Sitting Lower Limb Rehabilitation Robot Based on Hybrid Driving Mode

Abstract

The present invention discloses a sitting lower limb rehabilitation robot based on a hybrid drive mode, comprising: a base, an ankle swing mechanism, a calf flexion and extension mechanism, a thigh adduction and abduction mechanism, and a thigh flexion and extension mechanism; the thigh flexion and extension mechanism is installed on the base and is used to drive the ankle swing mechanism, the calf flexion and extension mechanism, and the thigh adduction and abduction mechanism to rise integrally, thereby realizing the extension and flexion movements of the hip joint; the thigh adduction and abduction mechanism is installed on the thigh flexion and extension mechanism and is used to drive the ankle swing mechanism and the calf flexion and extension mechanism to rotate integrally around the disc of the thigh flexion and extension mechanism, thereby realizing the adduction / abduction movement of the hip joint; the calf flexion and extension mechanism is installed on the thigh adduction and abduction mechanism and is used to drive the ankle swing mechanism to realize the extension and flexion movements of the knee joint; the ankle swing mechanism is installed on the calf flexion and extension mechanism and is used to realize the plantar flexion / dorsiflexion and adduction / abduction compound movements of the ankle joint.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a sitting lower limb rehabilitation robot based on a hybrid drive mode. Background Art

[0002] In recent years, more and more people have suffered from lower limb motor dysfunction due to stroke, neurological injury, spinal cord injury, orthopedic diseases, etc., which has brought a heavy burden to families and society. In the face of these patients, surgical treatment or drug treatment is required in the early stage, and scientific rehabilitation exercise training for the affected limb is required in the later stage. At present, most hospitals still adopt the traditional "hand-in-hand" method to carry out rehabilitation exercise training for the affected limb, which results in a large workload for rehabilitation physicians and limited rehabilitation service targets, so that many patients cannot receive timely and effective rehabilitation exercise training treatment. The emergence of lower limb rehabilitation training robots has, to a certain extent, alleviated the work pressure of rehabilitation physicians and can more effectively carry out rehabilitation exercise training for patients.

[0003] However, the existing lower limb rehabilitation training robots still have the following disadvantages: 1. The rehabilitation training actions are relatively single; 2. The range of rehabilitation exercise training is relatively small; 3. Small rehabilitation robots need to rely on auxiliary rods to maintain body balance, and the balance is poor; 4. Large rehabilitation robots have a large mechanism and are inconvenient to move, and the use scenarios are limited. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a sitting lower limb rehabilitation robot based on a hybrid drive mode, which can realize multiple lower limb movement trainings, has a large range of motion training, and has good balance.

[0005] The technical solution adopted by the present invention is:

[0006] A sitting lower limb rehabilitation robot based on a hybrid drive mode, comprising: a base, an ankle swing mechanism, a calf flexion and extension mechanism, a thigh adduction and abduction mechanism, and a thigh flexion and extension mechanism; the thigh flexion and extension mechanism is installed on the base and is used to drive the ankle swing mechanism, the calf flexion and extension mechanism, and the thigh adduction and abduction mechanism to rise integrally, so as to realize the extension and flexion movements of the hip joint; the thigh adduction and abduction mechanism is installed on the thigh flexion and extension mechanism and is used to drive the ankle swing mechanism and the calf flexion and extension mechanism to rotate integrally around the disc of the thigh flexion and extension mechanism, so as to realize the adduction / abduction movement of the hip joint; the calf flexion and extension mechanism is installed on the thigh adduction and abduction mechanism and is used to drive the ankle swing mechanism to realize the extension and flexion movements of the knee joint; the ankle swing mechanism is installed on the calf flexion and extension mechanism and is used to realize the plantar flexion / dorsiflexion and adduction / abduction compound movements of the ankle joint.

[0007] Further, the thigh flexion and extension mechanism includes a ball screw installed on the base, a seventh motor for driving the rotation of the ball screw, and a lifting table threadedly sleeved on the ball screw, and the lifting table is used to fix the thigh adduction and abduction mechanism.

[0008] Further, the thigh flexion and extension mechanism further includes two lifting slide rails arranged on both sides of the ball screw, and two lifting sliders slidably connected to the two lifting slide rails and commonly connected to the lifting table.

[0009] Further, the thigh adduction and abduction mechanism includes a thigh adduction and abduction mechanism base fixedly connected to the thigh flexion and extension mechanism, a ring gear fixing disc fixed on the thigh adduction and abduction mechanism base, a ring gear rotatably installed on the ring gear fixing disc, a gear meshed and drivingly connected to the ring gear, and a sixth motor for driving the rotation of the gear.

[0010] Further, the calf flexion and extension mechanism includes a calf flexion and extension mechanism base fixedly connected to the first motor base of the thigh adduction and abduction mechanism, an arc-shaped slide rail installed on the calf flexion and extension mechanism base, a slider slidably connected to the arc-shaped slide rail, an ankle connection fastener fixed on the slider, and a calf flexion and extension motor for driving the slider to slide on the arc-shaped slide rail through a rope.

[0011] Further, the calf flexion and extension mechanism base includes a calf flexion and extension mechanism lower bottom plate and a calf flexion and extension mechanism upper bottom plate, and the calf flexion and extension mechanism lower bottom plate and the calf flexion and extension mechanism upper bottom plate are connected by two arc-shaped slide rails; the calf flexion and extension motor includes a second motor, a third motor, a fourth motor and a fifth motor, the output shafts of the fourth motor and the fifth motor face outward and are symmetrically fixedly installed on the calf flexion and extension mechanism upper bottom plate, the output shafts of the second motor and the third motor face outward and are symmetrically fixedly installed on the calf flexion and extension mechanism lower bottom plate, the output shaft of each motor is coaxially fixedly connected with a rope winding disc, a rope is wound on the rope winding disc, and the other ends of the ropes A and winding disc B wound on the rope winding discs of the second motor and the third motor are respectively fixed on one ends of the two sliders; the other ends of the ropes C and winding disc D wound on the rope winding discs of the fourth motor and the fifth motor are respectively fixed on the other ends of the two sliders.

[0012] Further, a plurality of pulley brackets are spaced on each arc-shaped slide rail, and pulleys for guiding the ropes are arranged on the pulley brackets.

[0013] Furthermore, the ankle swing mechanism includes a U-shaped ankle swing mechanism base composed of an ankle mechanism bottom plate, an ankle mechanism front end plate and an ankle mechanism rear end plate, a four-bar linkage rotatably mounted in the U-shaped cavity of the ankle swing mechanism base, a first motor mounted on the ankle mechanism rear end plate and used to drive the four-bar linkage to rotate, a sole connector mounted in an arc-shaped slide groove of the ankle mechanism front end plate and driven by the four-bar linkage to slide in the arc-shaped slide groove, and a sole support plate hinged to the front end of the sole connector; the rear end of the sole support plate is connected to the spring connector through a ball joint connector, and the other end of the spring connector is fixed to the front end plate of the ankle mechanism.

[0014] Furthermore, the four-bar linkage includes a first link, a second link, a third link and a fourth link which are hinged in sequence. The fourth link is provided with an arcuate rod connection portion, a first straight rod connection portion and a second straight rod connection portion. The middle portion of the third link is hinged to the second link, the lower end of the third link is hinged to the lower end of the first straight rod connection portion of the fourth link, the upper end of the third link is connected to the free end of the arcuate rod connection portion of the fourth link by a clamping screw, and the upper end of the second straight rod connection portion of the fourth link is fixedly connected to the sole connection piece.

[0015] Furthermore, the first motor is mounted on the first motor frame, the first motor frame is fixedly mounted on the small pulley seat, the small pulley seat is fixedly mounted on the back of the rear end plate of the ankle mechanism, a small pulley is rotatably mounted in the small pulley seat, the output shaft of the ankle swing motor is coaxially fixedly connected to the axle of the small pulley; the small pulley is connected to the large pulley through a belt drive, and the large pulley is rotatably mounted below the small pulley

[0016] Beneficial effects of the present invention:

[0017] 1. The present invention provides a seated lower limb rehabilitation robot based on a hybrid drive mode. In the ankle swing mechanism, the four-linkage controls the swing amplitude by adjusting the clamping screws. The sole of the foot is fixedly connected by a spring and a ball joint, making the ankle joint more flexible during movement, providing the patient's foot with an arc-shaped trajectory movement, and cleverly realizing a compound movement of two forms of movement, namely plantar flexion / dorsiflexion and adduction / abduction of the ankle.

[0018] 2. The present invention provides a seated lower limb rehabilitation robot based on a hybrid drive mode. With the support of the calf flexion and extension mechanism, the pulley assemblies are symmetrically distributed on both sides of the assembly, with 6 pulleys on each side. The calf flexion and extension mechanism is driven by a rope to slide along an arc track to achieve flexion / extension of the knee joint.

[0019] 3. The seated lower limb rehabilitation robot based on the hybrid drive mode provided by the present invention is supported by the thigh flexion and extension mechanism. The ball screw drives the slider to slide up and down through the nut seat, thereby realizing the flexion / extension rehabilitation movement of the hip joint.

[0020] 4. The sitting - type lower - limb rehabilitation robot based on the hybrid drive mode provided by the present invention has a modular design for the ankle swing mechanism, calf flexion - extension mechanism, thigh flexion - extension mechanism, and thigh adduction - abduction mechanism. The connection between the ankle swing mechanism and the calf flexion - extension mechanism uses plug - in connection, and the connections between other components use bolt connections, which is convenient for disassembly and assembly and facilitates the movement and transportation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. is the structural schematic diagram of the sitting - type lower - limb rehabilitation robot based on the hybrid drive mode of the present invention.

[0022] Figure 2 FIG. is the structural schematic of the ankle swing mechanism of the present invention Figure 1 .

[0023] Figure 3 FIG. is the structural schematic of the ankle swing mechanism of the present invention Figure 2 .

[0024] Figure 4 FIG. is the structural schematic diagram of the four - bar linkage mechanism of the present invention.

[0025] Figure 5 FIG. is the structural schematic diagram of the calf flexion - extension mechanism and the thigh adduction - abduction mechanism of the present invention.

[0026] Figure 6 FIG. is the structural schematic diagram of the connection structure between the slider of the calf flexion - extension mechanism and the ankle connection fastener of the present invention.

[0027] Figure 7 FIG. is the structural schematic diagram of the gear ring of the thigh adduction - abduction mechanism of the present invention.

[0028] Figure 8 FIG. is the structural schematic diagram of the base of the thigh adduction - abduction mechanism of the present invention.

[0029] Figure 9 FIG. is the structural schematic diagram of the thigh flexion - extension mechanism and the base of the present invention.

[0030] Description of the reference numerals:

[0031] 100 - Base; 200 - Ankle swing mechanism; 201 - Base plate of ankle mechanism; 202 - Front end plate of ankle mechanism; 203 - Rear end plate of ankle mechanism; 204 - Four - bar linkage; 2041 - First link; 2042 - Second link; 2043 - Third link; 2044 - Fourth link; 205 - Clamping screw; 206 - Foot sole connecting piece; 207 - Foot sole support plate; 208 - Ball joint connecting piece; 209 - Spring connecting piece; 210 - Small pulley seat; 211 - First motor; 212 - First motor bracket; 213 - Large pulley; 215 - Belt; 216 - Ankle buckle; 300 - Lower leg flexion and extension mechanism; 301 - Lower base plate of lower leg flexion and extension mechanism; 302 - Rope winding disc; 303 - Second motor; 304 - Third motor; 305 - Rope; 306 - Slide block; 307 - Pulley bracket; 308 - Motor base; 309 - Fourth motor; 310 - Fifth motor; 311 - Upper base plate of lower leg flexion and extension mechanism; 312 - Pulley; 313 - Ankle connection fastener; 314 - Pulley seat; 315 - Arc - shaped slide rail; 400 - Thigh adduction and abduction mechanism; 401 - Base of lower leg adduction and abduction mechanism; 402 - Sixth motor; 403 - Ring gear fixing disc; 404 - Ring gear; 405 - Motor base; 406 - Gear shaft; 407 - Gear; 500 - Thigh flexion and extension mechanism; 501 - Screw support seat; 502 - Lifting slide rail; 503 - Screw fixing seat; 504 - Motor base; 505 - Seventh motor; 506 - Ball screw; 507 - Nut seat; 508 - Reducing motor; 509 - Lifting platform; 510 - Lifting slide block. Detailed implementation mode

[0032] The present invention will be further described below in conjunction with specific examples for the convenience of understanding the present invention, but the present invention is not limited thereby.

[0033] Refer to Figure 1 , the sitting - type lower - limb rehabilitation robot based on the hybrid drive mode provided by the present invention includes a base 100, an ankle swing mechanism 200, a lower - leg flexion and extension mechanism 300, a thigh flexion and extension mechanism 500, and a thigh adduction and abduction mechanism 400.

[0034] The base 100 is an L - shaped seat body composed of a vertical base plate and a horizontal base plate, and bolt mounting holes are provided at the four corners of the horizontal base plate.

[0035] Refer to Figure 2 and Figure 3 , the ankle swing mechanism 200 includes an ankle swing mechanism base, a four - bar linkage 204, a clamping screw 205, a foot sole connecting piece 206, a foot sole support plate 207, a ball joint connecting piece 208, a spring connecting piece 209, a small pulley seat 210, a first motor 211, a first motor bracket 212, a small pulley, and a large pulley 213.

[0036] The base of the ankle swinging mechanism is composed of the ankle mechanism bottom plate 201, the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203. The ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203 are vertically arranged above the ankle mechanism bottom plate 201, and a space for accommodating the four-bar linkage mechanism 204 is formed between the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203. The top of the ankle mechanism front end plate 202 is provided with an arc-shaped chute. Two ankle buckles 216 are respectively installed on both sides of the upper end of the ankle mechanism rear end plate 203.

[0037] The first motor 211 is installed on the first motor bracket 212. The first motor bracket 212 is fixedly installed on the small pulley seat 210. The small pulley seat 210 is fixedly installed on the back of the ankle mechanism rear end plate 203. A small pulley is rotatably installed in the small pulley seat 210. The output shaft of the first motor 211 is coaxially and fixedly connected to the axle of the small pulley. The large pulley 213 is rotatably installed below the small pulley. The large pulley 213 and the small pulley are connected by a belt 215 for transmission.

[0038] Refer to Figure 4 , the axle 2131 of the large pulley 213 rotatably passes through the ankle mechanism rear end plate 203 and is fixedly connected to the first link 2041 of the four-bar linkage mechanism 204 for driving the rotation of the four-bar linkage mechanism 204. The four-bar linkage mechanism 204 is rotatably installed between the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203.

[0039] In specific implementation, the four-bar linkage mechanism 204 includes a first link 2041, a second link 2042, a third link 2043 and a fourth link 2044. The first link 2041, the second link 2042, the third link 2043 and the fourth link 2044 are sequentially hinged. The fourth link 2044 is provided with an arc-shaped rod connecting portion, a first straight rod connecting portion and a second straight rod connecting portion. The first straight rod connecting portion and the second straight rod connecting portion are fixedly connected to form a V shape. The arc-shaped rod connecting portion is connected to the upper end of the first straight rod connecting portion close to the second straight rod connecting portion. The middle of the third link 2043 is hinged to the second link 2042. The lower end of the third link 2043 is hinged to the lower end of the first straight rod connecting portion of the fourth link 2044. A U-shaped groove is opened at the upper end of the third link 2043. The free end of the arc-shaped rod connecting portion of the fourth link 2044 is inserted into the U-shaped groove and connected to the third link 2043 by a clamping screw 205. The upper end of the second straight rod connecting portion of the fourth link 2044 is fixedly connected to the sole connecting member 206. The swinging range of the sole connecting member 206 is adjusted by controlling the extending length of the arc section of the fourth link 2044 through the clamping screw 205.

[0040] The sole connecting member 206 is slidably disposed in the arc-shaped chute of the front end plate 202 of the ankle mechanism. The rear end of the sole connecting member 206 is connected to the four-bar linkage 204 and is driven by the four-bar linkage 204 to swing left and right in the arc-shaped chute. The front end of the sole connecting member 206 is hinged to the front end of the bottom of the sole support plate 207. The rear end of the bottom of the sole support plate 207 is connected to the spring connecting member 209 through the ball joint connecting member 208, and the other end of the spring connecting member 209 is fixed on the front end plate 202 of the ankle mechanism. Preferably, the spring connecting member 209 is a tension coil spring. The sole support plate 207 is a U-shaped support plate with a bottom plate. Preferably, the sole connecting member 206 is a round rod with an outer diameter adapted to the inner diameter of the arc-shaped chute.

[0041] The first motor 211 drives the small belt pulley to rotate, drives the large belt pulley 213 to rotate through the belt 215, and the large belt pulley 213 drives the four-bar linkage 204 to rotate. The swing rod of the four-bar linkage 204 drives the sole connecting member 206 to slide in the arc-shaped chute.

[0042] Refer to Figure 5 , the calf flexion and extension mechanism 300 includes a second motor 303, a third motor 304, a fourth motor 309, a fifth motor 310, a motor base 308, a rope winding disc 302, a rope 305, a pulley 312, a pulley seat 314, a pulley frame 307, a slider 306, an arc-shaped slide rail 315, an ankle connection fastener 313 and a calf flexion and extension mechanism base.

[0043] The calf flexion and extension mechanism base includes a lower bottom plate 301 of the calf flexion and extension mechanism and an upper bottom plate 311 of the calf flexion and extension mechanism. The lower bottom plate 301 of the leg flexion and extension mechanism is vertically arranged, and the upper bottom plate 311 of the calf flexion and extension mechanism is horizontally arranged. The lower bottom plate 301 of the calf flexion and extension mechanism and the upper bottom plate 311 of the calf flexion and extension mechanism are connected by two parallel arc-shaped slide rails 315. Both the lower bottom plate 301 of the calf flexion and extension mechanism and the upper bottom plate 311 of the calf flexion and extension mechanism are provided with notches for avoiding the ankle swing mechanism 200.

[0044] Two pulley frames 307 are arranged at intervals on each arc-shaped slide rail 315, and pulleys 312 are arranged on the pulley frames 307. The pulley frames on the two arc-shaped slide rails are arranged in one-to-one correspondence. A plurality of pulley seats 314 are correspondingly arranged on the left and right sides of the lower bottom plate 301 of the calf flexion and extension mechanism and the upper bottom plate 311 of the calf flexion and extension mechanism, and pulleys 312 are arranged on the pulley seats 314. Two sliders 306 are slidably connected to the two arc-shaped slide rails 315 respectively. Refer to Figure 5 , two opposite side surfaces of the two sliders 306 are respectively fixedly connected with two ankle connection fasteners 313. The two ankle connection fasteners 313 are correspondingly arranged and are both provided with sockets for connecting the ankle swing mechanism 200. The top surfaces of the two sliders 306 are provided with two circular fasteners for fixing the rope 305. The ankle swing mechanism 200 is buckled on the ankle connection fastener 313 through the ankle buckle 216.

[0045] The output shafts of the fourth motor 309 and the fifth motor 310 are symmetrically and fixedly installed on the upper base plate 311 of the calf flexion and extension mechanism facing outward. The output shafts of the second motor 303 and the third motor 304 are symmetrically and fixedly installed on the lower base plate 301 of the calf flexion and extension mechanism facing outward. The output shaft of each motor is coaxially and fixedly connected with a rope winding disc 302 through a coupling, and a rope 305 is wound on the rope winding disc 302.

[0046] One end of the rope A wound on the rope winding disc A connected to the third motor 304 is fixed on the rope winding disc A, and the other end is fixed on the circular fastener of the left slider 306 after being guided by the pulley 312; one end of the rope B wound on the rope winding disc B connected to the second motor 303 is fixed on the rope winding disc B, and the other end is fixed on the circular fastener of the right slider 306 after being guided by the pulley 312; one end of the rope C wound on the rope winding disc C connected to the fourth motor 309 is fixed on the rope winding disc C, and the other end is fixed on another circular fastener of the left slider 306 after being guided by the pulley 312; one end of the rope D wound on the rope winding disc D connected to the fifth motor 310 is fixed on the rope winding disc D, and the other end is fixed on another circular fastener of the right slider 306 after being guided by the pulley 312.

[0047] When the third motor 304 drives the rope winding disc A to wind the rope A and the second motor 303 drives the rope winding disc B to wind the rope B; the fourth motor 309 drives the rope winding disc C to release the rope C and the fifth motor 310 drives the rope winding disc D to release the rope D; the two sliders 306 simultaneously drive the ankle swing mechanism 200 to move towards the thigh adduction and abduction mechanism 400; when the third motor 304 drives the rope winding disc A to release the rope A and the second motor 303 drives the rope winding disc B to release the rope B; the fourth motor 309 drives the rope winding disc C to wind the rope C and the fifth motor 310 drives the rope winding disc D to wind the rope D; the two sliders 306 simultaneously drive the ankle swing mechanism 200 to move away from the thigh adduction and abduction mechanism 400; thereby realizing the flexion movement of the patient's calf.

[0048] Refer to Figure 5 、 Figure 7 and Figure 8 As shown in, the thigh adduction and abduction mechanism 400 includes a thigh adduction and abduction mechanism base 401, a sixth motor 402, a motor base 405, a gear shaft 406, a gear 407, a gear ring 404 and a gear ring fixing disc 403.

[0049] The thigh adduction and abduction mechanism base 401 is composed of a base plate and a rectangular frame perpendicular to the base plate.

[0050] The sixth motor 402 is fixedly installed on the lower base plate 301 of the calf flexion and extension mechanism through the motor base 405. The output shaft of the sixth motor 402 is coaxially and fixedly connected to the gear shaft 406, and a gear 407 is fixedly sleeved on the gear shaft 406. The bottom of the gear ring 404 is vertically and fixedly installed on the lower base plate 301 of the calf flexion and extension mechanism through bolts; the gear 407 is in internal meshing transmission connection with the gear ring 404, and the gear ring 404 is rotatably connected to the gear ring fixing disc 403. The gear ring fixing disc 403 is fixed at the upper end of the rectangular frame of the thigh adduction and abduction mechanism base 401. In specific implementation, the gear ring 404 is a sector gear ring including internal teeth, and is provided with spokes, and an installation hole is provided at the center of the spokes; the gear ring fixing disc 403 is a disc provided with a stepped surface, and a round platform that is rotationally matched with the installation hole of the gear ring is provided at the center of the disc, and the gear ring 404 is rotatably installed on the gear ring fixing disc 403 through the installation hole, and the outer edge of the gear ring 404 is rotationally connected to the stepped surface of the disc. Refer to Figure 7 and Figure 8 , the gear ring fixing disc 403 is fixed on the top of the rectangular frame of the thigh adduction and abduction mechanism base 401 through bolts, and the disc surface of the gear ring fixing disc 403 is parallel to the rectangular frame of the thigh adduction and abduction mechanism base 401.

[0051] Refer to Figure 9 , the thigh flexion and extension mechanism 500 includes a seventh motor 505, a motor base 504, a lead screw fixing seat 503, a ball screw 506, a nut seat 507, a reduction motor 508, a lifting platform 509, a lead screw support seat 501, a lifting slide rail 502 and a lifting slider 510.

[0052] The seventh motor 505 is fixedly installed on the vertical base plate of the base 100 through the motor base 504, the reduction motor 508 is fixedly installed below the seventh motor 505 and its input end is fixedly connected to the output shaft of the seventh motor 505, the ball screw 506 is rotatably installed on the vertical base plate of the base 100 through the lead screw fixing seat 503 and the lead screw support seat 501, and the upper end of the ball screw 506 is fixedly connected to the output end of the reduction motor 508. Two lifting slide rails 502 are arranged in parallel on both sides of the ball screw 506, the two lifting slide rails 502 are fixed on the vertical base plate of the base 100 through screws, and a lifting slider 510 is slidably connected to each lifting slide rail 502, and the two lifting sliders 510 are jointly fixedly connected to a lifting platform 509. The lifting platform 509 is threadedly sleeved on the ball screw 506.

[0053] The thigh adduction and abduction mechanism base 401 is fixedly installed on the lifting platform 509 through the base plate, and the rectangular frame of the thigh adduction and abduction mechanism base 401 is parallel to the horizontal base plate of the base 100. The seventh motor 505 drives the ball screw 506 to rotate through the reduction motor 508, driving the lifting platform 509 to move up and down on the lifting slide rail 502, so as to realize the flexion and extension movement of the patient's thigh.

[0054] When this application is in use:

[0055] The base 100 is fixed to the ground by installing anchor bolts in the four bolt mounting holes on its horizontal bottom plate. The patient's feet are placed on the sole support plate 207 and fixed by Velcro or straps, and then the following rehabilitation exercises are achieved through end traction:

[0056] The ankle joint drives the four-bar mechanism 204 to move through the first motor 211, driving the sole connecting piece 206 to slide left and right in the arc-shaped groove, thereby driving the sole support plate 207 to perform an arc-shaped movement, and further realizing the combined movement of plantar flexion / dorsiflexion and adduction / abduction of the ankle joint;

[0057] The two sliders 306 drive the ankle swing mechanism 200 to move forward simultaneously to achieve the extension movement of the knee joint, and vice versa, move backward to achieve the flexion movement of the knee joint;

[0058] The bottom of the gear ring 404 is fixedly installed on the lower bottom plate 301 of the calf flexion and extension mechanism through bolts. The sixth motor 402 drives the gear ring 404 to rotate, thereby driving the calf flexion and extension mechanism 300 and the ankle swing mechanism 200 to rotate integrally around the disc on the thigh flexion and extension mechanism base 401, and further realizing the adduction / abduction movement of the hip joint;

[0059] The thigh flexion and extension mechanism base 401 is fixedly installed on the lifting platform 509 of the thigh flexion and extension mechanism 500 through bolts. The seventh motor 505 drives the ball screw 506 to rotate through the reduction motor 508. The slider 510 drives the lifting platform 509 to move upward on the lifting slide rail 502, thereby driving the ankle swing mechanism 200, the calf flexion and extension mechanism 300, and the thigh adduction and abduction mechanism 400 to rise integrally, and further realizing the extension movement of the hip joint; vice versa, realizing the flexion movement.

[0060] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also within the protection scope of the present invention.

Claims

1. A seated lower limb rehabilitation robot based on a hybrid drive mode, characterized in that: Comprising: a base (100), an ankle swing mechanism (200), a calf flexion and extension mechanism (300), a thigh adduction and abduction mechanism (400), and a thigh flexion and extension mechanism (500); The thigh flexion and extension mechanism (500) is installed on the base (100) and is used to drive the ankle swing mechanism (200), the calf flexion and extension mechanism (300), and the thigh adduction and abduction mechanism (400) to rise integrally, thereby realizing the extension and flexion movements of the hip joint; The thigh adduction and abduction mechanism (400) is installed on the thigh flexion and extension mechanism (500) and is used to drive the ankle swing mechanism (200) and the calf flexion and extension mechanism (300) to rotate integrally around the disc of the thigh flexion and extension mechanism (500), thereby realizing the adduction / abduction movement of the hip joint; The calf flexion and extension mechanism (300) is installed on the thigh adduction and abduction mechanism (400) and is used to drive the ankle swing mechanism (200) to realize the extension and flexion movements of the knee joint; The ankle swing mechanism (200) is installed on the calf flexion and extension mechanism (300) and is used to realize the combined movements of plantar flexion / dorsiflexion and adduction / abduction of the ankle joint; The thigh adduction and abduction mechanism (400) includes a thigh adduction and abduction mechanism base (401) fixedly connected to the thigh flexion and extension mechanism (500), a ring gear fixed disc (403) fixed on the thigh adduction and abduction mechanism base (401), a ring gear (404) rotatably installed on the ring gear fixed disc (403), a gear (407) meshed and drivingly connected to the ring gear (404), and a sixth motor (402) for driving the gear (407) to rotate; The calf flexion and extension mechanism (300) includes a calf flexion and extension mechanism base fixedly connected to the first motor base of the thigh adduction and abduction mechanism (400), an arc-shaped slide rail (315) installed on the calf flexion and extension mechanism base, a slider (306) slidably connected to the arc-shaped slide rail (315), an ankle connection fastener (313) fixed on the slider (306), and a calf flexion and extension motor for driving the slider (306) to slide on the arc-shaped slide rail (315) through a rope; 2. A sitting lower limb rehabilitation robot based on a hybrid drive mode according to claim 1, characterized in that, The thigh flexion and extension mechanism (500) includes a ball screw (506) installed on the base (100), a seventh motor (505) for driving the ball screw (506) to rotate, and a lifting platform (509) threadedly sleeved on the ball screw (506), and the lifting platform (509) is used to fix the thigh adduction and abduction mechanism (400); 3. A sitting lower limb rehabilitation robot based on a hybrid drive mode according to claim 2, characterized in that, The thigh flexion and extension mechanism (500) further includes two lifting slide rails (502) arranged on both sides of the ball screw (506), and two lifting sliders (510) slidably connected to the two lifting slide rails (502) and commonly connected to the lifting platform (509); 4. A sitting lower limb rehabilitation robot based on a hybrid drive mode according to claim 1, wherein The base of the calf flexion and extension mechanism includes the lower base plate (301) of the calf flexion and extension mechanism and the upper base plate (311) of the calf flexion and extension mechanism. The lower base plate (301) of the calf flexion and extension mechanism and the upper base plate (311) of the calf flexion and extension mechanism are connected by two arc-shaped slide rails (315). The calf flexion and extension motor includes the second motor (303), the third motor (304), the fourth motor (309) and the fifth motor (310). The output shafts of the fourth motor (309) and the fifth motor (310) face outward and are symmetrically and fixedly installed on the upper base plate (311) of the calf flexion and extension mechanism. The output shafts of the second motor (303) and the third motor (304) face outward and are symmetrically and fixedly installed on the lower base plate (301) of the calf flexion and extension mechanism. The output shaft of each motor is coaxially and fixedly connected with a rope winding disc (302). A rope (305) is wound on the rope winding disc (302). The other ends of the rope A and the rope winding disc B wound on the rope winding discs of the second motor (303) and the third motor (304) are respectively fixed to one ends of two sliders (306). The other ends of the rope C and the rope winding disc D wound on the rope winding discs of the fourth motor (309) and the fifth motor (310) are respectively fixed to the other ends of two sliders (306).

5. The seated lower limb rehabilitation robot based on a hybrid drive mode according to claim 4, characterized in that: A number of pulley brackets (307) are arranged at intervals on each arc-shaped slide rail (315). A pulley (312) for guiding the rope (305) is arranged on the pulley bracket (307).

6. A sit-down lower limb rehabilitation robot based on a hybrid drive mode according to claim 1, characterized in that The ankle swinging mechanism (200) includes a U-shaped base of the ankle swinging mechanism composed of an ankle mechanism base plate (201), an ankle mechanism front end plate (202) and an ankle mechanism rear end plate (203), a four-bar linkage mechanism (204) rotatably installed in the U-shaped cavity of the ankle swinging mechanism base, a first motor (211) installed on the ankle mechanism rear end plate (203) and used to drive the four-bar linkage mechanism (204) to rotate, a sole connecting member (206) installed in the arc-shaped chute of the ankle mechanism front end plate (202) and driven to slide in the arc-shaped chute by the four-bar linkage mechanism (204), and a sole support plate (207) hinged to the front end of the sole connecting member (206). The rear end of the sole support plate (207) is connected to a spring connecting member (209) through a spherical pair connecting member (208). The other end of the spring connecting member (209) is fixed to the ankle mechanism front end plate (202).

7. A sitting lower limb rehabilitation robot based on a hybrid drive mode according to claim 6, wherein, The four-bar linkage mechanism (204) includes a first link (2041), a second link (2042), a third link (2043) and a fourth link (2044) that are sequentially hinged. The fourth link (2044) is provided with an arc-shaped rod connecting portion, a first straight rod connecting portion and a second straight rod connecting portion. The middle of the third link (2043) is hinged to the second link (2042). The lower end of the third link (2043) is hinged to the lower end of the first straight rod connecting portion of the fourth link (2044). The upper end of the third link (2043) is connected to the free end of the arc-shaped rod connecting portion of the fourth link (2044) through a clamping screw (205). The upper end of the second straight rod connecting portion of the fourth link (2044) is fixedly connected to the sole connecting member (206).

8. A sitting lower limb rehabilitation robot based on a hybrid drive mode according to claim 6, characterized in that, The first motor (211) is mounted on the first motor frame (212), the first motor frame (212) is fixedly mounted on the small pulley seat (210), the small pulley seat (210) is fixedly mounted on the back of the rear end plate (203) of the ankle mechanism, a small pulley is rotatably mounted in the small pulley seat (210), the output shaft of the ankle swing motor is coaxially fixedly connected to the wheel shaft of the small pulley; the small pulley is connected to the large pulley (213) through a belt drive, and the large pulley (213) is rotatably mounted below the small pulley.

Images