CN116077305A - Bedside lower limb rehabilitation robot - Google Patents

Abstract

The invention relates to the technical field of medical machinery, and discloses a bedside lower limb rehabilitation robot. The bedside lower limb rehabilitation robot comprises a bracket, a swinging telescopic component, a mounting box, a driving component and a lower limb movement component, wherein the bracket can be fixed on a bed tail plate; one end of the swing telescopic component is hinged to the top end of the bracket, and the swing telescopic component can be telescopic; the mounting box is hinged to one end of the swing telescopic assembly, which is far away from the bracket; the driving component is arranged in the mounting box; the lower limb movement assembly is connected to the output end of the driving assembly, the lower leg of the patient can be placed on the lower limb movement assembly, and the driving assembly can drive the lower limb movement assembly to swing so as to drive the lower limb of the patient to move. By controlling the repeated flexion and extension movements of the joints, the nerve remodeling of the patient can be promoted, thereby accelerating the rehabilitation process. The bedside lower limb rehabilitation robot is matched with a sickbed to construct a horizontal lower limb rehabilitation training platform, is suitable for lower limb function rehabilitation training of bedridden patients, and reduces the manpower requirements of bedside rehabilitation therapists.

Description

Bedside lower limb rehabilitation robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a bedside lower limb rehabilitation robot.

Background

Clinical medicine shows that the correct and scientific rehabilitation training plays a very remarkable role in restoring and improving the limb movement function. At present, most of existing lower limb rehabilitation robots are sitting or standing lower limb rehabilitation robots, and for patients in bedridden stage due to nervous system diseases, the sitting or standing lower limb rehabilitation robots can increase labor intensity and manpower requirements of therapists, and training intensity and persistence of the patients are difficult to ensure. Therefore, such a sitting or standing lower limb rehabilitation robot is not suitable for bedridden patients.

Therefore, there is a need to provide a bedside lower limb rehabilitation robot to solve the above problems.

Disclosure of Invention

The invention aims to provide a bedside lower limb rehabilitation robot which can train lower limbs of bedridden patients, is convenient to use and reduces manpower requirements.

In order to achieve the purpose, the invention is realized by the following technical scheme:

a bedside lower limb rehabilitation robot comprising:

the bracket can be fixed on the bed tail plate;

one end of the swing telescopic component is hinged to the top end of the bracket, and the swing telescopic component can stretch and retract;

the mounting box is hinged to one end, far away from the bracket, of the swing telescopic component;

the driving assembly is arranged in the installation box;

the lower limb movement assembly is connected to the output end of the driving assembly, the lower leg of the patient can be placed on the lower limb movement assembly, and the driving assembly can drive the lower limb movement assembly to swing so as to drive the lower limb of the patient to move.

Preferably, the driving assembly includes:

the driving piece is arranged in the installation box;

the first belt wheel and the second belt wheel are arranged at intervals, the first belt wheel is connected to the output end of the driving piece, a rotating shaft is fixed on the second belt wheel, and the lower limb movement assembly can rotate synchronously with the rotating shaft;

and the synchronous belt is wound on the first belt pulley and the second belt pulley and is tensioned by the first belt pulley and the second belt pulley together.

Preferably, the lower limb movement assembly comprises:

the swing arm can synchronously rotate with the rotating shaft;

the support plate is hinged to the top end of the swing arm, the lower leg of the patient can be placed on the support plate, and a binding belt is arranged on the support plate and used for binding the lower leg of the patient on the support plate.

Preferably, a sponge cushion is arranged in the supporting plate.

Preferably, the number of the lower limb movement assemblies is two, the number of the driving assemblies is two, and the two driving assemblies can respectively drive the corresponding lower limb movement assemblies to swing.

As a preferred scheme, the bedside lower limb rehabilitation robot further comprises a detection assembly, and the detection assembly comprises:

the mounting seat is fixed in the mounting box;

the pressure sensor is fixed on the mounting seat;

the connecting plate is connected to the locking shaft, and the locking shaft is fixed on the first belt wheel;

and the abutting block is connected to the tail end of the connecting plate and can be abutted with the pressure sensor.

As a preferred scheme, the bedside lower limb rehabilitation robot further comprises a limit protection assembly, and the limit protection assembly comprises:

the mechanical protection rod is fixedly connected to the rotating shaft and is positioned at the outer side of the swing arm;

the locking block is connected in the housing, and is internally provided with a containing groove penetrating through the upper end and the lower end of the locking block;

the top thread and the elastic piece are fixed in the accommodating groove, and the top end of the elastic piece is fixed at the lower end of the top thread;

the supporting seat is connected to the bottom end of the elastic piece, an abutting ball is fixed below the supporting seat, and the abutting ball can be embedded into the top end of the mechanical protection rod.

Preferably, the bracket includes:

one end of the swing telescopic component is hinged to the top end of the bracket body;

the base is connected to the bottom end of the bracket body, and a plurality of travelling wheels are arranged at the bottom of the base;

the fixing piece is connected to the support body through a fixing sleeve and can be fixed on the bed tail plate.

Preferably, the fixing member includes:

the connecting rod is connected to the fixed sleeve;

the first fixing part and the second fixing part are arranged on the connecting rod at intervals, and a space between the first fixing part and the second fixing part is used for accommodating the bed tail plate;

the fastening piece is in threaded connection and penetrates through the first fixing portion, the abutting piece is located between the first fixing portion and the second fixing portion and connected to one end of the fastening piece, and the fastening piece can be screwed to drive the abutting piece to enable the bed tail plate to abut against the second fixing portion.

Preferably, the swing telescopic assembly comprises:

the swinging rod is hinged to the top end of the bracket;

the telescopic rod is inserted into the swinging rod and fixedly connected with the swinging rod, and the telescopic rod is telescopic.

The beneficial effects of the invention are as follows:

the invention provides a bedside lower limb rehabilitation robot which comprises a bracket, a swinging telescopic assembly, a mounting box, a driving assembly and a lower limb movement assembly, wherein the bracket can be fixed on a bed tail plate, so that the stability of the device in use is improved. When the lower limb movement device is used, an operator firstly moves the lower limb movement assembly to a proper position through the swing telescopic assembly, then the lower leg of the patient is placed on the lower limb movement assembly, and the driving assembly swings through driving the lower limb movement assembly, so that the lower leg of the patient is driven to move. By controlling the repeated flexion and extension movements of the joints, the nerve remodeling of the patient can be promoted, the muscle strength can be recovered and enhanced, and the rehabilitation process can be accelerated. The bedside lower limb rehabilitation robot is designed based on the manual treatment mode of a clinical rehabilitation therapist, is matched with a sickbed to construct a horizontal lower limb rehabilitation training platform, is suitable for lower limb function rehabilitation training of bedridden patients, and reduces the manpower requirements of the bedside rehabilitation therapist.

Drawings

For a more obvious and understandable description of embodiments of the invention or solutions according to the prior art, reference will be made to the accompanying drawings, which are used in the description of the embodiments or the prior art and which are examples of the invention, and from which other drawings can be obtained without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a bedside lower limb rehabilitation robot according to an embodiment of the present invention at a first view angle;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a schematic structural view of a bedside lower limb rehabilitation robot according to an embodiment of the present invention at a second view angle;

FIG. 4 is a diagram showing the relationship between the driving assembly and the lower limb movement assembly according to the embodiment of the present invention;

fig. 5 is a schematic structural view of the internal structure of the mounting box according to the embodiment of the present invention at a first view angle;

fig. 6 is a schematic structural view of the internal structure of the mounting box according to the embodiment of the present invention at a second view angle;

FIG. 7 is a diagram of the mating relationship of a lower limb movement assembly and a limit guard assembly provided by an embodiment of the present invention;

FIG. 8 is a top view of the structure of FIG. 7 with the support plate removed;

fig. 9 is a cross-sectional view at B-B in fig. 8.

In the figure:

1. a bracket; 11. a bracket body; 12. a base; 13. a fixing member; 131. a connecting rod; 132. a first fixing portion; 133. a second fixing portion; 14. a fixed sleeve; 15. a walking wheel; 16. a control panel; 17. a handle;

2. swinging the telescopic component; 21. a swinging rod; 22. a telescopic rod; 23. a gas spring;

3. a mounting box;

4. a drive assembly; 41. a driving member; 42. a first pulley; 43. a second pulley; 44. a synchronous belt; 45. a rotating shaft;

5. a lower limb movement assembly; 51. swing arms; 52. a support plate; 53. a strap; 54. a sponge cushion;

6. a detection assembly; 61. a mounting base; 62. a pressure sensor; 63. a connecting plate; 64. a locking shaft; 65. an abutment block;

7. a limit protection assembly; 71. a mechanical protection rod; 72. a housing; 73. a locking block; 731. a receiving groove; 74. a jackscrew; 75. an elastic member; 76. a support base; 77. abutting the ball.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides a bedside lower limb rehabilitation robot which is suitable for lower limb function rehabilitation training of patients suffering from neurological diseases such as cerebral apoplexy, brain injury, spinal cord injury and the like in the bedridden period. As shown in fig. 1, 3 and 4, the bedside lower limb rehabilitation robot comprises a bracket 1, a swinging telescopic component 2, a mounting box 3, a driving component 4 and a lower limb movement component 5, wherein the bracket 1 can be fixed on a bed tail plate, so that the stability of the device in use is improved. One end of the swing telescopic component 2 is hinged to the top end of the support 1, the swing telescopic component 2 is telescopic, the mounting box 3 is hinged to one end of the swing telescopic component 2 away from the support 1, the driving component 4 is arranged in the mounting box 3, the lower limb movement component 5 is connected to the output end of the driving component 4, the lower leg of a patient can be placed on the lower limb movement component 5, and the driving component 4 can drive the lower limb movement component 5 to swing so as to drive the lower limb movement of the patient.

When the bedside lower limb rehabilitation robot is not used, the swing telescopic assembly 2 can rotate to be in a state of overlapping with the support 1, so that the bedside lower limb rehabilitation robot is convenient to store. When in use, an operator firstly rotates the swing telescopic assembly 2 to the upper part of the sickbed and adjusts the length of the swing telescopic assembly 2, so that the lower limb movement assembly 5 is moved to a proper position. The lower leg of the patient is then placed on the lower limb movement assembly 5, and the driving assembly 4 swings by driving the lower limb movement assembly 5, thereby driving the lower limb of the patient to move. The bedside lower limb rehabilitation robot is designed based on the manual treatment mode of a clinical rehabilitation therapist, is matched with a sickbed to construct a horizontal lower limb rehabilitation training platform, is suitable for lower limb function rehabilitation training of bedridden patients, and reduces the manpower requirements of the bedside rehabilitation therapist. The bedside lower limb rehabilitation robot not only can drive the lower limb of a patient to do passive rehabilitation training, but also can provide corresponding load, so that the lower limb of the patient actively moves to complete the rehabilitation training, and the rehabilitation process is accelerated.

The working mechanism of the bedside lower limb rehabilitation robot is as follows: the driving component 4 is mainly used for controlling the corresponding joints of a patient to repeatedly bend and stretch, continuously and passively move to stimulate the joints, improving the nerve control capability, promoting the recovery and the promotion of the hip and knee joint movement functions, leading physiological joint fluid to generate benign circulation, relieving joint swelling, and preventing or treating the problems of joint movement amplitude reduction, joint stiffness, venous embolism and the like caused or possibly caused by trauma or lack of movement and the like.

Specifically, the number of the lower limb movement assemblies 5 is set to two, the number of the driving assemblies 4 is set to two, and the two driving assemblies 4 can respectively drive the corresponding lower limb movement assemblies 5 to swing. Through the arrangement, the two lower limbs of a patient can synchronously and equidirectionally stretch and flex, the stability and coordination of the knee joint and the hip joint are improved, and the walking function is promoted to be recovered.

Further, as shown in fig. 1 and 3, the bracket 1 specifically includes a bracket body 11, a base 12 and a fixing member 13, and one end of the swing expansion assembly 2 is hinged to the top end of the bracket body 11; the base 12 is connected in the bottom of support body 11, and the bottom of base 12 rotates and is provided with four walking wheels 15, makes things convenient for this recovered robot of bedside low limbs to shift and carry, and mounting 13 passes through fixed cover 14 to be connected on support body 11, and mounting 13 can be fixed in on the bed tail board.

Specifically, as shown in fig. 1 and 2, the fixing member 13 includes a connecting rod 131, a first fixing portion 132, a second fixing portion 133, a fastener and an abutment member (not shown in the drawings), the connecting rod 131 is connected to the fixing sleeve 14, the first fixing portion 132 and the second fixing portion 133 are disposed on the connecting rod 131 at intervals, a space between the first fixing portion 132 and the second fixing portion 133 is used for accommodating a bed end plate, the fastener is in threaded connection and penetrates through the first fixing portion 132, the abutment member is located between the first fixing portion 132 and the second fixing portion 133 and is connected to one end of the fastener, and the screwing fastener can drive the abutment member to move in a direction close to the second fixing portion 133, so that the bed end plate is abutted to the second fixing portion 133, and the bedside lower limb rehabilitation robot is fixed on the bed end plate, so that stability of the device in use is increased.

Preferably, as shown in fig. 3, the number of the fixing members 13 is two, and two fixing members 13 are disposed at intervals on both sides of the bracket body 11. Wherein, the two connecting rods 131 are connected to form a handle 17, which is convenient for an operator to hold the handle 17 to push the bedside lower limb rehabilitation robot to move.

Further, as shown in fig. 1 and 3, the swing telescopic assembly 2 specifically includes a swing rod 21 and a telescopic rod 22, the swing rod 21 is hinged to the top end of the bracket body 11, the swing rod 21 is a square tube, the telescopic rod 22 is inserted into the swing rod 21 and fixedly connected with the swing rod 21, and the telescopic rod 22 is telescopic. The telescopic rod 22 may be an electric telescopic rod, or a manual telescopic rod, that is, the telescopic rod 22 includes a fixed end and an output end, the fixed end is inserted and fixed in the swinging rod 21, the output end is inserted and fixed in the fixed end and is slidably connected with the fixed end, a plurality of fixing holes are formed in the fixed end and the output end, after the length of the output end is adjusted, the corresponding fixing holes are aligned, and then the telescopic rod is locked by a fastener such as a pin shaft or a bolt.

Preferably, as shown in fig. 3, a gas spring 23 is connected between the side wall of the swinging rod 21 and the side wall of the bracket body 11, when the swinging rod 21 rotates to any position, a piston rod of the gas spring 23 is locked at a required position, so that the swinging rod 21 can stay to the required position, and the effect of instant rotation and instant stop is realized.

Further, as shown in fig. 4 and 5, the driving assembly 4 specifically includes a driving member 41, a first belt pulley 42, a second belt pulley 43 and a synchronous belt 44, the driving member 41 is a motor, the driving member 41 is disposed in the mounting box 3, the first belt pulley 42 and the second belt pulley 43 are disposed at intervals, the first belt pulley 42 is connected to an output end of the driving member 41, a rotating shaft 45 is fixed on the second belt pulley 43, the lower limb movement assembly 5 can rotate synchronously with the rotating shaft 45, and the synchronous belt 44 is wound on the first belt pulley 42 and the second belt pulley 43 and is tensioned by the first belt pulley 42 and the second belt pulley 43 together.

For example, when the driving member 41 drives the first pulley 42 to rotate, the synchronous belt 44 can be driven to rotate, and the second pulley 43 is driven to rotate by the synchronous belt 44, and the second pulley 43 is fixed with the rotating shaft 45, so that the rotating shaft 45 and the second pulley 43 rotate synchronously, and the lower limb movement assembly 5 can rotate synchronously with the rotating shaft 45, so as to realize the swing of the lower limb movement assembly 5, and further enable the lower limb movement assembly 5 to drive the lower limb of the patient to perform the passive rehabilitation training. By adopting the belt conveying mode, the belt conveying device is simple in structure, stable in transmission, low in cost, free of lubrication and easy to maintain.

Further, as shown in fig. 1 and 4, the lower limb movement assembly 5 specifically includes a swing arm 51 and a support plate 52, the swing arm 51 can rotate synchronously with the rotation shaft 45, the support plate 52 is hinged to the top end of the swing arm 51, the support plate 52 is arc-shaped, the lower leg of the patient can be placed on the support plate 52, and the length of the swing arm 51 and the shape of the support plate 52 conform to the ergonomic principle. Preferably, as shown in fig. 4, a strap 53 is provided on the support plate 52, and the strap 53 may be provided in the form of a velcro for binding the patient's lower leg to the support plate 52. The support plate 52 has a foam cushion 54 provided therein to enhance patient comfort.

Further, as shown in fig. 5 and 6, the bedside lower limb rehabilitation robot further comprises two detection assemblies 6, and the two detection assemblies 6 are located in the mounting box 3 and are respectively matched with the corresponding driving assemblies 4. Specifically, the detection assembly 6 includes a mount 61, a pressure sensor 62, a connection plate 63, a lock shaft 64, and an abutment block 65, and the mount 61 is fixed in the mount box 3; the pressure sensor 62 is fixed on the mounting seat 61; the connecting plate 63 is connected to a locking shaft 64, and the locking shaft 64 is fixed on the first belt wheel 42; the abutment block 65 is connected to the distal end of the connection plate 63, and the abutment block 65 can abut against the pressure sensor 62. It will be appreciated that some patients are hemiplegia on one side and healthy on the other side. Through the arrangement, the healthy side of the patient with hemiplegia on one side can drive the affected side to synchronously move, so that the coordination of the lower limbs on the affected side is enhanced, and the recovery of the balance function of the lower limbs is promoted.

As an example, referring to fig. 4 and 5, the healthy side of the patient has a certain movement capability, when the healthy side actively moves, the shank of the healthy side of the patient can drive the swing arm 51 to rotate, the swing arm 51 drives the second pulley 43 to rotate through the rotating shaft 45, the first pulley 42 rotates under the driving of the synchronous belt 44, and the connecting plate 63 rotates synchronously with the first pulley 42 due to the fact that the first pulley 42 is fixed with the connecting plate 63 through the locking shaft 64, and the abutting block 65 follows the connecting plate 63 to rotate so as to be capable of abutting with the pressure sensor 62. Therefore, the pressure sensor 62 collects force information of the healthy side, and meanwhile, the controller can control the driving component 4 of the healthy side to drive the lower limb movement component 5 of the healthy side to move according to the force information, so that the lower limb movement component 5 of the healthy side moves synchronously along with the lower limb movement component 5 of the healthy side, and active training of the healthy side of a patient and passive training of the healthy side are achieved. The patient performs the synchronous exercise of the healthy side and the healthy side in a coupled manner, so that the capacity of coordinating the healthy side and the healthy side with each other is improved, and the recovery of the balance function of the lower limbs of the patient is promoted.

Further, as shown in fig. 7-9, the bedside lower limb rehabilitation robot further comprises two limit protection assemblies 7, wherein the two limit protection assemblies 7 are respectively positioned on the corresponding swing arms 51. Specifically, the limit protection assembly 7 includes a mechanical protection rod 71, a housing 72, a locking block 73, a top thread 74, an elastic member 75 and a supporting seat 76, wherein the mechanical protection rod 71 is fixedly connected to the rotating shaft 45 and is located at the outer side of the swing arm 51, the housing 72 is connected to the swing arm 51 and is located above the mechanical protection rod 71, the locking block 73 is connected to the housing 72, a containing groove 731 penetrating through the upper end and the lower end of the locking block 73 is formed in the locking block 73, the top thread 74 is fixed in the containing groove 731, the top end of the elastic member 75 is fixed at the lower end of the top thread 74, the supporting seat 76 is connected to the bottom end of the elastic member 75, an abutting ball 77 is fixed below the supporting seat 76, the top end of the mechanical protection rod 71 is provided with a groove, and the bottom end portion of the abutting ball 77 can be embedded in the groove at the top end of the mechanical protection rod 71.

It should be noted that, the swing arm 51 swings relatively slowly, whether the patient's lower limb moves actively or the driving assembly 4 moves passively. On the basis, because the mechanical protection rod 71 is fixedly connected with the rotating shaft 45, the cover shell 72 is fixedly connected with the swing arm 51, and meanwhile, the mechanical protection rod 71 is elastically connected with the locking block 73 through the elastic piece 75 and the abutting ball 77, under the condition of normal operation, the rotating shaft 45 can drive the mechanical protection rod 71 to rotate while rotating, the mechanical protection rod 71 drives the locking block 73 and the cover shell 72 to synchronously rotate through the elastic piece 75 and the abutting ball 77, and the cover shell 72 drives the swing arm 51 to synchronously rotate, so that the synchronous rotation of the swing arm 51 and the rotating shaft 45 is realized.

However, when the driving assembly 4 is distorted or fails, the driving assembly 4 will apply a great rotational speed to the rotating shaft 45 in a moment, and the rotating shaft 45 and the mechanical protection rod 71 will have great instantaneous acceleration, so that the mechanical protection rod 71 will rotate relatively to the housing 72, and the abutting ball 77 will be separated from the groove at the top of the mechanical protection rod 71, and meanwhile, the mechanical protection rod 71 will compress the abutting ball 77 and the elastic member 75, and finally, the mechanical protection rod 71 will be separated from the housing 72, so that the swing arm 51 can rotate freely relative to the rotating shaft 45, and the synchronous rotation of the rotating shaft 45 and the swing arm 51 in this case is avoided, and the ultimate protection effect on the patient can be achieved.

Preferably, as shown in fig. 1, a control panel 16 is fixed on the support body 11, a control interface can be displayed on the control panel 16, and a therapist can control the start and stop of the equipment through the control panel 16 and can also select parameters such as a hemiplegia side (left hemiplegia or right hemiplegia), a training mode, training time, training speed and the like of a patient. Illustratively, the product has three training modes: 1. flexibility training: the driving component 4 drives the lower limbs of the patient to perform passive rehabilitation training; 2. and (3) strength training: the bedside lower limb rehabilitation robot provides corresponding load, and the lower limb of the patient actively moves to finish rehabilitation training; 3. training for healthy side combination: the detection component 6 detects the movement of the healthy side, thereby driving the affected side to follow training.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (10)

1. Bedside lower limb rehabilitation robot, its characterized in that includes:

the support (1) can be fixed on the bed tail plate;

one end of the swing telescopic component (2) is hinged to the top end of the bracket (1), and the swing telescopic component (2) is telescopic;

the mounting box (3) is hinged to one end, far away from the bracket (1), of the swing telescopic assembly (2);

the driving assembly (4) is arranged in the mounting box (3);

the lower limb movement assembly (5) is connected to the output end of the driving assembly (4), the lower leg of the patient can be placed on the lower limb movement assembly (5), and the driving assembly (4) can drive the lower limb movement assembly (5) to swing so as to drive the lower limb of the patient to move.

2. The bedside lower limb rehabilitation robot according to claim 1, characterized in that the drive assembly (4) comprises:

a driving member (41) provided in the mounting case (3);

the device comprises a first belt wheel (42) and a second belt wheel (43), wherein the first belt wheel (42) and the second belt wheel (43) are arranged at intervals, the first belt wheel (42) is connected to the output end of the driving piece (41), a rotating shaft (45) is fixed on the second belt wheel (43), and the lower limb movement assembly (5) can synchronously rotate with the rotating shaft (45);

and a timing belt (44) wound around the first pulley (42) and the second pulley (43) and being commonly tensioned by the first pulley (42) and the second pulley (43).

3. The bedside lower limb rehabilitation robot according to claim 2, characterized in that the lower limb movement assembly (5) comprises:

a swing arm (51) capable of rotating in synchronization with the rotation shaft (45);

the support plate (52) is hinged to the top end of the swing arm (51), the lower leg of the patient can be placed on the support plate (52), and a binding band (53) is arranged on the support plate (52) and used for binding the lower leg of the patient on the support plate (52).

4. A bedside lower limb rehabilitation robot according to claim 3, characterized in that a sponge pad (54) is provided in the support plate (52).

5. A bedside lower limb rehabilitation robot according to claim 3, wherein the number of the lower limb movement assemblies (5) is two, the number of the driving assemblies (4) is two, and the two driving assemblies (4) can respectively drive the corresponding lower limb movement assemblies (5) to swing.

6. A bedside lower limb rehabilitation robot according to claim 3, characterized in that the bedside lower limb rehabilitation robot further comprises a detection assembly (6), the detection assembly (6) comprising:

the mounting seat (61) is fixed in the mounting box (3);

a pressure sensor (62) fixed to the mount (61);

a connecting plate (63) connected to a locking shaft (64), the locking shaft (64) being fixed to the first pulley (42);

an abutment block (65) connected to the distal end of the connection plate (63), the abutment block (65) being capable of abutting the pressure sensor (62).

7. A bedside lower limb rehabilitation robot according to claim 3, characterized in that the bedside lower limb rehabilitation robot further comprises a limit protection assembly (7), the limit protection assembly (7) comprising:

a mechanical protection rod (71) fixedly connected to the rotating shaft (45) and positioned outside the swing arm (51);

the locking device comprises a housing (72) and a locking block (73), wherein the housing (72) is connected to the swing arm (51) and is positioned above the mechanical protection rod (71), the locking block (73) is connected in the housing (72), and a containing groove (731) penetrating through the upper end and the lower end of the locking block (73) is formed in the locking block;

a top thread (74) and an elastic member (75), wherein the top thread (74) is fixed in the accommodating groove (731), and the top end of the elastic member (75) is fixed at the lower end of the top thread (74);

the supporting seat (76) is connected to the bottom end of the elastic piece (75), an abutting ball (77) is fixed below the supporting seat (76), and the abutting ball (77) can be embedded into the top end of the mechanical protection rod (71).

8. Bedside lower limb rehabilitation robot according to claim 1, characterized in that the support (1) comprises:

one end of the swing telescopic component (2) is hinged to the top end of the bracket body (11);

the base (12) is connected to the bottom end of the bracket body (11), and a plurality of travelling wheels (15) are arranged at the bottom of the base (12);

the fixing piece (13) is connected to the bracket body (11) through a fixing sleeve (14), and the fixing piece (13) can be fixed on the bed tail plate.

9. The bedside lower limb rehabilitation robot according to claim 8, wherein the fixture (13) comprises:

a connecting rod (131) connected to the fixed sleeve (14);

a first fixing part (132) and a second fixing part (133) which are arranged on the connecting rod (131) at intervals, wherein a space between the first fixing part (132) and the second fixing part (133) is used for accommodating the bed tail plate;

the fastening piece is in threaded connection and penetrates through the first fixing portion (132), the abutting piece is located between the first fixing portion (132) and the second fixing portion (133) and connected to one end of the fastening piece, the fastening piece can be driven by screwing, and the bed tail plate is abutted to the second fixing portion (133).

10. Bedside lower limb rehabilitation robot according to any of claims 1-9, characterized in that the swing telescopic assembly (2) comprises:

a swinging rod (21) hinged to the top end of the bracket (1);

the telescopic rod (22) is inserted into the swinging rod (21) and is fixedly connected with the swinging rod (21), and the telescopic rod (22) is telescopic.

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