the intelligent medical robot further comprises a sensing system. The sensing system includes but is not limited to an angle encoder for sensing joint motion information, a torque sensor for detecting joint torque, a foot pressure sensor for sensing foot pressure, a vibration sensor for monitoring the running state of the robot, a temperature sensor, a deformation displacement sensor, etc. The sensing system provides rehabilitation effect evaluation feedback function by monitoring the human body rehabilitation movement and physiological parameters, and realizes multifunctional intelligent rehabilitation training.

[0031] Further, the intelligent medical robot further comprises a man-machine interaction system, including a robot control tablet computer, a medical staff operation and interaction software system, a rehabilitation effect evaluation feedback system, a voice prompting system, a developer development and maintenance software system and the like.

[0032] Compared with the prior art, the present application can achieve the beneficial effects at least as follows:

[0033] 1. The lower extremity exoskeleton adopts a laser indicating device to realize the centering of the robot joints and the human joints, ensure high man-machine coupling precision, realize more collaborative movement of man and machine, and provide more natural and comfortable gait rehabilitation training for patients.

[0034] 2. A standing auxiliary seat mechanism is provided, which, when in a seat form, enables the patient to sit stably on the seat in a sitting posture preparation stage, increases the comfort and operation convenience in this stage, and, in addition to the walking training process, the robot can also be used as a wheelchair for the patient; in the transition process from the sitting posture preparation stage to the standing preparation stage, the standing auxiliary seat mechanism is in a standing auxiliary form, which can provide a pushing force for the patient's hips to assist the standing process of the patient. In the sitting posture preparation stage, the standing auxiliary seat mechanism is folded as a whole towards the height adjusting column module to change into a folded state, so as to ensure the activity space required by the lower extremity walking movement in the walking training stage, and ensure that the lower extremity realizes more scientific and more natural and comfortable gait.

[0035] 3. The backrest module, shoulder strap, waist strap and leg strap can be suitable for patients of different body types, the wearing process is more simple, and the comfort of each part is ensured while providing firm fixation during the training process, which can greatly improve the initiative of the patient to participate in the training.

[0036] 4. In the walking training stage, the patient can sit down and rest at any time.

[0037] 5. A sensing system and an intelligent control system can also be used to monitor the human rehabilitation movement and physiological parameters, monitor the robot running state, predict the normal gait of the patient, and realize individualized, efficient, comfortable and safe, and multifunctional intelligent rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a general structure schematic diagram of a movable medical robot for lower extremity multi-joint rehabilitation training provided by an embodiment of the present application.

[0039] Figure 2 is a structure schematic diagram of a main support module in the embodiment of the present application.

[0040] Figure 3 is a structure schematic diagram of a hip width adjusting module in the embodiment of the present application.

[0041] Figure 4 is a structural schematic diagram of the lower limb intelligent exoskeleton module 5 in the embodiment of the present application.

[0042] Figure 5 is a structural schematic diagram of the backrest module in the embodiment of the present application.

[0043] Figure 6 is a structural schematic diagram of the standing assistance seat module in the embodiment of the present application.

[0044] Figure 7 is a schematic diagram of the use process of the present application, Figure 7 (a)- Figure 7 (d) are sequentially performed. Wherein Figure 7 (a) is a sitting preparation stage schematic diagram, corresponding to the seat shape of the standing assistance seat module; Figure 7 (b) is a transition process schematic diagram from the sitting preparation stage to the standing preparation stage, at this time corresponding to the standing assistance shape of the standing assistance seat module; Figure 7 (c) is a standing preparation stage schematic diagram, at this time the standing assistance seat module is converting from the standing assistance shape to the storage shape; Figure 7 (d) is a walking training stage schematic diagram, corresponding to the storage shape of the standing assistance seat module.

[0045] Figure 8 is a schematic diagram of a user using a mobile medical robot provided by the embodiment of the present application. DETAILED DESCRIPTION

[0046] The present application will be further described below in conjunction with specific embodiments, and the present application includes but is not limited to the following embodiments.

[0047] Please refer to Figures 1-8 , the present application provides a mobile medical robot for lower limb multi-joint rehabilitation training, which comprises a main support module 1, a hip width adjusting module 3, a lower limb intelligent exoskeleton module 5 for assisting lower limb movement, a backrest module 4 and a standing assistance seat module 2.

[0048] In some embodiments of the present application, please refer to Figure 2 , the main support module 1 comprises a walking following chassis module 7 and a height adjusting column module 6.

[0049] The walking following chassis module 7 comprises a ring-shaped frame and a set of casters arranged at the bottom of the frame. In some embodiments of the present application, the ring-shaped frame is welded by a hollow pipe, and the material is preferably a metal pipe.

[0050] In some embodiments of the present application, the bottom of the frame is provided with four casters. The two casters arranged at the front end can be directional casters, and the two casters arranged at the rear end can be universal casters. When walking in the rehabilitation training, the person walks forward with the assistance of the exoskeleton, dragging the robot forward, so as to realize the forward following of the robot. The casters are provided with self-locking function, which can lock the robot when necessary to prevent the robot from moving.

[0051] It can be understood that there are two types of casters, the first type is passive caster, and the second type is motor-driven caster. When the passive caster is used, the robot is passively followed forward, and the route change and obstacle avoidance can be realized under the active pushing of the rehabilitation therapist. When the motor-driven caster is used, the robot can actively cooperate with the user to walk forward, which can reduce the power demand of the exoskeleton, and can also realize the automatic planning and automatic change of the path of the robot.

[0052] In some embodiments of the present application, the height adjusting column module 6 comprises an inner column, an outer column, a lifting slide rail set and a height adjusting drive motor. The lower end of the inner column is connected with the frame, and the outer column is sleeved on the inner column through the lifting slide rail set. One end of the height adjusting drive motor is fixedly connected with the walking following chassis module 7, and the other end is fixedly connected with the outer column. The height adjusting drive motor drives the outer column to slide upward or downward relative to the walking following chassis, so as to realize the height adjusting function, and set the installation height of the exoskeleton robot according to different use scenes and the hip joint height of the user.

[0053] It can be understood that there are three ways to sleeve the inner column and the outer column, the first way is to arrange a guide rail set between the two, the second way is to arrange a pulley set between the two, and the third way is to directly sleeve the inner column and the outer column without using other auxiliary devices.

[0054] In some embodiments of the present application, please refer to Figure 3 , the hip width adjusting module 3 comprises a width adjusting device 8 and two L-shaped cantilevers 9. The width adjusting device 8 is arranged at the upper middle position of the height adjusting column module 6 of the main support module 1, and comprises an installation platform and a width adjusting screw device. The installation platform is fixedly connected with the outer column through an angle code, and provides an installation position for the width adjusting screw device and the double L-shaped force arm. The core component of the width adjusting screw device is a bidirectional screw nut assembly. When the bidirectional screw rotates, the two oppositely arranged nuts can symmetrically move relative to each other. It can be understood that there are two ways to adjust the width of the screw, the first way is to use a bidirectional screw and a hand wheel, and the distance between the two cantilevers 9 is adjusted by manually rotating the hand wheel to drive the two nuts on the bidirectional screw to move relative to each other, so as to realize the hip width adjustment. The second way is to use a motor to drive.

[0055] Two L-shaped cantilevers are symmetrically arranged left and right, one end of the shorter side of the L-shaped cantilevers is arranged on the mounting platform of the width adjusting device 8 through the slide rail group, and the two cantilevers are respectively connected with two nuts on the width adjusting screw rod device. By rotating the screw rod, the relative movement of the left and right L-shaped cantilevers can be realized. The L-shaped cantilevers are hollow inside, which can be used for cable arrangement.

[0056] In some embodiments of the application, the free end of the cantilever 9 is also provided with a handrail assembly 10 as a leverage point for the user to actively support during the entire use process. The handrail assembly 10 is locked and released by the quick locking device, and the handrail can be axially telescopic when the quick locking device is released, which is suitable for users with different arm lengths. The quick locking device can be realized by using existing technology, and its structure will not be described in detail here.

[0057] In some embodiments of the application, there are two ways to make the L-shaped cantilever, one is to bend an L-shaped tube to form an L-shaped tube, and then to process holes and other parts; the second is to vertically set two square tubes to form an L-shaped tube by welding.

[0058] In some embodiments of the application, the lower limb intelligent exoskeleton module directly uses the existing exoskeleton module, which will only be briefly introduced here and not be described in detail. Please refer to Figure 4 , the left lower limb intelligent exoskeleton sub-module and the right lower limb intelligent exoskeleton sub-module each include a damping mechanism 11, a hip joint driving mechanism 12, a thigh mechanism 13, a knee joint driving mechanism 14, a lower leg mechanism 15, and an ankle and foot mechanism 16 connected in sequence. The hip joint driving mechanism 12 is used to realize the rotation of the hip joint, the thigh mechanism 13 is used to adjust the length of the thigh, the knee joint driving mechanism 14 is used to realize the rotation of the knee joint, and the lower leg mechanism 15 is used to adjust the length of the lower leg. The thigh mechanism 13 and the lower leg mechanism 15 each include a thigh length adjusting device and a lower leg length adjusting device. The two ends of the thigh length adjusting device are respectively connected with the hip joint driving mechanism 12 and the knee joint driving mechanism 14. The two ends of the lower leg length adjusting device are respectively connected with the knee joint driving mechanism 14 and the ankle and foot mechanism 16.

[0059] The damping mechanism 11 includes an optical axis arranged in the vertical direction, a damping spring and a damping slider sleeved on the optical axis, and the damping slider is connected with the hip joint driving mechanism 12. During the walking training process, the damping slider can realize up and down reciprocating motion under the action of the damping spring, which plays a certain damping effect.

[0060] Also included is a joint alignment indication device, in some embodiments of the present application, the core of the joint alignment indication device is a visual laser indicator arranged at the center of the robot knee joint and the center of the hip joint, the laser is emitted from the center of the robot joint, and a light spot is displayed on the lower limbs of the human body, which is matched with the thigh mechanism 13 and the lower leg mechanism 15, so that the light spot is aligned with the center of the knee joint or the hip joint, thereby realizing the alignment of the robot joint and the human joint, and further ensuring to provide high-quality rehabilitation training with high man-machine coupling accuracy.

[0061] In some embodiments of the present application, please refer to Figure 5 , the backrest module 4 is arranged between the two cantilevers 9, the backrest module 4 includes a backrest body 17, a waist fixing band 19 and a shoulder fixing band 18, the backrest body 17 includes a backrest support plate 22, a backrest fixed rod group 25 and an elastic pad 24, the backrest fixed rod group includes four round tubes, two tubes as a group, symmetrically arranged left and right, respectively connected with two cantilevers 9, and the other end forms a sliding pair with the backrest support plate 22, which can adapt to the setting of different hip widths. The two ends of the waist fixing band 19 and the shoulder fixing band 18 are connected to the corresponding positions of the backrest support plate 22, the band is designed according to the human body shape, the band fixing position can be adjusted within a certain range, the band length can be adjusted, which can provide firm and comfortable tightening for patients of different body types, realize the limitation of the user's trunk within the allowed range, and ensure the smooth progress of the rehabilitation training process and the safety of the user. The buckle is used to connect the middle of the band, which can ensure the simplicity of the wearing process.

[0062] In some embodiments of the present application, please refer to Figure 6 , the standing auxiliary seat module 2 includes a seat body 20 and a seat position adjusting mechanism 21. The seat body 20 includes a seat base, a seat posture adjusting mechanism and a seat cushion arranged in order from bottom to top.

[0063] The seat posture adjusting mechanism can realize the mutual conversion between the horizontal and vertical states of the seat cushion. In some embodiments of the present application, the main body of the seat posture adjusting mechanism is a quadrilateral linkage mechanism, the seat cushion is connected in parallel with one side, and a straight push rod is used as a power source, one end of the straight push rod is connected with the seat base, and the other end is connected with the bottom of the seat cushion. The extension and contraction of the straight push rod can change the shape of the quadrilateral linkage mechanism, thereby changing the position and shape of the seat cushion and providing an upward pushing force.

[0064] In some embodiments of the present application, the seat position adjusting mechanism 21 comprises a driving mechanism 28, an adjusting screw rod 26, a slide rail set and a seat mounting plate 27. The driving mechanism 28 is arranged on the side of the lifting column of the walking following chassis module 7, comprising a driving motor and two sets of transmission belts, and it can be understood that the motor direct drive mode can be adopted from the perspective of function realization. The slide rail set and the adjusting screw rod 26 are arranged at the bottom of the walking following chassis module 7, the nut of the adjusting screw rod and the slide block of the slide rail set are connected with the seat mounting plate 27, and the seat body 20 is arranged on the seat mounting plate 27 through the seat base, the driving mechanism 28 rotates the adjusting screw rod to drive the screw rod nut and other components fixedly connected therewith to slide along the screw rod, thereby realizing the adjustment of the position of the seat in the front and rear directions.

[0065] In some embodiments of the present application, a passive caster is arranged below the seat base, and the caster bears the weight.

[0066] In some embodiments of the present application, the intelligent medical robot further comprises a sensing system. The sensing system comprises but is not limited to an angle encoder for sensing joint motion information, a torque sensor for detecting joint torque, a plantar pressure sensor for sensing plantar pressure, a vibration sensor for monitoring the running state of the robot, a temperature sensor, a deformation displacement sensor, etc. The sensing system provides a rehabilitation effect evaluation feedback function by monitoring the human rehabilitation movement and physiological parameters, and realizes multifunctional intelligent rehabilitation training.

[0067] In some embodiments of the present application, the intelligent medical robot further comprises a man-machine interaction system, including a robot control tablet computer, a medical staff operation and interaction software system, a rehabilitation effect evaluation feedback system, a voice prompt system, a developer development and maintenance software system, etc.

[0068] The embodiments not described in detail herein can adopt the prior art.

[0069] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A movable medical robot for multi-joint rehabilitation training of lower limbs, characterized by, The main support module, the standing auxiliary seat module, the hip width adjustment module, the lower limb intelligent exoskeleton module for assisting lower limb movement, and the backrest module, The main support module comprises a walking following chassis module and a height adjustment column module arranged on the walking following chassis module; The hip width adjustment module comprises a width adjustment device and two cantilevers, the width adjustment device is arranged on the height adjustment column module at the height of the two cantilevers, and the two cantilevers are connected with the width adjustment device to adjust the distance between the two cantilevers under the drive of the width adjustment device. The lower limb intelligent exoskeleton module comprises a left lower limb intelligent exoskeleton sub-module and a right lower limb intelligent exoskeleton sub-module, which are symmetrically arranged on the two cantilevers of the hip width adjustment module to adjust the distance between the two cantilevers by the hip width adjustment module. The backrest module is arranged between the two cantilevers. The standing auxiliary seat module is arranged on the walking following chassis and comprises a seat body and a seat position adjustment mechanism, the seat body comprises a seat base, a seat posture adjustment mechanism and a seat cushion arranged in sequence from bottom to top, the seat posture adjustment mechanism is located between the seat base and the seat cushion, is used for adjusting the posture of the seat cushion and providing upward thrust to assist the user to stand up from a sitting posture, and the seat base is connected with the seat position adjustment mechanism to realize position displacement relative to the walking following chassis module under the drive of the seat position adjustment mechanism. The seat posture adjustment mechanism comprises a quadrilateral linkage mechanism and a straight push rod, the seat cushion is connected in parallel with one side of the quadrilateral linkage mechanism, one end of the straight push rod is connected with the seat base, and the other end is connected with the quadrilateral linkage mechanism, the shape of the quadrilateral linkage mechanism is changed through the extension and contraction of the straight push rod, so that the position and shape of the seat cushion are changed, and upward thrust is provided. The seat position adjustment mechanism comprises a driving mechanism, an adjusting screw rod, a slide rail group and a seat mounting plate, the adjusting screw rod is connected with the driving mechanism, the nut of the adjusting screw rod and the slide block of the slide rail group are connected with the seat mounting plate, and the seat body is arranged on the seat mounting plate through the seat base.

2. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 1, characterized in that: The height adjustment column module comprises an inner column and an outer column, the lower end of the inner column is fixedly connected to the walking following chassis module, and the outer column is slidably sleeved outside the inner column to move up and down relative to the inner column.

3. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 1, characterized in that: The width adjustment device comprises a mounting platform arranged on the height adjustment column module and a width adjustment screw rod device arranged on the mounting platform; the width adjustment screw rod device comprises a bidirectional screw rod nut assembly, two oppositely arranged nuts can symmetrically move relative to each other when the bidirectional screw rod rotates, the two cantilevers are slidably arranged on the mounting platform and connected with the two nuts respectively, and the two cantilevers are connected with the two nuts on the width adjustment screw rod device respectively.

4. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 1, characterized in that: The hip width adjustment module further comprises two handrail assemblies, and the two handrail assemblies are arranged at the free end portions of the two cantilevers respectively.

5. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 1, characterized in that: The left lower limb intelligent exoskeleton sub-module and the right lower limb intelligent exoskeleton sub-module each comprise a shock-absorbing mechanism, a hip joint driving mechanism, a thigh mechanism, a knee joint driving mechanism, a lower leg mechanism and an ankle joint and foot bottom mechanism connected in sequence, the hip joint driving mechanism is used for realizing rotation of a hip joint, the thigh mechanism is used for adjusting a thigh length, the knee joint driving mechanism is used for realizing knee joint rotation, the lower leg mechanism is used for adjusting a lower leg length, and the ankle joint and foot bottom mechanism is used for realizing ankle joint rotation, wherein a joint centering indication device is arranged at a robot knee joint center and a hip joint center position, and is used for realizing centering of a robot joint and a human body joint.

6. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 5, characterized in that: The joint centering indication device comprises a visual laser indicator, and laser is emitted from the robot joint center to display a light spot on the human body lower limb.

7. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to claim 1, characterized in that: The backrest module comprises a backrest main body, a waist fixing band and a shoulder fixing band, the backrest main body comprises a backrest fixing rod group, a backrest support plate and an elastic pad, the backrest fixing rod group comprises four tubes, two tubes are arranged in a group and are symmetrically arranged left and right, one end of each tube is connected with a cantilever on the left side or the right side, and the other end forms a sliding pair with the backrest support plate, and the two ends of the waist fixing band and the shoulder fixing band are connected to the backrest support plate.

8. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to any one of claims 1-7, characterized in that: The intelligent medical robot further comprises a sensing system, the sensing system comprises but is not limited to an angle encoder for sensing joint motion information, a torque sensor for detecting joint torque, a foot bottom pressure sensor for sensing foot bottom pressure, a vibration sensor for monitoring a robot running state, a temperature sensor and a deformation displacement sensor.

9. The mobile medical robot for multi-joint rehabilitation training of lower limbs according to any one of claims 1-7, characterized in that: The intelligent medical robot further comprises a man-machine interaction system.

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