CN118121444A - Modularized weight-reducing mechanism of lower limb rehabilitation robot - Google Patents

Abstract

The invention discloses a modularized weight-reducing mechanism of a lower limb rehabilitation robot, which belongs to the technical field of medical equipment and comprises a weight-reducing box and a cantilever assembly; the weight-reducing box is connected with a main body portal frame of the lower limb rehabilitation robot; the weight-reducing box comprises a shell, a driving device, a spring device and a pulley device; the inner side wall of the shell is provided with a guide rail a, the top end of the spring device is arranged on the guide rail a through a sliding block, and the bottom end of the spring device is fixedly connected with the inner side wall; the outer side wall of the shell is provided with a guide rail b, and the cantilever component is arranged on the guide rail b through a sliding block; the pulley device is arranged at the top ends of the shell and the spring device; the driving device drives the cantilever component and the moving plate to do lifting motion through the pulley device; the cantilever assembly is raised to provide upward traction to the patient, and the springs stretch as the mobile plate is raised to provide flexible support to the patient. The invention realizes the modularization of the weight-reducing mechanism, so that the whole volume of the weight-reducing mechanism is reduced, the replacement is convenient, the use scene of the lower limb rehabilitation robot can be widened, and the cost is saved.

Description

Modularized weight-reducing mechanism of lower limb rehabilitation robot

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to a modularized weight-reducing mechanism of a lower limb rehabilitation robot.

Background

The traditional lower limb exercise training is usually carried out by massage, acupuncture, electric stimulation and other methods by doctors, caregivers or families. And meanwhile, the patient needs to be supported to stand and walk. However, this is a great burden on the supporter due to weakness of the lower limbs of the patient, and the walking training effect of the patient cannot be ensured. In addition, in the process of rehabilitation of lower limbs, the process of learning the correct gait of a patient is also an extremely important ring in the process of rehabilitation of the patient.

The weight-reducing mechanisms commonly used in hospitals at present are large and heavy, require fixed places, and require laying of predetermined tracks. The patient walks on a fixed place and trains along a fixed track, and the problem of slow movement response exists. Moreover, they are poorly autonomous and limited in range of application, and patients often experience uncomfortable use during use. And the rehabilitation demands of patients are more and more diversified, and the rehabilitation demands of patients cannot be well met by single weight-reduction training. The selling price of rehabilitation robots is always high.

Therefore, we need to find a more convenient and efficient method to recover the lower limb walking ability of the patient, solve the limitation of the traditional training method, ensure the overall replaceability when designing the weight-reducing mechanism so as to meet the use requirements of different users, further reduce the production cost of the rehabilitation robot, and facilitate popularization and use in more places.

Disclosure of Invention

In view of the above, the invention provides a modularized weight-reducing mechanism of a lower limb rehabilitation robot, which realizes modularization of the weight-reducing mechanism, reduces the whole volume of the weight-reducing mechanism, is convenient to replace, and can widen the use scene of the lower limb rehabilitation robot and save the cost.

The invention is realized by the following technical scheme:

A modular weight-reduction mechanism for a lower limb rehabilitation robot, comprising: a weight-reducing box and a cantilever assembly;

the body portal frame of subtracting heavy box and low limbs rehabilitation robot can be dismantled and be connected, subtracts heavy box and includes: the device comprises a shell, a driving device, a spring device and a pulley device;

let two opposite sides of the housing be plate a and plate b; the inner side wall of the plate a is provided with a plurality of guide rails a along the vertical direction, and the outer side wall of the plate b is provided with a guide rail b along the vertical direction; each guide rail a is provided with a sliding block a, and each guide rail b is provided with a plurality of sliding blocks b;

The spring device comprises a plurality of springs, the top ends of the springs are arranged on the sliding block a through the movable plate, and the bottom ends of the springs are fixedly arranged on the inner side wall of the plate a;

the cantilever component is arranged on the sliding block b and is connected with the crotch part and the upper part of the thigh of the human body through a binding belt;

the pulley device comprises a plurality of pulleys and a steel wire rope, and the pulleys are respectively arranged on the inner side wall of the plate a, the outer side wall of the plate b and the moving plate;

One end of the steel wire rope is connected with a driving device arranged on the shell, and the other end of the steel wire rope bypasses a plurality of pulleys and is fixed at the top of the cantilever component;

the driving device is used for releasing and tightening the steel wire rope and driving the cantilever component and the moving plate to do lifting motion; the cantilever assembly is raised to provide upward traction to the patient, and the springs stretch as the mobile plate is raised to provide flexible support to the patient.

Further, the spring device comprises a spring fixing plate, two springs and a plurality of hanging rings a;

The spring fixing plate is fixed on the plate a and is positioned below the moving plate;

the top of each spring is installed on the movable plate, the bottom of each spring is installed on the spring fixing plate, and each spring is arranged along the vertical direction.

Further, the spring device further comprises a tension sensor;

the spring fixing plate is provided with a mounting groove, and the tension sensor is arranged in the mounting groove;

the tension sensor is connected with the bottom end of one spring and is used for measuring the tension of the spring.

Further, the bottom of the spring is arranged on the spring fixing plate through a hanging ring a.

Further, the pulley device includes: the pulley fixing plate, three fixed pulleys and two movable pulleys;

the pulley fixing plate is arranged on the plate a and is positioned above the moving plate;

the three fixed pulleys are respectively a first fixed pulley, a second fixed pulley and a third fixed pulley;

The rotating shaft of the first fixed pulley is vertically arranged on the plate surface of the pulley fixing plate;

The second fixed pulley is arranged on the pulley fixing plate through a pulley fixing seat, and the rotating shaft of the second fixed pulley is parallel to the plate surface of the pulley fixing plate; the rotating shaft of the second fixed pulley and the rotating shaft of the first fixed pulley are positioned on the same horizontal plane;

The third fixed pulley is arranged on the plate b through a pulley fixing seat and is positioned above the guide rail b; the rotating shaft of the third fixed pulley is parallel to the plate surface of the plate b and is positioned on the same vertical straight line with the second fixed pulley;

The first movable pulleys and the second movable pulleys are transversely and uniformly arranged on the movable plate side by side, and the rotating shafts of the two movable pulleys are perpendicular to the plate surface of the movable plate;

The free end of the steel wire rope extending from the driving device sequentially bypasses the first fixed pulley, the first movable pulley, the second fixed pulley and the third fixed pulley and is finally fixed on the cantilever assembly;

The steel wire rope is kept vertical or horizontal in space.

Further, the driving device includes: a motor, a reel, and a decelerator;

An output shaft of the motor is coaxially connected with an input shaft of the speed reducer, and the reel is coaxially connected with an output shaft of the speed reducer;

One end of the steel wire rope is wound on the reel.

Further, both ends of the guide rail a are provided with stop blocks a;

and the two ends of the guide rail b are provided with stop blocks b.

Further, each stop block b is provided with a limit switch, and the two limit switches are oppositely arranged;

when the sliding block b moves to the top end or the bottom end of the guide rail b, the limit switches positioned at the two ends of the guide rail b are touched, the circuit is disconnected, and the driving device stops working.

Further, a plurality of grooves a are formed in the inner side wall of the plate a along the vertical direction;

A groove b is formed in the outer side wall of the plate b along the vertical direction;

Each guide rail a is arranged on the corresponding groove a, and each guide rail b is arranged on the corresponding groove b.

Further, the cantilever assembly includes: a cantilever connection and a cantilever;

the cantilever of the cantilever assembly is arranged on the sliding block b through a cantilever connecting piece;

The other end of the steel wire rope is finally fixed at the top end of the cantilever connecting piece of the cantilever assembly.

The beneficial effects are that:

(1) The invention relates to a modularized weight-reducing mechanism of a lower limb rehabilitation robot, which comprises the following components: the weight-reducing box and the cantilever assembly realize modularized design, so that the weight-reducing mechanism and the main body portal frame of the lower limb rehabilitation robot are convenient to separate and assemble; compared with the prior generation products, the modularized weight-reducing mechanism has obviously reduced volume, size and weight, thereby widening the application scene of the lower limb rehabilitation robot; because most parts are already wrapped in the shell of the weight-reducing box, only the sliding rail b and the cantilever on the plate b are needed to be wrapped in the shell, so that the cost can be greatly reduced; the cantilever component of the weight reducing mechanism can do lifting movement, and upward traction force is provided for a patient when the cantilever component ascends; meanwhile, the lifting of the cantilever assembly can enable the weight reducing mechanism to meet different height requirements of patients, and the utilization efficiency of the weight reducing mechanism is improved; the spring device of the weight reduction mechanism can provide flexible support for a patient, can avoid abrupt change in height and influence the patient, and meanwhile, the spring device can enable the cantilever assembly to float up and down according to the change in the height of the gravity center of the patient in the walking process, so that the comfort level of the patient can be improved.

(2) The invention relates to a modularized weight-reducing mechanism of a lower limb rehabilitation robot, wherein a spring device of the modularized weight-reducing mechanism also comprises a tension sensor, and the tension of a spring can be measured through the tension sensor so as to measure an actual weight-reducing value; the tension sensor is arranged in the mounting groove on the spring fixing plate, and the weight reducing mechanism reasonably optimizes the position of the tension sensor and avoids interference between the tension sensor and other parts.

(3) According to the modularized weight-reducing mechanism of the lower limb rehabilitation robot, the steel wire rope is kept vertical or horizontal in space, deviation between a tension value measured by the tension sensor and an actually-received tension is prevented, so that the tension sensor can accurately measure the actually-received traction of a patient, and whether the traction reaches a target weight-reducing value is determined.

(4) According to the modularized weight-reducing mechanism of the lower limb rehabilitation robot, the bottom end of the spring is arranged on the spring fixing plate through the hanging ring a, and the direction of the spring can be adjusted through the hanging ring, so that the spring is convenient to install and detach.

(5) According to the modularized weight reduction mechanism of the lower limb rehabilitation robot, the driving device further comprises the speed reducer, the speed reducer is arranged between the stepping motor and the reel, and the speed reducer can reduce and amplify torque, so that the height of the weight reduction mechanism is adjusted more stably.

(6) According to the modularized weight-reducing mechanism of the lower limb rehabilitation robot, the two ends of the guide rail are provided with the stop blocks, and the stop blocks can prevent the sliding blocks from falling off from the guide rail.

(7) According to the modularized weight-reducing mechanism of the lower limb rehabilitation robot, each stop block b is provided with the limit switch, and when the cantilever ascends to the top end of the guide rail b or descends to the bottom end of the guide rail b, the limit switches are touched, so that the stepping motor stops rotating.

(8) According to the modularized weight-reducing mechanism of the lower limb rehabilitation robot, the plurality of grooves are machined on the plate of the shell, the guide rails are correspondingly arranged on the grooves one by one, so that the longitudinal positioning of the guide rails is facilitated, the mutual parallelism among the guide rails is ensured, the situation that clamping is caused even the sliding block is damaged due to the fact that the sliding blocks are relatively unparallel among the guide rails when the sliding block moves along the sliding rail can be prevented, and the quality and the size of the overall structure can be reduced to a certain extent by arranging the grooves.

Drawings

FIG. 1 is a schematic view of the internal structure of a weight-reduction box according to the present invention;

FIG. 2 is a schematic view of the exterior of the weight-reduction box of the present invention;

FIG. 3 is a schematic diagram of a driving apparatus according to the present invention;

The device comprises a 1-frame, a 2-speed reducer, a 3-stepping motor, a 4-spring fixing plate, a 5-moving plate, a 6-spring, a 7-pulley fixing plate, a 81-first fixed pulley, a 82-second fixed pulley, a 83-third fixed pulley, a 91-first movable pulley, a 92-second movable pulley, a 10-wire rope, a 11-tension sensor, a 12-cantilever, a 13-reel, a 141-plate a, a 142-plate b, a 15-hanging ring a, a 16-stop a, a 17-stop b, a 18-guide rail a, a 19-slide block a, a 20-limit switch, a 21-slide block b, a 22-guide rail b and a 23-cantilever connecting piece.

Detailed Description

The invention will now be described in detail by way of example with reference to the accompanying drawings.

The embodiment provides a modularized weight-reducing mechanism of a lower limb rehabilitation robot, which is arranged on two sides of a gantry of the rehabilitation robot and is used for providing upward traction force when a patient walks;

The modularized weight-reducing mechanism, as shown in figure 1, consists of a weight-reducing box and a cantilever assembly;

The weight-reducing box is detachably connected with a main body portal frame of the lower limb rehabilitation robot, and comprises: the device comprises a shell, a driving device, a spring device and a pulley device;

The shell is a closed box body formed by a frame 1 and a metal plate; the frame 1 is a hexahedral frame formed by splicing a plurality of aluminum profiles with different lengths; in this embodiment, the metal plates are connected by a three-dimensional angle connector; the metal plates are fixed on each face of the frame 1; let one plate located at the side of the housing be plate a141 and the opposite plate be plate b142; a plurality of grooves a are formed in the plate a141 along the vertical direction, and the surface of the plate a141 with the grooves a faces the inside of the box body; the plate b142 is provided with a groove b along the vertical direction, and the surface of the plate b142 provided with the groove b faces the outside of the box body; in the embodiment, the metal plate is an aluminum plate, and the aluminum plate has low cost, light weight, reliable strength, good electric conduction performance and electromagnetic signal shielding, so that the cost can be reduced, the weight of the weight-reducing mechanism can be reduced, the electromagnetic signal can be shielded, and the influence of electromagnetic radiation on a human body can be reduced;

The shell is provided with a guide rail b22, a plurality of guide rails a18, a plurality of sliding blocks a19 and more than one sliding block b21; each guide rail a18 is arranged in a groove a of the plate a141 in a one-to-one correspondence manner, each slide block a19 is arranged on the guide rail a18 in a one-to-one correspondence manner, the guide rail a18 is in sliding connection with the slide blocks a19, and all the slide blocks a19 are positioned on the same vertical height; the two ends of the guide rail a18 are provided with the stop blocks a16, and the stop blocks a16 are used for limiting and can prevent the slide block a19 from falling out of the guide rail a 18; in this embodiment, the number of the guide rails a18 is preferably two; the guide rail b22 is arranged in the groove b of the plate b142, a plurality of sliding blocks b21 are arranged on the guide rail b22, and the guide rail b22 is in sliding connection with the sliding blocks b21; the sliding blocks b21 are arranged along the vertical direction; in this embodiment, the number of the sliding blocks b21 is preferably two; the two ends of the guide rail b22 are provided with the stop blocks b17, and the stop blocks b17 are used for limiting and can prevent the sliding block b21 from falling out of the guide rail b 22; the guide rails are arranged in the grooves, so that the longitudinal positioning of the guide rails is facilitated, the mutual parallelism among the guide rails is ensured, the situation that the sliding blocks are blocked or even damaged due to relative non-parallelism among the guide rails when the sliding blocks move along the guide rails can be prevented, and the quality and the volume of the overall structure can be reduced to a certain extent by arranging the grooves; in this embodiment, two limit switches 20 are respectively installed on the two stop blocks b17, and the two limit switches 20 are oppositely arranged;

As shown in fig. 3, the driving device is installed in the case; the driving device includes: a speed reducer 2, a stepping motor 3, and a reel 13; the speed reducer 2 is arranged at the bottom end of the frame 1, and the output end of the speed reducer 2 faces to the plate a141; an output shaft of the stepping motor 3 is coaxially connected with an input shaft of the speed reducer 2; the reel 13 is coaxially connected with the output shaft of the speed reducer 2; when the sliding block b21 moves to the top end or the bottom end of the guide rail b22, the limit switches 20 positioned at the two ends of the guide rail b22 are touched, a circuit is disconnected, and the stepping motor 3 stops rotating; in this embodiment, the stepper motor 3 is an integral stepper motor, which can reduce the occupied space, and meanwhile, the stepper motor 3 is located above the speed reducer 2, so that the internal space of the box body can be effectively utilized; electromagnetic radiation generated by the driving device can be effectively shielded, and secondary damage to a patient caused by the electromagnetic radiation can be avoided;

The spring device is arranged in the box body and is positioned above the driving device; the spring device comprises a spring fixing plate 4, a moving plate 5, a tension sensor 11, a plurality of springs 6 and a plurality of hanging rings a15; the movable plate 5 is fixedly connected with the two sliding blocks a19 at the same time, the movable plate 5 can simultaneously do lifting motion along the two guide rails a18, the arrangement of the two guide rails a18 can improve stability, and the spring movable plate 5 can be prevented from overturning during lifting motion; the spring fixing plate 4 is fixed on the plate a141 and is positioned below the moving plate 5; the spring fixing plate 4 is provided with a mounting groove, and a bottom plate of the mounting groove is provided with a countersunk threaded hole; the bottom of the tension sensor 11 is arranged on the countersunk threaded hole of the spring fixing plate 4 and is positioned in the mounting groove, and interference with other parts caused by protrusion of the screw cap can be avoided by arranging the countersunk threaded hole; the top ends of the two springs 6 are arranged on the movable plate 5; the bottom end of one spring 6 is arranged on the top surface of the tension sensor 11 through a hanging ring a15, the bottom end of the other spring 6 is arranged on the spring fixing plate 4 through the other hanging ring a15, and each spring 6 is arranged along the vertical direction; the lifting ring a15 is arranged on the top surface of the tension sensor 11 through threaded connection; the tension sensor 11 is connected with the bottom end of the spring and is used for measuring the tension of the spring; if only one spring is used, a spring with a large elastic coefficient is needed, the spring with the large elastic coefficient is easy to break due to high hardness, and the excessive spring is easy to cause the problems of uneven stress of part of the spring and the like, so that the overall elastic coefficient of the spring is unstable; if a plurality of springs are used at the same time, the occupied space of the springs is larger, which is not beneficial to the modularized design of the weight-reducing mechanism; therefore, in this embodiment, the springs 6 are preferably two;

the cantilever assembly includes: cantilever 12 and cantilever connection 23;

As shown in fig. 2, the suspension 12 is mounted on the slider b21 through a suspension connector 23, and the suspension 12 can move up and down along the guide rail b 22; the top surface of the cantilever connecting piece 23 is provided with a hanging ring b;

The pulley device includes: the device comprises a fixed plate 7, a steel wire rope 10, three fixed pulleys and two movable pulleys; the fixed plate 7 is mounted on the plate a141 and is positioned above the moving plate 5; the three fixed pulleys are respectively a first fixed pulley 81, a second fixed pulley 82 and a third fixed pulley 83, and the two movable pulleys are respectively a first movable pulley 91 and a second movable pulley 92; the rotating shaft of the first fixed pulley 81 is vertically arranged on the plate surface of the fixed plate 7; the second fixed pulley 82 is arranged on the fixed plate 7 through a pulley fixing seat, and the rotating shaft of the second fixed pulley 82 is parallel to the plate surface of the fixed plate 7; the rotating shaft of the second fixed pulley 82 and the rotating shaft of the first fixed pulley 81 are positioned on the same horizontal plane; the third fixed pulley 83 is mounted on the plate b142 through a pulley fixing seat and is positioned above the guide rail b 22; the rotating shafts of the third fixed pulleys 83 are parallel to the parallel plate surfaces of the second fixed pulleys 82, and the third fixed pulleys 83 and the second fixed pulleys 82 are positioned on the same plane while being positioned at the same height; the first movable pulley 91 and the second movable pulley 92 are transversely and uniformly arranged on the movable plate 5 side by side, and the rotating shafts of the two movable pulleys are perpendicular to the plate surface of the movable plate 5;

One end of the wire rope 10 is wound on the reel 13, and the free end of the wire rope 10 extending from the reel 13 sequentially passes around the first fixed pulley 81, the first movable pulley 91, the second movable pulley 92, the second fixed pulley 82 and the third fixed pulley 83 and is finally fixed on the hanging ring b on the cantilever connecting piece 23; the wire rope 10 is kept vertical or horizontal in space, preventing deviation of the predicted value from the actual value of the tension.

Working principle:

The weight reducing mechanisms are arranged on two sides of the gantry of the rehabilitation robot;

When in use, a patient is pushed under the gantry of the rehabilitation robot through the wheelchair; with the rotation of the stepping motor 3 in the weight-reducing mechanism, a wire rope 10 is released by a reel 13 on the speed reducer 2, and the cantilever 12 is controlled to descend through the cooperation of the wire rope 10 and a pulley device;

A binding band is arranged between the cantilevers 12 on two sides, and the two cantilevers 12 are connected with the crotch part and the upper part of the thigh of a patient through the binding band; the strap descends with the two cantilevers 12; after the patient ties the binding belt on the wheelchair, the stepping motor 3 rotates, the wire rope 10 is tightened by the reel 13 on the speed reducer 2, and the cantilever 12 rises, so that vertical upward traction force is generated on the patient, and the weight reduction purpose is achieved; when the cantilever rises, two hands can hold the cantilever 12, so that the stability is improved; the tension sensor 11 can measure the traction force (weight reduction value) generated by the weight reduction mechanism on a patient, and the stalling of the stepping motor 3 can be judged according to the weight reduction value; stopping rotation of the stepping motor 3 when the motor reaches a preset weight reduction value;

When a patient moves, the gravity center height of the patient can be changed, and the springs 6 arranged in the weight reducing mechanism enable the cantilevers 12 on the two sides to swing up and down to float along with the gravity center height change of the patient in the walking process; at the same time the spring 6 provides a flexible support so that the height change of the cantilever arms 12 on both sides can be performed slowly avoiding excessive swinging.

In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a lower limb rehabilitation robot's modularization subtracts heavy mechanism which characterized in that includes: a weight-reducing box and a cantilever assembly;

the body portal frame of subtracting heavy box and low limbs rehabilitation robot can be dismantled and be connected, subtracts heavy box and includes: the device comprises a shell, a driving device, a spring device and a pulley device;

let two opposite sides of the housing be plate a and plate b; the inner side wall of the plate a is provided with a plurality of guide rails a along the vertical direction, and the outer side wall of the plate b is provided with a guide rail b along the vertical direction; each guide rail a is provided with a sliding block a, and each guide rail b is provided with a plurality of sliding blocks b;

The spring device comprises a plurality of springs, the top ends of the springs are arranged on the sliding block a through the movable plate, and the bottom ends of the springs are fixedly arranged on the inner side wall of the plate a;

the cantilever component is arranged on the sliding block b and is connected with the crotch part and the upper part of the thigh of the human body through a binding belt;

the pulley device comprises a plurality of pulleys and a steel wire rope, and the pulleys are respectively arranged on the inner side wall of the plate a, the outer side wall of the plate b and the moving plate;

One end of the steel wire rope is connected with a driving device arranged on the shell, and the other end of the steel wire rope bypasses a plurality of pulleys and is fixed at the top of the cantilever component;

the driving device is used for releasing and tightening the steel wire rope and driving the cantilever component and the moving plate to do lifting motion; the cantilever assembly is raised to provide upward traction to the patient, and the springs stretch as the mobile plate is raised to provide flexible support to the patient.

2. The modular weight-reducing mechanism of a lower limb rehabilitation robot according to claim 1, wherein the spring device comprises a spring fixing plate, two springs and a plurality of hanging rings a;

The spring fixing plate is fixed on the plate a and is positioned below the moving plate;

the top of each spring is installed on the movable plate, the bottom of each spring is installed on the spring fixing plate, and each spring is arranged along the vertical direction.

3. A modular weight reduction mechanism for a lower extremity rehabilitation robot as defined in claim 2, wherein said spring means further includes a tension sensor;

the spring fixing plate is provided with a mounting groove, and the tension sensor is arranged in the mounting groove;

the tension sensor is connected with the bottom end of one spring and is used for measuring the tension of the spring.

4. The modular weight-reducing mechanism of a lower limb rehabilitation robot according to claim 2, wherein the bottom end of the spring is mounted on the spring fixing plate through a hanging ring a.

5. The modular weight reduction mechanism for a lower extremity rehabilitation robot of claim 1, wherein the pulley arrangement includes: the pulley fixing plate, three fixed pulleys and two movable pulleys;

the pulley fixing plate is arranged on the plate a and is positioned above the moving plate;

the three fixed pulleys are respectively a first fixed pulley, a second fixed pulley and a third fixed pulley;

The rotating shaft of the first fixed pulley is vertically arranged on the plate surface of the pulley fixing plate;

The second fixed pulley is arranged on the pulley fixing plate through a pulley fixing seat, and the rotating shaft of the second fixed pulley is parallel to the plate surface of the pulley fixing plate; the rotating shaft of the second fixed pulley and the rotating shaft of the first fixed pulley are positioned on the same horizontal plane;

The third fixed pulley is arranged on the plate b through a pulley fixing seat and is positioned above the guide rail b; the rotating shaft of the third fixed pulley is parallel to the plate surface of the plate b and is positioned on the same vertical straight line with the second fixed pulley;

The first movable pulleys and the second movable pulleys are transversely and uniformly arranged on the movable plate side by side, and the rotating shafts of the two movable pulleys are perpendicular to the plate surface of the movable plate;

The free end of the steel wire rope extending from the driving device sequentially bypasses the first fixed pulley, the first movable pulley, the second fixed pulley and the third fixed pulley and is finally fixed on the cantilever assembly;

The steel wire rope is kept vertical or horizontal in space.

6. The modular weight reduction mechanism of a lower limb rehabilitation robot of claim 1, wherein the drive means comprises: a motor, a reel, and a decelerator;

An output shaft of the motor is coaxially connected with an input shaft of the speed reducer, and the reel is coaxially connected with an output shaft of the speed reducer;

One end of the steel wire rope is wound on the reel.

7. The modularized weight-reducing mechanism of the lower limb rehabilitation robot according to claim 1, wherein both ends of the guide rail a are provided with stop blocks a;

and the two ends of the guide rail b are provided with stop blocks b.

8. The modularized weight-reducing mechanism of the lower limb rehabilitation robot according to claim 7, wherein each stop block b is provided with a limit switch, and the two limit switches are arranged oppositely;

when the sliding block b moves to the top end or the bottom end of the guide rail b, the limit switches positioned at the two ends of the guide rail b are touched, the circuit is disconnected, and the driving device stops working.

9. The modularized weight-reducing mechanism of a lower limb rehabilitation robot according to claim 1, wherein a plurality of grooves a are formed in the inner side wall of the plate a along the vertical direction;

A groove b is formed in the outer side wall of the plate b along the vertical direction;

Each guide rail a is arranged on the corresponding groove a, and each guide rail b is arranged on the corresponding groove b.

10. A modular weight reduction mechanism for a lower extremity rehabilitation robot as defined in any one of claims 1-9, wherein said cantilever assembly includes: a cantilever connection and a cantilever;

the cantilever of the cantilever assembly is arranged on the sliding block b through a cantilever connecting piece;

The other end of the steel wire rope is finally fixed at the top end of the cantilever connecting piece of the cantilever assembly.