CN111588595A

CN111588595A - Intelligent rehabilitation robot for lower limb gait training

Info

Publication number: CN111588595A
Application number: CN202010577233.3A
Authority: CN
Inventors: 黄月文
Original assignee: Shenzhen Lain Medical Technology Co ltd
Current assignee: Shenzhen Lain Medical Technology Co ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2020-08-28
Anticipated expiration: 2040-06-22
Also published as: CN111588595B

Abstract

An intelligent rehabilitation robot for lower limb gait training. The lower limb rehabilitation robots sold in the market are mostly single in training mode, only two hip joints and two knee joints move, ankle joint training is lacked, joint structures only carry out simple mutual correlation movement, training functions are omitted, gravity center change during walking cannot be considered, and training effects are affected. The frame comprises a cross beam and two stand columns, the two stand columns are vertically arranged on a foot sole matching way in parallel, the lower limb robot is arranged between the two stand columns and is arranged close to the foot sole matching way, the cross beam is horizontally arranged between the two stand columns, the gravity compensation mechanism and the weight reduction lifting mechanism are respectively arranged on the two stand columns, the connecting end of the weight reduction lifting mechanism penetrates through the cross beam to be detachably connected with rehabilitation personnel, the weight reduction lifting mechanism is connected with the lower limb robot, and the lower limb robot is respectively matched with hip joints, knee joints and ankle joints of the rehabilitation personnel. The invention is used for lower limb rehabilitation training.

Description

Intelligent rehabilitation robot for lower limb gait training

The technical field is as follows:

the invention relates to an intelligent rehabilitation robot, in particular to an intelligent rehabilitation robot for lower limb gait training.

Background art:

the rehabilitation robot is used for assisting or replacing the motion function of a rehabilitation person or helping the rehabilitation person to carry out rehabilitation training by utilizing the principle of the robot, and the types of the rehabilitation robot mainly comprise an upper limb robot and a lower limb robot. The rehabilitation robot is the combination of rehabilitation treatment technology and robot technology, and is mainly used for recovering the motion function of limbs of rehabilitation personnel.

With the gradual progress of China into the age-related era, according to the display of related data, stroke becomes a killer which deprives the old of life and influences normal life. Among them, hemiplegia appears more prominently, which affects the normal walking and self-care ability of the elderly. How to effectively enable the groups to realize the walking ability again, and the realization of the correct gait posture is a great clinical problem at present, and the lower limb intelligent rehabilitation robot realizes the possibility. The device effectively helps the rehabilitation personnel to find the correct walking posture and helps the rehabilitation personnel to carry out the neural reconstruction of the gait function, and greatly meets the requirements of the rehabilitation personnel and the clinical requirements. Therefore, the lower limb intelligent rehabilitation robot has become the best treatment means for recovering the gait function due to the functional advantages thereof, and is also the largest factor for the design and development of our company. Moreover, from the market at present, the technology application of the robot is continuously in the social trend, and the research and development of the products must play a leading role in the rehabilitation medical industry, so that the development of the rehabilitation industry is accelerated, and the staged breakthrough is brought to the clinic.

At present, most lower limb rehabilitation robots in the market are common weight reduction and treadmill matched mechanical motion or upgraded versions of lower limb active and passive training, the intelligent level is low, only a single (active and passive) training mode can be realized, and active and passive automatic switching and effective training evaluation means are lacked. Secondly, in clinical practice, it is known that the whole gait process of human body is realized by the linkage relationship of three joints, namely hip joint, knee joint and ankle joint, and the gravity center of human body is a process of floating up and down in the gait walking process. However, we can see that most of the robots in the market have only two joints without ankle joint training in movement (hip joint and knee joint), and only have simple correlated movement without training function. And the whole gait running process does not consider the change of the gravity center during walking. For rehabilitation personnel who need to recover gait walking, a correct gait walking posture and a better training mode are of the utmost importance. However, the problem of how to avoid the problem that the rehabilitation period and the treatment effect of the rehabilitation personnel are delayed due to the correctness of the posture and the functional errors in the early rehabilitation period is not properly solved so far.

The invention content is as follows:

in order to solve the above-mentioned problems in the background art, an object of the present invention is to provide an intelligent rehabilitation robot for lower limb gait training.

The utility model provides an intelligent rehabilitation robot for low limbs gait training, includes that the frame, subtract heavy elevating system, low limbs robot, gravity compensation mechanism and sole cooperation way, and the frame includes crossbeam and two stands, and two stands are vertical to be set up side by side on the sole cooperation way, and low limbs robot sets up between two stands and it is close to the setting of sole cooperation way, and the crossbeam level sets up between two stands, gravity compensation mechanism and subtract heavy elevating system and set up respectively on two stands, it passes the crossbeam and can dismantle with recovered personnel and be connected to subtract the link of heavy elevating system, subtracts heavy elevating system and is connected with low limbs robot, and low limbs robot cooperatees with recovered personnel's hip joint, knee joint and ankle joint respectively and sets up.

As a preferable scheme: the gravity compensation mechanism comprises a compensator, a traction rope, a primary fixed pulley, a secondary fixed pulley and a tertiary fixed pulley, level four fixed pulley, bottom plate and support frame, the vertical setting of bottom plate is between two stands, and the support frame sets up on the bottom plate, and low limbs robot fixed mounting is on the support frame, and level four fixed pulley and tertiary fixed pulley set up respectively at the top and the bottom of support frame, and the setting of second grade fixed pulley is on the bottom plate, and one of one-level fixed pulley setting is in two stands on the lateral wall of stand, compensator fixed mounting is at the top with the same stand of one-level fixed pulley, and the one end of haulage rope is connected with the compensator, and the other end of haulage rope is connected with the support frame after walking around one-level fixed pulley, second grade fixed pulley, tertiary fixed pulley and level four fixed pulley in proper order, and the support frame drives the synchronous reciprocating motion of low limbs robot.

As a preferable scheme: the lower limb robot comprises a leg spacing adjusting device and two mechanical legs, wherein the leg spacing adjusting device is matched with hip joints of rehabilitation personnel, and is fixedly arranged on a support frame;

the device comprises two mechanical legs, a leg spacing adjusting device and a fixing device, wherein the two mechanical legs are arranged below the leg spacing adjusting device in parallel, each mechanical leg comprises a thigh fixing mechanism, a shank fixing mechanism, an ankle fixing mechanism and a first motor, the thigh fixing mechanisms, the shank fixing mechanisms and the ankle fixing mechanisms are sequentially connected from top to bottom, the ankle fixing mechanisms are provided with the first motors in a matched mode, each thigh fixing mechanism comprises a first limiting plate, a first transmission mechanism, a first telescopic adjusting mechanism and a first disassembling ring, the first limiting plate is vertically arranged, one end of the first limiting plate is fixedly connected to the leg spacing adjusting device, the outer side wall of the first limiting plate is fixedly provided with the first transmission mechanism, the bottom of the first transmission mechanism is connected with the top of the first telescopic adjusting mechanism, and the first telescopic adjusting mechanism is provided with the first disassembling ring; the shank fixing mechanism comprises a second limiting plate, a second transmission mechanism, a second telescopic adjusting mechanism and a second disassembling ring, the second limiting plate is vertically arranged, the outer side wall of the second limiting plate is fixedly provided with the second transmission mechanism, the bottom of the first telescopic adjusting mechanism is connected with the top of the second telescopic adjusting mechanism through the second transmission mechanism, the bottom of the second telescopic adjusting mechanism is connected with an ankle fixing mechanism, and the second disassembling ring is arranged on the second telescopic adjusting mechanism.

As a preferable scheme: the leg spacing adjusting device is arranged between the two upright posts and is fixedly arranged on the gravity compensation mechanism, the leg spacing adjusting device comprises a slide rail and two displacement control pieces, the slide rail and the displacement control pieces are sequentially arranged on the gravity compensation mechanism from top to bottom, the two displacement control pieces are arranged in parallel, each displacement control piece comprises a rocking wheel and a lead screw, first slider with divide the frame, two coaxial settings of lead screw are in the top of slide rail, the one end of every lead screw is provided with the rocking wheel, the other end of two lead screws passes through fixing bearing fixed mounting on the support frame, the cover is equipped with first slider on every lead screw, first slider is along the length direction reciprocating motion of lead screw, divide the vertical setting of frame between first slider and slide rail, divide the top and the first slider fixed connection of frame, divide the bottom and the slide rail sliding fit of frame, divide to correspond on the frame and install a mechanical leg, two mechanical legs make opposite or opposite movement under two drives that divide the frame.

As a preferable scheme: the ankle fixing mechanism comprises an adjusting bracket, an adjusting spring, an adjusting rope, an adjusting arm, a bracket for the ankle, a first pulley block, an ankle motor, a winding drum, a foot frame and two lifting pull rods, the outer side wall of the ankle bracket is hinged with the bottom of the shank fixing mechanism, the ankle bracket is sequentially provided with a first pulley block and a winding drum along the length direction, the winding drum is matched with an ankle motor, the lower end of an adjusting arm is vertically arranged on the ankle bracket, the upper end of the adjusting arm is hinged with an adjusting bracket, the bottom of the ankle bracket is hinged with a foot frame which is a U-shaped bracket body, two ends of the foot frame are respectively provided with a lifting pull rod, one end of the adjusting rope is connected with one lifting pull rod of the two lifting pull rods through a first pulley block, the other end of the adjusting rope is connected with the winding drum, and the other lifting pull rod in the two lifting pull rods is connected with the adjusting support through an adjusting spring.

As a preferable scheme: the control system comprises a control box and a PC console, the PC console is arranged close to the rack, and the other of the two stand columns is provided with the control box at the bottom of the stand column.

As a preferable scheme: the weight-reducing lifting mechanism comprises a second motor, a force buffer mechanism, a second pulley block, a connecting rope, a gravity sensor, a control inductor, a hook and a second sliding block, the second motor, the strength buffer mechanism and the second pulley block are sequentially arranged on the other one of the two stand columns from bottom to top, the second motor is connected with the control box, the second sliding block is installed on the cross beam, the hook is arranged below the cross beam and connected with the second sliding block, the hook is driven by the second sliding block to reciprocate along the length direction of the cross beam, a gravity sensor is arranged on the second sliding block, one end of a connecting rope is connected with the hook, the other end of the connecting rope bypasses the second pulley block to be connected with the second motor, a control sensor is arranged on the connecting rope, the control sensor is arranged between the hook and the second sliding block, and the gravity sensor and the control sensor are respectively electrically connected with the control box.

As a preferable scheme: the foot sole matching passage is a treadmill.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to an intelligent robot device for gait training of lower limbs, aiming at carrying out comprehensive rehabilitation training on the lower limbs of rehabilitation personnel, effectively ensuring the safety of the rehabilitation personnel and simultaneously improving the rehabilitation effect of the rehabilitation personnel. The situations that the rehabilitation period and the treatment effect are delayed due to inaccurate walking posture and functional errors of the lower limbs of the rehabilitation personnel at the early stage of rehabilitation are avoided.

Secondly, the invention can realize a scientific and reasonable training mode through the mutual matching among the rack, the weight-reducing lifting mechanism, the lower limb robot, the gravity compensation mechanism and the foot sole matching way, can realize the corresponding training of hip joints, knee joints and ankle joints of rehabilitation personnel through the mutual matching of the leg spacing adjusting device of the lower limb robot and two mechanical legs, leads the training mode to perfectly fit the walking posture of a real person, and ensures that the walking process realized by the invention is continuous action accompanied with gravity center change through the mutual matching among the rack, the weight-reducing lifting mechanism, the lower limb robot, the gravity compensation mechanism, the foot sole matching way and the control system.

The gravity compensation mechanism is simple and reasonable in structure, the lower limb robot can be ensured to be in a weightless state, the weight of the lower limb robot is eliminated, the comfort level of a rehabilitation person in the treatment process is increased, the lower limb feeling of the rehabilitation person during normal walking is simulated, and the influence of the deadweight of the lower limb robot on the treatment effect of the rehabilitation person is avoided.

Four, leg interval adjusting device's structural design is reasonable, adjusts the relative distance of two mechanical legs in a flexible way, and two mechanical leg relative position location after adjusting are stable, are applicable to different recovered personnel, and it is supplementary to provide stable and accurate structure for recovered personnel lower limb training, strengthens the comfort level and the degree of accuracy of lower limb training.

Fifthly, the leg interval adjusting device, the thigh fixing mechanism, the hip joint of the rehabilitation personnel is realized by mutually matching the shank fixing mechanism and the ankle fixing mechanism, the knee joint and the ankle joint are accurately matched and accurately controlled, wherein the leg interval adjusting device is matched with the hip joint of the rehabilitation personnel, the thigh fixing mechanism is matched with the knee joint of the rehabilitation personnel by matching the shank fixing mechanism, the ankle fixing mechanism is matched with the ankle joint of the rehabilitation personnel, the leg interval adjusting device, the thigh fixing mechanism and the ankle fixing mechanism are mutually matched under the control of the control system to realize the reciprocating motion of the walking postures of the legs of the rehabilitation personnel with different heights and different ages.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic perspective view of the connection between the gravity compensation mechanism and the frame;

FIG. 3 is a schematic perspective view of the connection relationship between the weight-reducing elevating mechanism and the frame;

FIG. 4 is a schematic perspective view of a lower limb robot;

FIG. 5 is a schematic front view of the present invention;

FIG. 6 is a schematic side view of the present invention;

FIG. 7 is a rear view of the present invention;

fig. 8 is a perspective view illustrating an ankle securing mechanism;

FIG. 9 is a front view of the leg interval adjusting means;

fig. 10 is a flow chart of the working principle of the present invention.

In the figure, 1-rack; 1-1-beam; 1-2-column; 2-a weight-reduction lifting mechanism; 2-1-a second motor; 2-2-force buffer mechanism; 2-3-a second pulley block; 2-4-connecting ropes; 2-5-gravity sensor; 2-6-control the inductor; 2-7-hanging hook; 2-8-a second slider; 3-a lower limb robot; 4-a gravity compensation mechanism; 4-1-compensator; 4-2-pulling ropes; 4-3-primary fixed pulley; 4-4-secondary fixed pulley; 4-5-three-stage fixed pulley; 4-6-four-stage fixed pulley; 4-7-a bottom plate; 4-8-a scaffold; 5-foot sole matching path; 7-leg spacing adjustment means; 7-1-sliding rail; 7-2-displacement control member; 7-2-1-rocking wheel; 7-2-2-lead screw; 7-2-3-slider; 7-2-4-racking; 8-thigh fixation mechanism; 8-1-a first limiting plate; 8-2-a first transmission mechanism; 8-3-a first telescoping adjustment mechanism; 8-4-a first disassembly ring; 9-shank fixation mechanism; 9-1-a second limiting plate; 9-2-a second transmission mechanism; 9-3-a second telescoping adjustment mechanism; 9-4-a second disassembly ring; 10-ankle securement mechanism; 10-1-adjustment of the scaffold; 10-2-adjusting the spring; 10-3-adjusting ropes; 10-4-an adjustment arm; 10-5-ankle brace; 10-6-a first pulley; 10-7-a second sheave; 10-8-ankle motor; 10-9-reel; 10-10-foot frame; 10-11, lifting the pull rod; 11-a first electric machine; 12-a fixed bearing; 13-hanging part for gravity compensation mechanism; 16-1-control box; 16-2-PC console.

The specific implementation mode is as follows:

in order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.

The first embodiment is as follows: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10, the present embodiment adopts the following technical solutions, and the present embodiment includes a frame 1, a weight-reducing lifting mechanism 2, a lower limb robot 3, a gravity compensation mechanism 4 and a foot-sole matching channel 5, the frame 1 includes a cross beam 1-1 and two upright columns 1-2, the two upright columns 1-2 are vertically arranged side by side on the foot-sole matching channel 5, the lower limb robot 3 is arranged between the two upright columns 1-2 and is close to the foot-sole matching channel 5, the cross beam 1-1 is horizontally arranged between the two upright columns 1-2, the gravity compensation mechanism 4 and the weight-reducing lifting mechanism 2 are respectively arranged on the two upright columns 1-2, the connecting end of the weight-reducing lifting mechanism 2 passes through the cross beam 1-1 and is detachably connected with a, the weight reduction lifting mechanism 2 is connected with a lower limb robot 3, and the lower limb robot 3 is respectively matched with a hip joint, a knee joint and an ankle joint of a rehabilitation person.

The second embodiment is as follows: the embodiment is further limited by the first specific embodiment, the gravity compensation mechanism 4 comprises a compensator 4-1, a traction rope 4-2, a first-stage fixed pulley 4-3, a second-stage fixed pulley 4-4, a third-stage fixed pulley 4-5, a fourth-stage fixed pulley 4-6, a bottom plate 4-7 and a support frame 4-8, wherein the bottom plate 4-7 is vertically arranged between the two upright posts 1-2, the support frame 4-8 is arranged on the bottom plate 4-7, the lower limb robot 3 is fixedly arranged on the support frame 4-8, the fourth-stage fixed pulley 4-6 and the third-stage fixed pulley 4-5 are respectively arranged at the top and the bottom of the support frame 4-8, the second-stage fixed pulley 4-4 is arranged on the bottom plate 4-7, the first-stage fixed pulley 4-3 is arranged on the outer side wall of one upright post 1-2 of the two upright posts 1-2, the compensator 4-1 is fixedly arranged at the top of the same upright post 1-2 with the first-stage fixed pulley 4-3, one end of the traction rope 4-2 is connected with the compensator 4-1, the other end of the traction rope 4-2 sequentially bypasses the first-stage fixed pulley 4-3, the second-stage fixed pulley 4-4, the third-stage fixed pulley 4-5 and the fourth-stage fixed pulley 4-6 to be connected with the support frame 4-8, and the support frame 4-8 drives the lower limb robot 3 to synchronously reciprocate along the length direction of the upright post 1-2 through the traction rope 4-2.

The compensator 4-1 in this embodiment is a conventional product, and is a spring balancer.

In the embodiment, a pulley block consisting of a first-stage fixed pulley 4-3, a second-stage fixed pulley 4-4, a third-stage fixed pulley 4-5 and a fourth-stage fixed pulley 4-6 is matched with a traction rope 4-2 to realize a conduction effect, and the traction rope 4-2 is a steel wire rope.

In the embodiment, the gravity compensation mechanism 4 makes the self weight of the lower limb robot 3 act on the compensator 4-1 by the conduction of the steel wire rope and the pulley block, and the measuring range of the compensator 4-1 meets the self weight requirement of the lower limb robot 3.

In the embodiment, the end of the beam 1-1 is provided with a groove, and a hanging part 13 for a gravity compensation mechanism detachably connected with the compensator 4-1 is arranged in the groove. The hanging part 13 for the gravity compensation mechanism has a hook body.

The working principle of the gravity compensation mechanism 4 is as follows:

the gravity compensation mechanism 4 provides rated compensation tension through a compensator 4-1, the tension changes the direction of force through a first-stage fixed pulley 4-3, a second-stage fixed pulley 4-4, a third-stage fixed pulley 4-5 and a fourth-stage fixed pulley 4-6, the force is further transmitted to a support frame 4-8, and the lower limb robot 3 is connected to the support frame 4-8 through bolts. The total weight of the lower limb robot 3 and the support frame 4-8 is matched with the compensating tension provided by the compensator 4-1, and the invention can know through sample tests that the compensator 4-1 can provide the compensating tension of 60kg exactly because the total weight of the lower limb robot 3 and the support frame 4-8 is 60kg preferably. Because the walking process of the human body is up-and-down reciprocating motion, when the rehabilitation personnel wear the robot for training, the lower limb robot 3 does reciprocating motion along with the motion state of the rehabilitation personnel through the gravity compensation mechanism 4, and the rehabilitation personnel do not bear the additional gravity generated by the invention.

The third concrete implementation mode: the embodiment is further limited by the first or second embodiment, the lower limb robot 3 comprises a leg spacing adjusting device 7 and two mechanical legs, the leg spacing adjusting device 7 is matched with hip joints of rehabilitation personnel, and the leg spacing adjusting device 7 is fixedly arranged on the support frames 4-8;

the two mechanical legs are respectively a left mechanical leg and a right mechanical leg, the two mechanical legs are arranged below the leg spacing adjusting device 7 in parallel, each mechanical leg comprises a thigh fixing mechanism 8, a shank fixing mechanism 9, an ankle fixing mechanism 10 and a first motor 11, the thigh fixing mechanism 8, the shank fixing mechanism 9 and the ankle fixing mechanism 10 are sequentially connected from top to bottom, the ankle fixing mechanism 10 is provided with the first motor 11 in a matching manner, the thigh fixing mechanism 8 comprises a first limiting plate 8-1, a first transmission mechanism 8-2, a first telescopic adjusting mechanism 8-3 and a first disassembly ring 8-4, the first limiting plate 8-1 is vertically arranged, one end of the first limiting plate 8-1 is fixedly connected to the leg spacing adjusting device 7, and the outer side wall of the first limiting plate 8-1 is fixedly provided with the first transmission mechanism 8-2, the bottom of the first transmission mechanism 8-2 is connected with the top of the first telescopic adjusting mechanism 8-3, and a first disassembling ring 8-4 is arranged on the first telescopic adjusting mechanism 8-3; the shank fixing mechanism 9 comprises a second limiting plate 9-1, a second transmission mechanism 9-2, a second telescopic adjusting mechanism 9-3 and a second disassembling ring 9-4, the second limiting plate 9-1 is vertically arranged, the outer side wall of the second limiting plate is fixedly provided with the second transmission mechanism 9-2, the bottom of the first telescopic adjusting mechanism 8-3 is connected with the top of the second telescopic adjusting mechanism 9-3 through the second transmission mechanism 9-2, the bottom of the second telescopic adjusting mechanism 9-3 is connected with an ankle fixing mechanism 10, and the second disassembling ring 9-4 is arranged on the second telescopic adjusting mechanism 9-3.

Leg interval adjusting device 7 still cooperates and is provided with height adjustment mechanism in this embodiment, and height adjustment mechanism is current lift adjustment device, and preferably is formed by bull screw and gear interact, drives the gear through rotatory handle and acts on the screw rod and realize height control from top to bottom, and the control range is 0 ~ 450mm, and the present lift adjustment device that can realize the vertical regulation in this scope all can replace.

In this embodiment, the first transmission mechanism 8-2 includes a first synchronous belt and a plurality of first synchronous wheels, and the mutual matching connection manner of the first synchronous belt and the plurality of first synchronous wheels is the same as the mutual matching process of the existing belt. The first telescopic adjusting mechanism 8-3 and the second telescopic adjusting mechanism 9-3 are both the existing telescopic rod assemblies, and the telescopic principle is that the telescopic change of the rod length is realized by depending on the driving of a motor.

Furthermore, one of the first synchronizing wheels is a first driving synchronizing wheel, the first driving synchronizing wheel is provided with a servo motor in a matching mode, the first driving synchronizing wheel rotates under the driving of the servo motor, and the first limiting plate 8-1 is driven to rotate through the first synchronizing wheel, so that the angle adjusting process of the thigh fixing mechanism 8 is achieved.

Further, the adjustment ranges of hip joints of rehabilitation personnel in the lower limb robot 3 are respectively as follows through the mutual matching of the leg spacing adjusting device 7 and the thigh fixing mechanism 8: bending the knee at 34.5 degrees and extending the knee at 25.5 degrees,

in this embodiment, the second transmission mechanism 9-2 includes a second synchronous belt and a plurality of first synchronous wheels, and the connection manner of the second synchronous belt and the plurality of second synchronous wheels is the same as the process of the existing belt.

Furthermore, one of the second synchronizing wheels is a second driving synchronizing wheel, the second driving synchronizing wheel is provided with a servo motor in a matching manner, the second driving synchronizing wheel rotates under the driving of the servo motor, and the second limiting plate 9-1 is driven to rotate through the second synchronizing belt, so that the angle adjusting process of the lower leg fixing mechanism 9 is realized.

Further, thigh fixing mechanism 8 and shank fixing mechanism 9 mutually support and realize that the control range to recovered personnel's knee joint does respectively: bend the knee 64 degrees and extend the knee 0 degrees.

In the embodiment, the lower limb robot 3 controls the limitation of the joint angle through the photoelectric switch, so that the use safety requirements of rehabilitation personnel are met.

In the embodiment, the ankle fixing mechanism 10 is driven by the first motor 11, and the photoelectric switch controls the limit, so that the joint operation is realized. The joint adjusting range is as follows: 15 ° for dorsiflex adult, 12 ° for dorsiflex child and 10 ° for plantar flexion.

The fourth concrete implementation mode: the embodiment is further limited by the first, second or third embodiment, the leg spacing adjusting device 7 is arranged between the two columns 1-2 and is fixedly installed on the gravity compensation mechanism 4, the leg spacing adjusting device 7 comprises a sliding rail 7-1 and two displacement control members 7-2, the sliding rail 7-1 and the displacement control members 7-2 are sequentially arranged on the support frame 4-8 from top to bottom, the two displacement control members 7-2 are arranged in parallel, each displacement control member 7-2 comprises a rocking wheel 7-2-1, a screw 7-2-2, a first sliding block 7-2-3 and a sub-frame 7-2-4, the two screws 7-2-2 are coaxially arranged above the sliding rail 7-1, one end of each screw 7-2-2 is provided with the rocking wheel 7-2-1, the other ends of the two lead screws 7-2-2 are fixedly arranged on a support frame 4-8 through fixed bearings 12, a first sliding block 7-2-3 is sleeved on each lead screw 7-2-2, the first sliding block 7-2-3 reciprocates along the length direction of the lead screw 7-2-2, the sub-frame 7-2-4 is vertically arranged between the first sliding block 7-2-3 and the sliding rail 7-1, the top of the sub-frame 7-2-4 is fixedly connected with the first sliding block 7-2-3, the bottom of the sub-frame 7-2-4 is in sliding fit with the sliding rail 7-1, a mechanical leg is correspondingly arranged on the sub-frame 7-2-4, and the two mechanical legs move oppositely or oppositely under the driving of the two sub-frames 7-2-4.

The working principle of the leg interval adjusting device 7 in this embodiment is as follows:

the two rocking wheels 7-2-1 are operated to drive the corresponding screw rods 7-2-2 to rotate, the two screw rods 7-2-2 rotate to drag the two first sliding blocks 7-2-3 to move inwards or to two sides simultaneously, and the first sliding blocks 7-2-3 drive the sub-frames 7-2-4 to translate on the sliding rails 7-1, so that the change of the distance between the two sub-frames 7-2-4 is realized, and the opposite or opposite movement is performed, and the adjustment process of the distance between the two mechanical legs is realized.

The fifth concrete implementation mode: the embodiment is further limited by the first, second, third or fourth embodiment, the ankle fixing mechanism 10 includes an adjusting bracket 10-1, an adjusting spring 10-2, an adjusting rope 10-3, an adjusting arm 10-4, an ankle bracket 10-5, a first pulley set, an ankle motor 10-8, a winding drum 10-9, a foot frame 10-10 and two lifting pull rods 10-11, the outer side wall of the ankle bracket 10-5 is hinged to the bottom of the calf fixing mechanism 9, the ankle bracket 10-5 is sequentially provided with the first pulley set and the winding drum 10-9 along the length direction thereof, the winding drum 10-9 is provided with the ankle motor 10-8 in a matching manner, the lower end of the adjusting arm 10-4 is vertically arranged on the ankle bracket 10-5, the upper end of the adjusting arm 10-4 is hinged to the adjusting bracket 10-1, the bottom of the ankle support 10-5 is hinged with a foot frame 10-10, the foot frame 10-10 is a U-shaped frame body, two ends of the foot frame 10-10 are respectively provided with a lifting pull rod 10-11, one end of the adjusting rope 10-3 is connected with one lifting pull rod 10-11 of the two lifting pull rods 10-11 through a first pulley block, the other end of the adjusting rope 10-3 is connected with a winding drum 10-9, and the other lifting pull rod 10-11 of the two lifting pull rods 10-11 is connected with the adjusting support 10-1 through an adjusting spring 10-2. The adjusting spring 10-2 comprises a spring, a connecting rod and a counterweight hammer, the spring is connected with the counterweight hammer through the connecting rod, and the counterweight hammer plays a role in prolonging inertia, so that the state that the spring is in an elastic extension state is prolonged and deepened.

Furthermore, the adjusting bracket 10-1 is used for adjusting the level of the sole of the foot, and the adjusting bracket 10-1 is connected with the adjusting arm 10-4 through a bolt, so that the up-and-down rotation of the adjusting bracket 10-1 can be realized.

Further, the adjustment spring 10-2 is provided to retain the sole's ability to move beyond a certain limit.

Further, the adjusting rope 10-3 serves to tighten and restrict the downward movement of the lifting link 10-11.

Further, the adjusting arm 10-4 serves to support the adjusting bracket 10-1, and is bolted to the ankle bracket 10-5.

Further, the ankle support 10-5 is used for the entire frame structure of the ankle fixing mechanism 10.

Further, the first pulley block comprises a first pulley 10-6 and a second pulley 10-7, and the first pulley 10-6 is connected with the ankle support 10-5 through a pulley shaft for correcting the traction direction of the adjusting rope 10-3. The second pulley 10-7 is used for correcting the traction direction of the adjusting rope 10-3, and is connected with the ankle support 10-5 through a pulley shaft, the first pulley 10-6 is arranged near the winding drum 10-9, and the second pulley 10-7 is arranged near the lifting pull rod 10-11.

Further, the ankle motor 10-8 provides power for ankle movement, and is preferably coupled to the ankle bracket 10-5 by bolts.

Further, the reel 10-9 pulls the adjusting rope 10-3, transmits power to the ankle motor 10-8, and is connected to the ankle motor 10-8 by a key and a bolt.

Further, the shape of the foot frame 10-10 is matched with the shape of the heel of the sole of a person to play a role in circumferentially positioning the heel in the sole treading process, and the middle part of the foot frame 10-10 is connected with the ankle support 10-5 through the fixed bearing 12. The fixing bearing 12 serves to support the foot frame 10-10, and to ensure that the foot frame 10-10 makes a rolling motion in the ankle pylon 10-5.

Further, the lifting pull rod 10-11 and the foot frame 10-10 make synchronous rotary swing and are connected with the foot frame through bolt connection.

Furthermore, an adjusting rope 10-3 is used for transmitting power, and two ends of the adjusting rope 10-3 are respectively tied on a winding drum 10-9 and a lifting pull rod 10-11.

The ankle securing mechanism 10 operates on the principle of:

the ankle motor 10-8 drives the winding drum 10-9 to rotate through power output, one end of the adjusting rope 10-3 is connected with the winding drum 10-9, the adjusting rope 10-3 is pulled through the winding drum 10-9, the adjusting rope 10-3 is connected with the lifting pull rod 10-11 through the first pulley 10-6 and the second pulley 10-7, the lifting pull rod 10-11 is fixedly connected with the foot framework 10-10, and reciprocating motion of the ankle fixing mechanism 10 is achieved under the support of the fixing bearing 12. The upper limit of the ankle movement is also provided with a position sensor in a matching way, the position sensor is used for collecting position information to control the number of rotation turns of the ankle motor 10-8, when the upper limit is reached, the ankle motor 10-8 stops working, the ankle motor 10-8 rotates reversely by means of the gravity of the foot, and the effect of releasing the adjusting rope 10-3 is achieved. The adjusting bracket 10-1, the adjusting spring 10-2 and the adjusting rope 10-3 are matched to adjust the initial position of the foot of the person, limit the lower limit of the foot movement of the person and prevent the foot injury caused by the excessive downward movement of the tiptoe.

The thigh fixing mechanism 8, the shank fixing mechanism 9 and the ankle fixing mechanism 10 in each mechanical leg are communicated with each other under the control of a control system to cooperate with each other to simulate the reciprocating motion of a human leg, wherein the control process of the ankle fixing mechanism 10 is a complicated process of control, adjustment, information feedback and processing.

The sixth specific implementation mode: the present embodiment is further limited to the first, second, third, fourth or fifth embodiment, as shown in fig. 10, the control system includes a control box 16-1 and a PC console 16-2, the PC console 16-2 is disposed near the rack 1, the control box 16-1 is disposed at the bottom of the other upright 1-2 of the two uprights 1-2, and the control box 16-1 is electrically connected to the PC console 16-2.

In the present embodiment, the PC console 16-2 is specifically a PC control computer.

In the embodiment, the display screen is arranged at the front end of the foot bottom matching channel 5 and used for assisting the PC console 16-2 to display related data and images, so that the rehabilitation personnel or the personnel assisting the rehabilitation personnel to perform rehabilitation training can know the gait state of the lower limbs in time.

In this embodiment, the leg interval adjusting device 7 in the lower-limb robot 3, and the thigh fixing mechanism 8 and the shank fixing mechanism 9 in each mechanical leg are driven by a servo motor, and the ankle fixing mechanism 10 is driven by a first motor 11, wherein the first motor 11 is a dc motor, and the servo motor acquires signals by using a servo motor controller, and is implemented by a main board single chip of the control box 16-1, so as to satisfy the gait walking process of the lower-limb robot 3.

In the present embodiment, the single-chip microcomputers used in the control box 16-1 are MCUSTM32F103 and mcuatemega 12, respectively.

The seventh embodiment: the embodiment is further limited by the first, second, third, fourth, fifth or sixth specific embodiment, the weight-reducing lifting mechanism 2 comprises a second motor 2-1, a force buffering mechanism 2-2, a second pulley block 2-3, a connecting rope 2-4, a gravity sensor 2-5, a control inductor 2-6, a hook 2-7 and a second slider block 2-8, wherein the second motor 2-1, the force buffering mechanism 2-2 and the second pulley block 2-3 are sequentially arranged on the other upright post 1-2 of the two upright posts 1-2 from bottom to top, the second motor 2-1 is connected with a control box 16-1, the second slider block 2-8 is arranged on the cross beam 1-1, the hook 2-7 is arranged below the cross beam 1-1 and is connected with the second slider block 2-8, the hook 2-7 reciprocates along the length direction of the cross beam 1-1 under the driving of the second sliding block 2-8, the second sliding block 2-8 is provided with a gravity sensor 2-5, one end of a connecting rope 2-4 is connected with the hook 2-7, the other end of the connecting rope 2-4 is connected with the second motor 2-1 by bypassing the second pulley block 2-3, the connecting rope 2-4 is provided with a control sensor 2-6, the control sensor 2-6 is arranged between the hook 2-7 and the second sliding block 2-8, and the gravity sensor 2-5 and the control sensor 2-6 are respectively and electrically connected with the control box 16-1.

In the present embodiment, the weight reduction value of the weight reduction lifting mechanism 2 is set according to the clinically required weight.

In this embodiment, the force buffering mechanism 2-2 is an existing buffering mechanism composed of a spring and a positioning frame. Other existing force dampening mechanisms may be substituted.

In this embodiment, the second motor 2-1 is a lift motor.

In the embodiment, the hooks 2-7 are four-point connecting hooks matched with shoulders of rehabilitation personnel. The realized hanging effect is uniform and stable.

In the embodiment, the weight-reducing lifting mechanism 2 utilizes the rotation of the second motor 2-1 to drive the connection rope 2-4 and the second pulley block 2-3 to realize the lifting of reducing weight, and suspends the rehabilitation personnel through the rehabilitation personnel hook 2-7 to meet the function of reducing weight of the rehabilitation personnel. The weight reduction value is accurately adjusted by the gravity sensor 2-5, safe and effective control is achieved by controlling the sensor 2-6, the force compensation in the process from static state to dynamic state in the lifting process is achieved by the force buffering mechanism 2-2, and the comfort degree and the reliability are improved

The specific implementation mode is eight: the present embodiment is further limited to the first, second, third, fourth, fifth, sixth, or seventh embodiments, wherein the footwell 5 is a treadmill. Other existing equipment that can effect stepping in place may be substituted.

The specific implementation method nine: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, and fig. 10, the control system of the present invention includes a power supply control portion and a system control portion:

as shown in fig. 10, a power supply portion of the control system is inputted by an external power supply, the external power supply is an ac power supply of 220V and 50HZ, and is inputted into the molded case circuit breaker through a fuse of 10A via an isolation transformer, the fuse is a fuse, and then the power supply is inputted into the power distribution box from the molded case circuit breaker. The distribution box utilizes a noise filter and a high attenuation filter for filtering, then passes through the surge protector, and branches are carried out from the surge protector. The power supply separated from the surge protector mainly comprises three types of interfaces: 1. directly outputting; 2. an AC contactor switch; 3. the relay control, i.e. the power supply, controls the relay. The direct output category is divided into three paths: the first path is directly supplied to the display, the second path is supplied to the control PC computer, and the third path is supplied to the trolley switch where the control PC computer is located and is used for controlling the alternating current contactor. The trolley where the PC computer is located is a PC console 16-2, and the control output category of the alternating current contactor is divided into two levels:

the first control level: only an alternating current contact control interface PSU is used for a 24V direct current power supply and is used for supplying power to the main control board and the pull-up control board.

The second control level: under the on-state of AC controller, still need the power control relay control output to switch on the power that can switch on, power control relay control output classification divides into three routes: the first path controls the pull-up frequency converter to supply power, the second path controls the hip joint and the knee joint controller to supply power, the third path controls the treadmill system to supply power, and the power control relay control signal is provided by the main control panel.

The control part of the control system is divided into the following three parts:

a pull and rise control system that is used for gravity compensation mechanism 4: the gravity compensation mechanism 4 comprises a compensator 4-1, a traction rope 4-2, a first-stage fixed pulley 4-3, a second-stage fixed pulley 4-4, a third-stage fixed pulley 4-5, a fourth-stage fixed pulley 4-6, a bottom plate 4-7 and a support frame 4-8, a traction lifting control system corresponding to the gravity compensation mechanism 4 comprises a traction lifting remote controller, a traction lifting control plate, a traction lifting motor, a traction lifting frequency converter, a bearing sensor and a limit sensor, and the weight reduction lifting mechanism 2 is used for helping rehabilitation personnel to reduce self load so as to better and more easily complete rehabilitation training, reduce the load of a mechanical structure and related electronic hardware and prolong the service life of the device. The load-bearing sensor of the traction lifting control system is combined with the analog amplifier to acquire corresponding gravity data, the change of the gravity data is judged by utilizing the characteristics of mechanical structure design to be used as a motor stop condition with a signal of the limit sensor, and a closed loop is formed between the traction lifting control panel and the traction lifting frequency converter and between the traction lifting motor and the traction lifting control panel, so that the effect of automatically stopping a rehabilitation worker after the rehabilitation worker is placed in place during control and descending is achieved, and the safety function of smashing a patient or over-high lifting position due to misoperation of the worker is avoided.

Secondly, when sole cooperation way 5 is the treadmill, the treadmill corresponds there is treadmill system control system, treadmill system control system includes treadmill converter and control PC computer control command, control PC computer control command is sent by PC control cabinet 16-2, the power of treadmill suits with the maximum weight of design, stability and whether noise need pay attention to when the motor operation, the overspeed device tensioner who takes is run in the problem, because of the speed of treadmill is controlled the treadmill converter by control PC computer control command and is accomplished, so only the running state can be examined, the slope regulatory function, a bench level is adjusted according to the condition of installing the treadmill, a self needs are satisfied in the installation period.

Thirdly, a control part corresponding to the lower limb robot 3 is a robot leg control system, the lower limb robot 3 comprises a leg spacing adjusting device 7 and two mechanical legs, the leg spacing adjusting device 7 is matched with hip joints of rehabilitation personnel, and the leg spacing adjusting device 7 is fixedly arranged on a support frame 4-8; the two mechanical legs are respectively a left mechanical leg and a right mechanical leg, the robot leg control system is used for controlling the leg spacing adjusting device 7, the left mechanical leg and the right mechanical leg, the robot leg control system comprises a left hip joint controller, a left knee joint controller, a right hip joint controller, a right knee joint controller, a main control panel and a control PC computer control command, the control PC computer control command is sent out by a PC control console 16-2, each mechanical leg comprises a thigh fixing mechanism 8, a shank fixing mechanism 9, an ankle fixing mechanism 10 and a first motor 11, the thigh fixing mechanism 8 comprises a first limiting plate 8-1, a first transmission mechanism 8-2, a first telescopic adjusting mechanism 8-3 and a first dismounting ring 8-4, the first limiting plate 8-1 is vertically arranged, one end of the first limiting plate 8-1 is fixedly connected to the leg spacing adjusting device 7, the outer side wall of the first limiting plate 8-1 is fixedly provided with a first transmission mechanism 8-2, the bottom of the first transmission mechanism 8-2 is connected with the top of a first telescopic adjusting mechanism 8-3, and a first disassembling ring 8-4 is arranged on the first telescopic adjusting mechanism 8-3; the shank fixing mechanism 9 comprises a second limiting plate 9-1, a second transmission mechanism 9-2, a second telescopic adjusting mechanism 9-3 and a second disassembling ring 9-4, and when the lower limb rehabilitation training device is used, the lower limb rehabilitation training can be carried out by wearing the first disassembling ring 8-4 and the second disassembling ring 9-4. The motion of each joint and the stretching of shank muscle are realized through predetermined movement track, help recovered personnel to resume the motion ability of low limbs gradually, and left side mechanical leg and right mechanical leg all are equipped with mechanical spacing module for security when guaranteeing the rehabilitation training. In order to make the leg suitable for different rehabilitation persons and easy to adjust, the lower limb robot 3 has eight adjustable degrees of freedom, wherein the eight adjustable degrees of freedom are the widths of hip joints respectively; the height of the backrest; horizontal distance of the backrest; the length of the thigh; the length of the calf; left and right positions of the shank support plate; the front and back positions of the shank support plate; the size of the shank support plate is changeable. Driving of the legs, each mechanical leg has three degrees of freedom, knee joint and hip and ankle joint. The requirements of the three joint drivers are that the driving force of the knee joint and the hip joint must be strong enough to drive the leg to carry out gait training, so that strong alternating current servo driving is selected, the driving force of the ankle joint is small due to weight reduction, so that direct current brush motor driving is selected, a PC for controlling the PC computer control command is used as the uppermost layer control host, and a user interface and a rehabilitation personnel database are mainly realized; the middle layer is a real-time control system layer and mainly realizes gait control, position control of each joint, sampling of an encoder and a photoelectric sensor and the like; the lowest layer is a hardware layer comprising a motor, an encoder, a photoelectric sensor and the like. The motor control mainly realizes the rotation of the related movement motor so as to drive the mechanical structure to execute the related movement. In the aspect of an electric control system, the control system of the invention adopts a servo motor, an encoder, a photoelectric sensor or other related equipment to complete intelligent functions. According to the current change of the servo motor and the position change of the encoder, the control system can have corresponding response. The two servo motors are controlled by an intelligent control system to form the control of a mechanical leg, namely a lower computer part of the electric control system controls the servo motors to rotate by corresponding angles at different walking time points, and the foot position requirement of the whole walking cycle time sequence is completed. The encoder is used for monitoring the rotating angle of the servo motor, the precision of the control system is guaranteed, and the photoelectric sensor is used for limiting and sensing force. Other structures and connection relationships not mentioned in this embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.

The detailed implementation mode is ten: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the walking operation process accompanied by the change of the center of gravity is realized by the mutual cooperation between the frame 1, the weight-reduction elevating mechanism 2, the lower-limb robot 3, the gravity compensation mechanism 4, the foot sole matching path 5 and the control system in the present embodiment as follows:

the gravity center track judging and acquiring process comprises the following steps: the invention relates to a rehabilitation robot for lower limb gait training, wherein the gravity center track of a rehabilitation person in the walking process is a change curve in an upper-lower one-dimensional coordinate system. The invention collects the change of the gravity center of the human body in the research and development process and mainly focuses on the motion rule in the upper and lower one-dimensional directions. The three-dimensional model of the human body during walking is built, the motion trail data of the knee joint and the hip joint of the human body is imported, and the motion trail of the gravity center of the human body during walking is obtained through kinematic simulation analysis and is used for comparing the correctness of the collected data. The geometric model of the mechanical system is written into mechanical dynamics simulation software, the kinematics and dynamics analysis is carried out on the virtual mechanical system, and the simulation result is visually observed and output.

When walking training is carried out, the motion trail of the upper direction and the lower direction of the gravity center of the human body is close to a sine curve, and compared with the gravity center trail tested by the motion capture instrument in the content, the motion trail is basically consistent, and the amplitude is slightly larger than the gravity center deviation under natural walking. The human body model gravity center motion trail is obtained through data acquisition and kinematics simulation analysis respectively. The obtained track graph compares that the gravity center tracks of the two track graphs are basically consistent, and the simulation data of the sinusoidal track on the amplitude is regularly consistent to be slightly larger than the gravity center offset data under natural walking. From the natural law of human walking, the fluctuation of the gravity center of the human body up and down plus or minus 20mm during walking is more consistent with the natural law, so that the gravity center track of the walking robot disclosed by the invention is more approximate to the gravity center track of the human body in natural walking.

The process of decomposing and fusing the change of the center of gravity to the structure according to the data and the parameters is as follows: the weight reduction of the leg part of the robot is separated from the weight reduction of a rehabilitation worker, the weight reduction lifting mechanism 2 and the gravity compensation mechanism 4 are arranged and matched to assist the rehabilitation worker to train the posture to be attached to a human motion curve in the gait training process, the human motion curve follows the human synchronous motion, and meanwhile compensation processing is carried out in a power control model of the leg.

The cooperation of all components in the lower limb robot 3 can realize the alternate training of gait of two legs of a rehabilitation person, the support frames 4-8, the bottom plate 4-7 and the rack 1 are mutually matched to realize the adjustment mode of the waist of the robot, the leg spacing adjusting device 7 and the support frames 4-8 are mutually matched to realize the adjustment mode of the back of the robot, and the weight-reducing lifting mechanism 2 is matched with the rack 1 to realize the adjustment mode of the top of the robot, and the three adjustment modes are matched with two mechanical legs to realize the tensioning adjustment process of a plurality of parts from top to bottom, so that the whole structure of the invention can reduce weight and tension. And other devices are combined through a power control model to compensate the step movement process, so that the step training posture of the invention is changed along with the gravity center structurally, and the training step posture is more approximate to the real step posture.

The process of lifting the weight-reduction lifting mechanism 2 for the rehabilitation personnel is that the dead weight of the rehabilitation personnel is reduced by effectively combining the connecting rope 2-4, the second pulley block 2-3 and the strength buffer mechanism 2-2, the load of a mechanical structure and related electronic hardware is reduced, and the service life of the robot is prolonged, so that the pace posture accompanied with the change of the gravity is realized more perfectly and easily, and the rehabilitation personnel are helped to complete scientific and reasonable rehabilitation training.

The working process of the invention is as follows:

firstly, a rehabilitation person is positioned in a rack 1 through hooks 2-7, a control system is started to control a weight reduction lifting mechanism 2 to carry out real-time measurement, hip joints of the rehabilitation person are correspondingly placed in a leg interval adjusting device 7, the leg interval adjusting device 7 is adjusted according to the size of the legs of the rehabilitation person, the legs of the rehabilitation person are respectively clamped in two mechanical legs, the assembly process is carried out in sequence from ankle joints, knee joints and hip joints of the rehabilitation person, the feet of the rehabilitation person are firstly inserted into an ankle fixing mechanism 10, then a second disassembling ring 9-4 in each mechanical leg is sleeved and positioned at the crus of the rehabilitation person, so that the positioning of a crus fixing mechanism 9 is realized, a first disassembling ring 8-4 is sleeved and positioned at the crus of the rehabilitation person, so that the positioning of a thigh fixing mechanism 8 is realized, and the weight of a gravity compensation mechanism 4 is supplemented through the control system, the total weight of the lower limb robot 3 and the support frame 4-8 is ensured to be matched with the compensation tension provided by the compensator 4-1, the foot sole matching channel 5 is started to carry out lower limb gait training, and the gait of the lower limb robot 3 is made to be continuous action accompanied with gravity center change under the control of a control system.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a recovered robot of intelligence for low limbs gait training which characterized in that: comprises a rack (1), a weight-reducing lifting mechanism (2), a lower limb robot (3), a gravity compensation mechanism (4) and a sole matching channel (5), wherein the rack (1) comprises a cross beam (1-1) and two upright columns (1-2), the two upright columns (1-2) are vertically arranged on the sole matching channel (5) in parallel, the lower limb robot (3) is arranged between the two upright columns (1-2) and is close to the sole matching channel (5), the cross beam (1-1) is horizontally arranged between the two upright columns (1-2), the gravity compensation mechanism (4) and the weight-reducing lifting mechanism (2) are respectively arranged on the two upright columns (1-2), the connecting end of the weight-reducing lifting mechanism (2) passes through the cross beam (1-1) to be detachably connected with lower limb rehabilitation personnel, and the weight-reducing lifting mechanism (2) is connected with the robot (3), the lower limb robot (3) is respectively matched with the hip joint, the knee joint and the ankle joint of the rehabilitation personnel.

2. The intelligent rehabilitation robot for lower limb gait training according to claim 1, characterized in that: the gravity compensation mechanism (4) comprises a compensator (4-1), a traction rope (4-2), a first-stage fixed pulley (4-3), a second-stage fixed pulley (4-4), a third-stage fixed pulley (4-5), a fourth-stage fixed pulley (4-6), a bottom plate (4-7) and a support frame (4-8), wherein the bottom plate (4-7) is vertically arranged between the two upright posts (1-2), the support frame (4-8) is arranged on the bottom plate (4-7), the lower limb robot (3) is fixedly arranged on the support frame (4-8), the fourth-stage fixed pulley (4-6) and the third-stage fixed pulley (4-5) are respectively arranged at the top and the bottom of the support frame (4-8), the second-stage fixed pulley (4-4) is arranged on the bottom plate (4-7), and the first-stage fixed pulley (4-3) is arranged on one of the two upright posts (1-2) The outer side wall of the column (1-2) is provided with a compensator (4-1) fixedly arranged at the top of the same column (1-2) with the first-stage fixed pulley (4-3), one end of a traction rope (4-2) is connected with the compensator (4-1), the other end of the traction rope (4-2) sequentially rounds the first-stage fixed pulley (4-3), the second-stage fixed pulley (4-4), the third-stage fixed pulley (4-5) and the fourth-stage fixed pulley (4-6) and then is connected with a support frame (4-8), and the support frame (4-8) drives the lower limb robot (3) to synchronously reciprocate along the length direction of the column (1-2) through the traction rope (4-2).

3. The intelligent rehabilitation robot for lower limb gait training according to claim 1 or 2, characterized in that: the lower limb robot (3) comprises a leg spacing adjusting device (7) and two mechanical legs, the leg spacing adjusting device (7) is matched with hip joints of rehabilitation personnel, and the leg spacing adjusting device (7) is fixedly arranged on a support frame (4-8);

two mechanical legs are arranged below the leg interval adjusting device (7) in parallel, each mechanical leg comprises a thigh fixing mechanism (8), a shank fixing mechanism (9), an ankle fixing mechanism (10) and a first motor (11), the thigh fixing mechanism (8), the shank fixing mechanism (9) and the ankle fixing mechanism (10) are sequentially connected from top to bottom, the ankle fixing mechanism (10) is provided with the first motor (11) in a matching manner, the thigh fixing mechanism (8) comprises a first limiting plate (8-1), a first transmission mechanism (8-2), a first telescopic adjusting mechanism (8-3) and a first disassembly ring (8-4), the first limiting plate (8-1) is vertically arranged, one end of the first limiting plate (8-1) is fixedly connected to the leg interval adjusting device (7), and a first transmission mechanism (8-2) is fixedly arranged on the outer side wall of the first limiting plate (8-1), the bottom of the first transmission mechanism (8-2) is connected with the top of the first telescopic adjusting mechanism (8-3), and a first disassembling ring (8-4) is arranged on the first telescopic adjusting mechanism (8-3); the shank fixing mechanism (9) comprises a second limiting plate (9-1), a second transmission mechanism (9-2), a second telescopic adjusting mechanism (9-3) and a second disassembling ring (9-4), the second limiting plate (9-1) is vertically arranged, the outer side wall of the second limiting plate is fixedly provided with the second transmission mechanism (9-2), the bottom of the first telescopic adjusting mechanism (8-3) is connected with the top of the second telescopic adjusting mechanism (9-3) through the second transmission mechanism (9-2), the bottom of the second telescopic adjusting mechanism (9-3) is connected with an ankle fixing mechanism (10), and the second disassembling ring (9-4) is arranged on the second telescopic adjusting mechanism (9-3).

4. The intelligent rehabilitation robot for lower limb gait training according to claim 3, characterized in that: the leg spacing adjusting device (7) is arranged between the two upright posts (1-2) and is fixedly installed on the gravity compensation mechanism (4), the leg spacing adjusting device (7) comprises a sliding rail (7-1) and two displacement control pieces (7-2), the sliding rail (7-1) and the displacement control pieces (7-2) are sequentially arranged on the gravity compensation mechanism (4) from top to bottom, the two displacement control pieces (7-2) are arranged in parallel, each displacement control piece (7-2) comprises a rocking wheel (7-2-1), a screw rod (7-2-2), a first sliding block (7-2-3) and a sub-frame (7-2-4), the two screw rods (7-2-2) are coaxially arranged above the sliding rail (7-1), one end of each screw rod (7-2-2) is provided with the rocking wheel (7-2-1), the other ends of the two lead screws (7-2-2) are fixedly arranged on a support frame (4-8) through a fixed bearing (12), each lead screw (7-2-2) is sleeved with a first sliding block (7-2-3), the first sliding blocks (7-2-3) reciprocate along the length direction of the lead screw (7-2-2), the sub-frame (7-2-4) is vertically arranged between the first sliding block (7-2-3) and a sliding rail (7-1), the top of the sub-frame (7-2-4) is fixedly connected with the first sliding block (7-2-3), the bottom of the sub-frame (7-2-4) is in sliding fit with the sliding rail (7-1), and a mechanical leg is correspondingly arranged on the sub-frame (7-2-4), the two mechanical legs are driven by the two sub-frames (7-2-4) to move towards or away from each other.

5. The intelligent rehabilitation robot for lower limb gait training according to claim 3, characterized in that: the ankle fixing mechanism (10) comprises an adjusting support (10-1), an adjusting spring (10-2), an adjusting rope (10-3), an adjusting arm (10-4), an ankle support (10-5), a first pulley block, an ankle motor (10-8), a winding drum (10-9), a foot frame (10-10) and two lifting pull rods (10-11), wherein the outer side wall of the ankle support (10-5) is hinged with the bottom of the shank fixing mechanism (9), the ankle support (10-5) is sequentially provided with the first pulley block and the winding drum (10-9) along the length direction of the ankle support, the winding drum (10-9) is provided with the ankle motor (10-8) in a matched mode, and the lower end of the adjusting arm (10-4) is vertically arranged on the ankle support (10-5), the upper end of the adjusting arm (10-4) is hinged with an adjusting support (10-1), the bottom of the ankle support (10-5) is hinged with a foot frame (10-10), the foot frame (10-10) is a U-shaped frame body, two ends of the foot frame (10-10) are respectively provided with a lifting pull rod (10-11), one end of the adjusting rope (10-3) is connected with one lifting pull rod (10-11) of the two lifting pull rods (10-11) through a first pulley block, the other end of the adjusting rope (10-3) is connected with a winding drum (10-9), and the other lifting pull rod (10-11) of the two lifting pull rods (10-11) is connected with the adjusting support (10-1) through an adjusting spring (10-2).

6. The intelligent rehabilitation robot for lower limb gait training according to claim 1 or 2, characterized in that: the control system comprises a control box (16-1) and a PC console (16-2), wherein the PC console (16-2) is arranged close to the rack (1), and the control box (16-1) is arranged at the bottom of the other upright post (1-2) of the two upright posts (1-2).

7. The intelligent rehabilitation robot for lower limb gait training according to claim 6, characterized in that: the weight-reducing lifting mechanism (2) comprises a second motor (2-1), a force buffering mechanism (2-2), a second pulley block (2-3), a connecting rope (2-4), a gravity sensor (2-5), a control sensor (2-6), a hook (2-7) and a second sliding block (2-8), wherein the second motor (2-1), the force buffering mechanism (2-2) and the second pulley block (2-3) are sequentially arranged on the other upright post (1-2) of the two upright posts (1-2) from bottom to top, the second motor (2-1) is connected with a control box (16-1), the second sliding block (2-8) is arranged on the cross beam (1-1), the hook (2-7) is arranged below the cross beam (1-1) and is connected with the second sliding block (2-8), the hook (2-7) is driven by the second sliding block (2-8) to reciprocate along the length direction of the cross beam (1-1), the gravity sensor (2-5) is arranged on the second sliding block (2-8), one end of the connecting rope (2-4) is connected with the hook (2-7), the other end of the connecting rope (2-4) is connected with the second motor (2-1) by bypassing the second pulley block (2-3), the control sensor (2-6) is arranged on the connecting rope (2-4), the control sensor (2-6) is arranged between the hook (2-7) and the second sliding block (2-8), and the gravity sensor (2-5) and the control sensor (2-6) are respectively and electrically connected with the control box (16-1).

8. The intelligent rehabilitation robot for lower limb gait training according to claim 1, characterized in that: the sole matching passage (5) is a treadmill.