CN111588595B

CN111588595B - Intelligent rehabilitation robot for lower limb gait training

Info

Publication number: CN111588595B
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: 2024-08-27
Anticipated expiration: 2040-06-22
Also published as: CN111588595A

Abstract

An intelligent rehabilitation robot for lower limb gait training. Most lower limb rehabilitation robots sold in the market use a single training mode, only two hip joints and knee joints move, ankle joint training is lacked, only simple interrelated movement is carried out between joint structures, no training function is achieved, gravity center change during walking cannot be considered, and training effect is affected. The frame comprises a cross beam and two upright posts, wherein the two upright posts are vertically arranged on a foot sole matching channel in parallel, a lower limb robot is arranged between the two upright posts and close to the foot sole matching channel, the cross beam is horizontally arranged between the two upright posts, the gravity compensation mechanism and the weight reduction lifting mechanism are respectively arranged on the two upright posts, the connecting end of the weight reduction lifting mechanism penetrates through the cross beam and is detachably connected with a rehabilitation staff, the weight reduction lifting mechanism is connected with the lower limb robot, and the lower limb robot is respectively matched with a hip joint, a knee joint and an ankle joint of the rehabilitation staff. The invention is used for lower limb rehabilitation training.

Description

Intelligent rehabilitation robot for lower limb gait training

Technical field:

The invention relates to an intelligent rehabilitation robot, in particular to an intelligent rehabilitation robot for gait training of lower limbs.

The background technology is as follows:

The rehabilitation robot is used for assisting or replacing the exercise function of a rehabilitation person or assisting the rehabilitation person to perform 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 a combination of rehabilitation treatment technology and robot technology and is mainly used for restoring the movement function of limbs of rehabilitation personnel.

How to effectively lead hemiplegia rehabilitation personnel to realize walking ability again and realize correct gait posture is a difficult problem in clinic at present, and the intelligent rehabilitation robot for lower limbs realizes the possibility. The rehabilitation device effectively helps rehabilitation staff find the correct walking posture and helps rehabilitation staff to carry out neural reconstruction of gait functions, and greatly meets the requirements of the rehabilitation staff and clinic. Therefore, the intelligent rehabilitation robot for the lower limbs has become the best treatment means for gait function recovery due to the functional advantages of the intelligent rehabilitation robot, and is the biggest factor for design and research and development of our company. In addition, from the current market, the technical application of robots is continuously put on social trend, the research and development of the products must play a leading role in the rehabilitation industry, the development of the rehabilitation industry is quickened, and the clinical breakthrough is brought.

Most of the existing lower limb rehabilitation robots on the market are common weight-reduction and running machines matched mechanical movements or upgrade versions of active and passive training of lower limbs, have low intelligent level, can only realize a single (active and passive) training mode, and lack active and passive automatic switching and effective training evaluation means. Secondly, in clinical use, the whole human gait process is known to be realized by the linkage relation of the hip joint, the knee joint and the ankle joint, and the human gravity center is a process of floating up and down in the gait walking process. However, most robots on the market can be seen, only two joints do not train ankle joints in motion (hip joint and knee joint), but only the pure interrelated motions do not train the function. And the center of gravity variation during walking is not considered during the whole gait running process. For rehabilitation personnel who need to recover gait walking, a correct gait walking posture and a better training pattern are of great importance. However, the problem that the rehabilitation period and the treatment effect are delayed by the correct posture and functional errors of the rehabilitation staff at the initial stage of rehabilitation is not solved well so far.

The invention comprises the following steps:

In order to solve the problems mentioned in the background art, the invention aims 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 frame, subtracts 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 its 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 set up respectively on two stands, it passes the crossbeam and can dismantle with recovered personnel to subtract the link of heavy elevating system and be connected, 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, a tertiary fixed pulley, a quaternary fixed pulley, a bottom plate and a support frame, wherein the bottom plate is vertically arranged between two upright posts, the support frame is arranged on the bottom plate, a lower limb robot is fixedly installed on the support frame, the quaternary fixed pulley and the tertiary fixed pulley are respectively arranged at the top and the bottom of the support frame, the secondary fixed pulley is arranged on the bottom plate, the primary fixed pulley is arranged on one of the two upright posts on the outer side wall of the upright post, the compensator is fixedly installed at the top of the same upright post with the primary fixed pulley, one end of the traction rope is connected with the compensator, and the other end of the traction rope sequentially bypasses the primary fixed pulley, the secondary fixed pulley, the tertiary fixed pulley and the quaternary fixed pulley and then is connected with the support frame, and the support frame drives the lower limb robot to synchronously reciprocate along the length direction of the upright post through the traction rope.

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

Two mechanical legs are arranged below the leg interval 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 mechanism, the shank fixing mechanism and the ankle fixing mechanism are sequentially connected from top to bottom, the ankle fixing mechanism is provided with a first motor in a matched mode, the thigh fixing mechanism comprises a first limiting plate, a first transmission mechanism, a first telescopic adjusting mechanism and a first dismounting ring, the first limiting plate is arranged vertically, one end of the first limiting plate is fixedly connected to the leg interval 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 dismounting ring; the shank fixing mechanism comprises a second limiting plate, a second transmission mechanism, a second telescopic adjusting mechanism and a second dismounting ring, wherein the second limiting plate is vertically arranged, the second transmission mechanism is fixedly arranged on the outer side wall of the second limiting plate, 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 dismounting ring is arranged on the second telescopic adjusting mechanism.

As a preferable scheme: the leg interval adjusting device is arranged between two stand columns and fixedly mounted on the gravity compensation mechanism, the leg interval adjusting device comprises a sliding rail and two displacement control pieces, the sliding 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 side by side, each displacement control piece comprises a rocking wheel, a lead screw, a first sliding block and a sub-frame, the two lead screws are coaxially arranged above the sliding rail, one end of each lead screw is provided with the rocking wheel, the other ends of the two lead screws are fixedly mounted on the supporting frame through fixed bearings, the first sliding block is sleeved on each lead screw, the first sliding block reciprocates along the length direction of the lead screw, the sub-frame is vertically arranged between the first sliding block and the sliding rail, the top of the sub-frame is fixedly connected with the first sliding block, the bottom of the sub-frame is in sliding fit with the sliding rail, a mechanical leg is correspondingly mounted on the sub-frame, and the two mechanical legs make opposite or opposite movements under the driving of the two sub-frames.

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

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

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 sensor, a hook and a second sliding block, wherein the second motor, the force buffer mechanism and the second pulley block are sequentially arranged on the other of the two upright posts from bottom to top, the second motor is connected with a control box, the second sliding block is arranged on a cross beam, the hook is arranged below the cross beam and is 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, the gravity sensor is arranged on the second sliding block, one end of the connecting rope is connected with the hook, the other end of the connecting rope bypasses the second pulley block and is connected with the second motor, the control sensor is arranged on the connecting rope and 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 sole matching channel is a running machine.

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

1. the invention relates to an intelligent robot device for lower limb gait training, which aims to comprehensively train lower limbs of rehabilitation personnel, effectively ensure the safety of the rehabilitation personnel and improve the rehabilitation effect of the rehabilitation personnel. The situations that rehabilitation staff cannot accurately walk and pose of lower limbs at the initial stage of rehabilitation and functional errors delay the rehabilitation period and the treatment effect are avoided.

2. The invention can realize scientific and reasonable training mode through the mutual coordination among the frame, the weight-reducing lifting mechanism, the lower limb robot, the gravity compensation mechanism and the sole coordination channel, can realize corresponding training of hip joints, knee joints and ankle joints of rehabilitation personnel through the mutual coordination of a leg interval adjusting device of the lower limb robot and two mechanical legs, and enables the training mode to perfectly fit the walking posture of a real person.

3. The gravity compensation mechanism provided by the invention has a simple and reasonable structure, can ensure that the lower limb robot is in a weightless state, eliminates the weight of the lower limb robot, increases the comfort level of a rehabilitation person in the treatment process, simulates the lower limb feeling of the rehabilitation person during normal walking, and avoids the influence of the dead weight of the lower limb robot on the treatment effect of the rehabilitation person.

4. The leg interval adjusting device is reasonable in structural design, flexibly adjusts the relative distance between the two mechanical legs, is stable in relative position positioning of the two mechanical legs after adjustment, is suitable for different rehabilitation personnel, provides stable and accurate structural assistance for lower limb training of the rehabilitation personnel, and enhances comfort and accuracy of lower limb training.

5. The leg interval adjusting device, the thigh fixing mechanism, the shank fixing mechanism and the ankle fixing mechanism are matched with each other to achieve the effects of accurately matching and accurately controlling positions of hip joints, knee joints and ankle joints of rehabilitation personnel, wherein the leg interval adjusting device is matched with the hip joints of the rehabilitation personnel, the thigh fixing mechanism and the shank fixing mechanism are matched with the knee joints of the rehabilitation personnel, the ankle fixing mechanism is matched with the ankle joints of the rehabilitation personnel, and the leg interval adjusting device, the thigh fixing mechanism, the shank fixing mechanism and the ankle fixing mechanism are matched with each other under the control of a control system to achieve reciprocating motion of walking postures of normal legs of lower limbs of the rehabilitation personnel with different heights and different age groups.

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 of the gravity compensation mechanism to the frame;

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

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

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

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

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

FIG. 8 is a schematic perspective view of the ankle securing mechanism;

FIG. 9 is a schematic front view of a leg spacing adjustment device;

fig. 10 is a block diagram of the operational principle of the present invention.

In the figure, a 1-rack; 1-1-a cross beam; 1-2-upright posts; 2-a weight-reducing lifting mechanism; 2-1-a second motor; 2-2-force buffer mechanism; 2-3-second pulley blocks; 2-4-connecting ropes; 2-5-gravity sensor; 2-6-control inductor; 2-7-hooks; 2-8-second slide blocks; 3-a lower limb robot; 4-a gravity compensation mechanism; 4-1-compensator; 4-2-hauling rope; 4-3-primary fixed pulleys; 4-4-second-stage fixed pulleys; 4-5-three-stage fixed pulleys; 4-6-four-stage fixed pulleys; 4-7-base plate; 4-8-supporting frames; 5-foot sole mating channels; 7-leg spacing adjustment means; 7-1-sliding rails; 7-2-displacement control; 7-2-1-shaking wheels; 7-2-2-screw rod; 7-2-3-slide blocks; 7-2-4-split frames; 8-thigh securing mechanisms; 8-1-a first limiting plate; 8-2-a first transmission mechanism; 8-3-a first telescopic adjusting mechanism; 8-4-a first disassembly ring; 9-a shank fixation mechanism; 9-1-a second limiting plate; 9-2-a second transmission mechanism; 9-3-a second telescopic adjusting mechanism; 9-4-a second disassembly ring; 10-ankle securing means; 10-1-adjusting the bracket; 10-2-adjusting springs; 10-3-adjusting rope; 10-4-adjusting arms; 10-5-ankle support; 10-6-first pulley; 10-7-a second pulley; 10-8-ankle motor; 10-9-winding drum; 10-10-foot frames; 10-11 lifting the pull rod; 11-a first motor; 12-fixing a bearing; 13-a hanging part for the gravity compensation mechanism; 16-1-control box; 16-2-PC console.

The specific embodiment is as follows:

for the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.

It should be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details not greatly related 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 specific embodiment adopts the following technical scheme, the specific embodiment comprises 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 comprises a cross beam 1-1 and two upright posts 1-2, the two upright posts 1-2 are vertically arranged on the foot sole matching channel 5 in parallel, the lower limb robot 3 is arranged between the two upright posts 1-2 and is close to the foot sole matching channel 5, the cross beam 1-1 is horizontally arranged between the two upright posts 1-2, the gravity compensation mechanism 4 and the weight-reducing lifting mechanism 2 are respectively arranged on the two upright posts 1-2, the connecting end of the weight-reducing lifting mechanism 2 penetrates through the cross beam 1-1 to be detachably connected with a rehabilitation staff, the weight-reducing lifting mechanism 2 is connected with the lower limb robot 3, and the lower limb robot 3 is respectively arranged in matching with joints, knee joints and ankle joints of the rehabilitation staff.

The second embodiment is as follows: the embodiment is further limited by the first embodiment, the gravity compensation mechanism 4 comprises a compensator 4-1, a traction rope 4-2, a primary fixed pulley 4-3, a secondary fixed pulley 4-4, a tertiary fixed pulley 4-5, a quaternary fixed pulley 4-6, a bottom plate 4-7 and a supporting frame 4-8, the bottom plate 4-7 is vertically arranged between the two upright posts 1-2, the supporting frame 4-8 is arranged on the bottom plate 4-7, the lower limb robot 3 is fixedly arranged on the supporting frame 4-8, the quaternary fixed pulley 4-6 and the tertiary fixed pulley 4-5 are respectively arranged at the top and the bottom of the supporting frame 4-8, the secondary fixed pulley 4-4 is arranged on the bottom plate 4-7, the primary 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 on the top of the same upright post 1-2 as the primary fixed pulley 4-3, one end of the traction rope 4-2 is connected with the compensator 4-7, the other end of the traction rope 4-2 sequentially bypasses the secondary fixed pulley 4-3 and the secondary fixed pulley 4-8 and drives the traction rope 4-8 to move along the length of the supporting frame 4-8, and the length of the traction rope 4-2 is synchronously connected with the traction rope 4-4 along the length of the three upright posts 4-8.

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

In the embodiment, a pulley block formed by the primary fixed pulley 4-3, the secondary fixed pulley 4-4, the tertiary fixed pulley 4-5 and the quaternary fixed pulley 4-6 is matched with the traction rope 4-2 to realize a conduction effect, and the traction rope 4-2 is a steel wire rope.

In the gravity compensation mechanism 4 in the present embodiment, the self weight of the lower limb robot 3 is applied to the compensator 4-1 by conduction through the wire rope and the pulley block, and the range of the compensator 4-1 satisfies the requirement of the self weight of the lower limb robot 3.

In this embodiment, a groove is formed in an end portion of the cross beam 1-1, and a hanging portion 13 for a gravity compensation mechanism detachably connected to the compensator 4-1 is provided in the groove. The specific structure of the hanging portion 13 for the gravity compensation mechanism is 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 the compensator 4-1, the tension changes the direction of force through the primary fixed pulley 4-3, the secondary fixed pulley 4-4, the tertiary fixed pulley 4-5 and the quaternary fixed pulley 4-6, and then the force is transmitted to the 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 is proved by sample test that the compensating tension of 60kg is exactly provided by the compensator 4-1 because the total weight of the lower limb robot 3 and the support frame 4-8 is preferably 60 kg. Because the walking process of the person is up-and-down fluctuation reciprocating motion, when the rehabilitation personnel wear the robot for training, the lower limb robot 3 makes reciprocating motion along with the motion state of the rehabilitation personnel through the gravity compensation mechanism 4, and the rehabilitation personnel will not bear the additional gravity generated by the invention.

And a third specific embodiment: the present embodiment is further defined in the first or second embodiment, where the lower limb robot 3 includes a leg spacing adjusting device 7 and two mechanical legs, the leg spacing adjusting device 7 is disposed in cooperation with a hip joint of a rehabilitation person, and the leg spacing adjusting device 7 is fixedly mounted 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 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 matched mode, 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 arranged vertically, one end of the first limiting plate 8-1 is fixedly connected to the leg interval adjusting device 7, 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 the first dismounting 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 detaching ring 9-4, wherein the second limiting plate 9-1 is vertically arranged, the second transmission mechanism 9-2 is fixedly arranged on the outer side wall of the second limiting plate, 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 detaching ring 9-4 is arranged on the second telescopic adjusting mechanism 9-3.

In this embodiment, the leg distance adjusting device 7 is further provided with a height adjusting mechanism in a matched manner, the height adjusting mechanism is an existing lifting adjusting device, and is preferably formed by interaction of a multi-head screw and a gear, the gear is driven by a handle of a rotating handle to act on the screw to achieve vertical height adjustment, the adjusting range is 0-450 mm, and the existing lifting adjusting device capable of achieving vertical adjustment in the range is replaceable.

The first transmission mechanism 8-2 in this embodiment includes a first timing belt and a plurality of first timing wheels, and the first timing belt and the plurality of first timing wheels are connected in the same manner as the conventional belt. The first telescopic adjusting mechanism 8-3 and the second telescopic adjusting mechanism 9-3 are all existing telescopic rod assemblies, and the telescopic principle is to realize telescopic change of rod length by means of motor driving.

Further, one of the plurality of first synchronizing wheels is a first driving synchronizing wheel, the first driving synchronizing wheel is provided with a servo motor in a matched 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 belt, so that the angle adjusting process of the thigh fixing mechanism 8 is achieved.

Further, the lower limb robot 3 is mutually matched with the thigh fixing mechanism 8 through the leg interval adjusting device 7, so that the hip joint adjusting ranges of the rehabilitation personnel are respectively: bending the knee by 34.5 degrees and stretching the knee by 25.5 degrees,

In this embodiment, the second transmission mechanism 9-2 includes a second timing belt and a plurality of first timing wheels, and the connection mode of the second timing belt and the plurality of second timing wheels are the same as the process of the conventional belt.

Further, one second synchronizing wheel of the plurality of second synchronizing wheels is a second driving synchronizing wheel, the second driving synchronizing wheel is provided with a servo motor in a matched mode, 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 a second synchronizing belt, so that the angle adjusting process of the shank fixing mechanism 9 is achieved.

Further, thigh fixed establishment 8 and shank fixed establishment 9 mutually support and realize the accommodation range to rehabilitation personnel knee joint respectively: bending the knee by 64 degrees and extending the knee by 0 degree.

In the embodiment, the lower limb robot 3 controls the limit of the joint angle through the photoelectric switch, so that the use safety requirement of rehabilitation personnel is met.

In this embodiment, the ankle fixing mechanism 10 is driven by the first motor 11, and the photoelectric switch controls the limit to realize the joint operation. Joint adjustment range: dorsiflexion adult 15 °, dorsiflexion child 12 °, subtend 10 °.

The specific embodiment IV is as follows: the embodiment is further limited by the first, second or third embodiment, the leg interval adjusting device 7 is arranged between two upright posts 1-2 and is fixedly arranged on the gravity compensation mechanism 4, the leg interval 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 supporting frame 4-8 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 lead screw 7-2-2, a first sliding block 7-2-3 and a sub-frame 7-2-4, the two lead screws 7-2-2 are coaxially arranged above the sliding rail 7-1, one end of each lead screw 7-2-2 is provided with the rocking wheel 7-2-1, the other end of each lead screw 7-2-2 is fixedly arranged on the supporting 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 block 7-2-3 moves along the length direction of the 7-2-2 and the sub-2-4, the first sliding block 7-2-3 is correspondingly arranged on the sliding rail 7-2-4 and the sub-2-4, the sliding frame 7-2-4 is correspondingly arranged on the sliding rail 4-4 and is correspondingly arranged on the sliding frame 7-2-4, the two mechanical legs are driven by the two sub frames 7-2-4 to move in opposite directions or in opposite directions.

The principle of operation of the leg-space adjusting device 7 in this embodiment:

The two rocking wheels 7-2-1 are operated to drive the corresponding lead screws 7-2-2 to rotate, the two lead screws 7-2-2 rotate to drag the two first sliding blocks 7-2-3 to be close to each other or move to two sides at the same time, and meanwhile, 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 distance between the two sub-frames 7-2-4 is changed, opposite or opposite movement is made, and the distance between the two mechanical legs is adjusted.

Fifth embodiment: the ankle fixing mechanism 10 comprises 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 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 bracket 10-5 is hinged with the bottom of the lower leg fixing mechanism 9, the ankle bracket 10-5 is sequentially provided with the first pulley block and the winding drum 10-9 along the length direction of the ankle bracket, the winding drum 10-9 is matched with the ankle motor 10-8, 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 with the adjusting bracket 10-1, the bottom of the ankle bracket 10-5 is hinged with a foot frame 10-10, the foot frame 10 is a U-shaped frame body, two ends of the foot frame 10-10 are respectively provided with one pull rod 10-11, one end of the adjusting rope 10-3 is connected with the other lifting pull rods 10-11 through the first pulley block and the two lifting pull rods 10-11, and the other lifting rope 10-11 is connected with the other lifting pull rods 10-11 in the other lifting rods 10-10 through the first pulley block. The adjusting spring 10-2 comprises a spring, a connecting rod and a counter weight hammer, wherein the spring is connected with the counter weight hammer through the connecting rod, and the counter weight hammer has the effect of prolonging inertia, so that the spring is prolonged and deepened to be in an elastic extension state.

Further, the adjusting bracket 10-1 is used for adjusting the sole level, and the adjusting bracket 10-1 is connected with the adjusting arm 10-4 through bolts, 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 ability of the sole to move beyond a certain limit.

Further, the adjustment cord 10-3 is used to tighten and restrict the downward movement of the lift pins 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, ankle support 10-5 is used for the unitary frame structure of ankle securing mechanism 10.

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

Further, the ankle motor 10-8 provides power for ankle movement, preferably by being fastened to the ankle bracket 10-5 by bolts.

Further, the winding drum 10-9 pulls the adjusting rope 10-3, transmits power of the ankle motor 10-8, and is connected with the ankle motor 10-8 through a key and a bolt.

Furthermore, the foot frame 10-10 is arranged in a shape matching with the heel shape of the sole of a person, and plays a role in positioning the heel circumferentially in the sole pedaling 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 bearings 12 serve to support the foot frame 10-10, ensuring that the foot frame 10-10 makes a tilting motion in the ankle bracket 10-5.

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

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

The principle of operation of ankle securing mechanism 10:

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 by 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 frame 10-10, and the reciprocating motion of the ankle fixing mechanism 10 is realized under the support of the fixing bearing 12. The upper limit of ankle movement is also matched with a position sensor, the position sensor is used for collecting position information to control the rotation circle number of the ankle motor 10-8, when the upper limit is reached, the ankle motor 10-8 stops working, the ankle motor 10-8 is reversed by the gravity of the foot, and the effect of releasing the regulating 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 human foot, limit the motion lower limit of the human foot and prevent the foot injury caused by the excessive downward of the toe.

The thigh fixing mechanism 8, the shank fixing mechanism 9 and the ankle fixing mechanism 10 in each mechanical leg are mutually communicated to match the reciprocating motion of the simulated human leg under the control of the control system, wherein the control process of the ankle fixing mechanism 10 is a complex control, adjustment, information feedback and processing process.

Specific embodiment six: this embodiment is further defined as the first, second, third, fourth or fifth embodiment, and as shown in fig. 10, the control system includes a control box 16-1 and a PC control console 16-2, the PC control console 16-2 is disposed near the rack 1, the control box 16-1 is disposed at the bottom of the other one of the two upright posts 1-2, and the control box 16-1 is electrically connected with the PC control console 16-2.

The PC console 16-2 in this embodiment is specifically a PC control computer.

In this embodiment, the front end of the sole matching channel 5 is provided with a display screen for assisting the PC console 16-2 to display related data and images, so as to help rehabilitation personnel or persons assisting rehabilitation personnel in performing rehabilitation training to timely solve the gait state of the lower limbs.

According to the leg distance 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, the driving force is provided by adopting a servo motor, the ankle fixing mechanism 10 provides the driving force through the first motor 11, wherein the first motor 11 is a direct current motor, the servo motor collects signals by utilizing a servo motor controller and is realized by a main board singlechip of the control box 16-1, so that the gait walking process of the lower limb robot 3 is met.

In the present embodiment, the singlechips used in the control box 16-1 are MCUSTM F103 and MCUATEMGA, respectively.

Seventh embodiment: the embodiment is further limited by a first embodiment, a second embodiment, a third embodiment, a fourth embodiment, a fifth embodiment or a sixth embodiment, the weight-reducing lifting mechanism 2 comprises a second motor 2-1, a force buffer 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, the second motor 2-1, the force buffer mechanism 2-2 and the second pulley block 2-3 are sequentially arranged on the other one 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 hook 2-4, the other end of the connecting rope 2-4 is connected with the second sliding block 2-6-4, and the control sensor 2-8 is connected with the second sliding block 2-6, and the control box 2-6 is connected with the second sliding block 2-6 is arranged between the control rope and the control box and the control device.

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

In the present embodiment, the force buffer mechanism 2-2 is a conventional buffer mechanism composed of a spring and a positioning frame. Other existing force buffering mechanisms are replaceable.

In the present 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 a rehabilitation person. The realized hooking effect is uniform and stable.

In the embodiment, the weight-reducing lifting mechanism 2 realizes weight-reducing lifting by utilizing the cooperation of the second motor 2-1 to rotate and drive the connecting rope 2-4 and the second pulley block 2-3, and the rehabilitation personnel is suspended by the rehabilitation personnel hook 2-7, so that the weight-reducing function of the rehabilitation personnel is met. The weight reduction value is accurately regulated by the gravity sensor 2-5, safe and effective control is achieved by controlling the sensor 2-6, the force buffer mechanism 2-2 realizes force compensation in the lifting process from static to dynamic, and comfort and reliability are improved

Eighth embodiment: the present embodiment is further defined as one, two, three, four, five, six or seven embodiments, and the sole matching track 5 is a treadmill. Other existing equipment capable of achieving in situ stepping may be substituted.

Detailed description nine: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the control system of the present invention includes a power supply control section and a system control section:

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

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

Second control level: in the closed state of the AC controller, the power supply which can be switched on only by switching on the control output of the power supply control relay is also needed, and the types of the control output of the power supply control relay are divided into three paths: the first path controls the power supply of the pull-up frequency converter, the second path controls the power supply of the hip joint and knee joint controllers, the third path controls the power supply of the running machine system, and the control signal of the power supply control relay is provided by the main control board.

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

1. Traction pull-up control system for gravity compensation mechanism 4: the gravity compensation mechanism 4 comprises a compensator 4-1, a traction rope 4-2, a primary fixed pulley 4-3, a secondary fixed pulley 4-4, a tertiary fixed pulley 4-5, a quaternary fixed pulley 4-6, a bottom plate 4-7 and a supporting frame 4-8, the traction lifting control system corresponding to the gravity compensation mechanism 4 comprises a traction lifting remote controller, a traction lifting control board, a traction lifting motor, a traction lifting frequency converter, a bearing sensor and a limit sensor, and the weight reduction lifting mechanism 2 has the functions of helping rehabilitation personnel reduce self load so as to better and more easily finish rehabilitation training, reduce the bearing of mechanical structures and related electronic hardware and prolong the service life of the invention. The load-bearing sensor of the traction lifting control system is combined with the analog amplifier, corresponding gravity data are collected, the characteristics of mechanical structure design are utilized, the change of the gravity data is judged to serve as a motor stopping condition with the signal of the limit sensor, a closed loop is formed between the traction lifting control board and the traction lifting frequency converter and the traction lifting motor, the effect of automatically stopping a rehabilitation person after the rehabilitation person is placed in place when the traction lifting control board is controlled to descend is achieved, and the safety function that a patient or a lifting position is too high due to misoperation of the person is avoided.

2. When the sole matching channel 5 is a running machine, the running machine is correspondingly provided with a running machine system control system, the running machine system control system comprises a running machine frequency converter and a control PC computer control command, the control PC computer control command is sent by a PC control console 16-2, the power of the running machine is matched with the design maximum weight, the stability and the noise of the running machine when in operation also need to be noted, the running machine is provided with a tensioning device for adjusting the running belt in a problematic way, the running machine frequency converter is controlled by the control PC computer control command to complete the running machine speed, so that only the running state can be checked, the gradient adjusting function is used for adjusting the running platform level according to the condition of installing the running machine, and the installation period is used for meeting the requirement of the running machine.

3. The control part corresponding to the lower limb robot 3 is a robot leg control system, the lower limb robot 3 comprises a leg interval adjusting device 7 and two mechanical legs, the leg interval adjusting device 7 is matched with the hip joint of a rehabilitation person, and the leg interval adjusting device 7 is fixedly arranged on the supporting frames 4-8; The two mechanical legs are a left mechanical leg and a right mechanical leg respectively, 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 board and a control PC computer control command, the control PC computer control command is sent by a PC control board 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 interval adjusting device 7, 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 dismounting ring 8-4 is arranged on the first telescopic adjusting mechanism 8-3; The lower leg 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 dismounting ring 9-4, and lower limb rehabilitation training can be carried out through the first dismounting ring 8-4 and the second dismounting ring 9-4 when the lower leg fixing mechanism is used. The movement of each joint and the stretching of leg muscles are realized through the preset movement track, so that rehabilitation staff is helped to gradually recover the movement capacity of lower limbs, and the left mechanical leg and the right mechanical leg are respectively provided with a mechanical limiting module for ensuring the safety during rehabilitation training. In order to make the legs suitable for different rehabilitation personnel and easy to adjust, the lower limb robot 3 has eight adjustable degrees of freedom, which are the width of the hip joint respectively; The height of the backrest; the horizontal distance of the backrest; length of thigh; the length of the calf; left and right positions of the shank support plate; the front and rear positions of the calf support plate; the size of the calf support plate is changeable. The legs are driven, and each mechanical leg has three degrees of freedom, namely knee joints, hip joints and ankle joints. The requirements on the three joint drivers are that the driving force of the knee joint and the hip joint is strong enough to drive the leg to perform gait training, so that strong alternating current servo driving is selected, the driving force of the ankle joint is driven by a direct current brush motor because the driving force is required to be smaller after weight reduction, and the PC for controlling the PC computer control command is used as the uppermost control host, so that 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 motion motor so as to drive the mechanical structure to execute related motion. 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 an intelligent function. The control system can respond correspondingly according to the current change of the servo motor and the position change of the encoder. The two servo motors are controlled by an intelligent control system to form a mechanical leg, namely a lower computer part of the electric control system, and the servo motors are controlled to rotate corresponding angles at different walking time points, so that 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 senses the force limitation. Other structures and connection relationships not mentioned in this embodiment are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth embodiments.

Detailed description ten: as shown in fig. 1,2, 3, 4, 5, 6, 7, 8, 9 and 10, in this embodiment, the steps with the gravity center change are realized by the interaction among the frame 1, the weight-reducing lifting mechanism 2, the lower limb robot 3, the gravity compensation mechanism 4, the sole matching track 5 and the control system 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, which is characterized in that the gravity center track of a rehabilitation person in the walking process is a change curve in an upper and lower one-dimensional coordinate system. The invention collects the motion law which is mainly concentrated in the up-down one-dimensional direction on the gravity center change of the human body in the research and development process. The motion trail of the gravity center of the human body during walking is obtained through the kinematic simulation analysis by establishing a three-dimensional model of the human body during walking and importing the motion trail data of the knee joint and the hip joint of the human body, so as to compare the correctness of the acquired data. The mechanical system geometric model is written into mechanical dynamics simulation software, so that the kinematics and dynamics analysis is performed on the virtual mechanical system, and the simulation result is intuitively observed and output.

The motion track of the human body in the up-down direction of the gravity center is close to a sinusoidal curve, is basically consistent with the gravity center track tested by the motion capture instrument in the content, and is slightly larger than the gravity center deviation under the natural walking in amplitude. The gravity center locus of the human body model is acquired through data acquisition and kinematic simulation analysis, and the gravity center motion locus of the human body during walking is obtained. And comparing the obtained track diagrams to basically conform to the gravity center track of the two tracks, wherein the simulation data of the sinusoidal track in amplitude is slightly larger than the gravity center shift data under natural walking. From the natural law of human body walking, the fluctuation of the body weight and the heart of the human body is +/-20 mm, which accords with the natural law, so that the gravity center track of the invention is verified to be more prone to the gravity center track of the natural walking of the human body.

The process of decomposing and fusing the change of the gravity center to the structure according to the data and the parameters is as follows: the robot leg part weight reduction is separated from the rehabilitation personnel weight reduction, the weight reduction lifting mechanism 2 and the gravity compensation mechanism 4 are arranged and matched to assist the rehabilitation personnel to attach to the human body motion curve in the gait training process, and the robot leg part weight reduction and the rehabilitation personnel weight reduction follow the human body synchronous motion and carry out compensation treatment in a power control model of the leg part.

The cooperation of each component in the lower limb robot 3 can realize the alternate training of the gait of the two legs of the rehabilitation personnel, the mutual cooperation among the supporting frames 4-8, the bottom plate 4-7 and the frame 1 realizes the adjustment mode of the waist of the robot, the mutual cooperation among the leg interval adjusting device 7 and the supporting frames 4-8 realizes the back adjustment mode of the robot, and the weight-reducing lifting mechanism 2 is matched with the frame 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 compensate the step movement process by combining the power control model, so that the step training posture of the invention structurally accompanies the gravity center change, and the training step posture is more towards the real step posture.

The process of lifting the weight-reducing lifting mechanism 2 by the rehabilitation personnel is to effectively combine the connecting rope 2-4 with the second pulley block 2-3 and the force buffer mechanism 2-2 to lighten the dead weight of the rehabilitation personnel, reduce the bearing of a mechanical structure and related electronic hardware and prolong the service life of the robot, thereby realizing the pace gesture accompanied with the gravity center change more perfectly and easily and helping the rehabilitation personnel to complete scientific and reasonable rehabilitation training.

The working process of the invention comprises the following steps:

Firstly, a rehabilitation person is positioned in a frame 1 through a hook 2-7, a control system is started to control a weight-reducing lifting mechanism 2 to perform real-time measurement, the hip joint of the rehabilitation person is correspondingly placed in a leg interval adjusting device 7, the leg interval adjusting device 7 is adjusted according to the double leg size of the rehabilitation person, then the double legs of the rehabilitation person are respectively clamped in two mechanical legs, the assembly process is sequentially performed from the ankle joint, the knee joint and the hip joint of the rehabilitation person, firstly, the foot of the rehabilitation person is inserted into an ankle fixing mechanism 10, then a second dismounting ring 9-4 in each mechanical leg is sleeved and positioned at the position of the lower leg of the rehabilitation person, so that the positioning of the lower leg fixing mechanism 9 is realized, a first dismounting ring 8-4 is sleeved and positioned at the position of the lower leg of the rehabilitation person, the weight compensation mechanism 4 is performed through the control system, the total weight of the lower robot 3 and the support frame 4-8 are ensured to be matched with the compensation tension provided by a compensator 4-1, the foot sole matching channel 5 is started to perform gait training, and the lower limb continuous movement of the lower robot 3 is controlled by the control system to act as a continuous movement of the gravity center of the lower limb.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A intelligent rehabilitation robot for low limbs gait training, its characterized in that: the device comprises a frame (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 frame (1) comprises a cross beam (1-1) and two upright posts (1-2), the two upright posts (1-2) are vertically arranged on the sole matching channel (5) in parallel, the lower limb robot (3) is arranged between the two upright posts (1-2) and close to the sole matching channel (5), the cross beam (1-1) is horizontally arranged between the two upright posts (1-2), the gravity compensation mechanism (4) and the weight-reducing lifting mechanism (2) are respectively arranged on the two upright posts (1-2), the connecting end of the weight-reducing lifting mechanism (2) penetrates through the cross beam (1-1) to be detachably connected with a rehabilitation person, the weight-reducing lifting mechanism (2) is connected with the lower limb robot (3), and the lower limb robot (3) is respectively arranged in a matching manner with hip joints, knee joints and ankle joints of the rehabilitation person;

The gravity compensation mechanism (4) comprises a compensator (4-1), a traction rope (4-2), a primary fixed pulley (4-3), a secondary fixed pulley (4-4), a tertiary fixed pulley (4-5), a quaternary 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 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 quaternary fixed pulley (4-6) and the tertiary fixed pulley (4-5) are respectively arranged at the top and the bottom of the support frame (4-8), the secondary fixed pulley (4-4) is arranged on the bottom plate (4-7), the primary fixed pulley (4-3) is arranged on the outer side wall of one upright post (1-2) in the two upright posts (1-2), the compensator (4-1) is fixedly arranged on the outer side wall of the same upright post (1-2) as the primary fixed pulley (4-3), one end of the traction rope (4-2) is connected with one end of the traction rope (4-3) of the primary fixed pulley (4-2) in turn, and one end of the traction rope (4-2) is connected with one end of the traction rope (4-2) of the primary fixed pulley (4-2 in turn, the second-stage fixed pulley (4-4), the third-stage fixed pulley (4-5) and the fourth-stage fixed pulley (4-6) are 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 upright post (1-2) through a traction rope (4-2);

The weight-reducing lifting mechanism (2) comprises a second motor (2-1), a force buffer 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 buffer mechanism (2-2) and the second pulley block (2-3) are sequentially arranged on the other one of the two upright posts (1-2) from bottom to top, the second motor (2-1) is connected with a control box (16-1), a 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) reciprocates along the length direction of the cross beam (1-1) under the drive of the second sliding block (2-8), the gravity sensor (2-5) is arranged on the second sliding block (2-8), one end of the connecting rope (2-5) is connected with the hook (2-4), the other end of the connecting rope (2-4) bypasses the second pulley block (2-3) and is connected with the second motor (2-1), a control sensor (2-6) is arranged on the connecting rope (2-4), and the control sensor (2-6) is arranged between the hook (2-7) and the second sliding block (2-8);

The sole matching channel (5) is a running machine.

2. An intelligent rehabilitation robot for lower limb gait training according to claim 1, wherein: the lower limb robot (3) comprises a leg interval adjusting device (7) and two mechanical legs, wherein the leg interval adjusting device (7) is matched with the hip joint of a rehabilitation person, and the leg interval adjusting device (7) is fixedly arranged on a supporting 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 a first motor (11) in a matched mode, 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 interval 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 the first telescopic adjusting mechanism (8-3), and the first telescopic 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 dismounting ring (9-4), wherein the second limiting plate (9-1) is vertically arranged, the second transmission mechanism (9-2) is fixedly arranged on the outer side wall of the second limiting plate, 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 dismounting ring (9-4) is arranged on the second telescopic adjusting mechanism (9-3).

3. An intelligent rehabilitation robot for lower limb gait training according to claim 2, wherein: the leg interval adjusting device (7) is arranged between two upright posts (1-2) and fixedly arranged on the gravity compensation mechanism (4), the leg interval 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 lead screw (7-2-2), a first sliding block (7-2-3) and a sub-frame (7-2-4), the two lead screws (7-2-2) are coaxially arranged above the sliding rail (7-1), one end of each lead screw (7-2-2) is provided with the rocking wheel (7-2-1), the other end of each lead screw (7-2-2) is fixedly arranged on the supporting frame (4-8) through a fixed bearing (12), each sliding block (7-2-2) is sleeved with the lead screw (7-2-3) along the reciprocating direction of the first sliding block (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), one mechanical leg is correspondingly arranged on the sub-frame (7-2-4), and the two mechanical legs are driven by the two sub-frames (7-2-4) to move oppositely or reversely.

4. An intelligent rehabilitation robot for lower limb gait training according to claim 2, wherein: the ankle fixing mechanism (10) comprises 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 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 bracket (10-5) is hinged with the bottom of the shank fixing mechanism (9), the ankle bracket (10-5) is sequentially provided with the first pulley block and the winding drum (10-9) along the length direction, the winding drum (10-9) is matched with the ankle motor (10-8), 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 with the adjusting bracket (10-1), the bottom of the ankle bracket (10-5) is hinged with the foot frame (10-10), the foot frame (10-10) is a U-shaped frame body, one of the two ends of the foot frame (10-10) are respectively arranged at two ends of the foot frame (10-10), 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 the 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 bracket (10-1) through an adjusting spring (10-2).

5. An intelligent rehabilitation robot for lower limb gait training according to claim 1, wherein: the control system comprises a control box (16-1) and a PC control console (16-2), wherein the PC control console (16-2) is arranged close to the stand (1), and the control box (16-1) is arranged at the bottom of the other one of the two stand columns (1-2).

6. An intelligent rehabilitation robot for lower limb gait training according to claim 1, wherein: the gravity sensor (2-5) and the control sensor (2-6) are respectively and electrically connected with the control box (16-1).