CN210962914U

CN210962914U - Lower limb rehabilitation robot with multiple motion modes

Info

Publication number: CN210962914U
Application number: CN201921217683.0U
Authority: CN
Inventors: 尹强; 夏九思; 严清华; 杨红军
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2020-07-10
Anticipated expiration: 2029-07-29

Abstract

The utility model discloses a lower limb rehabilitation robot with multiple motion modes, which comprises a base, a thigh lifting mechanism, a shank stretching mechanism and a driving device, wherein the base is provided with a seat for a patient to sit; the thigh lifting mechanism comprises a supporting structure for fixing the thigh, and the supporting structure has a lifting stroke approaching to and departing from the seat along the up-down direction; the shank stretching mechanism comprises a pedal structure for fixing the foot, and the pedal structure has a moving stroke approaching and departing from the seat along the front-back direction; the drive device enables the supporting structure to move along the lifting stroke and the pedal structure to move along the moving stroke. In the utility model, after a user sits on the seat and fixes the thighs and the shanks, the supporting structure drives the thighs to move upwards and downwards under the driving of the driving device, so that the thigh lifting function of the patient can be rehabilitated and trained; the footboard structure drives the foot forward and backward activity, can extend the function to patient's shank and carry out the rehabilitation training, helps richening the training function, optimizes the training effect.

Description

Lower limb rehabilitation robot with multiple motion modes

Technical Field

The utility model relates to a medical robot technical field, concretely relates to recovered robot of low limbs of many motion modes.

Background

Aiming at patients with limb dyskinesia, the traditional artificial training is difficult to meet the requirements, and the emerging limb rehabilitation training robot obtains great results in the aspects of the training normalization, the rehabilitation effect and the like. The existing lower limb rehabilitation robot generally needs to use a plurality of motors, is complex in structure, has more transmission modes and processes, and is easy to cause energy loss; moreover, the existing rehabilitation robot can only carry out training in one mode, the training process is simple and tedious, and the training effect is difficult to ensure; in addition, the training range of the robot cannot be adjusted, and the training range cannot be reasonably selected according to the requirement of the recovery degree of the patient. Therefore, the robot has many problems in practical use, and is difficult to achieve the expected training effect and to popularize and apply.

Disclosure of Invention

The utility model discloses a main objective designs the recovered robot of low limbs of many motion modes, aims at solving the recovered robot function singleness of traditional low limbs and trains the not good problem of effect.

In order to achieve the above object, the utility model provides a recovered robot of low limbs of many motion modes, include:

a base provided with a seat for a patient to sit;

a thigh lift mechanism including a support structure for securing a thigh, the support structure movably mounted to the base for a lift stroke in an up and down direction toward and away from the seat;

a lower leg extension mechanism including a pedal structure for fixing a foot, the pedal structure being movably mounted to the base to have a movement stroke in a forward-backward direction toward and away from the seat; and the number of the first and second groups,

the driving device is arranged on the base and is respectively in driving connection with the thigh lifting mechanism and the shank stretching mechanism, so that the supporting structure moves along the lifting stroke and the pedal structure moves along the moving stroke.

Optionally, the drive device has a rotary output shaft extending in a left-right direction;

thigh lifting mechanism still includes crank rocker structure, crank rocker structure includes first crank, first connecting rod and pendulum rod, wherein:

two ends of the first connecting rod are respectively and rotatably arranged at one end of the first crank and one end of the oscillating bar;

the other end of the first crank is arranged on the rotating output shaft;

the middle part of the swing rod is rotatably arranged on the base, and the other end of the swing rod is rotatably arranged on the supporting structure.

Optionally, the support structure comprises:

the turnover bottom plate is arranged at the other end of the swing rod in a manner of rotating up and down along the left-right axis; and the number of the first and second groups,

the tray penetrates through a through groove extending in the front-back direction to be placed by thighs, and the tray is slidably mounted on the turnover bottom plate in the up-down direction.

Optionally, the shank stretching mechanism further comprises a slider-crank structure, the slider-crank structure comprises a second crank, a second connecting rod, a guide rod and a guide block, wherein:

the guide block is arranged on the base and provided with guide holes in a penetrating manner along the front-back direction;

two ends of the second connecting rod are respectively and rotatably arranged at one end of the second crank and one end of the guide rod;

the other end of the second crank is arranged on the rotating output shaft;

the other end of the guide rod penetrates through the guide hole and then is installed on the pedal structure.

Optionally, the pedal structure comprises:

the fixing plate is arranged at the other end of the guide rod; and the number of the first and second groups,

and an installation part formed with a sleeve for sleeving the leg part, the installation part being slidably installed on the fixing plate in the up-down direction.

Optionally, the mounting portion further includes a sliding bottom plate and a reset member, the sleeve is mounted on the sliding bottom plate along a left-right axis in a manner of being capable of being turned over up and down, and the reset member is disposed between the sleeve and the sliding bottom plate.

Optionally, the first crank and/or the second crank are provided with a plurality of threaded holes at intervals along the length direction;

the lower limb rehabilitation robot with the multiple movement modes further comprises a connecting sleeve, the connecting sleeve is fixedly connected to the rotating output end and correspondingly sleeved on the first crank and/or the second crank, a connecting hole is formed in the connecting sleeve, and the connecting hole is used for being connected and matched with different threaded holes through a threaded part, so that the length of the first crank and/or the second crank can be adjusted.

Optionally, the drive device comprises:

the driving motor is arranged on the base and is provided with a power output shaft extending in the front-back direction; and the number of the first and second groups,

and the power input end of the transmission system is in transmission connection with the power output shaft, and the power output end of the transmission system is in transmission connection with the thigh lifting mechanism and the shank stretching mechanism respectively.

Optionally, the transmission system comprises:

the worm is connected with the power output shaft and driven by the power output shaft to rotate left and right along a front-back axial line; and the number of the first and second groups,

two worm gear components, each worm gear component includes worm wheel, first spur gear and second spur gear, wherein, the worm wheel with the worm meshes mutually, first spur gear coaxial arrangement in the worm wheel, just first spur gear with the second spur gear meshes mutually, the rotation axis of second spur gear constitutes power take off end.

Optionally, the worm wheel is slidably mounted to the base in a left-right direction to have an operating state engaged with the worm and an idle state spaced from the worm.

In the technical scheme provided by the utility model, after a user sits on the seat and fixes thighs and shanks, the supporting structure drives the thighs to move upwards and downwards under the driving of the driving device, so that the thigh lifting function of the patient can be rehabilitated and trained; the footboard structure drives the foot forward activity and backward activity, can extend the function to patient's shank and carry out the rehabilitation training to help richening the function of rehabilitation training, and optimize the rehabilitation training effect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an embodiment of a multi-motion mode lower limb rehabilitation robot provided by the present invention;

FIG. 2 is a schematic perspective view of the thigh lift mechanism of FIG. 1;

FIG. 3 is a perspective view of the support structure of FIG. 2;

FIG. 4 is a perspective view of the lower leg extension mechanism of FIG. 1;

FIG. 5 is a schematic front view of the deck structure of FIG. 4;

FIG. 6 is a schematic view of the assembly of the second crank and the adapter sleeve of FIG. 1;

fig. 7 is a perspective view of the driving device of fig. 1.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Lower limb rehabilitation robot with multiple motion modes	315	Second slide bar
1	Base seat	32	Second crank
				11	Chair (Ref. now to FIGS)	321	Threaded hole
2	Thigh lifting mechanism	33	Second connecting rod
				21	Supporting structure	34	Guide rod
211	Turnover bottom plate	35	Guide block
				212	Tray	4	Drive device
213	First slide bar	41	Driving motor
				22	First crank	42	Worm screw
23	First connecting rod	43	Worm wheel
				24	Swing link	44	First straight gear
3	Shank stretching mechanism	45	Second straight gear
				31	Pedal structure	46	Support base
311	Fixing plate	47	Sliding rail
				312	Sleeve barrel	5	Connecting sleeve
313	Sliding bottom plate	51	Connecting hole
				314	Reset piece

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

In view of this, the present invention provides a multi-movement mode lower limb rehabilitation robot, and fig. 1 to 7 illustrate a specific embodiment of the multi-movement mode lower limb rehabilitation robot.

Referring to fig. 1, the lower limb rehabilitation robot 100 with multiple motion modes provided by the present invention comprises a base 1, a thigh lifting mechanism 2, a shank stretching mechanism 3 and a driving device 4, wherein the base 1 is provided with a seat 11 for a patient to sit on; the thigh lifting mechanism 2 comprises a supporting structure 21 for fixing the thigh, and the supporting structure 21 is movably arranged on the base 1 so as to have a lifting stroke approaching to and departing from the seat 11 along the up-down direction; the lower leg extension mechanism 3 comprises a pedal structure 31 for fixing feet, and the pedal structure 31 is movably arranged on the base 1 so as to have a moving stroke in the front-back direction approaching to and departing from the seat 11; the driving device 4 is disposed on the base 1, and the driving device 4 is respectively connected to the thigh lifting mechanism 2 and the shank stretching mechanism 3 in a driving manner, so that the supporting structure 21 moves along the lifting stroke and the pedal structure 31 moves along the moving stroke.

In the technical scheme provided by the utility model, after a user sits on the seat 11 and fixes thighs and calves, the supporting structure 21 drives the thighs to move upwards and downwards under the driving of the driving device 4, so that the thigh lifting function of the patient can be rehabilitated; the pedal structure 31 drives the foot to move forward and backward, and can perform rehabilitation training on the shank extension function of the patient, thereby facilitating the enrichment of the rehabilitation training function and optimizing the rehabilitation training effect.

It should be noted that, the design does not limit the specific expression form of the base 1, and the base 1 may be a box structure, a frame structure, or a structure with other shapes; the style of the seat 11 can also be specifically set according to actual needs, and optionally, the seat 11 has a seat plate and a backrest, and can also have armrests to improve the sitting comfort of the patient during rehabilitation training. At this time, the seat 11 may uniquely determine the sitting posture of the patient, and in order to better understand the present technical solution, the following description uniformly defines the face orientation and the back orientation of the patient when sitting, which correspond to the front and back directions of the lower limb rehabilitation robot 100 in the multi-movement mode, respectively; the left and right hands of the patient who sits on the robot correspond to the left and right directions of the lower limb rehabilitation robot 100 in the multi-motion mode, respectively.

The support structure 21 and the pedal structure 31 are disposed in front of the seat 11, and the support structure 21 is disposed closer to the seat 11 than the pedal structure 31 to conform more to the actual configuration of the lower limbs of the human body. In addition, the driving device 4 is arranged behind the seat 11 to avoid interference on rehabilitation training actions; the base 1 may be provided with a mounting cavity, and the driving device 4 is preferably embedded at least in the electric control part in the mounting cavity so as to obtain sufficient protection and isolation, which is helpful for improving the use safety of the lower limb rehabilitation robot 100 with multiple movement modes.

Since the lifting stroke of the support structure 21 can be cyclically performed, in the present design, it is preferable that the driving device 4 has a rotation output shaft extending in the left-right direction, and the cyclic reciprocation of the lifting stroke can be ensured by continuous rotation output of the rotation output shaft. At this time, referring to fig. 2, in this embodiment, the thigh lifting mechanism 2 further includes a crank and rocker structure, the crank and rocker structure includes a first crank 22, a first connecting rod 23 and a rocker 24, wherein two ends of the first connecting rod 23 are respectively rotatably mounted on one end of the first crank 22 and one end of the rocker 24; the other end of the first crank 22 is mounted on the rotation output shaft; the middle part of the swing rod 24 is rotatably mounted on the base 1, and the other end of the swing rod 24 is rotatably mounted on the supporting structure 21. The specific dimensions of the first crank 22, the first connecting rod 23 and the swing link 24 can be adjusted adaptively according to practical applications, and the swing link 24 is preferably composed of two sub-levers integrally formed, the two sub-levers are arranged in a cross manner, and a mounting hole for mounting a rotating pin is formed at the cross position, so as to achieve the purpose of rotatably mounting the middle part of the swing link 24 on the base 1 or the seat 11, wherein the size of an included angle between the two sub-levers can be determined according to parameters such as the height range of the supporting structure 21 required to be lifted in practical applications.

Further, referring to fig. 3, in the present embodiment, the supporting structure 21 includes a turning base plate 211 and a tray 212, and the turning base plate 211 is mounted at the other end of the swing rod 24 in a manner of being capable of rotating up and down along a left-right axis; the tray 212 is provided with a through groove extending in the front-back direction for placing thighs, and the tray 212 is slidably mounted on the turnover bottom plate 211 in the up-down direction. The inner groove wall of the through groove is preferably arc-surface-shaped to be adapted to the outline of the thigh, so that the comfort level of the thigh when being placed is improved; when the thigh-shaped elastic chair is used, the thigh can be directly placed on the through groove, and can also be bound on the through groove through an elastic binding band and the like; two opposite sides of the turning bottom plate 211 may be respectively provided with a first sliding rod 213, a sliding hole is disposed at a position corresponding to the tray 212, and the first sliding rod 213 is slidably disposed through the tray 212, so that the tray 212 is slidably mounted on the turning bottom plate 211 in the up-down direction.

With such an arrangement, during the thigh lifting rehabilitation training process, the first crank 22 is driven by the rotating output shaft to rotate around the shaft, and then the first connecting rod 23 drives the swing rod 24 to swing within a preset angle range, so as to drive the supporting structure 21 to move within a preset height range. Since the patient is always seated on the seat 11, the rehabilitation training of raising the thigh is equivalent to the patient swinging up and down around the hip joint and the thigh as a radius. The overturning base plate 211 is passively overturned, so that the thighs are always tightly attached to the through grooves in the up-and-down swinging process, the stress of the whole thighs is balanced, and the rehabilitation training effect is optimized; in addition, the tray 212 is slidably disposed to play a good role in buffering, so that when the turnover bottom plate 211 is driven by the swing rod 24 to move upwards and abut against the bottom of the tray 212, an upward acting force is applied to the tray 212 to drive the thigh to lift; on the contrary, when the turning base plate 211 is driven by the swing rod 24 to move downwards until reaching the natural relaxing state of the thighs when the patient sits, the turning base plate 211 is separated from the bottom of the tray 212 to move downwards continuously, and finally the lowest swing height of the swing rod 24 is reached, and the tray 212 does not move downwards continuously, so that the thighs can be effectively prevented from being excessively lowered to influence the thigh rehabilitation effect of the patient.

Of course, referring to fig. 4, in this embodiment, the lower leg stretching mechanism 3 further includes a slider-crank structure, the slider-crank structure includes a second crank 32, a second connecting rod 33, a guide rod 34 and a guide block 35, wherein the guide block 35 is installed on the base 1, and a guide hole (not shown in the drawings) is formed through the guide block in the front-back direction; two ends of the second connecting rod 33 are respectively rotatably mounted at one end of the second crank 32 and one end of the guide rod 34; the other end of the second crank 32 is mounted to the rotation output shaft; the other end of the guide rod 34 is installed on the pedal structure 31 after passing through the guide hole. The length of the guide hole can be set according to actual needs, and the guide hole is used for limiting the moving direction of the guide rod 34 and ensuring that the movement of the guide rod 34 does not generate lateral deviation to influence the lower leg rehabilitation effect of a patient.

Further, referring to fig. 5, in the present embodiment, the pedal structure 31 includes a fixing plate 311 and an installation portion (not shown in the drawings), wherein the fixing plate 311 is installed at the other end of the guide rod 34 to move forward and backward under the driving of the guide rod 34; the installation department is formed with the sleeve 312 that is used for the muffjoint foot, the installation department along from top to bottom slidable install in fixed plate 311, for example, the relative both sides of fixed plate 311 are provided with a second slide bar 315 respectively, the installation department corresponds second slide bar 315 department is provided with the slide opening, through second slide bar 315 with the sliding fit of slide opening two realizes the slidable of installation department sets up. The specific expression of the sleeve 312 is not limited, and for example, the sleeve may be made of an elastic material, and may be stretched and deformed under the action of an external force to form a sufficient space for the foot to smoothly penetrate through, and then elastically restored after the external force is removed to elastically press the foot, so that the limitation of the foot may be achieved, and the comfort of the foot may be improved.

Furthermore, in this embodiment, the mounting portion further includes a sliding bottom plate 313 and a reset member 314, the sleeve 312 is mounted on the sliding bottom plate 313 in a manner of being capable of being turned up and down along a left-right axis, and the reset member 314 is disposed between the sleeve 312 and the sliding bottom plate 313. With such an arrangement, during the shank stretching rehabilitation training process, the second crank 32 is driven by the rotating output shaft to rotate around the shaft, and then the guide rod 34 is driven by the second connecting rod 33 to move back and forth within a preset moving range. Because the patient sits on the seat 11 all the time, the mounting part is arranged in a manner of sliding up and down, so that the recovery training of the extension of the lower leg is equivalent to that the patient swings back and forth with the knee joint as the center and the lower leg as the radius, and the sliding bottom plate 313 passively turns over, so that the foot is always tightly attached to the sleeve 312 and stably mounted in the process of swinging the lower leg back and forth, and the ankle joint of the patient can be exercised, and the recovery training effect can be optimized; in addition, the reset member 314 may be specifically configured as a torsion spring, and the torsion spring may play a role in buffering the movement and assisting the reset of the sliding bottom plate 313.

It should be noted that, the recovered robot of many motion patterns's low limbs 100 not only can support the patient to carry out solitary thigh lifting rehabilitation training or shank and extend rehabilitation training, can also support the patient to carry out compound thigh lifting and shank and extend rehabilitation training, and at this moment, the installation department can assist the lifting effect of thigh along the up-down slidable setting to reach better rehabilitation training effect.

In view of the above, the rotation radius of the first crank 22 affects the vertical lifting height range of the supporting structure 21, and the rotation radius of the second crank 32 affects the forward and backward movement distance range of the pedal structure 31, taking the second crank 32 as an example, please refer to fig. 6, in this embodiment, the second crank 32 is provided with a plurality of threaded holes 321 at intervals along the length direction; recovered robot 100 of low limbs of many motion modes still includes adapter sleeve 5, adapter sleeve 5 fixed connection to rotate the output, and correspond cup joint in second crank 32, adapter sleeve 5 has seted up connecting hole 51, connecting hole 51 be used for through a spiro union piece with different screw hole 321 connects the cooperation to the corresponding formation has different turning radius second crank 32 to it extends the adjustable of rehabilitation training to realize the shank. Of course, the adjustment principle of the first crank 22 is the same as that described above, and is not described herein.

In this design, the thigh lifting mechanism 2 and the shank stretching mechanism 3 may be respectively configured with a motor to realize independent opening and closing of the two mechanisms. However, in order to save energy and reduce consumption, please refer to fig. 1 and 7, in this embodiment, the driving device 4 includes a driving motor 41 and a transmission system, the driving motor 41 is disposed on the base 1 and has a power output shaft extending in a front-back direction; the power input end of the transmission system is in transmission connection with the power output shaft, and the power output end of the transmission system is in transmission connection with the thigh lifting mechanism 2 and the shank stretching mechanism 3 respectively. With the arrangement, the thigh lifting mechanism 2 and the shank stretching mechanism 3 can be controlled respectively by one driving motor 41, so that the number of motors is effectively saved, the transmission space is reduced, and the multi-motion-mode lower limb rehabilitation robot 100 is more compact and simpler in structure.

Of course, there are various technical solutions of the transmission system for achieving the above functions, and in this embodiment, the transmission system includes a worm 42 and two worm wheel assemblies, the worm 42 is connected to the power output shaft so as to be driven by the power output shaft to rotate left and right along the front-rear axis; the two worm gear assemblies may be separately provided on left and right sides of the worm 42, so that the thigh lifting mechanism 2 and the shank stretching mechanism 3 are separately provided on left and right sides of the seat 11, contributing to improvement of compactness of the entire structure. The two worm wheel assemblies may be arranged differently, or may be arranged identically as shown in fig. 7, wherein each worm wheel assembly includes a worm wheel 43, a first spur gear 44 and a second spur gear 45, the worm wheel 43 is engaged with the worm 42, the first spur gear 44 is coaxially installed on the worm wheel 43, the first spur gear 44 is engaged with the second spur gear 45, and a rotation shaft of the second spur gear 45 constitutes the power output end. When in use, the worm 42 is driven by the driving motor 41 to rotate, and then drives the worm wheel 43 engaged with the worm wheel 43 to rotate, and the first spur gear 44 coaxially installed with the worm wheel 43 to rotate, and finally drives the second spur gear 45 engaged with the first spur gear 44 to rotate, so as to finally realize the rotation output of the driving device 4. Wherein, by adjusting the gear ratio of the first straight gear 44 and the second straight gear 45, the speed of the rotation output can be correspondingly adjusted.

In addition, in the present embodiment, the worm wheel 43 is slidably mounted to the base 1 in the left-right direction to have an operating state in which it meshes with the worm 42 and an idle state in which it is spaced apart from the worm 42. For example, the worm wheel 43 and the first straight gear 44 can be installed on a support 46, the support 46 is provided with a sliding groove extending in the left-right direction, the base 1 corresponds to the sliding groove can be provided with a sliding rail 47, and the sliding groove is connected with the sliding rail 47 in a sliding manner to realize the left-right sliding of the worm wheel 43, so that the working state and the idle state are mutually switched, the thigh lifting mechanism 2 and the shank stretching mechanism 3 are respectively and independently driven, and the independent starting and stopping of the thigh lifting rehabilitation training function, the shank stretching rehabilitation training function or the composite rehabilitation training function of the thigh lifting and the shank stretching of the lower limb rehabilitation robot 100 in the multi-motion mode can be facilitated. At this time, the thickness of the first spur gear 44 can be adjusted to be larger, so that the first spur gear 44 is meshed with the second spur gear 45 no matter the worm wheel 43 is in the working state or the idle state, and timely and effective meshing transmission between the first spur gear and the second spur gear is ensured. It should be noted that, when the multi-movement-mode lower limb rehabilitation robot 100 performs the composite rehabilitation training of thigh lifting and calf stretching, the initial positions of the thigh and the calf need to be set in advance, and the initial positions may be specifically determined as the natural placing positions of the thigh and the calf of the patient in the sitting posture, and the like.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A lower limb rehabilitation robot with multiple movement modes is characterized by comprising:

a base provided with a seat for a patient to sit;

2. The multi-locomotion mode lower limb rehabilitation robot according to claim 1, wherein the driving means has a rotation output shaft extending in a left-right direction;

the other end of the first crank is arranged on the rotating output shaft;

3. The multi-locomotion mode lower limb rehabilitation robot of claim 2, wherein the support structure comprises:

4. The multi-locomotion mode lower limb rehabilitation robot of claim 2, wherein the lower leg extension mechanism further comprises a crank-slider structure comprising a second crank, a second connecting rod, a guide rod and a guide block, wherein:

the other end of the second crank is arranged on the rotating output shaft;

5. The multi-locomotion mode lower limb rehabilitation robot of claim 4, wherein the pedal structure comprises:

6. The multi-locomotion-mode lower limb rehabilitation robot according to claim 5, wherein the mounting part further comprises a slide base plate to which the sleeve is mounted so as to be vertically turnable along a lateral axis, and a restoring member provided between the sleeve and the slide base plate.

7. The multi-locomotion mode lower limb rehabilitation robot as claimed in claim 4, wherein the first crank and/or the second crank are provided with a plurality of threaded holes at intervals along the length direction;

8. The multi-locomotion mode lower limb rehabilitation robot of claim 1, wherein the driving means comprises:

9. The multi-locomotion mode lower limb rehabilitation robot of claim 8, wherein the transmission system comprises:

10. The multi-locomotion mode lower limb rehabilitation robot of claim 9, wherein the worm gear is slidably mounted to the base in a left-right direction to have an operating state engaged with the worm and an idle state spaced apart from the worm.