A three-posture lower limb rehabilitation training robot

Abstract

The application discloses a three-posture lower limb rehabilitation training robot, which comprises a rack, a lower limb exoskeleton device and a posture conversion device; the posture conversion device comprises a pitch adjusting electric push rod, a connecting rod, a seat plate, a back plate, a partition plate, a lifting electric push rod, a back plate connecting block, a partition plate connecting rod and a seat plate frame; the lower limb exoskeleton device comprises a guide rail, a threaded rod, a sliding block, a spring, a hip joint connecting block, an upper thigh connecting rod, a lower thigh connecting rod, an upper calf connecting rod, a lower calf connecting rod, a foot support, a hip joint motor, a hip joint speed reducer, a knee joint motor, a knee joint speed reducer, an ankle joint motor and an ankle joint speed reducer. The application can realize free switching of three postures of sitting, standing and lying without sequence limitation, and different lower limb rehabilitation training schemes can be carried out in the three postures, flexion and extension training of hip joints, knee joints and ankle joints is provided, and hip joint abduction movement without additional power assistance is provided, so that the rehabilitation training requirements of different rehabilitation stages are met.

Description

Technical Field

[0001] The present invention relates to the field of lower limb rehabilitation, and in particular to a three-posture lower limb rehabilitation training robot. Background Art

[0002] With the rapid development of the aging population, the issue of elderly care has become increasingly prominent and has become an important social issue we are facing. As medical care and living standards continue to improve, the requirements of the elderly for their later life are also increasing. The current elderly care issues are mainly: (1) Most elderly people have difficulty in moving due to declining physical functions and cannot take care of themselves in daily life. (2) Sports rehabilitation training helps to restore the elderly's motor ability. However, traditional treatment methods mainly rely on the experience of medical staff and are difficult to meet the high-intensity and repetitive training requirements. In addition, there is a shortage of therapists, and most elderly people with movement disorders find it difficult to receive scientific and effective rehabilitation training. (3) Currently, lower limb rehabilitation robots are mostly used in hospitals and rehabilitation institutions. Most of them are large in size and cannot meet the needs of patients living at home. Under such circumstances, the demand for advanced rehabilitation equipment has increased significantly.

[0003] At present, many institutions at home and abroad have conducted in-depth research on lower limb rehabilitation robots. In the literature "Kawamoto, H., Sankai, Y. (2002). Power Assist System HAL-3 for Gait Disorder Person. In: [8] Miesenberger, K., Klaus, J., Zagler, W. (eds) Computers Helping People with Special Needs. ICCHP 2002. Lecture Notes in Computer Science, vol 2398. Springer, Berlin, Heidelberg.", HAL is a wearable assisted walking exoskeleton robot developed by the University of Tsukuba, Japan, and commercialized by Cyberdyne, Japan. It mainly includes structures such as an exoskeleton frame, sensors, and controllers. The exoskeleton frame is mainly used to fix the limbs and transmit power; HAL breaks away from the limitations of the treadmill, and patients can perform exercise training in a real environment. However, for patients in the early and middle stages of rehabilitation, their own strength is insufficient to maintain standing, and such equipment cannot provide sufficient support.

[0004] The paper "Shi Xiaohua. Research on Sitting / Lying Lower Limb Rehabilitation Robot [D]. Yanshan University, 2014" describes a sitting / lying lower limb rehabilitation robot. This robot includes two mechanical training legs and an adjustable seat. Each leg has two degrees of freedom, enabling hip and knee rehabilitation training. Three training modes are proposed for the robot system, tailored to the patient's condition: passive training based on trajectory traction, power-assisted training based on myoelectric control, and active resistance training based on force tracking. However, this device can only perform leg training in both sitting and lying positions; it does not support standing training and can only be performed in a fixed position. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a three-posture lower limb rehabilitation training robot.

[0006] The technical solution of the present invention to solve the technical problem is to provide a three-posture lower limb rehabilitation training robot, characterized in that the robot includes a frame, a lower limb exoskeleton device and a posture conversion device;

[0007] The posture conversion device includes a pitch adjustment electric push rod, a connecting rod, a seat plate, a back plate, a partition plate, a lifting electric push rod, a back plate connecting block, a partition plate connecting rod and a seat plate frame;

[0008] The bottom end of the partition is hinged to the frame; one end of the pitch adjustment electric push rod is hinged to the frame, and the other end is hinged to the middle of the partition; a through slot is opened in the middle of the partition; one end of the back plate connecting block is fixed to the back of the back plate; the back plate is slidably mounted on the partition; the back plate connecting block passes through the through slot of the partition and can slide along the through slot; one end of the lifting electric push rod is hinged to the bottom of the partition, and the other end is hinged to the other end of the back plate connecting block; one end of the two partition connecting rods is respectively fixed to both sides of the bottom end of the partition, and the other end is hinged to the middle of the seat plate frame; one end of the two connecting rods is hinged to the middle of the back plate, and the other end is hinged to the end of the seat plate frame; the seat plate is fixed to the seat plate frame;

[0009] The lower limb exoskeleton device includes a guide rail, a threaded rod, a slider, a spring, a hip joint connection block, an upper thigh connecting rod, a lower thigh connecting rod, an upper calf connecting rod, a lower calf connecting rod, a footrest, a hip joint motor, a hip joint reducer, a knee joint motor, a knee joint reducer, an ankle joint motor and an ankle joint reducer;

[0010] A guide rail is fixed in a transverse groove at the lower portion of the back plate; two sliders are slidably mounted at the two ends of the guide rail and can slide along the guide rail; a threaded rod is rotatably mounted in the guide rail; the two sliders have threaded holes, and the threaded rod is threadedly connected to the two sliders. Rotation of the threaded rod causes the two sliders to move closer to or farther from each other.

[0011] Each slider is hinged to the upper end of a hip joint connecting block, and a spring is installed between the two, which is used to limit the rotation range of the hip joint connecting block; the two sides of the lower end of the hip joint connecting block are fixedly connected to the housing of the hip joint motor and the housing of the hip joint reducer respectively; the output shaft of the hip joint motor passes through the through hole at the lower end of the hip joint connecting block and is connected to the input hole of the hip joint reducer; the upper end of the thigh upper connecting rod is fixedly connected to the output shaft of the hip joint reducer, and the lower end is connected to the upper end of the thigh lower connecting rod;

[0012] The two sides of the upper end of the calf upper connecting rod are fixedly connected to the housing of the knee joint motor and the housing of the knee joint reducer respectively; the output shaft of the knee joint motor passes through the through hole at the upper end of the calf upper connecting rod and is connected to the input hole of the knee joint reducer; the lower end of the thigh lower connecting rod is fixedly connected to the output shaft of the knee joint reducer; the lower end of the calf upper connecting rod is connected to the upper end of the calf lower connecting rod;

[0013] The two sides of the lower end of the calf lower connecting rod are fixedly connected to the housing of the ankle joint motor and the housing of the ankle joint reducer respectively; the output shaft of the ankle joint motor passes through the through hole at the lower end of the calf lower connecting rod and is connected to the input hole of the ankle joint reducer; the foot rest is fixedly connected to the output shaft of the ankle joint reducer.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The present invention can realize free switching among the three postures of sitting, standing and lying without sequence restrictions, and different lower limb rehabilitation training programs can be carried out in the three postures to meet the rehabilitation training needs of different rehabilitation stages.

[0016] (2) The present invention can provide flexion and extension training of the hip joint, knee joint, and ankle joint, as well as hip abduction exercise without additional power assistance.

[0017] (3) The posture conversion device of the present invention is linked by the storage of the seat plate and the adjustment of the back plate angle. The posture conversion can be completed with only two electric push rods, which makes the control easier and the structure more concise. In addition, the seat plate is cleverly stored, providing sufficient space for leg training when standing.

[0018] (4) Each mechanical leg of the lower limb exoskeleton device of the present invention can complete three-degree-of-freedom leg rehabilitation training, and the simulation of lower limb gait is more accurate.

[0019] (5) The rear wheel drive device of the present invention can not only assist walking in a standing position to complete active and passive training, but also enable the product to be used as an electric wheelchair, thereby increasing functional diversity.

[0020] (6) The seat height, thigh length, calf length and hip width of the present invention can be adjusted to meet different usage requirements.

[0021] (7) The device of the present invention has a simple structure, ingenious mechanical design, low manufacturing cost and strong universality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional diagram of the overall structure of the present invention when it is in a sitting position;

[0023] Figure 2 This is a front view of the overall structure of the present invention when it is in a sitting position;

[0024] Figure 3 This is a three-dimensional diagram of the overall structure of the present invention when it is in a standing position;

[0025] Figure 4 This is a front view of the overall structure of the present invention when it is in a standing position;

[0026] Figure 5 This is a front view of the overall structure of the present invention when it is in a lying position;

[0027] Figure 6 An exploded schematic diagram of the posture conversion device of the present invention;

[0028] Figure 7 is a schematic structural diagram of the lower limb exoskeleton device of the present invention;

[0029] Figure 8 Schematic diagram of the structure of the rear wheel drive device of the present invention.

[0030] In the figure, 1, frame; 2, front wheel; 3, lower limb exoskeleton device; 4, control panel; 5, posture conversion device; 6, rear wheel drive device;

[0031] Guide rail 3-1, threaded rod 3-2, slider 3-3, spring 3-4, hip joint connecting block 3-5, upper thigh connecting rod 3-6, lower thigh connecting rod 3-7, upper calf connecting rod 3-8, lower calf connecting rod 3-9, foot support 3-10, hip joint motor 3-11, hip joint reducer 3-12, knee joint motor 3-13, knee joint reducer 3-14, ankle joint motor 3-15, ankle joint reducer 3-16;

[0032] Pitch adjustment electric push rod 5-1, connecting rod 5-2, seat plate 5-3, back plate 5-4, guide rail slider mechanism 5-5, partition 5-6, lifting electric push rod 5-7, back plate connecting block 5-8, partition connecting rod 5-9, seat plate frame 5-10;

[0033] Rear wheel 6-1, axle 6-2, coupling 6-3, rear wheel reducer 6-4, rear wheel motor 6-5. DETAILED DESCRIPTION

[0034] The specific embodiments of the present invention are given below. The specific embodiments are only used to further illustrate the present invention and do not limit the scope of protection of the claims of the present invention.

[0035] The present invention provides a three-posture lower limb rehabilitation training robot (referred to as robot), which is characterized in that the robot includes a frame 1, a lower limb exoskeleton device 3 and a posture conversion device 5;

[0036] The posture conversion device 5 includes a pitch adjustment electric push rod 5-1, a connecting rod 5-2, a seat plate 5-3, a back plate 5-4, a guide rail slider mechanism 5-5, a partition 5-6, a lifting electric push rod 5-7, a back plate connecting block 5-8, a partition connecting rod 5-9 and a seat plate frame 5-10;

[0037] The bottom end of the partition 5-6 is hinged to the frame 1; one end of the pitch adjustment electric push rod 5-1 is hinged to the frame 1, and the other end is hinged to the middle of the partition 5-6; a through slot is opened in the middle of the partition 5-6; one end of the back plate connecting block 5-8 is fixed to the back of the back plate 5-4; the back plate 5-4 is slidably installed on the partition 5-6 through the guide rail slider mechanism 5-5; the back plate connecting block 5-8 passes through the through slot of the partition 5-6 and can slide along the through slot; One end of the lifting electric push rod 5-7 is hinged to the bottom of the partition 5-6, and the other end is hinged to the other end of the back plate connecting block 5-8; one end of the two partition connecting rods 5-9 are respectively fixed to the two sides of the bottom end of the partition 5-6, and the other end is hinged to the middle of the seat plate frame 5-10; one end of the two connecting rods 5-2 are both hinged to the middle of the back plate 5-4, and the other end are both hinged to the end of the seat plate frame 5-10; the seat plate 5-3 is fixed to the seat plate frame 5-10;

[0038] The seat plate frame 5-10, the partition plate 5-6, the back plate 5-4 and the connecting rod 5-2 form a slider-crank mechanism, wherein the partition plate 5-6 serves as a frame, the back plate 5-4 serves as a slider and the seat plate frame 5-10 serves as a crank. When the back plate 5-4 moves, it drives the seat plate 5-3 to perform a rotary motion.

[0039] The lower limb exoskeleton device 3 includes a guide rail 3-1, a threaded rod 3-2, a slider 3-3, a spring 3-4, a hip joint connecting block 3-5, an upper thigh connecting rod 3-6, a lower thigh connecting rod 3-7, an upper calf connecting rod 3-8, a lower calf connecting rod 3-9, a foot support 3-10, a hip joint motor 3-11, a hip joint reducer 3-12, a knee joint motor 3-13, a knee joint reducer 3-14, an ankle joint motor 3-15 and an ankle joint reducer 3-16;

[0040] A guide rail 3-1 is fixed in a transverse groove at the bottom of the back plate 5-4; two sliders 3-3 are slidably mounted at the two ends of the guide rail 3-1 and can slide along the guide rail 3-1; a threaded rod 3-2 is rotatably mounted in the guide rail 3-1; the two sliders 3-3 have threaded holes, and the threaded rod 3-2 is threadedly connected to the two sliders 3-3. The threaded rod 3-2 rotates, causing the two sliders 3-3 to move closer to or away from each other.

[0041] Each slider 3-3 is hinged to the upper end of a hip joint connecting block 3-5, and a spring 3-4 is installed between the two. The spring 3-4 is used to limit the rotation range of the hip joint connecting block 3-5, so that the hip joint connecting block 3-5 can only rotate slightly relative to the slider 3-3, and the user can perform hip abduction exercises by himself;

[0042] The two sides of the lower end of the hip joint connecting block 3-5 are fixedly connected to the housing of the hip joint motor 3-11 and the housing of the hip joint reducer 3-12 respectively; the output shaft of the hip joint motor 3-11 passes through the through hole at the lower end of the hip joint connecting block 3-5 and is connected to the input hole of the hip joint reducer 3-12; the upper end of the thigh upper connecting rod 3-6 is fixedly connected to the output shaft of the hip joint reducer 3-12, and the lower end is connected to the upper end of the thigh lower connecting rod 3-7;

[0043] The two sides of the upper end of the calf upper connecting rod 3-8 are fixedly connected to the housing of the knee joint motor 3-13 and the housing of the knee joint reducer 3-14 respectively; the output shaft of the knee joint motor 3-13 passes through the through hole at the upper end of the calf upper connecting rod 3-8 and is connected to the input hole of the knee joint reducer 3-14; the lower end of the thigh lower connecting rod 3-7 is fixedly connected to the output shaft of the knee joint reducer 3-14; the lower end of the calf upper connecting rod 3-8 is connected to the upper end of the calf lower connecting rod 3-9;

[0044] The two sides of the lower end of the calf lower connecting rod 3-9 are fixedly connected to the housing of the ankle joint motor 3-15 and the housing of the ankle joint reducer 3-16 respectively; the output shaft of the ankle joint motor 3-15 passes through the through hole at the lower end of the calf lower connecting rod 3-9 and is connected to the input hole of the ankle joint reducer 3-16; the foot rest 3-10 is fixedly connected to the output shaft of the ankle joint reducer 3-16.

[0045] Preferably, a plurality of hinge points are provided on the back panel 5-4, and a plurality of hinge points are provided on the seat frame 5-10; and the hinge positions of the two ends of the connecting rod 5-2 with the back panel 5-4 and the seat frame 5-10 are adjustable according to the height of the user.

[0046] Preferably, a strap is provided on the back panel 5 - 4 for fixing the user's waist.

[0047] Preferably, the lifting electric push rods 5-7 are push rods with brakes or push rods with self-locking function. The push rods with self-locking function can be linear electric push rods produced by Linak.

[0048] Preferably, two sliders 3 - 3 are connected to two ends of a strap to fix the user's hips.

[0049] Preferably, the lower end of the upper thigh link 3-6 is detachably connected to the upper end of the lower thigh link 3-7 (preferably by bolt connection) to adjust the length to adapt to different user thigh lengths.

[0050] Preferably, the upper thigh link 3 - 6 and / or the lower thigh link 3 - 7 are provided with straps for fixing the user's thighs.

[0051] Preferably, the lower end of the calf upper link 3-8 is detachably connected to the calf lower link 3-9 (preferably by bolt connection) to adjust the length to adapt to different user calf lengths.

[0052] Preferably, the upper calf link 3 - 8 and / or the lower calf link 3 - 9 are provided with straps for fixing the user's calf.

[0053] Preferably, the footrest 3-10 is provided with a strap for fixing the user's foot.

[0054] Preferably, the robot further includes a control panel 4 ; an armrest structure is provided on the frame 1 ; and the control panel 4 is fixed to the armrest structure at the upper end of the frame 1 .

[0055] Preferably, the robot further includes a moving device; the moving device is installed on the bottom of the frame 1 and is used to drive the entire robot to move.

[0056] Preferably, the robot's locomotion mechanism includes two front wheels 2 and two rear-wheel drive mechanisms 6. The two front wheels 2 are symmetrically mounted on either side of the front end of the chassis 1 to control the robot's forward movement. The two rear-wheel drive mechanisms 6 are symmetrically mounted on either side of the rear end of the chassis 1 to provide propulsion. During locomotion, steering is achieved by adjusting the speed of the two rear-wheel motors 6-5.

[0057] Preferably, each rear wheel drive device 6 includes a rear wheel 6-1, an axle 6-2, a coupling 6-3, a rear wheel reducer 6-4 and a rear wheel motor 6-5;

[0058] One end of the wheel shaft 6-2 is coaxially fixedly connected with the shaft center of the rear wheel 6-1, passes through the shaft hole on the frame 1, and is fixedly connected with one end of the coupling 6-3; the other end of the coupling 6-3 is fixedly connected with the output shaft of the rear wheel reducer 6-4; the shell of the rear wheel motor 6-5 is fixed on the frame 1 and is fixedly connected with the shell of the rear wheel reducer 6-4, and the output shaft of the rear wheel motor 6-5 is fixedly connected with the input hole of the rear wheel reducer 6-4.

[0059] The working principle and working process of the application are as follows:

[0060] Before use, according to the height of the user, the hinged positions of the connecting rod 5-2, the back plate 5-4 and the seat plate frame 5-10 are adjusted; according to the length of the user's thigh, the connection positions of the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7 are adjusted; according to the length of the user's calf, the connection positions of the upper calf connecting rod 3-8 and the lower calf connecting rod 3-9 are adjusted; according to the width of the user's hips, the threaded rod 3-2 is rotated to adjust the distance between the two sliding blocks 3-3. The waist is fixed on the back plate 5-4 by a belt, the thigh is fixed on the upper thigh connecting rod 3-6 and / or the lower thigh connecting rod 3-7 by a belt, the calf is fixed on the upper calf connecting rod 3-8 and / or the lower calf connecting rod 3-9 by a belt, and the foot is fixed on the foot support 3-10 by a belt.

[0061] In a sitting position, the user sits on the seat plate 5-3, under the drive of the knee joint motor 3-13 and the ankle joint motor 3-15, the upper calf connecting rod 3-7 and the lower calf connecting rod 3-8 drive the user's calf to move, completing the flexion and extension movement of the knee joint; the foot support 3-10 drives the foot to move, completing the flexion and extension movement of the ankle joint.

[0062] When the user changes from a sitting position to a standing position, the knee joint motor 3-13 is decelerated by the knee joint reducer 3-14 and then transmits power to the calf upper link 3-8 and the calf lower link 3-9, driving the user's calf to retract toward the bottom of the seat plate 5-3; at the same time, the ankle joint motor 3-15 is decelerated by the ankle joint reducer 3-16 and then transmits power to the footrest 3-10, adjusting the user's feet to a horizontal state. Then the electric push rod 5-7 is lifted to drive the back panel 5-4 to move upward, and drive the user's upper body to move upward; while the back panel 5-4 moves upward, the seat panel 5-3 is driven to rotate around the partition 5-6 through the connecting rod 5-2; at the same time, the hip joint motor 3-11 is decelerated by the hip joint reducer 3-12 and then the power is transmitted to the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7, driving the user's thigh to rotate around the hip joint to a vertical state; the knee joint motor 3-13 is decelerated by the knee joint reducer 3-14 and then the power is transmitted to the upper calf connecting rod 3-8 and the lower calf connecting rod 3-9, driving the user's calf to rotate around the knee joint to a vertical state; at the same time, the ankle joint motor 3-15 is transmitted to the footrest 3-10 through the ankle joint reducer 3-16, adjusting the user's feet to a horizontal state, and the user stands completely upright in a standing position.

[0063] In the standing state, the lifting electric push rods 5-7 stop working, and the user can perform gait training driven by the lower limb exoskeleton device 3, including flexion and extension of the hip joints, knee joints and ankle joints, and can complete movements such as walking, leg extension, and leg lifting. At the same time, the rear wheel drive device 6 can drive the robot forward to match the walking movement; in addition, the user can perform a certain range of hip joint abduction movement by himself. This movement requires the patient to perform it independently without additional power assistance. The specific process is: the patient is in a standing state, one leg is standing in a vertical state, and the other leg is abducted. At this time, the hip joint connection block 3-5 rotates around the slider 3-3, and the spring 3-4 limits the rotation angle.

[0064] The process of the user changing from standing to sitting is the reverse process of changing from sitting to standing, which will not be described in detail.

[0065] When the user changes from a sitting position to a lying position, the knee joint motor 3-13 decelerates through the knee joint reducer 3-14 and transmits power to the calf upper connecting rod 3-8 and the calf lower connecting rod 3-9, driving the user's calf to retract toward the bottom of the seat plate 5-3; the lifting electric push rod 5-7 drives the back plate 5-4 to move upward, driving the user's upper body to move upward; while the back plate 5-4 moves upward, it drives the seat plate 5-3 to rotate around the partition 5-6 through the connecting rod 5-2; the hip joint motor 3-11 decelerates through the hip joint reducer 3-12 and transmits power to the thigh upper connecting rod 3-6 and the thigh lower connecting rod 3-7, driving The user's thigh rotates around the hip joint; the knee joint motor 3-13 transmits power to the calf upper link 3-8 and the calf lower link 3-9 after being decelerated by the knee joint reducer 3-14, driving the user's calf to rotate around the knee joint; at the same time, the ankle joint motor 3-15 transmits power to the footrest 3-10 through the ankle joint reducer 3-16, adjusting the user's foot to a horizontal state; when the user is in a semi-upright state (about half of the stroke when switching from sit to stand), the pitch adjustment push rod 5-1 drives the partition 5-6 to rotate around the frame 1, driving the user's entire body to a horizontal state, at this time in a lying state.

[0066] In the lying position, the user performs flexion and extension movements of the hip joint, knee joint, and ankle joint driven by the lower limb exoskeleton device 3, and can complete movements such as leg lifting and leg extension.

[0067] The process of the user changing from lying position to sitting position is the reverse process of changing from sitting position to lying position, which will not be described in detail.

[0068] When the user changes from a standing position to a lying position, the upper thigh connecting rod 3-6, the lower thigh connecting rod 3-7, the upper calf connecting rod 3-8, and the lower calf connecting rod 3-9 drive the knee joint to bend forward and take a half step forward (about 20 cm) under the drive of the hip joint motor 3-11, the knee joint motor 3-13 and the ankle joint motor 3-15; the lifting electric push rod 5-7 drives the back panel 5-4 to move downward, driving the user's upper body to move downward; when the user is in a semi-upright state (about half of the stroke when switching from sitting to standing), the seat panel 5-3 contacts the user's calf, and the pitch adjustment push rod 5-1 drives the partition 5-6 to rotate around the frame 1, driving the user's entire body to a horizontal state.

[0069] The process of the user changing from a lying position to a standing position is the reverse process of changing from a standing position to a lying position, which will not be described in detail.

[0070] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A three-posture lower limb rehabilitation training robot, characterized in that: The robot comprises a frame (1), a lower limb exoskeleton device (3) and a posture conversion device (5); The posture conversion device (5) comprises a pitch adjustment electric push rod (5-1), a connecting rod (5-2), a seat plate (5-3), a back plate (5-4), a partition plate (5-6), a lifting electric push rod (5-7), a back plate connecting block (5-8), a partition plate connecting rod (5-9) and a seat plate frame (5-10); The bottom end of the partition (5-6) is hinged on the frame (1); one end of the pitch adjustment electric push rod (5-1) is hinged on the frame (1), and the other end is hinged to the middle of the partition (5-6); a through slot is opened in the middle of the partition (5-6); one end of the back plate connecting block (5-8) is fixed to the back of the back plate (5-4); the back plate (5-4) is slidably installed on the partition (5-6); the back plate connecting block (5-8) passes through the through slot of the partition (5-6) and can slide along the through slot; the lifting electric push rod One end of (5-7) is hinged to the bottom of the partition (5-6), and the other end is hinged to the other end of the back plate connecting block (5-8); one end of the two partition connecting rods (5-9) is respectively fixed to the two sides of the bottom end of the partition (5-6), and the other end is hinged to the middle of the seat plate frame (5-10); one end of the two connecting rods (5-2) is hinged to the middle of the back plate (5-4), and the other end is hinged to the end of the seat plate frame (5-10); the seat plate (5-3) is fixed to the seat plate frame (5-10); The lower limb exoskeleton device (3) comprises a guide rail (3-1), a threaded rod (3-2), a slider (3-3), a spring (3-4), a hip joint connecting block (3-5), an upper thigh connecting rod (3-6), a lower thigh connecting rod (3-7), an upper calf connecting rod (3-8), a lower calf connecting rod (3-9), a foot support (3-10), a hip joint motor (3-11), a hip joint reducer (3-12), a knee joint motor (3-13), a knee joint reducer (3-14), an ankle joint motor (3-15) and an ankle joint reducer (3-16); A guide rail (3-1) is fixed in a transverse groove at the lower portion of the back plate (5-4); two sliders (3-3) are slidably mounted on the two ends of the guide rail (3-1) and can slide along the guide rail (3-1); a threaded rod (3-2) is rotatably mounted in the guide rail (3-1); the two sliders (3-3) are provided with threaded holes, the threaded rod (3-2) is threadedly connected to the two sliders (3-3), and the threaded rod (3-2) rotates to move the two sliders (3-3) closer to or farther away from each other; Each slider (3-3) is hinged to the upper end of a hip joint connecting block (3-5), and a spring (3-4) is installed between the two, and the spring (3-4) is used to limit the rotation amplitude of the hip joint connecting block (3-5); the two sides of the lower end of the hip joint connecting block (3-5) are fixedly connected to the housing of the hip joint motor (3-11) and the housing of the hip joint reducer (3-12) respectively; the output shaft of the hip joint motor (3-11) passes through the through hole at the lower end of the hip joint connecting block (3-5) and is connected to the input hole of the hip joint reducer (3-12); the upper end of the thigh upper connecting rod (3-6) is fixedly connected to the output shaft of the hip joint reducer (3-12), and the lower end is connected to the upper end of the thigh lower connecting rod (3-7); The two sides of the upper end of the calf upper connecting rod (3-8) are fixedly connected to the housing of the knee joint motor (3-13) and the housing of the knee joint reducer (3-14) respectively; the output shaft of the knee joint motor (3-13) passes through the through hole at the upper end of the calf upper connecting rod (3-8) and is connected to the input hole of the knee joint reducer (3-14); the lower end of the thigh lower connecting rod (3-7) is fixedly connected to the output shaft of the knee joint reducer (3-14); the lower end of the calf upper connecting rod (3-8) is connected to the upper end of the calf lower connecting rod (3-9); The two sides of the lower end of the calf lower connecting rod (3-9) are fixedly connected to the housing of the ankle joint motor (3-15) and the housing of the ankle joint reducer (3-16) respectively; the output shaft of the ankle joint motor (3-15) passes through the through hole at the lower end of the calf lower connecting rod (3-9) and is connected to the input hole of the ankle joint reducer (3-16); and the footrest (3-10) is fixedly connected to the output shaft of the ankle joint reducer (3-16).

2. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The hinge positions at both ends of the connecting rod (5-2) are adjustable according to the height of the user; and a strap is provided on the back plate (5-4) for fixing the waist of the user.

3. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The lifting electric push rod (5-7) adopts a push rod with a brake or a push rod with a self-locking function.

4. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The lower end of the thigh upper connecting rod (3-6) is detachably connected to the upper end of the thigh lower connecting rod (3-7) to adjust the length to adapt to different thigh lengths of users; the lower end of the calf upper connecting rod (3-8) is detachably connected to the calf lower connecting rod (3-9) to adjust the length to adapt to different calf lengths of users.

5. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The upper thigh connecting rod (3-6) and / or the lower thigh connecting rod (3-7) are provided with straps for fixing the user's thighs; the upper calf connecting rod (3-8) and / or the lower calf connecting rod (3-9) are provided with straps for fixing the user's calves.

6. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: Two sliders (3-3) are connected to two ends of a strap for fixing the user's hips; and a strap is provided on the footrest (3-10) for fixing the user's feet.

7. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The robot further comprises a control panel (4); an armrest structure is provided on the frame 1; and the control panel (4) is fixed to the armrest structure at the upper end of the frame (1).

8. The three-posture lower limb rehabilitation training robot according to claim 1, characterized in that: The robot also includes a moving device; the moving device is installed on the bottom of the frame (1) and is used to drive the entire robot to move.

9. The three-posture lower limb rehabilitation training robot according to claim 8, characterized in that: The mobile device comprises two front wheels (2) and two rear wheel drive devices (6); the two front wheels (2) are symmetrically mounted on both sides of the front end of the bottom of the frame (1) and are used to control the direction in which the robot moves; the two rear wheel drive devices (6) are symmetrically mounted on both sides of the rear end of the bottom of the frame (1) and are used to provide a user with power for moving forward.

10. The three-posture lower limb rehabilitation training robot according to claim 9, characterized in that: Each rear wheel drive device (6) includes a rear wheel (6-1), a wheel axle (6-2), a coupling (6-3), a rear wheel speed reducer (6-4) and a rear wheel motor (6-5); One end of the wheel axle (6-2) is coaxially fixedly connected to the axis of the rear wheel (6-1), passes through the shaft hole on the frame (1), and the other end is fixedly connected to one end of the coupling (6-3); the other end of the coupling (6-3) is fixedly connected to the output shaft of the rear wheel reducer (6-4); the housing of the rear wheel motor (6-5) is fixed on the frame (1) and fixedly connected to the housing of the rear wheel reducer (6-4), and the output shaft of the rear wheel motor (6-5) is fixedly connected to the input hole of the rear wheel reducer (6-4).

Images