CN219184586U - Transfer and carrying type lower limb rehabilitation robot with variable height - Google Patents

Abstract

The utility model discloses a variable-height transfer and transfer type lower limb rehabilitation robot, which comprises a frame, a transfer and transfer device, a lifting seat device, a lower limb training device and a moving device; The transfer between the robot and the robot can realize the mutual conversion between the standing state and the sitting state of the user on the robot, which is convenient for the lower limb rehabilitation training in the standing state; the lifting seat device has a lifting function, and the robot is in the sitting position. It is used for the user to sit on it; the lower limb training device is used for the user to realize the terminal traction to drive the leg joint movement through the power of the foot in the standing state, so as to realize the function of leg rehabilitation training; the mobile device is used for the movement of the robot. The utility model not only realizes the function of transfer and transportation, but also adds the function of lower limb rehabilitation training, and organically combines the two functions, and has the advantages of good comfort, rich functions, and wide range of application objects.

Description

A variable-height transportable lower limb rehabilitation robot

technical field

The utility model relates to the field of rehabilitation robots, in particular to a variable-height transfer and transport type lower limb rehabilitation robot.

Background technique

The problem of population aging has become a common social problem in the world. The number of semi-disabled elderly people continues to increase. In order to reduce the burden of nursing care for the elderly and take care of the willingness of the elderly to live alone, moving machines, that is, transfer robots, have begun to appear. The lifting machine is a rehabilitation aid that helps people with lower limbs to transfer and carry, which can greatly reduce the workload of nursing staff. Transfer and transportation refers to the physical labor such as transferring the disabled care receiver from the bed to the wheelchair, or from the wheelchair to the bed or toilet.

At present, there are many kinds of lifting machines on the market, but most of them require nursing staff to assist the user to use them, which fails to liberate the labor force of the nursing staff, has a poor degree of automation, and has relatively single functions. The document with the application number 201710340526.8 discloses a transfer and transfer nursing robot, which can realize the transfer function, but it can only realize the mechanical transfer function alone. Increase the rehabilitation function of the lower limbs. And the working state seat height of its mechanism is fixed, and the range of application objects is relatively limited. Therefore, it is necessary to design a robot that can realize the autonomous transfer of the elderly or patients with different degrees of lower limb impairment and increase the function of lower limb training.

Utility model content

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a variable-height transfer and transport type lower limb rehabilitation robot.

The technical solution of the utility model to solve the technical problem is to provide a variable-height transfer and transfer type lower limb rehabilitation robot, which is characterized in that the robot includes a frame, a transfer and transfer device, a lifting seat device, and a lower limb training robot. devices and mobile devices;

The lifting seat device has a lifting function, and is used for the user to sit on it when the robot is in a sitting position; the moving device is used for the movement of the robot;

The transferring and conveying device includes a transferring and conveying device frame body, an electric push rod one, a slider, a slide rail assembly, a console, a clamping arm, a connecting rod one, a connecting rod two and a connecting rod three;

The bottom of the frame body of the transfer and transfer device is fixed on the frame; the shell of the electric push rod one is fixed on the frame body of the transfer and transfer device, and the output end of the electric push rod one is output horizontally; the output end of the electric push rod one is fixed with Slider; connecting rod three is vertically fixed on the frame; two connecting rods two are arranged parallel to each other, one end of which is hinged on connecting rod three, and the other end is hinged with connecting rod one; connecting rod one and two connecting rods The second and the connecting rod three form a parallelogram mechanism; the console, the first connecting rod and the slide rail assembly are fixedly connected to each other; the slide rail assembly is provided with a vertical slide rail; the slide block is slidably arranged on the vertical In the slide rail; the clamping arm is fixed on the console to provide support for the user;

The lower limb training device includes a hip joint connection part 1, a hip joint connection part 2, a thigh exoskeleton, a knee joint connection part 1, a knee joint connection part 2, a calf exoskeleton, an ankle joint connection part 1, an ankle joint connection part 2, Foot exoskeleton, exoskeleton bracket, spring, hub bracket, hub motor, bottom wheel, bottom wheel track, L-shaped plate and moving shaft;

The exoskeleton support is fixed on the frame; the second hip joint is fixed on the exoskeleton support; the first hip joint is rotatably installed on the second hip joint; one end of the thigh exoskeleton is fixedly connected to the first hip joint, The other end is fixedly connected with the first knee joint; the second knee joint is rotatably installed on the first knee joint; one end of the calf exoskeleton is fixedly connected with the second knee joint, and the other end is fixedly connected with the second ankle joint ;Ankle joint connecting part 1 is rotated and installed on ankle joint connecting part 2; foot exoskeleton is fixed on ankle joint connecting part 1;

One side of the foot exoskeleton is fixed with an L-shaped plate; the bottom wheel track is fixed on the frame through the track fixing plate; the bottom wheel is rotatably installed in the hub bracket; the hub motor shell is fixed on the hub bracket, and its output end is connected to the hub bracket. The axis of the bottom wheel is fixedly connected; the bottom wheel is set in the track of the bottom wheel; one end of the moving shaft is fixed on the top of the hub bracket, and the other end is slidably set in the through hole of the L-shaped plate, and the hub bracket and the L-shaped plate form a moving pair ; The spring is nested on the moving shaft, one end is in contact with or fixedly connected with the hub bracket, and the other end is in contact with or fixedly connected with the L-shaped plate, so as to ensure that the bottom wheel is always in contact with the bottom wheel track.

Compared with the prior art, the utility model has the beneficial effects of:

(1) The utility model adds the lower limb rehabilitation training function while realizing the transfer and carrying function, and organically combines the two functions. Compared with traditional transfer and handling robots, it has the advantages of good comfort, rich functions, and wide range of application objects.

(2) The transfer and transfer device of the present utility model can realize the transfer and transfer between the user on the bed and the robot, and at the same time can realize the mutual conversion between the standing posture state and the sitting posture state of the user on the robot, so as to facilitate the realization of the user in the standing posture state. lower limb rehabilitation training.

(3) In the transfer and handling device of the present utility model, the horizontal linear motion of the electric push rod 1 is converted into the arc motion of the clamping arm, and the motion in two directions can be realized at the same time through the motion in one direction, which reduces the number of power elements , to facilitate the control of the device in the next step. The parallelogram mechanism ensures that the clamping arm is always kept parallel to the ground and the upper body of the user is always kept vertical during transfer and transportation.

(4) The utility model realizes the lifting of the seat by rotating and lifting, and at the same time ensures that the seat is always parallel to the ground during the conversion process of sitting and standing through the parallelogram mechanism.

(5) In the lower limb training device of the present utility model, in a standing posture, the user drives the whole lower limbs to move through the power of the foot, and the bottom wheel is always attached to the bottom wheel track through the spring, thereby realizing the height change of the foot. Using only one set of hub motors for rehabilitation training for users reduces the number of motors, which not only saves costs, but also has better comfort, simple execution, quantification, and repeatability compared to multi-motor exoskeletons. The advantage is that it can carry out rehabilitation training closer to the gait of the human body.

(6) The utility model adopts the electric push rod as the power component, which does not require the support of a complex complete system, and saves a lot of space; it can work safely and reliably without maintenance; without oil pollution, it can also be greatly reduced. Noise, maintain a clean and quiet working environment; large output torque, stable operation, can ensure the stability and reliability of transfer and transportation, and ensure the smooth conversion of sitting and standing postures.

(7) The lengths of the transfer and carrying device and the lower limb training device of the present invention can be adjusted, and can be adapted to users of different heights, and have a wide range of application objects.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the overall structure of the utility model in a sitting position;

Fig. 2 is the schematic diagram of the front view of the overall structure of the utility model in the standing posture working position;

Fig. 3 is the three-dimensional schematic view of the overall structure of the utility model;

Fig. 4 is a three-dimensional schematic diagram of the transfer and handling device of the present invention;

Fig. 5 is a three-dimensional schematic diagram of the lifting seat device of the present invention;

6 is a three-dimensional schematic diagram of the lower limb training device of the present invention;

Fig. 7 is a partially enlarged schematic diagram of part A of Fig. 6 of the present invention;

Fig. 8 is a schematic front view of the lower limb training device of the present invention;

Fig. 9 is a schematic diagram of the installation of the moving shaft and the hub bracket of the present invention.

In the figure, the frame 1, the transferring and transporting device 2, the lifting seat device 3, the lower limb training device 4, and the moving device 5;

Transfer and handling device frame body 2-1, electric push rod 1 2-2, electric push rod support 2-3, slider 2-4, slide rail assembly 2-5, console 2-6, clamping arm 2 -7, connecting rod one 2-8, connecting rod two 2-9, connecting rod three 2-10;

Electric push rod 2 3-1, parallel lifting rod 3-2, seat 3-3, seat hinge 3-4;

Hip joint one 4-1, hip joint two 4-2, thigh exoskeleton 4-3, knee joint one 4-4, knee joint two 4-5, calf exoskeleton 4-6, Ankle joint connector 1 4-7, ankle joint connector 2 4-8, foot exoskeleton 4-9, exoskeleton bracket 4-10, spring 4-11, hub bracket 4-12, hub motor 4-13, Bottom wheel 4-14, bottom wheel track 4-15, L-shaped plate 4-16, moving shaft 4-17, bottom wheel track fixed plate 4-18.

Detailed ways

Provide the specific embodiment of the present utility model below. The specific embodiments are only used to further describe the utility model in detail, and do not limit the protection scope of the claims of the utility model.

The utility model provides a variable-height transfer and transfer type lower limb rehabilitation robot (robot for short), which is characterized in that the robot includes a frame 1, a transfer and transfer device 2, an elevating seat device 3, and a lower limb training device 4 and mobile device 5;

The lifting seat device 3 has a lifting function, and is used for the user to sit on it when the robot is in the sitting position; The power realizes the traction of the end to drive the movement of the leg joints, thereby realizing the function of leg rehabilitation training; the mobile device 5 is used for the movement of the robot, and wheels can be used;

The transfer and transportation device 2 includes a transfer and transportation device frame body 2-1, an electric push rod 2-2, a slider 2-4, a slide rail assembly 2-5, a console 2-6, and a clamping arm 2- 7. Connecting rod one 2-8, connecting rod two 2-9 and connecting rod three 2-10;

The bottom of the transfer and transfer device frame body 2-1 is fixed on the frame 1; the shell of the electric push rod-2-2 is fixed on the transfer and transfer device frame body 2-1 by screws, and the electric push rod-2-2 The output end of the electric push rod is horizontally output; the output end of the electric push rod one 2-2 is fixed with a slider 2-4; the connecting rod three 2-10 is fixed on the frame 1 through a right-angle connector, and the connecting rod three 2-10 is always Vertical; two connecting rods 2-9 are arranged parallel to each other, one end of which is hinged on the connecting rod 3 2-10 through the pin shaft, and the other end is hinged with the connecting rod 1 2-8 through the pin shaft; -8. Two connecting rods two 2-9 and connecting rod three 2-10 form a parallelogram mechanism, ensuring that connecting rod one 2-8 and connecting rod three 2-10 are always parallel; console 2-6, connecting rod one 2-8 and the slide rail assembly 2-5 are fixedly connected to each other by screws; the slide rail assembly 2-5 is provided with a vertical slide rail; In the straight slide rail, the slide block 2-4 can slide up and down in the vertical direction in the vertical slide rail of the slide rail assembly 2-5; the clamping arm 2-7 is fixed on the console 2-6 by screws, for use provide support.

Preferably, the transfer and transportation device 2 also includes an electric push rod support 2-3; the bottom of the electric push rod support 2-3 is fixed on the horizontal plate of the transfer and transportation device frame 2-1 by bolts, and the top is connected to the electric push rod support 2-1. The housing of the push rod 1-2-2 is fixedly connected to further support the electric push rod-2-2, providing vertical constraints for the electric push rod-2-2, and preventing the electric push rod-2-2 from being damaged by external loads The positioning accuracy further ensures the horizontal output of the output end of the electric push rod 1-2.

Preferably, the sliders 2-4 are wedge-shaped sliders or trapezoidal sliders.

Preferably, the console 2-6 is always close to the user during the conversion process of the sitting working position, standing working position and sitting-stand, and is always kept horizontal with the clamping arm 2-7.

Preferably, the lifting seat device 3 includes an electric push rod 2 3-1, a parallel lifting rod 3-2 and a seat 3-3;

Two parallel lifting rods 3-2 are arranged parallel to each other, one end of which is hinged on the frame 1, and the other end is hinged to the seat 3-3 through the seat hinge 3-4; the frame 1, the two parallel lifting rods 3-2 and the seat 3-3 form a parallelogram mechanism, which realizes that the seat 3-3 is always kept horizontal in the sitting position, standing position and sitting-stand conversion process; the shell of the electric push rod 2 3-1 is hinged On the frame 1, its output end is hinged with the middle part of a parallel elevating rod 3-2.

Preferably, the seat 3-3 is an equestrian seat, which saves space and increases comfort.

Preferably, the lower limb training device 4 includes a hip joint joint one 4-1, a hip joint joint two 4-2, a thigh exoskeleton 4-3, a knee joint joint one 4-4, and a knee joint joint two 4 -5, calf exoskeleton 4-6, ankle joint joint 1 4-7, ankle joint joint 2 4-8, foot exoskeleton 4-9, exoskeleton bracket 4-10, spring 4-11, hub bracket 4-12, hub motor 4-13, bottom wheel 4-14, bottom wheel track 4-15, L-shaped plate 4-16 and moving shaft 4-17;

The exoskeleton support 4-10 is fixed on the frame 1; the hip joint connection part 2 4-2 is fixed on the exoskeleton support 4-10; the hip joint connection part 1 4-1 is rotatably installed on the hip joint connection part 2 4-2 Above; one end of the thigh exoskeleton 4-3 is fixedly connected to the hip joint joint 1 4-1, and the other end is fixedly connected to the knee joint joint 1 4-4; the knee joint joint 2 4-5 is rotatably installed on the knee joint Part 1 4-4; one end of calf exoskeleton 4-6 is fixedly connected with knee joint joint 2 4-5, and the other end is fixedly connected with ankle joint joint 2 4-8; ankle joint joint 1 4-7 rotates Installed on the ankle joint connector 2 4-8; the foot exoskeleton 4-9 is fixed on the ankle joint connector 1 4-7;

One side of the foot exoskeleton 4-9 is fixed with an L-shaped plate 4-16; the bottom wheel track 4-15 is fixed on the frame 1 through the track fixing plate 4-18; the bottom wheel 4-14 is rotatably mounted on the hub bracket 4 In -12; the housing of the hub motor 4-13 is fixed on the hub bracket 4-12, and its output end is fixedly connected with the axis of the bottom wheel 4-14 to drive the bottom wheel 4-14 to rotate; the bottom wheel 4-14 is set In the bottom wheel track 4-15; one end of the moving shaft 4-17 is fixed on the top of the hub bracket 4-12, and the other end is slidably arranged in the through hole of the L-shaped plate 4-16, which can be moved along the L-shaped plate 4-16. 16 slides up and down in the vertical direction, and the hub bracket 4-12 forms a moving pair with the L-shaped plate 4-16; the spring 4-11 is nested on the moving shaft 4-17, and one end contacts or is fixedly connected with the hub bracket 4-12, The other end is in contact with the L-shaped plate 4-16 or is fixedly connected to ensure that the bottom wheel 4-14 contacts with the bottom wheel track 4-15 all the time.

Preferably, the length of the thigh exoskeleton 4-3 can be adjusted freely and fixed by fastening bolts, so as to adapt to the thigh lengths of different users.

Preferably, the length of the calf exoskeleton 4-6 can be adjusted freely and fixed by fastening bolts, so as to adapt to the length of the calf of different users.

Preferably, the thigh exoskeleton 4-3 is provided with straps for fixing with the thigh of the human body.

Preferably, the calf exoskeleton 4-6 is provided with straps for fixing with the calf of the human body.

Preferably, the foot exoskeleton 4-9 is provided with straps for fixing with the feet of the human body.

Preferably, the bottom wheel track 4-15 can also be inserted into the bottom of the bed to play the role of fixing the robot.

Principle of work and work flow of the present utility model are:

When the user is transferred from the bed to the robot, the moving device 5 drives the robot to move to the bedside, and the robot is inserted into the bottom of the bed through the braking of the moving device 5 and/or the bottom wheel track 4-15 to achieve a fixed effect; the user Sit on the bed, put your feet on the foot exoskeleton 4-9; the electric push rod 2 3-1 works to drive the seat 3-3 up and down, so that it is at a certain height in front of the user and does not exceed the chest height; Push rod one 2-2 elongates, drives slide block 2-4 to slide vertically downward in slide rail assembly 2-5, connecting rod one 2-8, two connecting rods two 2-9 and connecting rod three 2- The parallelogram mechanism composed of 10 rotates clockwise, driving the clamping arm 2-7 to lower in the vertical direction and approach the user in the horizontal direction, and then insert the clamping arm 2-7 into the armpit of the user; then the electric push rod-2 -2 is shortened, and the slider 2-4 is driven to slide vertically upward in the slide rail assembly 2-5, and the parallelogram mechanism formed by the first connecting rod 2-8, two connecting rods 2-9 and the third connecting rod 2-10 Rotate counterclockwise to drive the clamping arm 2-7 to drive the user to move in a direction close to the robot (i.e. move forward) along the horizontal direction and raise the user vertically so that the user can stand up to a certain height After the user stands passively, the electric push rod 2 3-1 is elongated, and the parallelogram mechanism that drives the frame 1, two parallel elevating rods 3-2 and the seat 3-3 rotates clockwise, and the seat 3- 3 falls and moves backward through the user's legs to the buttocks of the user's sitting posture. At this time, the electric push rod 2 3-1 stops moving; the electric push rod 1 2-2 stretches, and then drives the clamping arm 2-7 Lower in the vertical direction and move backward in the horizontal direction, so that the user's buttocks sit on the seat 3-3 to complete the transfer work from the bed to the robot; the mobile device 5 carries the user to move;

When the user switches from a sitting position to a standing position, after confirming that the clamping arm 2-7 is inserted into the user's armpit, the electric push rod 1-2-2 shortens, and then drives the clamping arm 2-7 to drive the user forward along the horizontal direction Move and lift along the vertical direction to raise the user to a standing position; at the same time, the electric push rod 2 3-1 shortens, driving the frame 1, two parallel lifting rods 3-2 and the seat 3-3 The formed parallelogram mechanism rotates counterclockwise, and the seat 3-3 rises; during the movement, the clamping arm 2-7 and the seat 3-3 move synchronously to make the human body comfortable, and the clamping arm 2-7 provides the main Support force, seat 3-3 provides auxiliary support force (or seat 3-3 does not contact with user all the time, does not provide support force, prevents user from slipping from clamping arm 2-7); when reaching standing position work After the position, the electric push rod 1 2-2 stops working, and the electric push rod 2 3-1 is still shortened until the seat 3-3 is separated from the user's lower limbs, and stops moving when returning to the initial position;

When the user uses the lower limb training device 4, the user is in a standing posture at this time, and the user's foot steps on the foot exoskeleton 4-9 and can be fixed or not fixed by a strap. The bones 4-6 can be fixed or not fixed by straps, and the user's thigh and thigh exoskeleton 4-3 can be fixed by straps or not; the hub motor 4-13 works to drive the bottom wheel 4-14 along the bottom wheel track 4 -15 moves back and forth to ensure that the trajectory of the bottom wheel 4-14 is a straight line, so that the exoskeleton 4-9 of the foot moves and drives the entire leg of the user to move, thereby achieving rehabilitation training for the lower limbs of the human body;

When the user switches from a standing position to a sitting position, the clamping arm 2-7 is now in the armpit of the user; Move backward along the horizontal direction; at the same time, the electric push rod 2 3-1 is extended, thereby driving the seat 3-3 to descend to the sitting position, and the user sits on the seat 3-3; during the movement, The synchronous movement of clamping arm 2-7 and seat 3-3 makes the human body comfortable, and clamping arm 2-7 provides main supporting force, and seat 3-3 provides auxiliary supporting force (or seat 3-3 is always used with The user does not touch, does not provide support, and prevents the user from slipping from the clamping arm 2-7);

When the user is transferred to the bed by the robot, the mobile device 5 drives the robot to move to the bedside. 4-15 is inserted into the bottom of the bed to achieve a fixed effect; after confirming that the clamping arm 2-7 is inserted into the user's armpit, the electric push rod 2-2 shortens, and then drives the clamping arm 2-7 to drive the user along the horizontal direction Move away from the bed (that is, move forward) and raise the user vertically, so that the user can stand up to a certain height; after the user stands passively, the electric push rod 2 3-1 is shortened, Thereby driving the seat 3-3 to rise to the front of the human body and get back to the position of the standing posture; Move in the direction close to the bed, put the user on the bed, and complete the transfer work from the robot to the bed.

The unmentioned part of the utility model is applicable to the prior art.

Claims (10)

1. The transfer and carrying type lower limb rehabilitation robot with the variable height is characterized by comprising a frame, a transfer and carrying device, a lifting seat device, a lower limb training device and a moving device;

the lifting seat device has a lifting function, and the robot is used for a user to sit on when in a sitting position; the mobile device is used for the movement of the robot;

the transfer carrying device comprises a transfer carrying device frame body, an electric push rod I, a sliding block, a sliding rail component, a control console, a clamping arm, a connecting rod I, a connecting rod II and a connecting rod III;

the bottom of the transfer carrying device frame body is fixed on the frame; the shell of the first electric push rod is fixed on the transfer carrying device frame body, and the output end of the first electric push rod outputs horizontally; the output end of the first electric push rod is fixedly provided with a slide block; the connecting rod III is vertically fixed on the frame; the two connecting rods II are arranged in parallel, one end of each connecting rod II is hinged to the connecting rod III, and the other end of each connecting rod II is hinged to the connecting rod I; the first connecting rod, the second connecting rod and the third connecting rod form a parallelogram mechanism; the control console, the first connecting rod and the sliding rail component are fixedly connected with each other; a sliding rail in the vertical direction is arranged in the sliding rail component; the sliding block is arranged in a vertical sliding rail of the sliding rail assembly in a sliding way; the clamping arm is fixed on the console to provide supporting force for a user;

the lower limb training device comprises a first hip joint connecting piece, a second hip joint connecting piece, a thigh exoskeleton, a first knee joint connecting piece, a second knee joint connecting piece, a lower leg exoskeleton, a first ankle joint connecting piece, a second ankle joint connecting piece, a foot exoskeleton, an exoskeleton bracket, a spring, a hub bracket, a hub motor, a bottom wheel track, an L-shaped plate and a movable shaft;

the exoskeleton bracket is fixed on the frame; the hip joint connecting piece II is fixed on the exoskeleton bracket; the first hip joint connector is rotatably arranged on the second hip joint connector; one end of the thigh exoskeleton is fixedly connected with the first hip joint connecting piece, and the other end of the thigh exoskeleton is fixedly connected with the first knee joint connecting piece; the knee joint connecting piece II is rotatably arranged on the knee joint connecting piece I; one end of the lower leg exoskeleton is fixedly connected with the knee joint connecting piece II, and the other end of the lower leg exoskeleton is fixedly connected with the ankle joint connecting piece II; the first ankle joint connecting piece is rotatably arranged on the second ankle joint connecting piece; the foot exoskeleton is fixed on the first ankle joint connecting piece;

an L-shaped plate is fixed on one side of the foot exoskeleton; the bottom wheel track is fixed on the frame through a track fixing plate; the bottom wheel is rotatably arranged in the wheel hub bracket; the shell of the hub motor is fixed on the hub bracket, and the output end of the shell is fixedly connected with the axle center of the bottom wheel; the bottom wheel is arranged in the bottom wheel track; one end of the movable shaft is fixed at the top of the hub bracket, the other end of the movable shaft is arranged in the through hole of the L-shaped plate in a sliding manner, and the hub bracket and the L-shaped plate form a movable pair; the spring is nested on the movable shaft, one end of the spring is in contact with or fixedly connected with the hub bracket, and the other end of the spring is in contact with or fixedly connected with the L-shaped plate, so that the bottom wheel is always in contact with the bottom wheel track.

2. The variable height transfer and handling lower limb rehabilitation robot of claim 1, wherein the transfer and handling device further comprises an electric pushrod support; the bottom of the electric putter support piece is fixed on the horizontal plate of the transfer carrying device frame body, and the top is fixedly connected with the shell of the electric putter I, so that the electric putter I is further supported, and the horizontal output of the output end of the electric putter I is further ensured.

3. The variable height transfer and handling lower limb rehabilitation robot of claim 1, wherein the slider is a wedge-shaped slider or a trapezoidal slider.

4. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein the lifting seat device comprises a second electric push rod, a parallel lifting rod and a seat;

the two parallel lifting rods are arranged in parallel, one end of each parallel lifting rod is hinged to the frame, and the other end of each parallel lifting rod is hinged to the seat; the frame, the two parallel lifting rods and the seat form a parallelogram mechanism, so that the seat is kept horizontal all the time; the shell of the second electric push rod is hinged on the frame, and the output end of the second electric push rod is hinged with the middle part of a parallel lifting rod.

5. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein the length of the thigh exoskeleton is freely adjustable and fixed by fastening bolts to accommodate thigh lengths of different users.

6. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein the length of the calf exoskeleton is freely adjustable and fixed by fastening bolts to accommodate calf lengths of different users.

7. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein a strap is provided on the thigh exoskeleton for securing with the thigh of the human body.

8. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein a strap is provided on the calf exoskeleton for securing with the calf of the human body.

9. The variable height transfer and handling lower limb rehabilitation robot according to claim 1, wherein a strap is provided on the foot exoskeleton for securing with the foot of the human body.

10. The transfer and handling type lower limb rehabilitation robot with variable height according to claim 1, wherein the bottom wheel rail can also be inserted into the bottom of the bed to function as a fixed robot.

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