Lower limb rehabilitation robot system for proprioceptive training

Abstract

A lower limb rehabilitation robot system for proprioceptive training belongs to the technical field of robots and comprises a weight reduction support, a gait track generation unit, an ankle joint angle generation unit, VR glasses, a wireless electroencephalogram acquisition instrument and a wireless surface myoelectricity acquisition instrument. The gait track generating units are double-shaft parallel positioning systems and are used for outputting gait tracks when a person walks normally, and the ankle joint angle generating units are arranged on the gait track generating units and can slide relative to the gait track generating units; the VR glasses are coupled with a human body in a head-mounted mode and provide a virtual scene for a user; the wireless electroencephalogram acquisition instrument is coupled with a human body in a head-mounted mode, and the wireless surface myoelectricity acquisition instrument is coupled with the human body in a pasting mode. The rehabilitation training device can meet the requirement that a user performs overall movement with multiple joints and multiple muscle groups involved, and rehabilitation training is synchronously performed on the proprioceptive feeling of the user.

Description

Technical Field

[0001] The invention relates to a rehabilitation training robot, in particular to a lower limb rehabilitation robot system oriented to proprioception training, and belongs to the technical field of robots. Background Art

[0002] In recent years, the number of patients suffering from lower limb motor dysfunction has increased. On the one hand, due to the increasing problem of an aging population, there are more and more patients suffering from acute cerebrovascular diseases or neurodegenerative diseases such as stroke and Parkinson's syndrome. These diseases often affect the patient's lower limb motor function, and cause symptoms such as bradykinesia, gait disorders, and imbalance. About 83% of stroke patients who survive surgery will have residual balance dysfunction, which seriously reduces the patient's motor level and makes it impossible for them to return to social life independently. Proprioception is an important part of limb motor function. Existing medical research has shown that proprioception disorders will aggravate patients' limb dysfunction, and training for proprioception can help patients restore motor function.

[0003] Most of the existing neuromuscular proprioception promotion technologies rely on rehabilitation therapists. The effect of rehabilitation training directly depends on the experience of the rehabilitation therapists. A large amount of repetitive rehabilitation training is also a great burden for rehabilitation therapists. At the same time, the number of rehabilitation therapists is limited at this stage, and only a few hospitals can provide enough rehabilitation therapists to meet the rehabilitation training needs of patients.

[0004] With the development of science and technology, robot-assisted rehabilitation training has effectively made up for the above defects, and can quantitatively provide sufficient repetitive training to ensure the quality of training. However, the current rehabilitation training function is single. For example, the existing walking function rehabilitation training robot can only provide single rehabilitation training. According to the principle of neuromuscular proprioception facilitation technology, patients need to perform overall movements involving multiple joints and multiple muscle groups instead of single muscle activities. At the same time, they need to enhance the mobility, stability, control ability of joints and the skills of how to complete compound movements. The existing rehabilitation training robots cannot meet the training goals of multiple joints and multiple muscle groups in the actual exercise process, which can easily cause the patient's gait pattern to solidify, and they cannot walk normally after leaving the rehabilitation training device, and cannot achieve the best rehabilitation training effect.

[0005] In summary, the existing neuromuscular proprioception promotion technologies mostly rely on rehabilitation therapists. Even with the assistance of robots, they can only provide single rehabilitation training, which cannot meet the training goals of multiple joints and multiple muscle groups involved in actual exercise. It is easy to cause the patient's gait pattern to become solidified, and the patient cannot walk normally after leaving the rehabilitation training device, and cannot achieve the best rehabilitation training effect. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and to propose a lower limb rehabilitation training robot system for proprioception training, which can meet the needs of users performing overall movements involving multiple joints and multiple muscle groups, and simultaneously perform rehabilitation training on the user's proprioception.

[0007] A lower limb rehabilitation robot system for proprioception training includes a weight-reducing bracket, a gait trajectory generating unit, an ankle joint angle generating unit, VR glasses, a wireless EEG collector and a wireless surface EMG collector;

[0008] The gait trajectory generating unit has two symmetrically arranged ones, and the gait trajectory generating unit is a dual-axis parallel positioning system to output a gait trajectory of a simulated person walking normally, and the ankle joint angle generating unit is arranged in each of the gait trajectory generating units and can slide relative to the gait trajectory generating unit;

[0009] The weight-reducing bracket is not rigidly connected to the gait trajectory generating unit and the ankle joint angle generating unit respectively. When in use, the weight-reducing bracket is wrapped and tied to the human body placed in the ankle joint angle generating unit by a binding belt;

[0010] The VR glasses are coupled to the human body by wearing on the head, and are used to provide a virtual scene for the user according to the motion trajectory setting of the gait trajectory generating unit and the ankle joint angle generating unit;

[0011] The wireless EEG collector is coupled to the human body by wearing it on the head, and is used to measure the patient's brain activity information during training; the wireless surface electromyography collector is coupled to the human body by sticking it on, and is used to measure the patient's muscle activation information during training.

[0012] Furthermore, each of the gait trajectory generating units comprises a gait trajectory generating module base, a driver, a moving beam, a synchronous belt and a pulley group; the moving beam is vertically slidably arranged on the gait trajectory generating module base, the pulley group is distributed on the gait trajectory generating module base and the moving beam, and after being wound by an open synchronous belt, the two ends of the synchronous belt are located below the moving beam and are connected by a clamp to form a closed loop, the clamp is slidably arranged on the moving beam and can move in the horizontal direction, the driver is a motor, having two symmetrically distributed ones, the driver is arranged on the gait trajectory generating module base, and is used to drive the closed-loop synchronous belt movement, and the ankle joint angle generating unit is installed on the clamp.

[0013] Further, the motor 1 is installed on the outer plate 1 of the column through the reducer 1, and the outer plate 1 of the column and the inner plate 1 of the column are installed on the column 2; the motor 2 is installed on the outer plate 2 of the column through the reducer 2, and the outer plate 2 of the column and the outer plate 2 of the column are installed on the column 2, the output shaft of the reducer 1 is installed with a synchronous belt pulley set 1, and the output shaft of the reducer 2 is installed with a synchronous belt pulley set 2, the synchronous belt pulley set 1 and the synchronous belt pulley set 2 are rotatably arranged on the inner plate 1 of the column and the inner plate 2 of the column, and a rotatable pulley set is installed on the top of the outer plate 1 of the column and the inner plate 1 of the column, and a rotatable pulley set is installed on the top of the outer plate 2 of the column and the inner plate 2 of the column. The outer side surface of the outer plate 1 of the column and the inner plate 1 of the column is distributed with a vertical slide rail 1, and the outer side surface of the outer plate 2 of the column and the inner plate 2 of the column is distributed with a vertical slide rail 2, and the movable crossbeam is in sliding contact with the slide rail 1 and the slide rail 2.

[0014] Furthermore, the ankle joint angle generating unit includes a pedal, a driving mechanism and an actuator; the driving mechanism is connected to the actuator to drive the actuator to move, and the output end of the actuator is connected to the pedal to drive the pedal to perform spherical rotational motion to fit the rotational motion of the ankle joint, and the pedal has a strap to fix the foot.

[0015] The beneficial effects of the present invention compared with the prior art are as follows:

[0016] The present application designs a gait trajectory generating unit, the driver in its composition drives the synchronous belt, and outputs a gait trajectory that simulates a normal human walking, thereby improving the accuracy of gait fitting; the ankle joint angle generating unit is designed to fit the rotational movement of the ankle joint, thereby overcoming the problem that simple dorsiflexion movement of the ankle joint cannot achieve a good rehabilitation training effect, thereby achieving comprehensive rehabilitation training for the ankle joint, and helping to improve the effect of ankle joint rehabilitation training; the VR glasses in the system can provide users with virtual scenes such as cement roads, slopes, gravel roads, and sandy land according to the motion settings of the motion release unit, so as to facilitate visual stimulation for users when performing sports training with different parameter settings; the wireless EEG collector and the wireless surface electromyography collector are coupled to the human body by means of head-mounted and pasted means, and are used to measure the patient's brain activity and muscle activation in real time during training, so as to assist users in online recording and real-time adjustment when performing sports training with different parameter settings.

[0017] The present application scheme is further described below with reference to the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the lower limb rehabilitation robot system for proprioception training of the present application;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the gait trajectory generating unit;

[0020] Figure 3 It is a side view of the connection between the gait trajectory generating unit and the ankle joint angle generating unit;

[0021] Figure 4 It is the left view of the ankle joint angle generating unit;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the ankle joint angle generating unit;

[0023] Figure 6 is a schematic diagram of the driving mechanism in the ankle joint angle generating unit;

[0024] Figure 7 It is a schematic diagram of the connection between the driving mechanism and the actuator;

[0025] Figure 8 It is a schematic diagram of the connection between the connecting part and the rotating part. DETAILED DESCRIPTION

[0026] The embodiments of the technical solution of the present application are described in detail below in conjunction with the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application are generally understood by those skilled in the art.

[0027] Reference Figure 1 , this embodiment provides a lower limb rehabilitation robot system for proprioception training, which includes a weight-reducing bracket 1, a gait trajectory generating unit 2, an ankle joint angle generating unit 3, VR glasses, a wireless EEG collector and a wireless surface EMG collector;

[0028] The gait trajectory generating unit 2 has two symmetrically arranged units, which are symmetrical about the sagittal plane. The gait trajectory generating unit 2 is a dual-axis parallel positioning system, which outputs a gait trajectory of a simulated person walking normally, thereby improving the accuracy of gait fitting; the ankle joint angle generating unit 3 is arranged in each of the gait trajectory generating units 2, and can slide relative to the gait trajectory generating unit 2. The ankle joint angle generating unit 3 is used to fit the rotational movement of the ankle joint;

[0029] The weight-reducing bracket 1 is an independent entity, and the weight-reducing bracket 1 is not rigidly connected to the gait trajectory generating unit 2 and the ankle joint angle generating unit 3.

[0030] When in use, the weight-reducing bracket 1 is wrapped and fixed to the human body placed in the ankle joint angle generating unit 3 through a binding belt, providing safety protection for the person during exercise;

[0031] The VR glasses are coupled to the human body by being worn on the head, and are used to provide a virtual scene for the user according to the motion trajectory settings of the gait trajectory generating unit 2 and the ankle joint angle generating unit 3; for example: the VR glasses can provide the user with virtual scenes such as cement roads, slope roads, gravel roads, and sandy ground according to the motion trajectory settings of the gait trajectory generating unit 2 and the ankle joint angle generating unit 3, so as to provide visual stimulation to the user when performing sports training with different parameter settings.

[0032] The wireless EEG collector is coupled to the human body by wearing it on the head, and is used to measure the patient's brain activity information during training; the wireless surface electromyography collector is coupled to the human body by sticking it on the body, and is used to measure the patient's muscle activation information during training. The design of the wireless EEG collector and the wireless surface electromyography collector is conducive to assisting users to perform online recording and real-time adjustment when performing sports training with different parameter settings.

[0033] Further, see Figure 2-Figure 3 , each of the gait trajectory generating units 2 comprises a gait trajectory generating module base 20, a driver, a moving beam 210, a synchronous belt 222 and a pulley block;

[0034] The movable crossbeam 210 is vertically slidably arranged on the base of the gait trajectory generating module, the pulley group is distributed on the base of the gait trajectory generating module and the movable crossbeam 210, and after being wound by an open synchronous belt 222, the two ends of the synchronous belt 222 are located below the movable crossbeam 210 and are connected by a clamp to form a closed loop. The clamp is slidably arranged on the movable crossbeam 210 and can move in the horizontal direction. The driver is arranged on the base of the gait trajectory generating module, and is used to drive the closed-loop synchronous belt 222 to move. The ankle joint angle generating unit 3 is installed on the clamp.

[0035] Each of the moving beams 210 has eight pulley groups wound around an open synchronous belt 222. Both ends of the synchronous belt 222 are located below the moving beam 210 and are connected to the clamp 2 220 via the clamp 1 219 to form a closed loop. The open end of the synchronous belt 222 is tightened. Two pulley groups are respectively provided at both ends of the moving beam 210. The base of the gait trajectory generation module has two symmetrically distributed pulley groups, and the driver has two symmetrically distributed pulley groups. A pulley group is arranged at the output end of each driver to drive the movement of the synchronous belt.

[0036] Specifically, each gait trajectory generation module base includes a column 1 207, a column 208 and a beam 209, the column 1 207 and the column 2 208 are connected with the beam 209, and pulley blocks are distributed on the tops of the columns 1 207 and the columns 2 208.

[0037] The driver is a motor, with two symmetrically distributed motors, motor 1 205 is installed on column outer plate 1 213 through reducer 1 211, column outer plate 1 213 and column inner plate 1 217 are installed on column 2 207; motor 206 is installed on column outer plate 2 214 through reducer 212, column outer plate 214 and column outer plate 218 are installed on column 2 208, and the output shaft of reducer 1 211 is installed with synchronous belt pulley set 1 215, The output shaft of the reducer 212 is installed with a synchronous belt pulley set 216, and the synchronous belt pulley set 1 215 and the synchronous belt pulley set 216 are rotatably arranged on the inner side plate 1 217 of the column and the inner side plate 2 218 of the column, and are supported by flange bosses on the two inner side plates. A rotatable pulley set is installed on the top of the outer side plate 1 213 of the column and the inner side plate 1 217 of the column, and a rotatable pulley set is installed on the top of the outer side plate 214 of the column and the inner side plate 2 218 of the column. Vertical slide rail 1 is distributed on the outer side surface of the column outer plate 1 213 and the column inner plate 1 217, and vertical slide rail 2 is distributed on the outer side surface of the column outer plate 214 and the column inner plate 218. The movable crossbeam 210 is in sliding contact with the slide rail 1 and the slide rail 2, so that the ankle joint angle generating unit 3 is driven by the gait trajectory generating unit 2 to move forward and backward. At the same time, under the action of the footsteps, the gait trajectory generating unit 2 can move vertically up and down along the slide rail 1 and the slide rail 2, thereby realizing the full range of movement of the ankle joint and simulating the gait movement of the human body, so as to achieve the purpose of proprioception training.

[0038] Further, see Figure 4 and Figure 5 The ankle joint angle generating unit 3 includes a pedal 31, a driving mechanism 32 and an actuator 33; the driving mechanism 32 is connected to the actuator 33 to drive the actuator 33 to move, and the output end of the actuator 33 is connected to the pedal 31 to drive the pedal to perform spherical rotational motion to fit the rotational motion of the ankle joint. The pedal 31 has a strap to fix the foot.

[0039] Specifically, the driving mechanism 32 includes a worm gear group 321, a housing 322 and a driving group 323; the driving group 323 includes a motor 1 3231, a motor 2 3232 and a motor 3233, each of the worm gear group 321 includes a worm wheel and a worm; the housing 322 is connected to the clamp, and a worm gear group is arranged in the housing 322 from top to bottom, and the first worm wheel 3214, the second worm wheel 3215 and the third worm wheel 3212 are respectively meshed with the first worm 3213, the second worm 3216 and the third worm 3211; one end of the first worm 3213, the second worm 3216 and the third worm 3211 are respectively connected to the output shafts of the first drive motor 3232, the second drive motor 3233 and the third drive motor 3231, and the other end of the screw is divided into The outer ring of the bearing is fixed to the inner wall of the housing 32 or fixed to the inner wall of the housing 32 through a bearing seat. The first worm gear 3214, the second worm gear 3215 and the third worm gear 3212 are fixedly connected with the first rotating member 324, the second rotating member 325 and the third rotating member 326. The first rotating member 324 and the second rotating member 325 are both annular. The first rotating member 324 is sleeved on the periphery of the second rotating member 325, and the second rotating member 325 is sleeved on the periphery of the third rotating member 326. The first rotating member 324, the second rotating member 325 and the third rotating member 326 are respectively connected with the first rotating shaft 327, the second rotating shaft 328 and the third rotating shaft 329. The first rotating shaft 327, the second rotating shaft 328 and the third rotating shaft 329 are connected to the actuator 33. Optionally, the actuator 33 is designed as a spherical actuator.

[0040] The first bottom plate 3221 and the second bottom plate 3222 are the bases of the ankle joint angle generating unit 3 , which are connected to the clamp 1 219 and the clamp 2 220 to realize the connection between the gait trajectory generating unit 2 and the ankle joint angle generating unit 3 .

[0041] Furthermore, the actuator 33 includes a connecting member 331 and a supporting member 332. There are three connecting members 331. One end of the three connecting members 331 is respectively connected to the first rotating shaft 327, the second rotating shaft 328 and the third rotating shaft 329, and the other end is connected to the supporting member 332. The supporting member 332 is used to set the pedal 31.

[0042] Reference Figure 7 A support 3201 is provided at the bottom of the shell 32, a lower bearing seat 3202 is provided on the upper part of the support 3201, a lower bearing is provided in the lower bearing seat 3202, the third rotating member 326 includes a lower rotating shaft 3261 and an upper rotating shaft fixedly connected to the lower rotating shaft 3261, the lower end of the lower rotating shaft 3261 is connected to the inner ring of the lower bearing, the upper end of the lower rotating shaft 3261 is axially provided with a connecting hole, the lower end of the upper rotating shaft is penetrated into the connecting hole, and the upper end of the upper rotating shaft is connected to the third external connecting member 329.

[0043] A first stepped hole is provided at the center of the third worm gear 3212 , and a first stepped portion 32611 is provided in the middle of the lower rotating shaft 3261 . The first stepped portion 32611 is adapted to the first stepped hole to fixedly connect the third worm gear 3212 and the lower rotating shaft 3261 .

[0044] The third motor 3231 is connected to the first base plate 3221 through the first vertical plate 3223, and the other end of the output shaft is fixed to the second vertical plate 3224. The output shaft is connected to the third worm 3211. The third worm 3211 and the third worm wheel 3212 together constitute a worm gear transmission, which drives the third rotating shaft 329 to output through the third rotating member 326. The third rotating shaft 329 forms a rotating pair with the connecting member 331 of the actuator 33, driving the actuator 33 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0045] The first motor 3232 is connected to the first base plate 3221 through the third vertical plate 3225, and the other end of the output shaft is fixed to the first vertical plate 3223. The output shaft is connected to the first worm 3213. The first worm 3213 and the first worm wheel 3214 together constitute a worm gear transmission, and the third rotating shaft 327 is driven to output through the first rotating member 324. The third rotating shaft 327 forms a rotating pair with the connecting member 331 of the actuator 33, driving the actuator 33 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0046] The second motor 3233 is connected to the second base plate 3222 through the fourth vertical plate 3226, and the other end of the output shaft is fixed to the second vertical plate 3224. The output shaft is connected to the second worm 3216. The second worm 3216 and the second worm wheel 3215 together constitute a worm gear transmission, and the second rotating shaft 328 is driven to output through the second rotating member 325. The second rotating shaft 328 forms a rotating pair through the connecting member 331 with the actuator 331, driving the actuator 331 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0047] Further, the connecting member 331 includes a first connecting member 3311 and a second connecting member 3312, wherein the first end of the first connecting member 3311 is hinged to the inclined portion of the first rotating shaft 327, the second rotating shaft 328 or the third rotating shaft 329, the second end of the first connecting member 3311 is hinged to the first end of the second connecting member 3312, and the second end of the second connecting member 3312 is connected to the supporting member 332. The connection position between the second connecting member 3312 and the supporting member 332 may be fixed. The second connecting member 3312 and the supporting member 322 may also be an integral structure. At this time, the rotation center of the actuator 33 is fixed. However, when in use, the height of the ankle joint may be slightly different for different trainees. If the rotation center of the actuator 33 is fixed, it is not convenient to apply to different training groups.

[0048] like Figure 8 As shown, an inclined portion is provided on each rotating shaft, and a sliding groove is provided on the inclined portion. A screw rod 2161 is penetrated at the lower end of the first hinged portion of the first connecting sub-component 3311, and a nut 2162 is connected to the screw rod 2161 after passing through the sliding groove. When the nut is loosened, the screw rod 2161 can slide in the sliding groove, that is, the connection position of the first connecting member 311 and the first external connecting member 327. When the nut 2162 is tightened, the position of the screw rod 2161 is locked and cannot slide in the sliding groove, that is, the connection position of the first connecting member 3311 and the first external connecting member 327 is fixed. At this time, the first connecting sub-component 3311 can only rotate relative to the first external connecting member 327, but cannot slide. When the first external connecting member 327 reciprocates, the first connecting sub-component 3311 swings accordingly.

[0049] In order to facilitate the rotation of the screw 2161, a protrusion is provided in the middle of the surrounding slide groove on the third external connection member 329, and flange bearings 2163 adapted to the screw 2161 are provided on both the upper and lower sides of the protrusion, and the outer ring of the flange bearing 2163 contacts the slide groove, and the inner ring of the flange bearing 2163 contacts the screw 2161. When the screw 2161 slides in the slide groove, the smoothness of the screw 2161 during rotation can be improved by the flange bearing 2163. The protruding outer edge of the flange bearing 2163 is clamped on the outer wall of the first external connection member 215 to prevent the flange bearing 2163 from sliding into the slide groove 2153.

[0050] The gait trajectory generating unit 2 of the above embodiment outputs a gait trajectory of a simulated person walking normally, which improves the accuracy of gait fitting. The actuator 33 is driven to move by the driving mechanism 32, and the actuator 33 drives the pedal 31 to perform spherical rotational motion, which is fitted into the rotational motion of the ankle joint. The foot can be tied to the pedal, and the pedal 31 movement drives the foot to rotate around the ankle joint, so that the ankle joint performs rotational motion, and the ankle joint is fully rehabilitated. It conforms to the physiological structure and movement characteristics of the human ankle joint, improves the effect of ankle joint rehabilitation training, and the VR glasses in the system can provide users with virtual scenes such as cement roads, slopes, gravel roads, and sandy ground according to the movement settings of the motion release unit, so as to facilitate visual stimulation of users when performing sports training with different parameter settings; the wireless EEG collector and the wireless surface electromyography collector are coupled to the human body by head-mounted and pasted methods, and are used to measure the patient's brain activity and muscle activation in real time during training, so as to assist users in online recording and real-time adjustment when performing sports training with different parameter settings.

[0051] The present application has been disclosed as above with preferred implementation cases, but it is not intended to limit the present application. Any technician familiar with the profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present application, and the equivalent implementation cases with equivalent changes are still within the scope of the technical solution of the present application.

Claims

1. A lower limb rehabilitation robot system for proprioception training, characterized in that: It comprises a weight-reducing bracket (1), a gait trajectory generating unit (2), an ankle joint angle generating unit (3), VR glasses, a wireless EEG collector and a wireless surface EMG collector; The gait trajectory generating unit (2) has two symmetrically arranged ones, and the gait trajectory generating unit (2) is a dual-axis parallel positioning system, so as to output a gait trajectory simulating a normal human walking. The ankle joint angle generating unit (3) is arranged on each of the gait trajectory generating units (2) and can slide relative to the gait trajectory generating unit (2). When in use, the weight-reducing bracket (1) is wrapped and tied to the human body placed on the ankle joint angle generating unit (3) by means of a binding belt and fixed. The VR glasses are coupled to the human body by wearing them on the head, and are used to provide a virtual scene for the user according to the movement trajectory settings of the gait trajectory generating unit (2) and the ankle joint angle generating unit (3); The wireless EEG collector is coupled to the human body by wearing it on the head, and is used to measure the patient's brain activity information during training; the wireless surface electromyography collector is coupled to the human body by sticking it on, and is used to measure the patient's muscle activation information during training.

2. A lower limb rehabilitation robot system for proprioception training according to claim 1, characterized in that: Each of the gait trajectory generating units (2) comprises a gait trajectory generating module base (20), a driver, a moving crossbeam (210), a synchronous belt (222) and a pulley block; The movable crossbeam (210) is vertically slidably arranged on the base of the gait trajectory generating module, the pulley group is distributed on the base of the gait trajectory generating module and the movable crossbeam (210), and after being wound by an open synchronous belt (222), the two ends of the synchronous belt (222) are located below the movable crossbeam (210) and connected by a clamp to form a closed loop, the clamp is slidably arranged on the movable crossbeam (210) and can move in the horizontal direction, the driver is arranged on the base of the gait trajectory generating module, and is used to drive the closed-loop synchronous belt (222) to move, and the ankle joint angle generating unit (3) is installed on the clamp.

3. The lower limb rehabilitation robot system for proprioception training according to claim 2, characterized in that: Each of the moving crossbeams (210) has eight pulley groups wound around an open synchronous belt (222), and both ends of the synchronous belt (222) are located below the moving crossbeam (210) and connected to a second clamp (220) via a first clamp (219) to form a closed loop. The open end of the synchronous belt (222) is compressed, and two pulley groups are respectively arranged at both ends of the moving crossbeam (210). The base of the gait trajectory generation module has two symmetrically distributed pulley groups, and the driver has two symmetrically distributed pulley groups. A pulley group is arranged at the output end of each driver.

4. A lower limb rehabilitation robot system for proprioception training according to claim 2, characterized in that: Each gait trajectory generation module base comprises a column one (207), a column two (208) and a crossbeam (209), the crossbeam (209) is connected between the column one (207) and the column two (208), and pulley blocks are distributed on the tops of the column one (207) and the column two (208).

5. A lower limb rehabilitation robot system for proprioception training according to claim 3, characterized in that: The driver is a motor, with two motors symmetrically distributed, the motor 1 (205) is installed on the outer plate 1 (213) of the column through the reducer 1 (211), and the outer plate 1 (213) of the column and the inner plate 1 (217) of the column are installed on the second column (207); The motor 2 (206) is installed on the outer side plate 2 (214) of the column through the reducer 2 (212), the outer side plate 2 (214) of the column and the outer side plate 2 (218) of the column are installed on the second column (208), the output shaft of the reducer 1 (211) is installed with a synchronous belt pulley set 1 (215), the output shaft of the reducer 2 (212) is installed with a synchronous belt pulley set 2 (216), the synchronous belt pulley set 1 (215) and the synchronous belt pulley set 2 (216) are rotatably arranged on the inner side plate 1 (217) of the column and the inner side plate 2 (218) of the column respectively. The outer side plates 1 (213) and 1 (217) of the columns are provided with a rotatable pulley block, the outer side plates 2 (214) and 1 (218) of the columns are provided with a rotatable pulley block, the outer side surfaces of the outer side plates 1 (213) and 1 (217) of the columns are provided with a vertical slide rail 1, the outer side surfaces of the outer side plates 2 (214) and 1 (218) of the columns are provided with a vertical slide rail 2, and the movable crossbeam (210) is in sliding contact with the slide rail 1 and the slide rail 2.

6. A lower limb rehabilitation robot system for proprioception training according to claim 1, characterized in that: The ankle joint angle generating unit (3) comprises a pedal (31), a driving mechanism (32) and an actuator (33); the driving mechanism (32) is connected to the actuator (33) and is used to drive the actuator (33) to move; the output end of the actuator (33) is connected to the pedal (31) and is used to drive the pedal to perform spherical rotational movement to match the rotational movement of the ankle joint; the pedal (31) is provided with a binding strap for fixing the foot.

7. A lower limb rehabilitation robot system for proprioception training according to claim 6, characterized in that: The driving mechanism (32) comprises a worm gear set (321), a housing (322) and a driving set (323); The driving group (323) comprises a motor 1 (3231), a motor 2 (3232) and a motor 3 (3233), and each of the worm gear groups (321) comprises a worm wheel and a worm; the housing (322) is connected to the fixture, and worm gear groups are arranged in sequence from top to bottom in the housing (322), and the first worm wheel (3214), the second worm wheel (3215) and the third worm wheel (3212) are respectively meshed with the first worm wheel (3213), the second worm wheel (3216) and the third worm wheel (3211); one end of the first worm wheel (3213), the second worm wheel (3216) and the third worm wheel (3211) are respectively connected to the output shafts of the first driving motor (3232), the second driving motor (3233) and the third driving motor (3231), and the first worm wheel (3214) is meshed with the second worm wheel (3215) and the third worm wheel (3212) The first worm wheel (3214), the second worm wheel (3215) and the third worm wheel (3212) are fixedly connected with the first rotating member (324), the second rotating member (325) and the third rotating member (326); the first rotating member (324) and the second rotating member (325) are both annular; the first rotating member (324) is sleeved on the periphery of the second rotating member (325); the second rotating member (325) is sleeved on the periphery of the third rotating member (326); the first rotating member (324), the second rotating member (325) and the third rotating member (326) are respectively connected with the first rotating shaft (327), the second rotating shaft (328) and the third rotating shaft (329); the first rotating shaft (327), the second rotating shaft (328) and the third rotating shaft (329) are connected with the actuator (33).

8. A lower limb rehabilitation robot system for proprioception training according to claim 7, characterized in that: The actuator (33) comprises a connecting member (331) and a supporting member (332). There are three connecting members (331). One end of the three connecting members (331) is respectively connected to the first rotating shaft (327), the second rotating shaft (328) and the third rotating shaft (329), and the other end is connected to the supporting member (332). The supporting member (332) is used to set the pedal (31).

9. A lower limb rehabilitation robot system for proprioception training according to claim 8, characterized in that: The connecting member (331) includes a first connecting sub-member (3311) and a second connecting sub-member (3312), wherein the first end of the first connecting sub-member (3311) is hinged to the inclined portion of the first rotating shaft (327), the second rotating shaft (328) or the third rotating shaft (329), the second end of the first connecting sub-member (3311) is hinged to the first end of the second connecting sub-member (3312), and the second end of the second connecting sub-member (3312) is connected to the supporting member (332).

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