Self-adjusting lower limb rehabilitation training robot

Abstract

The invention relates to the technical field of rehabilitation medical instruments, in particular to a self-adjusting lower limb rehabilitation training robot. Comprising a base, two sets of air cylinders are installed on one side wall of the base, the output ends of the two sets of air cylinders are in transmission connection with a sliding table, an electric rotating disc is installed on the sliding table, an auxiliary assembly is arranged on the electric rotating disc and comprises a box body, a first motor is installed on the box body, and a through groove is formed in the box body; a lead screw is rotationally connected into the through groove, a first internal thread block is connected to the lead screw in a threaded mode, a seat is fixedly connected to one side wall of the first internal thread block, a protection mechanism is fixedly connected to the other side wall of the first internal thread block, and the lead screw is driven by a first motor to rotate, so that the first internal thread block drives the seat to move up and down; and then the seat is driven to rotate to the other side through the electric rotating disc, so that the patient is helped to climb up the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a self-adjusting lower limb rehabilitation training robot. Background Art

[0002] Cardiovascular and cerebrovascular diseases are a relatively common disease among the middle-aged and elderly population. Cardiovascular and cerebrovascular diseases are a general term for cardiovascular and cerebrovascular diseases, and generally refer to ischemic or hemorrhagic diseases of the heart, brain and systemic tissues caused by hyperlipidemia, blood viscosity, atherosclerosis, hypertension, etc. Cardiovascular and cerebrovascular diseases are a serious threat to humanity, with high morbidity, high disability and high mortality rates. Cardiovascular and cerebrovascular diseases are more likely to leave sequelae to patients after treatment. It will make many patients unable to move their limbs, causing great trouble to the patients' later life. Therefore, many patients need rehabilitation training after the treatment. Rehabilitation training can be for both upper limbs and lower limbs.

[0003] At present, when the lower limb rehabilitation training robot is in use, the patient needs the help of medical staff to board the training robot for rehabilitation training, and the patient needs to be accompanied by medical staff throughout the rehabilitation training to help the patient leave the robot for rest when the patient is tired, which greatly increases the workload of medical staff. The inability of patients to perform rehabilitation training alone also greatly increases the limitations of rehabilitation training.

[0004] After searching, in the prior art, announcement number: CN208770313U, announcement date: 2019-04-23, discloses a human lower limb rehabilitation training robot, including an exoskeleton power device, a treadmill, a waist connection device, a suspension weight-reducing device and its control system, wherein the exoskeleton power device drives the human body to train according to the gait trajectory of a normal person walking; the treadmill cooperates with the exoskeleton to provide the same training speed for the patient; the suspension weight-reducing device lifts the human body through a rope, and can pull the patient up and down according to a predetermined trajectory and provide weight-reducing force; the waist connection device is the connecting part of the exoskeleton power device and the suspension weight-reducing device, which can realize the adaptive adjustment of the human body width and meet the ups and downs of the human body during walking; under the action of gait training and suspension weight-reducing control system, the patient performs gait training according to the predetermined gait trajectory, and the weight-reducing system pulls the patient to move according to the synchronous center of gravity trajectory to simulate the ups and downs of the body when a normal human body walks, thereby improving the rehabilitation effect.

[0005] However, the device still has the following defects: Although it can simulate the ups and downs of a normal human body when walking and improve the rehabilitation effect, when patients use the device for rehabilitation training, they need the help of medical staff to get on the robot for rehabilitation training, and they need to be accompanied by medical staff throughout the process to leave the robot for rest when they are tired, which increases the workload of medical staff. Summary of the invention

[0006] In view of the above problems, the present invention provides a self-adjusting lower limb rehabilitation training robot, comprising a base, two groups of cylinders are installed on one side wall of the base, the output ends of the two groups of cylinders are transmission-connected to a slide, an electric turntable is installed on the slide, and an auxiliary component is arranged on the electric turntable;

[0007] The auxiliary component includes a box body, a first motor is installed on the box body, a through slot is opened on the box body, a screw rod is rotatably connected in the through slot, a first internal thread block is threadedly connected on the screw rod, a seat is fixedly connected to one side wall of the first internal thread block, and a protective mechanism is fixedly connected to the other side wall of the first internal thread block;

[0008] The first motor drives the lead screw to rotate, so that the first internal thread block drives the seat to move up and down and adjust to a suitable height. The electric turntable then drives the seat to rotate to the other side to help the patient get on the robot.

[0009] Furthermore, the protection mechanism includes a fixed block and a translation frame, two groups of telescopic rods are symmetrically arranged between the fixed block and the translation frame, a second motor is installed on the side wall of the fixed block, the output end of the second motor is transmission-connected to a first bidirectional screw rod, two groups of second internal thread blocks are threadedly connected to the first bidirectional screw rod, the two groups of the second internal thread blocks are symmetrically distributed with the central axis of the fixed block as the center, and the two groups of the second internal thread blocks are hinged with a linkage rod, and the two groups of the linkage rods are rotationally connected at the center.

[0010] Furthermore, a sliding column is fixedly connected to the inner wall of the translation frame, and two groups of sliders are slidably connected to the sliding column. The two groups of sliders are rotationally connected to the other ends of the two groups of linkage rods respectively, and the two groups of sliders are fixedly connected to clamps, and the inner walls of the two groups of clamps are covered with soft pads.

[0011] Furthermore, two groups of first brackets are fixedly connected to the base, the side walls of the first brackets are fixedly connected to mounting blocks, an electric push rod is installed on the mounting block, the output end of the electric push rod is transmission-connected to a driving rod, and a limiting axis is provided at the other end of the driving rod.

[0012] Furthermore, the side wall of the first bracket is rotatably connected to a rotating block, the side wall of the rotating block is fixedly connected to a limiting rod, a limiting groove is provided on the limiting rod, the limiting groove is movably fitted with a limiting shaft, the top end of the limiting rod is rotatably connected to a handle, the handle is covered with a cushion, the center of the rotating block is fixedly connected to a rotating shaft, and a motion mechanism is fixedly connected to the rotating shaft.

[0013] Furthermore, the motion mechanism includes a first support block, the bottom end of the first support block is rotatably connected to a worm gear, the side wall of the worm gear is fixedly connected to a second support block, the second support block and the first support block are both provided with elastic clips and slots, the two groups of elastic clips are respectively movably engaged with a corresponding group of slots, the bottom end of the second support block is provided with a connecting block, the connecting block is rotationally damped and connected to a foot support block, and the foot support block is provided with an elastic fixing belt.

[0014] Furthermore, both sides of the first support block are fixedly connected with cross plates, a worm is rotatably connected between the two groups of the cross plates, a third motor is installed on one group of the cross plates, the output end of the third motor is transmission-connected to one end of the worm, and the worm is meshingly connected to the worm wheel.

[0015] Furthermore, a storage box is fixedly connected to a group of the first brackets, an electric track is installed on the base, a storage slot is opened inside the storage box, a remote control is movably connected in the storage slot, a magnetic suction component is provided at the bottom end of the inner wall of the storage slot, and the magnetic suction component and the remote control attract each other.

[0016] Furthermore, two groups of second brackets are fixedly connected to the base, a beam is fixedly connected between the two groups of second brackets, a mounting ring is connected to the center of the beam for damping rotation, a connecting seat is fixedly connected to the mounting ring, and a touch screen is installed on the connecting seat.

[0017] Furthermore, an installation groove is provided on the base, and the installation groove is movably fitted with the two ends of the electric crawler, and the installation groove is movably fitted with the slide, and slide grooves are provided on both side walls of the installation groove, and both ends of the slide are fixedly connected with limit bolts, and two groups of limit bolts are movably fitted with two groups of slide grooves respectively.

[0018] The beneficial effects of the present invention are:

[0019] 1. The first motor is turned on by the remote control, and the first motor drives the screw rod to rotate, so that the first internal thread block drives the seat to move downward. After the patient sits on the seat, the first motor drives the screw rod to rotate in the opposite direction to make the seat rise, and then the electric turntable drives the seat to rotate to the side close to the electric track, so as to facilitate the patient's rehabilitation training. The patient can easily board the robot for rehabilitation training without the help of others, thereby reducing the workload of medical staff.

[0020] 2. The box is driven to rotate by an electric turntable, and the protection mechanism is rotated to the side close to the patient. The second motor is controlled to drive the bidirectional screw to rotate, so that the two sets of second internal thread blocks move in relative directions, and the two sets of linkage rods are driven to rotate, so that the two sets of sliders fit on the sliding column and move in relative directions, and the translation frame moves away from the fixed block. The two sets of telescopic rods are stretched synchronously and support the translation frame at the same time to keep it balanced during movement. The two sets of sliders drive the two sets of clamps to move in relative directions to support the patient's waist, prevent the patient from falling during rehabilitation training, and improve the safety of the robot.

[0021] 3. By controlling the seat to rotate to the side close to the patient and adjusting the seat to an appropriate height, the patient can rest without getting off the robot when feeling tired, or can perform rehabilitation training while sitting.

[0022] 4. The calf is fixed by the elastic strap on the second support block, and the thigh is fixed by the elastic strap on the first support block. The first support block is driven to swing by the electric push rod, and the second support block is driven to swing by the third motor, so as to simulate the gait of a person walking. The limit rod is driven to swing by the electric push rod, so that the handle makes a corresponding periodic reciprocating swing. The patient holds his hands on the handle, and both hands can swing synchronously and regularly while performing lower limb rehabilitation training, which is more in line with the posture of a person walking, is conducive to the patient maintaining balance, and drives the patient's hands to perform synchronous rehabilitation training, thereby improving the practicality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the main structure of an embodiment of the present invention is shown;

[0025] Figure 2 A schematic diagram of the main structure according to another embodiment of the present invention is shown;

[0026] Figure 3 An exploded view of a partial structure of a base according to an embodiment of the present invention is shown;

[0027] Figure 4 An exploded schematic diagram of an auxiliary component according to an embodiment of the present invention is shown;

[0028] Figure 5 It shows a schematic diagram of the structure of a protection mechanism according to an embodiment of the present invention;

[0029] Figure 6 It shows a schematic diagram of the structure of the first bracket 6 according to an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the structure of a motion mechanism according to an embodiment of the present invention is shown;

[0031] Figure 8 A bottom view of the bottom structure of a first supporting block according to an embodiment of the present invention is shown.

[0032] In the figure: 1, base; 101, mounting groove; 102, slide groove; 2, cylinder; 3, slide; 301, limit bolt; 4, electric turntable; 5, auxiliary components; 501, box; 502, first motor; 503, through groove; 504, screw rod; 505, first internal thread block; 506, seat; 507, protection mechanism; 5071, fixed block; 5072, translation frame; 5073, telescopic rod; 5074, second motor; 5075, two-way screw rod; 5076, second internal thread block; 5077, linkage rod; 5078, slide column; 5079, slider; 50710, clamping claw; 6, first bracket; 7, storage box; 70 1. Storage slot; 702. Magnetic suction assembly; 8. Second bracket; 9. Crossbeam; 10. Mounting ring; 11. Connecting seat; 12. Touch screen; 13. Remote control; 14. Mounting block; 15. Electric push rod; 16. Driving rod; 17. Limiting shaft; 18. Rotating block; 19. Limiting rod; 1901. Limiting slot; 20. Handle; 21. Rotating shaft; 22. Moving mechanism; 2201. First supporting block; 2202. Worm gear; 2203. Second supporting block; 2204. Connecting block; 2205. Foot supporting block; 2206. Elastic fixing belt; 2207. Cross plate; 2208. Third motor; 2209. Worm; 23. Electric track. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The embodiment of the present invention provides a self-adjusting lower limb rehabilitation training robot, including a base 1; illustratively, as Figure 1-3 shown.

[0035] Two groups of cylinders 2 are installed on one side wall of the base 1, and the output ends of the two groups of cylinders 2 are transmission-connected with a slide 3, an electric turntable 4 is installed on the slide 3, and an auxiliary component 5 is provided on the electric turntable 4. Two groups of first brackets 6 are fixedly connected to the base 1, and a storage box 7 is fixedly connected to one group of the first brackets 6. An electric crawler 23 is installed on the base 1;

[0036] Two groups of second brackets 8 are fixedly connected to the base 1, a crossbeam 9 is fixedly connected between the two groups of second brackets 8, a mounting ring 10 is connected to the center of the crossbeam for damping rotation, a connecting seat 11 is fixedly connected to the mounting ring 10, and a touch screen 12 is installed on the connecting seat 11;

[0037] The storage box 7 is provided with a storage slot 701 inside, and the remote control 13 is movably connected in the storage slot 701. A magnetic attraction component 702 is provided at the bottom of the inner wall of the storage slot 701, and the magnetic attraction component 702 and the remote control 13 attract each other.

[0038] Specifically, when the patient needs rehabilitation training, he first picks up the remote control 13 to control the electric turntable 4 and the cylinder 2 to assist the patient to board the robot. When conducting rehabilitation training, the remote control 13 is placed in the storage slot 701 in the storage box 7 for storage. At the same time, the robot can be controlled and operated through the touch screen 12.

[0039] The base 1 is provided with an installation groove 101, and the installation groove 101 is movably fitted with the two ends of the electric crawler, and the installation groove 101 is movably fitted with the slide 3. The two side walls of the installation groove 101 are provided with slide grooves 102, and the two ends of the slide 3 are fixedly connected with limit bolts 301, and the two groups of limit bolts 301 are movably fitted with the two groups of slide grooves 102 respectively.

[0040] The auxiliary component 5 includes a box 501; illustratively, as Figure 4 shown.

[0041] The bottom end of the box body 501 is fixedly connected to the electric turntable 4, a first motor 502 is installed on the top of the outer wall of the box body 501, a through slot 503 is opened on the box body 501, a screw rod 504 is rotatably connected in the through slot 503, a first internal thread block 505 is threadedly connected to the screw rod 504, a seat 506 is fixedly connected to one side wall of the first internal thread block 505, and a protective mechanism 507 is fixedly connected to the other side wall of the first internal thread block 505;

[0042] Specifically, when the patient needs to use the robot, the first motor 502 is controlled to be turned on through the remote control 13, and the first motor 502 drives the screw rod 504 to rotate, so that the first internal thread block 505 drives the seat 506 to move downward. After the patient sits on the seat 506, the first motor 502 drives the screw rod 504 to rotate in the opposite direction, so that the seat 506 rises, and then the electric turntable 4 drives the seat 506 to rotate to the side close to the electric track 23. The robot can control and adjust the height and rotation of the seat 506 through the remote control 13, so that the patient can get on the machine for rehabilitation training. During rehabilitation training, the box 501 is driven to rotate by the electric turntable 4, and the protection mechanism 507 is rotated to the side close to the patient to protect the patient. When the patient feels tired during rehabilitation training, the seat 506 can be controlled to rotate to the side close to the patient. The patient can rest without getting off the robot, and can also perform rehabilitation training in a sitting state.

[0043] The protection mechanism 507 includes a fixed block 5071 and a translation frame 5072; illustratively, Figure 5 shown.

[0044] Two groups of telescopic rods 5073 are symmetrically arranged between the fixed block 5071 and the translation frame 5072. A second motor 5074 is installed on the side wall of the fixed block 5071. The output end of the second motor 5074 is transmission-connected to a first bidirectional screw rod 5075. Two groups of second internal thread blocks 5076 are threadedly connected to the first bidirectional screw rod 5075. The two groups of the second internal thread blocks 5076 are symmetrically distributed with the central axis of the fixed block 5071 as the center. The blocks 5076 are all hinged with linkage rods 5077, and the centers of the two groups of linkage rods 5077 are rotatably connected. The inner wall of the translation frame 5072 is fixedly connected with a slide column 5078, and the slide column 5078 is slidably connected with two groups of sliders 5079, and the two groups of sliders 5079 are respectively rotatably connected to the other ends of the two groups of linkage rods 5077. The two groups of sliders 5079 are fixedly connected with clamping claws 50710, and the inner walls of the two groups of clamping claws 50710 are covered with soft pads.

[0045] Specifically, when the patient is undergoing rehabilitation training, the second motor 5074 is controlled to drive the bidirectional screw 5075 to rotate, so that the two groups of second internal thread blocks 5076 move in relative directions, drive the two groups of linkage rods 5077 to rotate, and make the two groups of sliders 5079 fit on the sliding column 5078 and move in relative directions, so that the translation frame 5072 moves in a direction away from the fixed block 5071, and the two groups of telescopic rods 5073 are stretched synchronously, and at the same time, the translation frame 5072 is supported to keep balance during the movement, and the two groups of sliders 5079 drive the two groups of clamps 50710 to move in relative directions to support the patient's waist and prevent the patient from falling during rehabilitation training.

[0046] For example, Figure 6 shown.

[0047] The side wall of the first bracket 6 is fixedly connected with a mounting block 14, and an electric push rod 15 is installed on the mounting block 14. The output end of the electric push rod 15 is transmission-connected with a driving rod 16, and the other end of the driving rod 16 is provided with a limiting shaft 17. The side wall of the first bracket 6 is rotatably connected with a rotating block 18, and the side wall of the rotating block 18 is fixedly connected with a limiting rod 19, and a limiting groove 1901 is provided on the limiting rod 19, and the limiting groove 1901 is movably fitted with the limiting shaft 17. The top end of the limiting rod 19 is rotatably connected with a handle 20, and a soft cushion is laid on the handle 20. A rotating shaft 21 is fixedly connected at the center of the rotating block 18, and a motion mechanism 22 is fixedly connected to the rotating shaft 21;

[0048] Specifically, the electric push rod 15 drives the driving rod 16 to move horizontally, so that the limit shaft 17 fits in the limit groove 1901 and moves horizontally, and the limit shaft 17 moves while driving the limit rod 19 to rotate, so that the rotating block 18 drives the moving mechanism 22 to rotate synchronously, and the electric push rod 15 is controlled to drive the limit shaft 17 to perform periodic reciprocating motion, so that the rotating block 18 drives the moving mechanism 22 to perform periodic reciprocating swing.

[0049] The motion mechanism 22 includes a first support block 2201; illustratively, Figure 7 and Figure 8 shown.

[0050] The bottom end of the first support block 2201 is rotatably connected with a worm gear 2202, and the side wall of the worm gear 2202 is fixedly connected with a second support block 2203. The second support block 2203 and the first support block 2201 are both provided with elastic card bands and card slots, and two groups of the elastic card bands are respectively movably connected with a corresponding group of card slots. The bottom end of the second support block 2203 is provided with a connecting block 2204, and a foot support block 2205 is connected to the connecting block 2204 with damping rotation. The foot support block 2205 is provided with an elastic fixing belt 2206. Both sides of the first support block 2201 are fixedly connected with cross plates 2207, and a worm 2209 is rotatably connected between the two groups of the cross plates 2207. A third motor 2208 is installed on one group of the cross plates 2207, and the output end of the third motor 2208 is drivingly connected to one end of the worm 2209, and the worm 2209 is meshingly connected with the worm gear 2202.

[0051] Specifically, the patient inserts both feet into the elastic fixing belts provided on the foot support block 2205, and then fixes the calf with the elastic fixing belt on the second support block 2203, and fixes the thigh with the elastic fixing belt on the first support block 2201, drives the first support block 2201 to swing through the electric push rod 15, and drives the worm 2209 to rotate through the third motor 2208, so that the worm gear 2202 drives the second support block 2203 to swing, thereby simulating the gait of a person when walking, and driving the patient to perform lower limb rehabilitation training;

[0052] Furthermore, the electric push rod 15 drives the limit rod 19 to swing, so that the handle 20 makes a corresponding swing. The patient holds the handle 20 and can perform lower limb rehabilitation training while both hands make synchronous and regular swings, which is more in line with the posture of a person when walking, is conducive to the patient maintaining balance, and drives the patient's hands to perform synchronous rehabilitation training.

[0053] The working principle of the self-adjusting lower limb rehabilitation training robot proposed by the present invention is as follows:

[0054] When the patient needs rehabilitation training, he first picks up the remote control 13 to control the electric turntable 4 and the cylinder 2 to assist the patient to board the robot. When conducting rehabilitation training, the remote control 13 is placed in the storage slot 701 in the storage box 7 for storage. At the same time, the robot can be controlled and operated through the touch screen 12.

[0055] When the patient needs to use the robot, the first motor 502 is turned on by the remote control 13, and the first motor 502 drives the screw rod 504 to rotate, so that the first internal thread block 505 drives the seat 506 to move downward. After the patient sits on the seat 506, the first motor 502 drives the screw rod 504 to rotate in the opposite direction to make the seat 506 rise, and then the electric turntable 4 drives the seat 506 to rotate to the side close to the electric track 23. The robot can control and adjust the height and rotation of the seat 506 through the remote control 13, so that the patient can get on the machine for rehabilitation training.

[0056] During rehabilitation training, the electric turntable 4 drives the box 501 to rotate, and the protection mechanism 507 is rotated to the side close to the patient. The second motor 5074 is controlled to drive the bidirectional screw 5075 to rotate, so that the two groups of second internal thread blocks 5076 move in relative directions, drive the two groups of linkage rods 5077 to rotate, and make the two groups of sliders 5079 fit on the sliding column 5078 and move in relative directions, so that the translation frame 5072 moves in the direction away from the fixed block 5071, and the two groups of telescopic rods 5073 are stretched synchronously, and at the same time, the translation frame 5072 is supported to keep it balanced during movement. The two groups of sliders 5079 drive the two groups of clamps 50710 to move in relative directions to support the patient's waist and prevent the patient from falling during rehabilitation training.

[0057] When the patient feels tired during rehabilitation training, the seat 506 can be controlled to rotate to the side close to the patient, so that the patient can rest without getting off the robot, and can also perform rehabilitation training in a sitting state.

[0058] The patient inserts both feet into the elastic fixing belts provided on the foot support block 2205 respectively, and then fixes the calf with the elastic belt on the second support block 2203, and fixes the thigh with the elastic belt on the first support block 2201. The electric push rod 15 drives the driving rod 16 to move horizontally, so that the limiting shaft 17 fits in the limiting groove 1901 and moves horizontally. The movement of the limiting shaft 17 drives the limiting rod 19 to rotate, so that the rotating block 18 drives the first support block 2201 to swing, and the third motor 2208 drives the worm 2209 to rotate, so that the worm wheel 2202 drives the second support block 2203 to swing, thereby simulating the gait of a person when walking and driving the patient to perform lower limb rehabilitation training.

[0059] The electric push rod 15 drives the limit rod 19 to swing, so that the handle 20 makes a corresponding periodic reciprocating swing. The patient holds the handle 20 and can perform lower limb rehabilitation training while both hands make synchronous and regular swings, which is more in line with the posture of a person when walking, is conducive to the patient maintaining balance, and drives the patient's hands to perform synchronous rehabilitation training.

[0060] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-adjusting lower limb rehabilitation training robot, comprising a base (1), characterized in that: Two groups of cylinders (2) are installed on one side wall of the base (1); the output ends of the two groups of cylinders (2) are transmission-connected to a slide table (3); an electric turntable (4) is installed on the slide table (3); and an auxiliary component (5) is provided on the electric turntable (4); The auxiliary component (5) comprises a box body (501), a first motor (502) is mounted on the box body (501), a through slot (503) is provided on the box body (501), a screw rod (504) is rotatably connected in the through slot (503), a first internal thread block (505) is threadedly connected to the screw rod (504), a seat (506) is fixedly connected to one side wall of the first internal thread block (505), and a protective mechanism (507) is fixedly connected to the other side wall of the first internal thread block (505); The first motor (502) drives the screw rod (504) to rotate, so that the first internal thread block (505) drives the seat (506) to move up and down and adjust to a suitable height. The electric turntable (4) then drives the seat (506) to rotate to the other side to help the patient get on the robot.

2. The self-adjusting lower limb rehabilitation training robot according to claim 1, characterized in that: The protection mechanism (507) comprises a fixed block (5071) and a translation frame (5072), two groups of telescopic rods (5073) are symmetrically arranged between the fixed block (5071) and the translation frame (5072), a second motor (5074) is installed on the side wall of the fixed block (5071), the output end of the second motor (5074) is transmission-connected with a first bidirectional screw rod (5075), two groups of second internal thread blocks (5076) are threadedly connected on the first bidirectional screw rod (5075), the two groups of the second internal thread blocks (5076) are symmetrically distributed with the central axis of the fixed block (5071) as the center, and the two groups of the second internal thread blocks (5076) are hinged with a linkage rod (5077), and the two groups of the linkage rods (5077) are rotationally connected at the center.

3. The self-adjusting lower limb rehabilitation training robot according to claim 2, characterized in that: The inner wall of the translation frame (5072) is fixedly connected with a sliding column (5078), and two groups of sliders (5079) are slidably connected to the sliding column (5078). The two groups of sliders (5079) are rotatably connected to the other ends of the two groups of linkage rods (5077), respectively. The two groups of sliders (5079) are fixedly connected with clamps (50710), and the inner walls of the two groups of clamps (50710) are covered with soft pads.

4. The self-adjusting lower limb rehabilitation training robot according to claim 1, characterized in that: Two groups of first brackets (6) are fixedly connected to the base (1); a mounting block (14) is fixedly connected to the side wall of the first bracket (6); an electric push rod (15) is mounted on the mounting block (14); an output end of the electric push rod (15) is transmission-connected to a driving rod (16); a limiting shaft (17) is provided at the other end of the driving rod (16).

5. The self-adjusting lower limb rehabilitation training robot according to claim 4, characterized in that: The side wall of the first bracket (6) is rotatably connected to a rotating block (18), the side wall of the rotating block (18) is fixedly connected to a limiting rod (19), a limiting groove (1901) is provided on the limiting rod (19), the limiting groove (1901) is movably fitted with the limiting shaft (17), the top end of the limiting rod (19) is rotatably connected to a handle (20), the handle (20) is provided with a soft cushion, the center of the rotating block (18) is fixedly connected to a rotating shaft (21), and a moving mechanism (22) is fixedly connected to the rotating shaft (21).

6. The self-adjusting lower limb rehabilitation training robot according to claim 5, characterized in that: The motion mechanism (22) comprises a first support block (2201), the bottom end of the first support block (2201) is rotatably connected to a worm gear (2202), the side wall of the worm gear (2202) is fixedly connected to a second support block (2203), the second support block (2203) and the first support block (2201) are both provided with elastic clips and clip slots, two groups of the elastic clips are respectively movably engaged with a corresponding group of clip slots, the bottom end of the second support block (2203) is provided with a connecting block (2204), the connecting block (2204) is rotatably connected to a foot support block (2205), and the foot support block (2205) is provided with an elastic fixing belt (2206).

7. The self-adjusting lower limb rehabilitation training robot according to claim 6, characterized in that: Both sides of the first support block (2201) are fixedly connected with transverse plates (2207), and a worm (2209) is rotatably connected between the two groups of the transverse plates (2207). A third motor (2208) is installed on one group of the transverse plates (2207), and the output end of the third motor (2208) is transmission-connected to one end of the worm (2209), and the worm (2209) is meshingly connected to the worm wheel (2202).

8. The self-adjusting lower limb rehabilitation training robot according to claim 4, characterized in that: A storage box (7) is fixedly connected to a group of the first brackets (6), an electric crawler (23) is installed on the base (1), a storage slot (701) is provided inside the storage box (7), a remote control (13) is movably connected inside the storage slot (701), a magnetic attraction component (702) is provided at the bottom end of the inner wall of the storage slot (701), and the magnetic attraction component (702) and the remote control (13) attract each other.

9. The self-adjusting lower limb rehabilitation training robot according to claim 8, characterized in that: Two groups of second brackets (8) are fixedly connected to the base (1), a crossbeam (9) is fixedly connected between the two groups of second brackets (8), a mounting ring (10) is connected at the center of the crossbeam for damped rotation, a connecting seat (11) is fixedly connected to the mounting ring (10), and a touch screen (12) is installed on the connecting seat (11).

10. The self-adjusting lower limb rehabilitation training robot according to claim 9, characterized in that: The base (1) is provided with a mounting groove (101), the mounting groove (101) is movably fitted with two ends of the electric crawler (23), the mounting groove (101) is movably fitted with the slide (3), both side walls of the mounting groove (101) are provided with slide grooves (102), both ends of the slide (3) are fixedly connected with limit bolts (301), and two groups of limit bolts (301) are movably fitted with two groups of slide grooves (102) respectively.

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