CN112451320A

CN112451320A - Weight-losing supporting mechanism and lower limb rehabilitation robot comprising same

Info

Publication number: CN112451320A
Application number: CN202011338311.0A
Authority: CN
Inventors: 马苏湖; 范渊杰; 禹华军; 郭凤仙; 张南南
Original assignee: Shanghai Electric Group Corp
Current assignee: Shanghai Electric Group Corp
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-03-09
Anticipated expiration: 2040-11-25
Also published as: CN112451320B

Abstract

The invention discloses a weight-reducing support mechanism which is applied to a lower limb rehabilitation robot and comprises a support assembly, a left support piece, a right support piece and a rope assembly, wherein the left support piece and the right support piece are oppositely arranged at two ends of the support assembly and are respectively movably connected with the support assembly, and two ends of the rope assembly are respectively connected with the left support piece and the right support piece so that the left support piece and the right support piece can move in a staggered manner under the constraint of the rope assembly. By adopting the invention, when the patient carries out rehabilitation training, the left support piece and the right support piece can move back and forth in a staggered way along with the movement of the patient, so that the following follower with the front and back freedom degree is realized, the walking posture of the patient can be fitted, the patient can freely move, and the rehabilitation effect is improved. And moreover, the structure is simple and stable, the manufacturing cost is low, and the front and back displacement resistance is small.

Description

Weight-losing supporting mechanism and lower limb rehabilitation robot comprising same

Technical Field

The invention relates to a weight-reducing support mechanism and a lower limb rehabilitation robot comprising the same.

Background

In recent years, with the progress of aging of the population in China being accelerated, patients with lower limb joint injuries caused by improper walking modes, industrial injuries and the like are more and more, after surgery or drug treatment is performed on the patients, physical rehabilitation training is generally required, and the lower limb rehabilitation robot can help the patients to keep the body in a balanced state during the physical rehabilitation training, so that the heavy training time of physical therapists is shortened.

At present, a lower limb rehabilitation robot is mainly in a suspension weight loss and gait training mode, and the rehabilitation robot cannot completely fit the walking posture of a person due to large hip constraint during rehabilitation training, so that a patient cannot freely move, and the rehabilitation effect of the patient is influenced.

Disclosure of Invention

The invention aims to overcome the defect that the rehabilitation effect is influenced by the fact that the rehabilitation robot is greatly restrained on the lower limbs of a patient in the prior art, and provides a weight-reducing support mechanism and a lower limb rehabilitation robot comprising the same.

The invention solves the technical problems through the following technical scheme:

a weight-reducing support mechanism is characterized in that the weight-reducing support mechanism is applied to a lower limb rehabilitation robot and comprises a support assembly, a left support piece, a right support piece and a rope assembly,

the left supporting piece and the right supporting piece are arranged at two ends of the support component oppositely and are movably connected with the support component respectively, and two ends of the rope assembly are connected with the left supporting piece and the right supporting piece respectively, so that the left supporting piece and the right supporting piece can move in a staggered mode under the restraint of the rope assembly.

In this scheme, establish ties left support piece and right support piece through the rope assembly and get up, when the patient carries out the rehabilitation training, left support piece and right support piece can be along with the patient motion and crisscross removal from beginning to end, the following of the degree of freedom is driven around realizing to can fit people's walking gesture, make the patient freely move about the health, promote recovered effect. And moreover, the structure is simple and stable, the manufacturing cost is low, and the front and back displacement resistance is small.

Preferably, the rope assembly includes a rope having both ends connected to the left and right supports, respectively, and a pulley connected to the rope for tensioning the rope.

In this scheme, left support piece and right support piece are established ties through the rope, and tensioning rope through the pulley can make the rope follow left support piece and right support piece and move to can restrain left support piece and right support piece's relative movement. In particular implementation, the pulley can change the direction of the rope according to a specific structure form, so that the whole structure is more compact.

Preferably, the rope assembly comprises a first rope and a second rope, two ends of the first rope are respectively connected with the left support and the right support, two ends of the second rope are respectively connected with the left support and the right support, and the first rope, the second rope, the left support and the right support form a closed loop connection.

In this scheme, constitute the series connection of closed loop through first rope, second rope, left support piece and right support piece, its joint strength is higher, and the structure is more stable to the atress on the single rope is littleer.

Preferably, the rope assembly further comprises a first pulley and a second pulley; the first pulley is connected with the first rope and used for tensioning the first rope; the second pulley is connected with the second rope for tensioning the second rope.

Preferably, the first rope is connected to the left and right supports around the outside of the rack assembly, respectively; the second rope is respectively connected with the left support and the right support around the inner side of the bracket component; the portion of the first cord between the left and right supports and the portion of the second cord between the left and right supports are on the same side.

In the scheme, the parts of the first rope and the second rope between the left support piece and the right support piece can be positioned on the same side, for example, the parts can be arranged on the side where the left support piece and the right support piece are connected with the bracket component, so that the structure of the weight reduction support mechanism can be more compact, an opening can be reserved between the left support piece and the right support piece, and the use by a patient is facilitated.

Preferably, displacement sensors are respectively arranged on the left support member and the right support member, and are used for respectively detecting the displacement of the left support member and the right support member relative to the bracket assembly.

In the scheme, the displacement sensor is connected with the left support piece and the right support piece and used for acquiring displacement data of the front and back degrees of freedom of a patient during rehabilitation training, so that some important rehabilitation information of the patient, such as the front and back degrees of freedom information, is displayed according to the displacement data.

Preferably, the tail end of the left support member and the tail end of the right support member are respectively provided with a force sensor for acquiring force data of the lower limb of the patient during training.

In this scheme, through set up force sensor on left support piece and right support piece to the power data of low limbs when detecting the patient training adjusts corresponding weight that subtracts numerical value. In a specific implementation, the force sensor can be a triaxial force sensor, and mainly acquires force data of the hip of the patient during rehabilitation training.

Preferably, the support assembly comprises a main support plate, a left support and a right support, the main support plate is provided with a first guide rail, and the left support and the right support are sleeved on the first guide rail; the left support piece and the left support movably connect, the right support piece and the right support movably connect.

In this scheme, through the structural style of main tributary fagging, left socle and right branch frame, can bear patient's load, provide corresponding holding power for the patient. And the left support and the right support are sleeved on the first guide rail on the main support plate, so that the relative positions of the left support and the right support can be adjusted, and further, the relative positions of the left support and the right support are adjusted, and the lower limb width of different patients is adapted.

Preferably, the left support and the right support are respectively provided with a second guide rail, and the left support and the right support are respectively sleeved on the corresponding second guide rails.

In this scheme, through set up corresponding second guide rail on left socle and right branch frame to make left support piece and right support piece cover locate corresponding second guide rail on, can make left support piece and right support piece respectively relative left socle and right branch frame back-and-forth movement, thereby realize the removal of degree of freedom around.

Preferably, the weight-reducing support mechanism further comprises an adjusting assembly, the left support member and the right support member are respectively connected with the adjusting assembly, and the adjusting assembly is used for adjusting the relative positions of the left support member and the right support member.

In the scheme, the relative positions of the left supporting piece and the right supporting piece can be adjusted through the adjusting assembly, so that the weight reduction supporting mechanism can adapt to hip widths of different patients. When the adjusting assembly is used for realizing the adjustment of the relative positions of the left support and the right support by adjusting the relative positions of the left support and the right support.

Preferably, the adjusting assembly is a ball screw, and the left support and the right support are respectively connected with balls of the ball screw.

Preferably, the weight-reduction support mechanism further comprises a tension adjustment mechanism connected with the rope assembly.

In the scheme, the position of the rope in the rope assembly is adjusted through the tensioning adjusting mechanism, and when the width of the weight reducing mechanism is adjusted, the rope can be correspondingly adjusted along with the left supporting piece and the right supporting piece, so that the tensioning of the rope is kept. In particular implementations, the cable may be tensioned by adjusting the position of the pulley relative to the bracket assembly.

The lower limb rehabilitation robot is characterized by comprising the weight reduction supporting mechanism.

Preferably, the lower limb rehabilitation robot further comprises a stand column, and the weight reduction supporting mechanism is connected with the stand column and can move up and down along the stand column.

The positive progress effects of the invention are as follows: through rope assembly with left support piece and right support piece series connection, when the patient carries out the rehabilitation training, left support piece and right support piece can be along with patient's motion and crisscross removal from beginning to end, realize the following of degree of freedom from beginning to end driven to can fit people's walking gesture, make the patient freely move about the health, promote recovered effect. And moreover, the structure is simple and stable, the manufacturing cost is low, and the front and back displacement resistance is small.

Drawings

Fig. 1 is a schematic structural diagram of a weight-reduction support mechanism provided in an embodiment of the invention when applied to a lower limb rehabilitation robot;

fig. 2 is a schematic structural diagram of a weight-reduction supporting mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a weight-reduction supporting mechanism according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a weight-reduction supporting mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a weight-reduction support mechanism according to an embodiment of the present invention;

fig. 6 is a schematic diagram of another weight-reduction supporting mechanism according to an embodiment of the present invention.

Description of the reference numerals

Lower limb rehabilitation robot 1

Weight-reduction support mechanism 10

Bracket assembly 100

Main support plate 110

First guide rail 111

Left bracket 120

Second guide rail 121

Right bracket 130

First main support 140

Second main supporter 150

Left support 200

The boss 210

Right support 300

Rope assembly 400

Rope 411

Pulley 412

First rope 421

Second rope 422

First pulley 423

Second pulley 424

Transition pulley 425

Adjustment assembly 500

Ball screw 510

Displacement sensor 600

Force sensor 700

Gear 800

Upright post 20

Detailed Description

The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.

An embodiment of the present invention provides a weight-reduction support mechanism, as shown in fig. 1, which is a schematic structural diagram of the weight-reduction support mechanism 10 when applied to a lower limb rehabilitation robot 1. The weight-reducing support mechanism 10 can be connected with the upright post 20 of the lower limb rehabilitation robot 1 through other mechanisms, and can move up and down relative to the upright post 20 to provide support force for the patient, so as to realize weight-reducing support for the patient. It should be noted that the present invention can be used not only for the weight reduction support of the lower limb rehabilitation robot 1, but also for other devices that require the weight reduction support, the present solution can be used accordingly. In the following, the lower limb rehabilitation robot 1 is applied to support the hip of a patient.

As shown in fig. 2 and fig. 3, for the structural schematic diagram of the weight-reducing supporting mechanism 10 according to the embodiment of the present invention, the weight-reducing supporting mechanism 10 includes a bracket assembly 100, a left supporting member 200, a right supporting member 300, and a cable assembly 400, wherein the left supporting member 200 and the right supporting member 300 are oppositely disposed at two ends of the bracket assembly 100 and are respectively movably connected with the bracket assembly 100, and two ends of the cable assembly 400 are respectively connected with the left supporting member 200 and the right supporting member 300, so that the left supporting member 200 and the right supporting member 300 are alternately moved under the constraint of the cable assembly 400. In this scheme, establish ties left support piece 200 and right support piece 300 through rope assembly 400 and get up, when the patient carries out rehabilitation training, left support piece 200 and right support piece 300 are used for supporting patient's hip to can be along with the motion of patient hip and crisscross removal, the follow-up of the degree of freedom is driven around realizing, thereby can fit people's walking gesture, makes the patient can freely move about the health, promotes recovered effect. And moreover, the structure is simple and stable, the manufacturing cost is low, and the front and back displacement resistance is small.

As a preferred embodiment, as shown in fig. 2, the bracket assembly 100 includes a main support plate 110, a left bracket 120 and a right bracket 130, and the left bracket 120 and the right bracket 130 are respectively disposed at both ends of the main support plate 110 to provide a supporting strength to the patient. Also, the left support member 200 is movably coupled to the left bracket 120, and the right support member 300 is movably coupled to the right bracket 130, so that the left support member 200 and the right support member 300 can move relative to the bracket assembly 100.

As a preferred embodiment, as shown in fig. 2, the main supporting plate 110 is further provided with a first guide rail 111, and the left bracket 120 and the right bracket 130 are sleeved on the first guide rail 111; thereby enabling adjustment of the relative positions of the left and

right brackets

120, 130 and thus the left and

right supports

200, 300 to accommodate different patient hip widths.

As a preferred embodiment, as shown in fig. 2, the bracket assembly 100 further includes a first main bracket 140 and a second main bracket 150, the left bracket 120 is connected to the first guide rail 111 through the first main bracket 140, the first main bracket 140 is sleeved on the first guide rail 111, and the left bracket 120 is connected to the first main bracket 140; the right bracket 130 is connected to the first guide rail 111 through the second main bracket 150, the second main bracket 150 is sleeved on the first guide rail 111, and the right bracket 130 is connected to the second main bracket 150.

As a preferred embodiment, as shown in fig. 2, the weight-reduction support mechanism 10 further includes an adjustment assembly 500, the left support member 200 and the right support member 300 are respectively connected to the adjustment assembly 500, and the adjustment assembly 500 is used for adjusting the relative positions of the left support member 200 and the right support member 300.

In particular implementation, the adjusting assembly 500 may adjust the relative positions of the left support 200 and the right support 300 by adjusting the relative positions of the left bracket 120 and the right bracket 130.

As a specific embodiment, as shown in fig. 2, the adjusting assembly 500 is a ball screw 510, and the left bracket 120 and the right bracket 130 are respectively connected with balls in the ball screw 510, so that the left bracket 120 and the right bracket 130 can move relatively with the action of the ball screw 510, and thus, the relative position of the left support 200 and the right support 300 can be adjusted.

In addition, as shown in fig. 2, two balls are arranged on the ball screw 510, the head end of the left bracket 120 is connected with one of the balls and the first guide rail 111, and the head end of the right bracket 130 is connected with the other ball and the first guide rail 111, so that the ball screw 510 and the first guide rail 111 are connected with the main supporting plate 110, the connection strength is higher, the force transmission effect is better, and the use stability of the weight-reducing supporting device can be improved.

In a specific implementation, the left bracket 120 may be connected to one of the balls of the ball screw 510 and the first rail 111 through the first main bracket 140, and the right bracket 130 may be connected to the other of the balls of the ball screw 510 and the first rail 111 through the second main bracket 150. The lead screw is rotated by the corresponding driving mechanism, so as to drive the two balls to rotate, thereby adjusting the relative distance between the left bracket 120 and the right bracket 130, and further adjusting the relative distance between the left support 200 and the right support 300, so as to adapt to hip requirements of different patients.

In specific implementation, other mechanisms may be used to adjust the relative positions of the left bracket 120 and the right bracket 130, for example, a limiting mechanism, a slot, and other structures are disposed at the corresponding positions for adjustment. And adjust through ball 510 on the one hand it can realize the auto-lock and avoid sliding to produce danger, on the other hand it also can realize continuous regulation, adapts to different patients' demand.

In a preferred embodiment, the left bracket 120 and the right bracket 130 are respectively provided with a second guide rail 121, and the left supporting member 200 and the right supporting member 300 are respectively sleeved on the corresponding second guide rails 121.

In this embodiment, the left support 120 and the right support 130 are provided with the corresponding second guide rails 121, and the left support 200 and the right support 300 are sleeved on the corresponding second guide rails 121, so that the left support 200 and the right support 300 can respectively move back and forth relative to the left support 120 and the right support 130, thereby realizing the movement with the front and back degrees of freedom.

As a preferred embodiment, as shown in fig. 6, the rope assembly 400 includes a rope 411 and a pulley 412, both ends of the rope 411 are connected to the left and

right supports

200 and 300, respectively, and the pulley 412 is connected to the rope 411 for tensioning the rope 411. Referring to fig. 2, the left and

right supports

200 and 300 may be connected in series by a single rope 411, the rope 411 may be tensioned by a pulley 412, the rope 411 may be moved along with the left and

right supports

200 and 300, and the relative movement of the left and

right supports

200 and 300 may be restrained. In particular implementation, the pulley 412 can also change the direction of the rope 411 according to a specific structural form, so that the overall structure is more compact.

In one embodiment, the rope 411 may be connected to the left and

right supports

200 and 300 around the outside of the left and

right brackets

120 and 130, respectively, and the pulley 412 may be provided on the left and

right brackets

120 and 130, or on the main support plate 110 or other components to tension the rope 411 and change the direction of the rope 411 at the corresponding position.

As another preferred embodiment, as shown in fig. 2 to 5, the rope assembly 400 includes a first rope 421 and a second rope 422, both ends of the first rope 421 are connected to the left support 200 and the right support 300, respectively, both ends of the second rope 422 are connected to the left support 200 and the right support 300, respectively, and the first rope 421, the second rope 422, the left support 200 and the right support 300 constitute a closed loop connection. The first rope 421, the second rope 422, the left support 200 and the right support 300 form a closed-loop series connection, so that the connection strength is higher, and the structure is more stable.

As shown in fig. 5, the closed-loop connection means that both ends of the first rope 421 and both ends of the second rope 422 are connected to the left support member 200 and the right support member 300, respectively, and the first rope 421, the right support member 300, the second rope 422, and the left support member 200 can be connected end to form a closed-loop connection. However, in practical implementation, it is not absolutely necessary to connect the two ends of the first rope 421 to the front ends of the left and

right supports

200 and 300, respectively, and the two ends of the second rope 422 may be connected to the middle portions of the left and

right supports

200 and 300, respectively.

In a preferred embodiment, as shown in fig. 3, the rope assembly 400 further includes a first pulley 423 and a second pulley 424; the first pulley 423 is connected with the first rope 421 for tensioning the first rope 421; a second pulley 424 is connected to the second rope 422 for tensioning the second rope 422.

As a preferred embodiment, as shown in fig. 2 and 3, a first rope 421 is connected to the left and

right supports

200 and 300, respectively, around the outside of the bracket assembly 100; a second rope 422 is connected to the left and

right supports

200 and 300, respectively, around the inner side of the bracket assembly 100; a portion of the first rope 421 between the left and

right supports

200 and 300 and a portion of the second rope 422 between the left and

right supports

200 and 300 are on the same side. In practical implementation, the left and

right supports

200 and 300 may be disposed at the side where the bracket assembly 100 is connected, so that the structure of the weight-reduction support mechanism 10 may be more compact, and an opening may be left between the left and

right supports

200 and 300 for the convenience of the patient.

As a specific embodiment, as shown in fig. 3, one end of a first rope 421 is connected to the left support 200 around the outside of the left support 120, and the other end of the first rope 421 is connected to the right support 300 around the outside of the right support 130 after passing through the first and second

main supports

140 and 150; the first cord 421 is arranged in a central symmetry. One end of the second rope 422 is connected to the boss 210 of the left support 200 around the inner side of the left bracket 120, and after passing through the first main bracket 140 and the second main bracket 150, the other end of the second rope 422 is connected to the boss 210 of the right support 300 around the inner side of the right bracket 130; the second cord 422 is disposed in a centrally symmetric arrangement. The central symmetry layout mode is also beneficial to the synchronous adjustment of the left support piece 200 and the right support piece 300 when the relative positions of the left support piece 200 and the right support piece 300 are adjusted, the position of the symmetry center is kept unchanged, and the rehabilitation use of a patient is facilitated.

As shown in fig. 3 to 5, the weight-reduction support mechanism 10 is integrally formed as a frame structure having an opening at one end, the outer side of the frame is used as the outer side of the support assembly 100, and the inner side of the frame is used as the inner side of the support assembly 100.

And, a plurality of pulleys are provided on a connection path of the first rope 421 and the second rope 422, for example, as shown in fig. 3, pulleys are provided on a distal end of the left bracket 120 and a top end of the first main bracket 140, and pulleys are symmetrically provided on a distal end of the right bracket 130 and a top end of the second main bracket 150, which not only can tension the rope 411 but also can change a connection direction of the rope 411, so that the overall structure is more compact.

Further, as shown in fig. 2 and 3, a transition pulley 425 is further provided between the left bracket 120 and the right bracket 130, and the transition pulley 425 can tension the first rope 421 and the second rope 422 in a more compact space. Specifically, as shown in fig. 3 and 4, the transition pulley 425 includes a first pulley 423 for tensioning the first rope 421 and a second pulley 424 for tensioning the second rope 422, the first pulley 423 and the second pulley 424 being arranged offset in the longitudinal space such that the first rope 421 and the second rope 422 can be tensioned on the same side and can be offset in the longitudinal space without interfering with each other.

Therefore, according to the above embodiment of the present invention, on one hand, the left support member 200 and the right support member 300 can be connected in series through the rope 411, and when a patient performs rehabilitation training, the left support member 200 and the right support member 300 are used for supporting the hip of the patient, and can move back and forth in a staggered manner along with the movement of the hip of the patient, so that the following follower with the front and back degrees of freedom is realized, thereby fitting the walking posture of the person, enabling the patient to freely move the body, and improving the rehabilitation effect. On the other hand, the structure has small front and back displacement resistance, is simple, compact and stable, and has low manufacturing cost.

As a preferred embodiment, as shown in fig. 2, displacement sensors 600 are respectively disposed on the left support member 200 and the right support member 300 for respectively detecting the displacement of the left support member 200 and the right support member 300 relative to the bracket assembly 100. So that some important rehabilitation information of the patient, such as the anteroposterior degree of freedom information, is displayed according to the displacement data.

As a preferred embodiment, as shown in fig. 2, the end of the left supporting member 200 and the end of the right supporting member 300 are respectively provided with a force sensor 700 for acquiring force data of the lower limb of the patient during training, so as to detect the force data of the lower limb of the patient during training and adjust the corresponding weight loss value. In an implementation, the force sensor 700 may be a triaxial force sensor 700 that is used primarily during rehabilitation training to acquire force data from the hip of the patient.

In a preferred embodiment, the weight-reduction support mechanism 10 further comprises a tension adjustment mechanism, which is connected to the cable assembly 400. The position of the rope 411 in the rope assembly 400 is adjusted through the tension adjusting mechanism, so that when the weight reducing mechanism adjusts the width, the rope 411 can be correspondingly adjusted along with the left support member 200 and the right support member 300, and the tension of the rope 411 is kept. In practice, the rope 411 can be tensioned by adjusting the position of the pulley 412 relative to the bracket assembly 100, and the rope 411 can also be tensioned by adjusting the relative position between the left support 200 and the right support 300.

As a preferred embodiment, as shown in fig. 2, the tension adjusting mechanism may be a gear set disposed at an end portion, and the rotation of the gear drives the rotation of the ball screw, thereby adjusting the relative position between the left and

right supports

200 and 300, thereby tensioning the first and

second ropes

421 and 422.

The embodiment of the invention also provides the lower limb rehabilitation robot 1, and the lower limb rehabilitation robot 1 comprises the weight-reducing support mechanism 10.

By adopting the weight-reducing supporting mechanism 10, the rope assembly 400 of the weight-reducing supporting mechanism connects the left supporting piece 200 and the right supporting piece 300 in series, when a patient carries out rehabilitation training, the left supporting piece 200 and the right supporting piece 300 can move back and forth in a staggered manner along with the movement of the patient, the following follower with the front and back degrees of freedom is realized, the walking posture of the person can be fitted, the body of the patient can freely move, and the rehabilitation effect is improved. And moreover, the structure is simple and stable, the manufacturing cost is low, and the front and back displacement resistance is small. In addition, the displacement sensor 600 can also detect the displacement information of the front and back freedom degrees of the patient during training, and can display some rehabilitation information of the patient.

As a preferred embodiment, as shown in fig. 1, the lower limb rehabilitation robot 1 further includes a column 20, and the weight reduction support mechanism 10 is connected to the column 20 and can move up and down along the column 20.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A weight-reducing support mechanism is characterized in that the weight-reducing support mechanism is applied to a lower limb rehabilitation robot and comprises a support assembly, a left support piece, a right support piece and a rope assembly,

2. A weight-reducing support mechanism as claimed in claim 1, wherein the cable assembly includes a cable having both ends connected to the left and right supports, respectively, and a pulley connected to the cable for tensioning the cable.

3. A weight-reducing support mechanism as claimed in claim 1, wherein the cable assembly includes a first cable and a second cable, both ends of the first cable are connected to the left and right supports, respectively, and both ends of the second cable are connected to the left and right supports, respectively, the first cable, the second cable, the left and right supports forming a closed loop connection.

4. A weight-reducing support mechanism as in claim 3, wherein said cable assembly further comprises a first pulley and a second pulley; the first pulley is connected with the first rope and used for tensioning the first rope; the second pulley is connected with the second rope for tensioning the second rope.

5. A weight-reducing support mechanism as claimed in claim 3, wherein the first cable is connected to the left and right supports, respectively, around the outside of the bracket assembly; the second rope is respectively connected with the left support and the right support around the inner side of the bracket component; the portion of the first cord between the left and right supports and the portion of the second cord between the left and right supports are on the same side.

6. A weight-reducing support mechanism as claimed in claim 1, wherein displacement sensors are provided on the left and right supports, respectively, for detecting displacements of the left and right supports, respectively, relative to the bracket assembly.

7. A weight-reducing support mechanism as claimed in claim 1, wherein the distal ends of the left and right support members are each provided with a force sensor for acquiring force data of the lower limbs of the patient during training.

8. A weight-reducing support mechanism as claimed in claim 1, wherein the support assembly comprises a main support plate, a left support and a right support, the main support plate is provided with a first guide rail, and the left support and the right support are sleeved on the first guide rail; the left support piece and the left support movably connect, the right support piece and the right support movably connect.

9. A weight-reducing support mechanism as claimed in claim 8, wherein the left and right brackets are respectively provided with a second guide rail, and the left and right support members are respectively sleeved on the corresponding second guide rails.

10. The weight-reducing support mechanism of claim 1, further comprising an adjustment assembly, wherein the left support member and the right support member are respectively connected to the adjustment assembly, and the adjustment assembly is used for adjusting the relative positions of the left support member and the right support member.

11. A weight-reducing support mechanism as claimed in claim 10, wherein the adjustment assembly is a ball screw, and the left and right supports are respectively connected to balls of the ball screw.

12. A weight-loss support mechanism as recited in claim 1, further comprising a tension adjustment mechanism coupled to said cable assembly.

13. A lower limb rehabilitation robot comprising the weight-loss support mechanism according to any one of claims 1 to 12.

14. The lower limb rehabilitation robot of claim 13, further comprising a column, wherein the weight-reduction support mechanism is connected to the column and is capable of moving up and down along the column.