An active and passive lower limb mirror rehabilitation exercise training robot

Abstract

The present invention discloses an active-passive lower limb mirror rehabilitation exercise training robot, which belongs to the field of rehabilitation medical equipment. The robot is mainly composed of four parts: a base, a base assembly mechanism, an active motion mechanism, and a passive motion mechanism. The base is used to fix and support the entire mechanism; the base assembly structure is fixedly installed on the base and is used to install the passive motion mechanism and the active motion mechanism; the passive motion mechanism drives the active motion mechanism to move in a circular trajectory in the vertical plane through a motor-driven passive rotating drum, thereby realizing the patient's passive mirror rehabilitation training of the hip, knee, and ankle in the vertical plane; the active motion mechanism drives the passive mirror movement of the affected limb through the active movement of the healthy limb, thereby realizing the patient's active mirror rehabilitation training of the hip, knee, and ankle in the vertical and horizontal planes, as well as the active mirror rehabilitation training of the plantar flexion / dorsiflexion of the ankle. The present invention can realize multiple active and passive training modes, and has a light structure, flexible movement, safety and stability, and strong practicality.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to an active-passive lower limb mirror image rehabilitation exercise training robot. Background Art

[0002] With the aging population and increasing stress, an increasing number of illnesses are plaguing the elderly, particularly hemiplegia caused by stroke. Hemiplegia primarily involves abnormal movement of the upper and lower limbs on the same side, most commonly in the lower limbs, and is often accompanied by ipsilateral cranial nerve damage. Studies have shown that stroke patients experience significant improvements in lower limb function and quality of life after rehabilitation training. However, traditional rehabilitation training requires one-on-one guidance from therapists, which is inefficient and costly. To address this issue, a large number of lower limb rehabilitation robots have been developed domestically and internationally. However, most existing lower limb rehabilitation robots utilize passive motion training, with a single, limited motion pattern. These passive motion training methods are ineffective in stimulating kinesthetic and proprioceptive sensations, resulting in poor rehabilitation outcomes. Furthermore, most existing lower limb rehabilitation robots rely on motor-driven fixed-axis rotation of the joints to achieve passive lower limb movement, which can pose safety concerns. Summary of the Invention

[0003] In order to solve the shortcomings of existing lower limb rehabilitation robots, such as single movement mode, poor rehabilitation training effect, and prone to safety problems, the present invention provides an active-passive lower limb mirror rehabilitation exercise training robot.

[0004] The technical solution adopted in the present invention is:

[0005] The invention relates to an active-passive lower limb mirror image rehabilitation exercise training robot, comprising a base, a base assembly structure, a passive motion mechanism and an active motion mechanism; the base is used to fixedly support the entire mechanism; the base assembly structure is fixedly mounted on the base and is used to mount the passive motion mechanism and the active motion mechanism; the passive motion mechanism drives the active motion mechanism to move in a circular trajectory in a vertical plane by a motor-driven passive rotating drum, thereby realizing passive mirror image rehabilitation training of the patient's hip, knee and ankle in the vertical plane; the active motion mechanism drives the passive mirror image movement of the affected limb by active movement of the healthy limb, thereby realizing active mirror image rehabilitation training of the patient's hip, knee and ankle in the vertical and horizontal planes, as well as active mirror image rehabilitation training of the ankle plantar flexion / dorsiflexion.

[0006] Furthermore, two slide rails are provided on the upper side of the base, and two rows of pin holes are provided on both sides of the slide rails. The bottom of the base assembly structure is provided with a base roller that is rollingly connected to the base, and a slide groove that slides with the slide rails, and pins that are adapted to the pin holes are provided on both sides of the slide groove.

[0007] Furthermore, the base assembly structure includes a base, a front end cover, a rear end cover and an upper end cover. The base is provided with a cavity for installing a passive motion mechanism and steps for installing an active motion mechanism. The steps are located on the left and right sides of the outside of the cavity; the front end cover, the rear end cover and the upper end cover are used to close the top and left and right sides of the base cavity.

[0008] Furthermore, the passive motion mechanism includes a passive rotating drum rotatably mounted in the cavity of the base, a gear fixedly mounted on the outer circumference of the passive rotating drum, a gear motor meshing with the gear, a motor base for fixedly mounting the gear motor, and a control handle for controlling the gear motor, and the motor base is fixedly mounted on the base.

[0009] Furthermore, the active motion mechanism includes two arc-shaped support frames respectively fixed on the two steps of the base, an active frame rotatably mounted in the passive rotating drum and having arc-shaped ends, two semicircular frames fixed at both ends to the upper end surface of the active frame, two active springs fixed at both ends to the lower end surface of the active frame, two ankle motion mechanisms slidably mounted in the arc-shaped grooves of the support frames and spherically hinged to the middle parts of the semicircular frames, and a traction rope and a control line connecting the two ankle motion mechanisms; the two active springs are respectively slidably arranged in the two sliding grooves on the inner side wall of the passive rotating drum, and the passive rotating drum drives the active frame, the semicircular frames and the two ankle motion mechanisms to perform circular motion by compressing the active springs.

[0010] Furthermore, the ankle movement mechanism includes a sole plate slidably connected to the arc groove of the support frame through the ankle roller A, an ankle bracket spherically hinged to the semicircular bracket, and an ankle connecting plate connecting the sole plate and the ankle bracket; the ankle bracket includes an arc-shaped portion and a flat plate portion, the arc-shaped portion is spherically hinged to the semicircular bracket, one end of the flat plate portion is connected to the ankle connecting plate, and the other end radially slidably passes through a through hole opened in the arc-shaped portion of the active frame and is connected to the arc-shaped portion.

[0011] Furthermore, an arc-shaped slide groove is provided on the bottom surface of the through hole of the arc-shaped portion of the active frame, and an ankle roller B adapted to the arc-shaped slide groove is provided on the bottom of the flat plate portion of the ankle support. A roller mounting plate is horizontally connected to the side of the ankle connecting plate, and the roller mounting plate is located below the sole plate. The ankle roller A is installed at the bottom of the roller mounting plate.

[0012] Furthermore, a strap for fixing the foot is provided above the sole of the foot, a sole rotating shaft is installed at the bottom of the sole of the foot, and a sole torsion spring is installed on the sole rotating shaft. One end of the sole torsion spring is connected to the front end of the sole of the foot, and the other end is connected to the rear end of the sole of the foot. One end of the control line is connected to the front end of the left sole of the foot, and the other end is connected to the rear end of the right sole of the foot. When the heel of the healthy limb exerts force to step down on the sole of the foot and compresses the sole torsion spring, the front end of the sole of the foot is tilted upward, and the rear end of the sole of the affected limb is pulled downward by the control line, thereby realizing active mirror rehabilitation training of plantar flexion / dorsiflexion of the ankle joint.

[0013] Furthermore, the control line includes a hard outer tube and an inner line. The hard outer tube is fixedly mounted on the base assembly structure, and the inner line is slidably arranged in the hard outer tube. Both ends of the inner line extend from the hard outer tube to connect the two foot soles.

[0014] Furthermore, a plurality of fixed pulleys are provided in the active frame, and there are two traction ropes. One end of the traction rope A is connected to the front end of the left ankle motion mechanism, and the other end passes around the fixed pulley and is connected to the rear end of the right ankle motion mechanism. One end of the traction rope B is connected to the rear end of the left ankle motion mechanism, and the other end passes around the fixed pulley and is connected to the front end of the right ankle motion mechanism. The traction rope B and the traction rope A are crossed in the middle part of the active frame.

[0015] Beneficial effects of the present invention:

[0016] 1. The present invention provides an active-passive mirror-image rehabilitation training robot for lower limbs. In the active motion mechanism, the ankle mechanism drives the traction rope through the active motion of the healthy limb to drive the affected limb to move in an arc trajectory in the horizontal plane, thereby realizing active mirror-image rehabilitation training of the patient's lower limbs.

[0017] 2. The present invention provides an active-passive lower limb mirror rehabilitation exercise training robot. In the active motion mechanism, through the active movement of the healthy limb, the active frame produces an arc trajectory movement in the vertical plane, thereby driving the affected limb to move in a unified manner, realizing the patient's active mirror rehabilitation training of the hip, knee and ankle.

[0018] 3. The present invention provides an active-passive lower limb mirror rehabilitation exercise training robot. In the active movement mechanism, the sole of the healthy limb is actively moved by the foot and then the control line force is transmitted to the sole of the affected limb, providing patients with active mirror rehabilitation training of ankle plantar flexion / dorsiflexion.

[0019] 4. The present invention provides an active-passive lower limb mirror rehabilitation exercise training robot. In the passive motion mechanism, under the support of the base, the control handle controls the motor to drive the passive rotating drum to drive the active motion mechanism to move in an arc trajectory in the vertical plane, thereby realizing the patient's passive mirror rehabilitation training of the hip, knee and ankle.

[0020] 5. In summary, the present invention can realize a variety of movement modes, and can drive the affected limb to perform mirror movement through the active movement of the patient's healthy limb, stimulate the kinesthetic sense and proprioception, thereby better promoting the patient's nerve recovery and improving the rehabilitation training effect; the present invention has a light structure, flexible movement, safety and stability, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural principle diagram of an active-passive lower limb mirror rehabilitation exercise training robot of the present invention.

[0022] Figure 2 It is a structural schematic diagram of the base of the present invention.

[0023] Figure 3 It is a structural explosion diagram of the base assembly structure of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the active motion mechanism of the present invention.

[0025] Figure 5 It is a schematic structural diagram of the active frame of the active motion mechanism of the present invention.

[0026] Figure 6 Schematic diagram of the structure of the ankle exercise mechanism of the present invention.

[0027] Figure 7 for Figure 6 Exploded diagram.

[0028] Figure 8 It is a route map of the movement of the traction rope of the present invention.

[0029] Figure 9 Schematic diagram of the active spring structure of the active motion mechanism of the present invention.

[0030] Figure 10 Schematic diagram of the semicircular support structure of the active motion mechanism of the present invention.

[0031] Figure 11 It is a route map of the control line of the present invention.

[0032] Figure 12 It is a structural schematic diagram of the passive motion mechanism of the present invention.

[0033] Description of reference numerals:

[0034] 100-base; 200-base assembly structure; 201-base; 202-rear end cover; 203-front end cover; 204-upper end cover; 205-latch; 206-base roller; 300-active motion mechanism; 301-active frame; 302-support frame; 303-ankle motion mechanism; 3031-ankle support; 3032-ankle connecting plate; 3033-ankle roller; 3034-sole torsion spring; 3035-sole Rotating shaft; 3036-binding strap; 3037-foot sole; 304-semicircular bracket; 305-control line; 3051-hard outer tube; 3052-inner line; 306-traction rope; 307-micro telescopic rod; 308-active spring; 309-fixed pulley group; 310-unilateral fixed pulley; 400-passive motion mechanism; 401-passive rotating drum; 402-gear; 403-gear motor; 404-motor base; 405-control handle. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and a preferred embodiment. Figure 1 The present invention provides an active-passive lower limb mirror rehabilitation exercise training robot, which includes a base 100, a base assembly structure 200, an active motion mechanism 300 and a passive motion mechanism 400.

[0036] See Figure 2 The base 100 is a rectangular flat plate with anchor bolt mounting holes at its four corners. Two slide rails extending in the front-to-back direction are located in the middle of the upper side of the plate, with two rows of latch holes on either side of the rails. The base 100 is secured by installing anchor bolts in the anchor bolt mounting holes. The two rows of latch holes are used to adjust the position of the base assembly 200, facilitating adjustment of the distance between the patient and the robot during use.

[0037] See Figure 3 The base assembly structure 200 includes a base 201 , a rear end cover 202 , a front end cover 203 , an upper end cover 204 , a latch 205 and a base roller 206 .

[0038] The base 201 comprises a cavity for accommodating the passive motion mechanism 400 and two steps located outside the cavity for supporting the active motion mechanism 300. The top and front and rear sides of the cavity are open and feature locating pins for the upper end cap 204, front end cap 203, and rear end cap 202. These pins attach to the base to seal the cavity, shielding the passive motion mechanism 400 and ensuring safe operation. The left and right walls of the cavity above the steps each feature two circular through-holes to allow rotation of the active motion mechanism.

[0039] The bottom of base 201 is equipped with a slot that slidably engages with the slide rails of base 100. Pins 205 are located on either side of the slot and fit into the latch holes of base 100. Six base rollers 206 are also mounted on the bottom of base 201. To adjust the position, base assembly 200 is pushed and slid on base 100. The slots and rails cooperate to provide guidance, while the base rollers 206 reduce friction, making the movement of base assembly 200 more flexible. After moving to the appropriate position, the pins 205 are inserted into the latch holes of base 100 to secure the position of base assembly 200 and ensure the stability of the active and passive motion mechanisms.

[0040] See Figure 12 The passive motion mechanism 400 includes a passive rotating drum 401, a gear 402, a gear motor 403, a motor base 404 and a control handle 405.

[0041] The passive drum 401 is rotatably mounted in the cavity of the base 201 via a plane bearing, and the centerline of the passive drum 401 coincides with the centerline of the circular through hole of the base 201. The gear 402 is fixedly mounted on the middle part of the outer circumference of the passive drum 401. A gear motor 403 is installed below the passive drum 401. The gear motor 403 is fixedly mounted on the base via a motor base 404. The motor output shaft is fixedly connected to a driving gear, which meshes with the gear 402. The control handle 405 is mounted on the surface of the base assembly structure 200 and is connected to the gear motor 403 via a wire. It is used to control the speed and start and stop of the gear motor 403. Spring mounting grooves are circumferentially provided at the bottom of the inner side walls at both ends of the passive drum 401.

[0042] See Figures 4 to 11 The active motion mechanism 300 includes an active frame 301, a support frame 302, an ankle motion mechanism 303, a semicircular bracket 304, a control line 305, a traction rope 306, a micro telescopic rod 307, an active spring 308, a fixed pulley set 309, and a unilateral fixed pulley 310.

[0043] The active frame 301 is horizontally annular and is composed of two straight rods and two semicircular rods connected end-to-end, with the two semicircular rods located at either end of the two straight rods. Two semicircular brackets 304 are vertically fixed to the upper end surface of the active frame 301 via screws passing through their respective ends. Two active springs 308 are semicircular in shape and vertically fixed to the lower end surface of the active frame 301 via screws passing through their respective ends. Preferably, the two active springs 308 correspond one-to-one with the two semicircular brackets 304, i.e., one semicircular bracket 304 and one active spring 308 are located in the same vertical plane. Pins may also be provided at the top of the arcs of the semicircular brackets 304, and arcuate grooves adapted to the pins of the semicircular brackets 304 are provided above the spring mounting grooves of the passive drum 401. The active frame 301, semicircular brackets 304, and active springs 308 form an active rotating frame that can rotate within the passive drum 401. The active rotating frame is rotatably mounted in the passive rotating drum 401 , and the active spring 308 is located in the spring mounting groove of the passive rotating drum 401 . When the passive rotating drum 401 is driven to rotate by the gear motor 403 , the active rotating frame is driven to move in a circular arc trajectory in the vertical plane by compressing the active spring 308 .

[0044] The semicircular rod of the active frame 301 is radially enclosed with a fan-shaped through-hole extending through its inner and outer surfaces. The bottom surface of the fan-shaped through-hole features an arc-shaped slot running along the length of the semicircular rod. Four micro-telescopic rods 307 are vertically inserted into each end of the active frame 301 in groups of two. The lower end of each micro-telescopic rod 307 extends into the fan-shaped through-hole of the active frame 301, defining the sliding position of the two ankle motion mechanisms 303.

[0045] A pulley bracket is provided within the annular space of the active frame 301. A single-sided fixed pulley 310 and a fixed pulley assembly 309 are mounted on the pulley bracket. The fixed pulley assembly 309 is mounted in the middle of the annular space. The width of the sliding groove of the fixed pulley in the fixed pulley assembly 309 is greater than that of the single-sided fixed pulley 310. This allows the traction rope 306 to pass over the single-sided fixed pulley 310 and then wrap around the fixed pulley in the fixed pulley assembly 309. This prevents interference between the two traction ropes when they cross each other.

[0046] Two support frames 302 are symmetrically positioned on either side of the active frame 301. Each support frame 302 includes a curved horizontal chute and a chute bracket supported at its base. The center of the curved horizontal chute of each support frame 302 coincides with the center of the curved chute of the active frame 301. Space is left at each end of the support frame 302 for the ankle movement mechanism 303 to rotate vertically in a circular motion.

[0047] The ankle movement mechanism 303 includes a foot plate 3037, an ankle connecting plate 3032, an ankle support 3031, and an ankle roller 3033. The ankle support 3031 consists of a horizontal plate and a curved rod connected to one end of the horizontal plate. The free end of the curved rod is spherically hinged to the semicircular support 304. The other end of the horizontal plate slides through a fan-shaped through-hole in the active frame 301 and is fixedly connected to the lower end of the ankle connecting plate 3032. The upper end of the ankle connecting plate 3032 is fixedly connected to one end of the foot plate 3037. The arrangement of the ankle connecting plate 3032 leaves room for rotation below the foot plate 3037.

[0048] A foot pivot 3035 is mounted horizontally in the center of the bottom of the foot plate 3037. A foot torsion spring 3034 is mounted on the foot pivot 3035. One end of the foot torsion spring 3034 is connected to the front end of the foot plate 3037, and the other end is connected to the rear end of the foot plate 3037. When the heel pushes down on the foot plate 3037, the foot torsion spring 3034 is compressed. When the external force is removed, the foot plate 3037 returns to a horizontal position under the action of the foot torsion spring 3034, making it easier for the patient to use the foot support. Two straps 3036 are also mounted above the foot plate 3037 to secure the patient's feet. These straps 3036 can be Velcro or rope, and they can be used to secure the patient's feet.

[0049] The outer side of the ankle connecting plate 3032 is fixedly connected to a roller mounting plate. This plate is located below the sole plate 3037 and has two ankle rollers A mounted on its bottom. These two ankle rollers A roll within the curved horizontal grooves of the support frame 302. An ankle roller B is mounted on the bottom of the horizontal plate of the ankle support 3031 and rolls within the curved grooves of the active frame 301. The provision of the ankle roller 3033 reduces the coefficient of friction of the sole plate 3037, enabling more flexible movement.

[0050] See Figure 8 There are two traction ropes 306. One end of the traction rope A is connected to the front end of the left ankle connecting plate 3032, and the other end passes through the unilateral fixed pulley 310 and the fixed pulley group 309, and is connected to the rear end of the right ankle connecting plate 3032. One end of the traction rope B is connected to the rear end of the left ankle connecting plate 3032, and the other end passes through the fixed pulley and is connected to the front end of the right ankle connecting plate 3032. The traction rope B and the traction rope A are crossed in the middle part of the active frame 301 and are always in a tensioned state.

[0051] See Figure 11 The control line 305 includes a hard outer tube 3051 and an inner line 3052. The hard outer tube 3051 is a non-deformable hard plastic tube or metal tube, which can be fixed on the base assembly structure 200 by a buckle. The two ends of the hard outer tube 3051 extend to the bottom of the two foot soles 3037 respectively; the inner line 3052 is a flexible line with a constant length. The inner line 3052 can be slidably arranged in the hard outer tube 3051, and its two ends respectively extend from the hard outer tube 3051 and extend upward to connect the front and rear ends of the two foot soles 3037. The inner line 3052 is always in a tensioned state. For example, one end of the inner line 3052 is connected to the front end of the left sole 3037, and the other end is connected to the rear end of the right sole 3037; when the heel of the healthy limb presses down on the left sole 3037, the front end of the left sole will lift up and drive the inner line 3052 connected to it to move upward. Since the length of the inner line 3052 is unchanged, the other end of the inner line 3052 will pull the rear end of the right sole 3037 to move downward, thereby realizing the mirror movement of the ankle joint on the affected limb, that is, realizing active mirror rehabilitation training of plantar flexion / dorsiflexion of the ankle joint.

[0052] When using this application:

[0053] The base 100 is fixed by anchor bolts. The patient sits on the chair, places both feet on the footboard 3037 and fixes them with straps 3036; then the mirror image rehabilitation training of the lower limbs is carried out in an active and passive manner.

[0054] The passive motion mechanism 400 and the active frame 301 remain stationary. The patient actively moves the healthy limb to drive the sole 3037 of the healthy limb to rotate back and forth, and drives the ankle joint of the affected limb to move in a mirror image through the control line, thereby realizing active mirror image rehabilitation training of the ankle joint plantar flexion / dorsiflexion.

[0055] The passive motion mechanism 400 and the active frame 301 remain stationary. The patient actively moves the healthy limb to drive the sole 3037 of the healthy limb to slide back and forth in the slide grooves of the support frame 302 and the active frame 301, and then drives the affected limb to perform mirror motion through the traction rope, thereby realizing active mirror rehabilitation training of the patient's hip, knee and ankle on both sides in the horizontal plane.

[0056] The passive motion mechanism 400 remains stationary, and the patient actively moves the healthy limb to drive the sole 3037 of the healthy limb and compress the active spring 308 on the active frame 301 to form a circular arc trajectory movement in the vertical plane, and then drive the affected limb to perform mirror movement through the traction rope, thereby realizing active mirror rehabilitation training of the hip, knee and ankle in the vertical plane.

[0057] The gear motor 403 drives the passive rotating drum 401 to rotate, and by compressing the active spring 308, drives the active frame 301 and the foot soles 3037 on both sides to move in a circular trajectory in the vertical plane, thereby realizing passive mirror rehabilitation training of the patient's hip, knee and ankle in the vertical plane.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. An active-passive lower limb mirror rehabilitation exercise training robot, characterized in that: It comprises a base (100), a base assembly structure (200), a passive motion mechanism (400) and an active motion mechanism (300); The base (100) is used to fix and support the entire mechanism; The base assembly structure (200) is fixedly mounted on the base (100) and is used to mount the passive motion mechanism (400) and the active motion mechanism (300); The passive motion mechanism (400) drives the passive rotating drum (401) through a motor to drive the active motion mechanism (300) to move in a circular trajectory in a vertical plane, thereby achieving passive mirror image rehabilitation training of the patient's hip, knee and ankle in the vertical plane; The active motion mechanism (300) drives the passive mirror motion of the affected limb through the active motion of the healthy limb, thereby achieving active mirror rehabilitation training of the patient's hip, knee, and ankle in the vertical plane and the horizontal plane, and active mirror rehabilitation training of the plantar flexion / dorsiflexion of the ankle; The active motion mechanism (300) comprises two arc-shaped support frames (302) respectively fixedly mounted on two steps of the base (201), an active frame (301) rotatably mounted in the passive rotating drum (401) and having arc-shaped ends, two semicircular supports (304) fixed at both ends to the upper end surface of the active frame (301), and two active springs (308) fixed at both ends to the lower end surface of the active frame (301), which are slidably mounted in the arc groove of the support frame (302) and are connected to the semicircular supports (301). 4) two ankle motion mechanisms (303) spherically hinged in the middle part, and a traction rope (306) and a control line (305) connecting the two ankle motion mechanisms (303); two active springs (308) are slidably arranged in two slide grooves on the inner side wall of the passive rotating cylinder (401), and the passive rotating cylinder (401) compresses the active springs (308) to drive the active frame (301), the semicircular bracket (304) and the two ankle motion mechanisms (303) to perform circular motion; A plurality of fixed pulleys are provided in the active frame (301), and there are two traction ropes (306). One end of the traction rope A is connected to the front end of the left ankle motion mechanism (303), and the other end passes over the fixed pulley and is connected to the rear end of the right ankle motion mechanism (303). One end of the traction rope B is connected to the rear end of the left ankle motion mechanism (303), and the other end passes over the fixed pulley and is connected to the front end of the right ankle motion mechanism (303). The traction rope B and the traction rope A are in a cross shape in the middle part of the active frame (301).

2. The active-passive lower limb mirror rehabilitation exercise training robot according to claim 1, characterized in that: Two slide rails are provided on the upper side of the base (100), and two rows of latch holes are provided on both sides of the slide rails. The bottom of the base assembly structure (200) is provided with a base roller (206) that is rollingly connected to the base (100), and a slide groove that slides with the slide rails, and latches (205) that are adapted to the latch holes are provided on both sides of the slide groove.

3. The active-passive lower limb mirror rehabilitation exercise training robot according to claim 1, characterized in that: The base assembly structure (200) comprises a base (201), a front end cover (203), a rear end cover (202) and an upper end cover (204); the base (201) is provided with a cavity for installing a passive motion mechanism (400) and steps for installing an active motion mechanism (300), the steps being located on the left and right sides of the cavity; the front end cover (203), the rear end cover (202) and the upper end cover (204) are used to close the top and left and right sides of the cavity of the base (201).

4. The active-passive lower limb mirror image rehabilitation exercise training robot according to claim 1, characterized in that: The passive motion mechanism (400) comprises a passive rotating drum (401) rotatably mounted in a cavity of a base (201), a gear (402) fixedly sleeved on an outer circumferential surface of the passive rotating drum (401), a gear motor (403) meshing with the gear (402), a motor base (404) for fixedly mounting the gear motor (403), and a control handle (405) for controlling the gear motor (403), wherein the motor base (404) is fixedly mounted on the base (201).

5. The active-passive lower limb mirror image rehabilitation exercise training robot according to claim 1, characterized in that: The ankle movement mechanism (303) comprises a sole plate (3037) slidably connected to an arcuate groove of a support frame (302) via an ankle roller A, an ankle support (3031) spherically hinged to a semicircular support (304), and an ankle connecting plate (3032) connecting the sole plate (3037) and the ankle support (3031); the ankle support (3031) comprises an arcuate portion and a flat plate portion, the arcuate portion being spherically hinged to the semicircular support (304), one end of the flat plate portion being connected to the ankle connecting plate (3032), and the other end being radially slidably passed through a through hole provided in the arcuate portion of the active frame (301) and connected to the arcuate portion.

6. The active-passive lower limb mirror rehabilitation exercise training robot according to claim 1, characterized in that: The bottom surface of the through hole of the arc portion of the active frame (301) is provided with an arc-shaped slide groove, the bottom of the flat plate portion of the ankle support (3031) is provided with an ankle roller B adapted to the arc-shaped slide groove, the side of the ankle connecting plate (3032) is horizontally connected to a roller mounting plate, the roller mounting plate is located below the sole plate (3037), and the ankle roller A is mounted on the bottom of the roller mounting plate.

7. The active-passive lower limb mirror image rehabilitation exercise training robot according to claim 6, characterized in that: A strap (3036) for fixing the foot is provided above the sole plate (3037), a sole rotating shaft (3035) is installed at the bottom of the sole plate (3037), a sole torsion spring (3034) is mounted on the sole rotating shaft (3035), one end of the sole torsion spring (3034) is connected to the front end of the sole plate (3037), and the other end is connected to the rear end of the sole plate (3037), and one end of the control line (305) is connected to the sole plate (3037). The front end of the left sole plate (3037) is connected to the rear end of the right sole plate (3037); when the heel of the healthy limb pushes down the sole plate (3037) and compresses the sole torsion spring (3034), the front end of the sole plate (3037) is tilted upward, and the rear end of the sole plate (3037) on the affected limb is pulled downward by the control line (305), thereby realizing active mirror rehabilitation training of plantar flexion / dorsiflexion of the ankle joint.

8. The active-passive lower limb mirror image rehabilitation exercise training robot according to claim 1, characterized in that: The control line (305) comprises a hard outer tube (3051) and an inner line (3052). The hard outer tube (3051) is fixedly mounted on the base assembly structure (200). The inner line (3052) is slidably arranged in the hard outer tube (3051). Two ends of the inner line (3052) extend from the hard outer tube (3051) to connect to the two foot soles (3037).

Images