WO2016149891A1 - 一种多位姿下肢康复训练机器人 - Google Patents

一种多位姿下肢康复训练机器人 Download PDF

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Publication number
WO2016149891A1
WO2016149891A1 PCT/CN2015/074810 CN2015074810W WO2016149891A1 WO 2016149891 A1 WO2016149891 A1 WO 2016149891A1 CN 2015074810 W CN2015074810 W CN 2015074810W WO 2016149891 A1 WO2016149891 A1 WO 2016149891A1
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WIPO (PCT)
Prior art keywords
adjustment mechanism
seat width
adjusting mechanism
weight reduction
weight
Prior art date
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PCT/CN2015/074810
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English (en)
French (fr)
Inventor
侯增广
王卫群
彭龙
梁旭
彭亮
程龙
谢晓亮
边桂彬
谭民
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中国科学院自动化研究所
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Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Priority to US15/559,819 priority Critical patent/US10722416B2/en
Priority to PCT/CN2015/074810 priority patent/WO2016149891A1/zh
Publication of WO2016149891A1 publication Critical patent/WO2016149891A1/zh

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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a multi-position lower limb rehabilitation training robot.
  • This training method can be achieved with a relatively simple rehabilitation treadmill, and its training cost is higher. Low, the training preparation process is also faster, so this method can be used for higher intensity and frequency of rehabilitation training.
  • rehabilitation treadmills are widely used in rehabilitation training for patients with lower limb paralysis.
  • the existing rehabilitation robot systems mostly design a specific training trajectory for a training posture, and it is difficult to simultaneously meet the training needs of different rehabilitation stages of the paralyzed patients; it is difficult to optimize the design of rehabilitation training based on the same platform and the same standard. Get the best healing results.
  • the present invention provides a multi-position lower limb rehabilitation training robot, which can provide rehabilitation training in various postures such as lying, sitting, standing, etc.; and can provide bionic gait training very close to the natural walking of the human body. And can provide a variety of training methods such as active and passive.
  • the invention provides a multi-position lower limb rehabilitation training robot, which comprises two modules: a robot base 1-1 and a training bed.
  • the robot base 1-1 is a support base of the multi-position lower limb rehabilitation training robot, and a roller is installed at the bottom thereof for the movement of the multi-position lower limb rehabilitation training robot; meanwhile, the robot base 1-1 is installed.
  • a bed adjustment mechanism that is hinged to the bed frame 1-7 of the training bed through the bed support assembly 1-8 for adjusting the angle of the training bed to change the trainer during training Gesture.
  • the training bed mainly comprises a leg mechanism 1-2, a seat 1-4, a seat width adjusting mechanism, a human body weight adjusting mechanism, a cushion 1-5, a cushion frame 5-1, a cushion angle adjusting mechanism, and a bed frame 1 -7, and weight loss system 1-6.
  • the leg mechanism 1-2 includes three joints of the hip, the knee and the ankle, and two sets of link mechanisms of the big and the lower leg for fixing the lower limbs of the trainer and assisting the trainer to perform sports training for the lower limbs.
  • the seat 1-4 is used for seated training when the trainer is seated to support the weight of the trainer.
  • the seat 1-4 is fixed on the seat width adjusting mechanism for adjusting the distance between the two sets of leg mechanisms 1-2 to adapt to the body shape of different trainers;
  • the seat width adjusting mechanism is mounted on the human body center-weight adjusting mechanism, and the human body weight adjusting mechanism is used for adjusting the position of the center of gravity of the trainer in real time during gait training, and simulating the up-and-down change of the center of gravity of the human body during natural walking;
  • a set of seat armrests 1-3 is installed on each side of the -4 for hand support for the trainer during training.
  • Cushions 1-5 are used to support the weight of the trainer's upper body during reclining training.
  • the cushion 1-5 is fixed to the front surface of the cushion frame 5-1.
  • One end of the cushion frame 5-1 is hinged to the bed frame 1-7.
  • the cushion angle adjusting mechanism is installed between the cushion frame 5-1 and the bed frame 1-7, and is used for adjusting the angle of the cushion during the sitting posture or the lying posture training to improve the comfort of the training.
  • the weight reduction system 1-6 is driven by the weight reduction system drive motor 4-11 and mounted on the back side of the cushion frame 5-1 (in the robot apparatus, the components are all facing the front side of the trainer, and the side away from the trainer is Back), used to balance some or all of the weight of the trainer.
  • leg length and the seat width of the leg mechanism 1-2 can be adjusted to meet the training needs of different body type trainers
  • the weight-reduction system is driven by the motor, which can continuously and precisely adjust the weight reduction force to adapt to the recovery of the lower limb strength of the trainer during the rehabilitation process, and provide just the right strength assistance;
  • the weight loss system, the human body weight adjustment mechanism and the leg mechanism 1-2 cooperate with each other to realize a bionic gait close to the natural walking of the human body;
  • the angle of the training bed can be continuously adjusted to meet the training needs of the trainer to overcome orthostatic hypotension during the middle of rehabilitation;
  • the angle of the seat cushion can be continuously adjusted, which can meet the needs of the trainer to perform the lower limb rehabilitation training in the prone position or sitting posture in the early and middle stages of rehabilitation, and can also improve the comfort of the training.
  • FIG. 1.1 is an overall structural diagram of a multi-position lower limb rehabilitation training robot according to an embodiment of the present invention.
  • Figure 1.2 is an explanatory view of a bed body angle according to an embodiment of the present invention.
  • FIG. 2 is a structural view of a seat width adjusting mechanism according to an embodiment of the present invention.
  • FIG. 3 is a structural diagram of a body weight center adjustment mechanism according to an embodiment of the present invention.
  • FIG. 4 is a structural diagram of a weight reduction system according to an embodiment of the present invention.
  • Figure 5 is a structural view of a cushion angle adjusting mechanism according to an embodiment of the present invention.
  • Human weight adjustment mechanism screw screw 3-5. Human weight adjustment mechanism screw nut, 3 -6. Human body weight adjustment mechanism screw nut mount, 3-7. Human body weight adjustment mechanism linear guide, 3-8. Human body Center of gravity adjustment mechanism guide saddle, 4-1. strap hook, 4-2. hook beam, 4-3. weight reduction rope, 4-4. weight reduction train, 4-5. weight reduction system guide saddle, 4-6. Weight reduction system screw nut, 4-7. Weight reduction system screw nut mount, 4-8. Weight loss system linear guide, 4-9. Weight reduction system screw screw, 4-10. Heavy system screw coupling, 4-11. Weight loss system drive motor, 4-12. Weight reduction system mounting plate, 5-1. Cushion frame, 5-2. Cushion angle adjustment mechanism beam A, 5-3. Cushion angle adjustment mechanism electric push rod, 5-4. cushion angle adjustment mechanism beam B.
  • FIG. 1.1 is an overall structural diagram of a multi-position lower limb rehabilitation training robot according to an embodiment of the present invention.
  • the multi-position lower limb rehabilitation training robot mainly comprises two modules: a robot base 1-1 and a training bed.
  • each component is a front side of the training bed close to the human body, and a side away from the human body is a back surface; and the position of each part of the embodiment is performed by the upper and lower relationship of each part of the training bed in a vertical state.
  • the robot base 1-1 is a base of the multi-position lower limb rehabilitation training robot for supporting the weight of the training bed.
  • a roller is mounted on the bottom of the robot base 1-1, and can be rolled forward along the ground to facilitate the transfer of the lower limb rehabilitation training robot.
  • the robot base 1-1 includes a set of bed angle adjustment mechanism, and the bed angle adjustment mechanism is connected to the training bed through the bed support assembly 1-8 and the bed frame 1-7, and can be used to adjust the The angle between the training bed and the robot base 1-1, that is, the angle ⁇ shown in Fig. 1.2.
  • FIG. 1.1 there are two sets of leg mechanisms 1-2, all of which are three-degree-of-freedom robot arms.
  • the training bed is in an upright state, at which time the three joints of the leg mechanism 1-2 are hip, knee and ankle joints from top to bottom.
  • the two sets of leg mechanisms 1-2 are respectively located on both sides of the training bed.
  • the two legs of the trainer are respectively fixed on the two sets of leg mechanisms 1-2, and the hip, knee and ankle joints of the trainer's hip, knee, ankle joint and leg mechanism 1-2 are respectively corresponding one by one.
  • the size legs of the trainer are in one-to-one correspondence with the size and leg mechanisms of the leg mechanism 1-2.
  • the joints of the driving leg mechanism 1-2 can drive the trainer's legs to perform corresponding exercise training.
  • the joints of the leg mechanisms 1-2 are each equipped with an angle and force sensor that can be used to identify the trainer's intent to exercise, thereby providing active and assisted training for the trainer.
  • 2 is a structural view of a seat width adjusting mechanism according to an embodiment of the present invention. As shown in FIG.
  • the seat width adjusting mechanism includes: four sets of seat width adjusting mechanism rail sliding saddle 2-1, a set of seat width adjusting mechanism mounting plate 2-2, and a seat width adjusting mechanism driving motor 2 -3, a seat width adjustment mechanism motor mount 2-4, a set of seat width adjustment mechanism bevel gear system 2-5, two sets of seat width adjustment mechanism screw screw 2-6, four sets of seat width Adjusting mechanism linear guide 2-7, two sets of seat width adjusting mechanism screw nut 2-8, two sets of seat width adjusting mechanism screw nut mounting seat 2-9 and two sets of leg mechanism mounting seats 2-10.
  • the seat width adjusting mechanism drive motor 2-3 is fixedly mounted to the seat width adjusting mechanism motor mount 2-4.
  • the seat width adjusting mechanism motor mount 2-4 is fixedly mounted to the front surface of the seat width adjusting mechanism mounting plate 2-2.
  • the seat width adjusting mechanism bevel gear train 2-5 includes an input end and two output ends.
  • An output shaft of the seat width adjusting mechanism drive motor 2-3 is fixedly coupled to an input end of the seat width adjusting mechanism bevel gear train 2-5.
  • the two output ends of the bevel gear train 2-5 of the seat width adjusting mechanism are fixedly coupled to the two sets of seat width adjusting mechanism screw screws 2-6, respectively.
  • Each set of seat width adjustment mechanism screw screw 2-6 And a corresponding set of seat width adjusting mechanism screw nuts 2-8 constitute a set of spiral pairs.
  • Each set of the seat width adjusting mechanism screw nuts 2-8 is fixedly mounted to a corresponding set of seat width adjusting mechanism screw nut mountings 2-9, respectively.
  • Each set of seat width adjusting mechanism screw nut mounting seats 2-9 is fixedly mounted on the back of the corresponding set of leg mechanism mounting seats 2-10.
  • the back of each leg mechanism mounting seat 2-10 is also fixedly connected with two sets of corresponding seat width adjusting mechanism rail sliding saddles 2-1.
  • Each set of seat width adjusting mechanism guide rail saddle 2-1 and a corresponding set of seat width adjusting mechanism linear guides 2-7 form a set of sliding pairs.
  • Each set of seat width adjusting mechanism screw rods 2-6 is installed in parallel with the corresponding two sets of seat width adjusting mechanism linear guides 2-7.
  • a corresponding set of leg mechanisms 1-2 is mounted on the front side of each of the set of leg mechanism mounts 2-10.
  • the seat width adjusting mechanism screw nut 2-8 will Linear movement along the seat width adjusting mechanism screw 2-6, driving the leg mechanism mounting seat 2-10 linearly along the seat width adjusting mechanism linear guide 2-7, thereby making the two sets of leg mechanisms 1
  • the distance between -2 changes to the effect of adjusting the seat width.
  • the weight center adjustment mechanism of the person mainly includes: a set of weight adjustment mechanism mounting plate 3-1 of a person, a body weight adjustment mechanism driving motor 3-2, a set of human body weight adjustment mechanism motor mount 3- 3, a set of people's weight adjustment mechanism screw screw 3-4, a set of people's weight adjustment mechanism screw nut 3-5, a set of weight center adjustment mechanism screw nut mount 3-6, two sets of weight center adjustment mechanism straight line Guide rail 3-7, two sets of weight center adjustment mechanism rail sliding saddle 3-8.
  • the back surface of the human body center-adjusting mechanism mounting plate 3-1 is fixedly connected to the bed frame 1-7.
  • the human body weight adjustment mechanism drive motor 3-2 is fixedly mounted in the human body center adjustment mechanism motor mount 3-3.
  • the person's weight The adjustment mechanism motor mount 3-3 is fixedly mounted on the front side of the human body center adjustment mechanism mounting plate 3-1.
  • the output shaft of the human body center-adjusting mechanism driving motor 3-2 is fixedly connected with the screw shaft screw 3-4 of the human body center-adjusting mechanism.
  • the human body weight adjusting mechanism screw screw 3-4 and the human body weight adjusting mechanism screw nut 3-5 constitute a set of spiral pairs.
  • the human body weight adjusting mechanism screw nut 3-5 is fixedly mounted in the human body weight adjusting mechanism screw nut mounting seat 3-6.
  • the human body weight adjusting mechanism screw nut mounting seat 3-6 is fixedly mounted on the back surface of the seat width adjusting mechanism mounting plate 2-2.
  • the back surface of the seat width adjusting mechanism mounting plate 2-2 is also fixedly connected with the two sets of weight center adjusting mechanism rail sliding saddles 3-8.
  • Each set of human body weight adjustment mechanism rail sliding saddle 3-8 and a corresponding set of human weight center adjustment mechanism linear guides 3-7 constitute a set of sliding pairs.
  • the two sets of human body center center adjustment mechanism linear guides 3-7 and the set of human body weight adjustment mechanism screw screws 3-4 are installed in parallel on the front surface of the human body center adjustment mechanism mounting plate 3-1.
  • the seat width adjusting mechanism mounting plate 2-2 is driven along the person's body centering mechanism
  • the linear guides 3-7 make a linear motion. Since the leg mechanism 1-2, the seat 1-4, and the seat width adjusting mechanism are all mounted on the seat width adjusting mechanism mounting plate 2-2. Therefore, the leg mechanism 1-2, the seat 1-4, and the seat width adjusting mechanism can be controlled to linearly move along the center of gravity adjustment mechanism linear guide 3-7 by the human body center adjustment mechanism driving motor 3-2.
  • the linear motion is a vertical motion when the training bed is in an upright state). Therefore, the trainer can be controlled to perform a linear motion in the vertical direction by the weight center adjustment mechanism of the person, thereby changing the center of gravity of the trainer.
  • the weight reduction The system consists of two sets of strap hooks 4-1, a set of hook beams 4-2, a set of weight reduction ropes 4-3, a set of weight reduction trains 4-4, a set of weight reduction system guide saddles 4-5 , a set of weight reduction system screw nut 4-6, a set of weight reduction system screw nut mount 4-7, a set of weight loss system linear guide 4-8, a set of weight loss system screw screw 4-9, A set of weight reduction system screw coupling 4-10, a weight loss system drive motor 4-11, a set of weight reduction system mounting plate 4-12.
  • the weight reduction system mounting plate 4-12 is fixedly mounted on the back of the cushion frame 5-1.
  • the weight reduction system drive motors 4-11 are fixedly mounted on the weight reduction system mounting plates 4-12.
  • the output of the weight reduction system drive motor 4-11 is fixedly connected by the weight reduction system screw coupling 4-10 and the weight reduction system screw screw 4-9.
  • the weight reduction system screw screw 4-9 and the weight reduction system screw nut 4-6 form a set of spiral pairs.
  • the nuts 4-6 of the weight reduction system screw are fixedly mounted in the weight reduction system screw nut mounts 4-7.
  • the weight reduction system screw nut mount 4-7 is also fixedly coupled to the weight reduction system rail saddle 4-5.
  • the weight reduction system rail sliding saddle 4-5 and the weight reduction system linear guide 4-8 constitute a set of sliding pairs.
  • the weight reduction system screw nut mount 4-7 is also fixedly coupled to one end of the weight reduction cord 4-3.
  • the weight reducing rope 4-3 passes through the weight reducing gear train 4-4, its moving direction changes.
  • the other end of the weight reducing rope 4-3 is fixedly coupled to the hook beam 4-2.
  • a set of the strap hooks 4-1 is fixedly mounted on both ends of the hook beam 4-2.
  • the strap hook 4-1 is used to connect a strap fixed to a trainer.
  • the weight reduction system drive motor 4-11 drives the weight reduction system screw screw 4-9 to rotate
  • the weight reduction system screw nut 4-6 will follow the weight reduction system screw screw 4- 9 is linearly moved to drive one end of the weight reducing rope 4-3 to move linearly along the linear guide rails 4-8 of the weight reduction system.
  • the other end of the weight reducing rope 4-3 will drive the strap hook 4-1 to move linearly, so that the strap is tightened or relaxed in the direction of the trainer's body. Therefore by controlling the reduction
  • the heavy system drives the motor 4-11 to control the weight reduction.
  • Fig. 5 is a structural view of a cushion angle adjusting mechanism according to an embodiment of the present invention.
  • the cushion angle adjusting mechanism mainly comprises: a cushion angle adjusting mechanism beam A 5-2, a cushion angle adjusting mechanism electric push rod 5-3, and a cushion angle adjusting mechanism beam B 5-4.
  • the cushion frame 5-1 is used to mount the cushions 1-5.
  • the cushion angle adjusting mechanism beam A 5-2 is fixedly mounted to the cushion frame 5-1.
  • the cushion angle adjusting mechanism beam B 5-4 is fixedly mounted to the bed frame 1-7.
  • the cushion angle adjusting mechanism one end of the electric push rod 5-3 is hinged with the cushion angle adjusting mechanism beam A 5-2 , and the other end is hinged with the cushion angle adjusting mechanism beam B 5-4 .
  • the cushion frame 5-1 and the bed frame 1-7 are also hinged to each other.
  • the length of the cushion angle adjusting mechanism motor push rod 5-3 is controlled by a motor.
  • the length of the cushion angle adjusting mechanism push rod 5-3 changes, the angle between the cushion frame 5-1 and the bed frame 1-7 changes. This angle is the inclination of the cushion. Therefore, the inclination of the cushion can be controlled by controlling the length of the cushion angle adjustment mechanism electric push rod 5-3.
  • the seat width adjusting mechanism linear motion device is driven by a set of seat width adjusting mechanism 2-3, a set of seat width adjusting mechanism motor mounting seat 2-4, and a set of seat width adjusting mechanism bevel gears. 2-5, two sets of seat width adjusting mechanism screw screw 2-6, two sets of seat width adjusting mechanism screw nut 2-8, two sets of seat width adjusting mechanism screw nut mounting seat 2-9,
  • the rotary motion outputted by the seat width adjusting mechanism driving motor 2-3 is converted into a linear motion of the seat width adjusting mechanism screw nut 2-8, thereby driving the seat width adjusting mechanism screw nut mounting seat 2-9 to perform linear motion
  • the electric push rod can be used as the linear motion device to replace the linear motion device of the seat width adjusting mechanism in the embodiment, and the same function can be realized.
  • the linear motion device of the human body weight adjustment mechanism is driven by a person's body weight adjustment mechanism, and the motor is installed 3-2, a set of weight adjustment mechanism motor mount 3-3, a set of weight adjustment mechanism screw screw 3-4 , a set of weight adjustment mechanism screw nut 3-5, a set of weight adjustment mechanism screw nut mount 3-6, the human body weight adjustment mechanism drive motor 3-2 output rotary motion into a human body weight adjustment mechanism
  • the linear movement of the screw nut 3-5 which drives the weight center adjustment mechanism screw nut mount 3-6 to make a linear motion, to achieve position adjustment, in practical applications, the electric push rod can be used as a linear motion device to replace the implementation.
  • the human body weight adjustment mechanism linear motion device can achieve the same function.
  • the linear motion device of the weight reduction system is driven by a weight reduction system 4-11, a set of weight reduction system screw coupling 4-10, a set weight loss system screw screw 4-9, a
  • the set weight reduction system screw nut 4-6, a set of weight reduction system screw nut mount 4-7 converts the rotary motion of the weight loss system drive motor 4-11 output into the weight reduction system screw nut 4-6
  • the linear motion which drives the weight reduction system screw nut mount 4-7 to make linear motion, to achieve position adjustment.
  • the electric push rod can be used as a linear motion device to replace the linear motion of the weight reduction system in this embodiment.
  • the device can achieve the same function.

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Abstract

一种多位姿下肢康复训练机器人，包括机器人基座(1-1)和训练床。所述训练床包括两套腿部机构(1-2)、一套座椅(1-4)、一套座椅宽度调整机构、一套人体重心调整机构、一套靠垫(1-5)、一套减重系统(1-6)和一套座椅靠垫角度调整机构。所述机器人基座(1-1)包括一套床体角度调整机构，所述床体角度调整机构和所述座椅角度调整机构相配合，可以为瘫痪患者提供卧、坐、站等多种姿态的训练方式。所述腿部机构(1-2)包括髋、膝、踝三个关节；所述髋、膝、踝关节均由电机驱动，并安装了角度和力传感器，可用于识别患者的运动意图，便于为患者提供主动和助力训练。所述人体重心调整机构、腿部机构(1-2)和减重系统(1-6)相互配合，可以实现接近人体自然行走的仿生学步态，提高步态训练效果。

Description

一种多位姿下肢康复训练机器人 技术领域
本发明涉及医疗器械技术领域，尤其涉及一种多位姿下肢康复训练机器人。
背景技术
目前由中风、脊髓损伤和脑外伤造成的下肢瘫痪患者数量很大，呈现上升趋势。下肢瘫痪患者经过急性期的对症治疗之后，往往需要经过较长期的康复治疗，以恢复患者的下肢运动功能。运动疗法是下肢康复治疗的常用方法。传统的康复训练是由治疗师手动带动患者下肢进行运动训练，主观性大、费时费力，效果不够理想。康复机器人作为一种自动化、精确化、智能化的医疗设备，在提供持续、定量的康复训练方面有很强的优势，可以有效弥补传统康复治疗方法的不足，具有广阔的应用前景。
临床康复训练中，一般针对不同的康复阶段采用不同的训练姿态和轨迹以获得较好的康复效果。就早期患者而言，大多采用卧姿进行被动训练，目的是防止肌肉萎缩、减少并发症；而康复中期患者，要逐渐从卧姿过渡到站姿，适应站立姿态，此时，需要考虑克服体位性低血压问题；对于康复后期患者，患者下肢已经具有一定的肌力，可以考虑结合减重系统克服部分身体重量进行被动或者主动的步态训练，使患者能够早日实现独立行走，恢复日常生活能力。同时，对于早中期的患者，往往采用坐姿的踏车训练。这种训练方法采用比较简单的康复踏车就可以实现，其训练成本较 低，训练准备过程也较快，因此采用这种方法可以进行较高强度和频次的康复训练。目前，康复踏车被广泛应用于下肢瘫痪患者的康复训练治疗。
然而，现有的康复机器人系统，大多针对一种训练姿态设计特定的训练轨迹，难以同时满足瘫痪患者不同康复阶段的训练需求；难以基于同一平台、同一标准，对康复训练的处方进行优化设计，获得最优的康复效果。
发明内容
针对以上问题，本发明提供一种多位姿下肢康复训练机器人，该康复训练机器人可以提供卧、坐、站等多种姿态的康复训练；可以提供与人体自然行走非常接近的仿生学步态训练；并可以提供主被动等多种训练方法。
本发明提出一种多位姿下肢康复训练机器人，该多位姿下肢康复训练机器人包括机器人基座1-1和训练床两个模块。
所述机器人基座1-1为多位姿下肢康复训练机器人的支撑底座，其底部安装了滚轮，用于多位姿下肢康复训练机器人的移动；同时所述机器人基座1-1安装了一套床体调整机构，该床体调整机构通过床体支撑组件1-8与所述训练床的床体框架1-7铰接，用于对所述训练床角度进行调整，以改变训练时训练者的姿态。
所述训练床主要包括腿部机构1-2、座椅1-4、座椅宽度调整机构、人体重心调整机构、靠垫1-5、靠垫框架5-1、靠垫角度调整机构、床体框架1-7、以及减重系统1-6。
所述腿部机构1-2包括髋、膝、踝三个关节和大、小腿两套连杆机构，用于固定训练者下肢，并辅助训练者下肢进行运动训练。
所述座椅1-4用于坐姿训练时训练者就座，支撑训练者重量。
座椅1-4固设于所述座椅宽度调整机构上，所述座椅宽度调整机构用于调整两套腿部机构1-2之间的距离，以适应不同训练者的体型；所述座椅宽度调整机构安装于所述人体重心调整机构上，所述人体重心调整机构用于步态训练时实时调整训练者重心的位置，模拟人体自然行走时重心的上下变化；所述座椅1-4两侧各安装了一套座椅扶手1-3，用于训练过程中为训练者提供手部支撑。
靠垫1-5用于卧姿训练时支撑训练者上身重量。所述靠垫1-5固设于靠垫框架5-1正面。所述靠垫框架5-1一端与所述床体框架1-7铰接。
所述靠垫角度调整机构安装于所述靠垫框架5-1与所述床体框架1-7之间，用于坐姿或卧姿态训练时调整靠垫的角度，以提高训练的舒适度。
减重系统1-6由减重系统驱动电机4-11驱动，安装于靠垫框架5-1的背面(在该机器人设备中各部件均以靠近训练者一侧为正面，远离训练者一侧为背面)，用于平衡训练者的部分或者全部体重。
本发明的有益效果在于：
(1)通过床体调整机构、靠垫角度调整机构的设计，实现了基于同一设备实现卧、坐、站等多种姿态的康复训练；
(2)所述腿部机构1-2的大小腿长度、座椅宽度均可调节，可以满足不同体型训练者的训练需求；
(3)减重系统由电机驱动，可对减重拉力大小连续精确调整，以适应康复进程中训练者下肢力量的恢复，提供恰到好处的力量辅助；
(4)减重系统、人体重心调整机构和腿部机构1-2相互配合，可以实现接近人体自然行走的仿生学步态；
(5)训练床的角度可连续调整，能够满足训练者在康复中期克服体位性低血压的训练需求；
(6)座椅靠垫角度可连续调整，能够满足训练者在康复早中期采用卧姿或坐姿进行下肢康复训练的需求，还可以提高训练的舒适度。
附图说明
图1.1为根据本发明实施例的多位姿下肢康复训练机器人整体结构图；
图1.2为根据本发明实施例的床体角度说明图；
图2为根据本发明实施例的座椅宽度调整机构结构图；
图3为根据本发明实施例的人体重心调整机构结构图；
图4为根据本发明实施例的减重系统结构图；
图5为根据本发明实施例的靠垫角度调整机构结构图；
图中：1-1.机器人基座，1-2.腿部机构，1-3.座椅扶手，1-4.座椅，1-5.靠垫，1-6.减重系统，1-7.床体框架，1-8.床体支撑组件，2-1.座椅宽度调整机构导轨滑鞍，2-2.座椅宽度调整机构安装板，2-3.座椅宽度调整机构驱动电机，2-4.座椅宽度调整机构电机安装座，2-5.座椅宽度调整机构锥齿轮系，2-6.座椅宽度调整机构丝杠螺杆，2-7.座椅宽度调整机构直线导轨，2-8.座椅宽度调整机构丝杠螺母，2-9.座椅宽度调整机构丝杠螺母安装座，2-10.腿部机构安装座，3-1.人体重心调整机构安装板,3-2.人体重心调整机构驱动电机，3-3.人体重心调整机构电机安装座，3-4.人体重心调整机构丝杠螺杆，3-5.人体重心调整机构丝杠螺母，3-6.人体重心调整机构丝杠螺母安装座，3-7.人体重心调整机构直线导轨，3-8.人体 重心调整机构导轨滑鞍，4-1.绑带挂钩，4-2.挂钩横梁，4-3.减重绳索，4-4.减重轮系，4-5.减重系统导轨滑鞍，4-6.减重系统丝杠螺母，4-7.减重系统丝杠螺母安装座，4-8.减重系统直线导轨，4-9.减重系统丝杠螺杆，4-10.减重系统丝杠联轴器，4-11.减重系统驱动电机，4-12.减重系统安装板，5-1.靠垫框架，5-2.靠垫角度调整机构横梁A，5-3.靠垫角度调整机构电动推杆，5-4.靠垫角度调整机构横梁B。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。
图1.1为根据本发明实施例的多位姿下肢康复训练机器人整体结构图。所述多位姿下肢康复训练机器人主要包括机器人基座1-1和训练床两个模块。为了便于描述，本实施例中各部件均以训练床靠近人体的一侧为正面，远离人体的一侧为背面；以训练床竖直状态下各部分的上下关系进行本实施例各部分的位置描述。机器人基座1-1是所述多位姿下肢康复训练机器人的底座，用于支撑所述训练床重量。机器人基座1-1底部安装了滚轮，可沿地面滚动前行，便于对所述下肢康复训练机器人进行转移。机器人基座1-1内部包含一套床体角度调整机构，所述床体角度调整机构通过床体支撑组件1-8、床体框架1-7与所述训练床连接，可用于调整所述训练床和所述机器人基座1-1之间的夹角，即图1.2所示的θ角。当θ＝0°时，训练床处于水平状态，可以提供卧姿的康复训练；当0°<θ<90°时，训练床处于倾斜状态，可用于克服体位性低血压的康复训练；当θ＝90°时，训练床处于直立状态，可以提供步态训练、踏步训练等站姿的康复训练。
如图1.1所示，腿部机构1-2共有两套，均为三自由度机械臂。在图1.1中训练床处于直立状态，此时所述腿部机构1-2的三个关节从上到下分别为髋、膝、踝关节。所述两套腿部机构1-2分别位于训练床的两侧。训练时，训练者两条腿分别固定在所述两套腿部机构1-2上，训练者的髋、膝、踝关节与腿部机构1-2的髋、膝、踝关节分别一一对应，训练者的大小腿与所述腿部机构1-2的大小腿机构一一对应，因此，驱动腿部机构1-2的各个关节可带动训练者腿部做相应的运动训练。同时，腿部机构1-2的各个关节均安装了角度和力传感器，所述角度和力传感器可以用于识别训练者的运动意图，进而可以为训练者提供主动和助力训练。图2为根据本发明实施例的座椅宽度调整机构结构图。如图2所示，座椅宽度调整机构包括：四套座椅宽度调整机构导轨滑鞍2-1、一套座椅宽度调整机构安装板2-2、一台座椅宽度调整机构驱动电机2-3、一套座椅宽度调整机构电机安装座2-4、一套座椅宽度调整机构锥齿轮系2-5、两套座椅宽度调整机构丝杠螺杆2-6、四套座椅宽度调整机构直线导轨2-7、两套座椅宽度调整机构丝杠螺母2-8、两套座椅宽度调整机构丝杠螺母安装座2-9和两套腿部机构安装座2-10。所述座椅宽度调整机构驱动电机2-3固定安装于座椅宽度调整机构电机安装座2-4。所述座椅宽度调整机构电机安装座2-4固定安装于所述座椅宽度调整机构安装板2-2的正面。所述座椅宽度调整机构锥齿轮系2-5包括一个输入端和两个输出端。所述座椅宽度调整机构驱动电机2-3的输出轴固定连接了所述座椅宽度调整机构锥齿轮系2-5的输入端。所述座椅宽度调整机构锥齿轮系2-5的两个输出端分别与两套座椅宽度调整机构丝杠螺杆2-6固定连接。每套座椅宽度调整机构丝杠螺杆2-6 和对应的一套座椅宽度调整机构丝杠螺母2-8构成一组螺旋副。每套所述座椅宽度调整机构丝杠螺母2-8分别固定安装于对应的一套座椅宽度调整机构丝杠螺母安装座2-9。所述的每套座椅宽度调整机构丝杠螺母安装座2-9固定安装于对应的一套腿部机构安装座2-10的背面。同时每套腿部机构安装座2-10的背面还和两套对应的座椅宽度调整机构导轨滑鞍2-1固定连接。每套座椅宽度调整机构导轨滑鞍2-1和一套对应的座椅宽度调整机构直线导轨2-7组成一组滑动副。所述每套座椅宽度调整机构丝杠螺杆2-6与对应的两套座椅宽度调整机构直线导轨2-7平行安装。每套所述腿部机构安装座2-10的正面安装了对应的一套腿部机构1-2。
当座椅宽度调整机构驱动电机2-3通过座椅宽度调整机构锥齿轮系2-5驱动座椅宽度调整机构丝杠螺杆2-6转动时，座椅宽度调整机构丝杠螺母2-8将沿着座椅宽度调整机构丝杠螺杆2-6做直线运动，带动腿部机构安装座2-10沿着座椅宽度调整机构直线导轨2-7做直线运动，从而使两套腿部机构1-2之间的距离发生变化，达到调整座椅宽度的效果。
图3为根据本发明实施例的人体重心调整机构结构图。如图3所示，所述人体重心调整机构主要包括：一套人体重心调整机构安装板3-1，一台人体重心调整机构驱动电机3-2，一套人体重心调整机构电机安装座3-3，一套人体重心调整机构丝杠螺杆3-4，一套人体重心调整机构丝杠螺母3-5，一套人体重心调整机构丝杠螺母安装座3-6，两套人体重心调整机构直线导轨3-7，两套人体重心调整机构导轨滑鞍3-8。所述人体重心调整机构安装板3-1背面与所述床体框架1-7固定连接。所述人体重心调整机构驱动电机3-2固定安装于人体重心调整机构电机安装座3-3中。所述人体重心 调整机构电机安装座3-3固定安装于人体重心调整机构安装板3-1的正面。同时，所述人体重心调整机构驱动电机3-2输出轴与所述人体重心调整机构丝杠螺杆3-4固定连接。所述人体重心调整机构丝杠螺杆3-4与人体重心调整机构丝杠螺母3-5构成一组螺旋副。所述人体重心调整机构丝杠螺母3-5固定安装在所述人体重心调整机构丝杠螺母安装座3-6中。所述人体重心调整机构丝杠螺母安装座3-6固定安装于所述座椅宽度调整机构安装板2-2的背面。同时所述座椅宽度调整机构安装板2-2的背面还和所述两套人体重心调整机构导轨滑鞍3-8固定连接。所述的每套人体重心调整机构导轨滑鞍3-8和对应的一套人体重心调整机构直线导轨3-7构成一组滑动副。所述的两套人体重心调整机构直线导轨3-7和所述一套人体重心调整机构丝杠螺杆3-4平行安装在所述人体重心调整机构安装板3-1的正面。
当所述人体重心调整机构驱动电机3-2驱动所述人体重心调整机构丝杠螺杆3-4转动时，将带动所述座椅宽度调整机构安装板2-2沿着所述人体重心调整机构直线导轨3-7做直线运动。由于所述腿部机构1-2、座椅1-4、座椅宽度调整机构均安装在所述座椅宽度调整机构安装板2-2上。因此，通过人体重心调整机构驱动电机3-2可控制所述腿部机构1-2、座椅1-4、座椅宽度调整机构整体沿着所述重心调整机构直线导轨3-7作直线运动(当训练床处于直立状态时，所述直线运动为竖直方向的运动)。因此，可以通过所述人体重心调整机构控制训练者在竖直方向做直线运动，从而使训练者的重心发生变化。
图4为根据本发明实施例的减重系统结构图。如图4所示，所述减重 系统包括：两套绑带挂钩4-1，一套挂钩横梁4-2，一套减重绳索4-3，一套减重轮系4-4，一套减重系统导轨滑鞍4-5，一套减重系统丝杠螺母4-6，一套减重系统丝杠螺母安装座4-7，一套减重系统直线导轨4-8，一套减重系统丝杠螺杆4-9，一套减重系统丝杠联轴器4-10，一台减重系统驱动电机4-11，一套减重系统安装板4-12。所述减重系统安装板4-12固定安装在所述靠垫框架5-1背面。所述减重系统驱动电机4-11固定安装在所述减重系统安装板4-12上。同时所述减重系统驱动电机4-11的输出端通过所述减重系统丝杠联轴器4-10和所述减重系统丝杠螺杆4-9固定连接。所述减重系统丝杠螺杆4-9和减重系统丝杠螺母4-6构成一组螺旋副。所述减重系统丝杠的螺母4-6固定安装在所述减重系统丝杠螺母安装座4-7中。所述减重系统丝杠螺母安装座4-7还和所述减重系统导轨滑鞍4-5固定连接。所述减重系统导轨滑鞍4-5和所述减重系统直线导轨4-8构成一组滑动副。同时，所述减重系统丝杠螺母安装座4-7还和所述减重绳索4-3的一端固定连接。所述减重绳索4-3通过所述减重轮系4-4后，其运动方向发生改变。所述减重绳索4-3的另一端固定连接了所述挂钩横梁4-2。所述挂钩横梁4-2的两端分别固定安装了一套所述绑带挂钩4-1。所述绑带挂钩4-1用于连接固定在训练者身上的绑带。
当所述减重系统驱动电机4-11驱动所述减重系统丝杠螺杆4-9转动时，所述减重系统丝杠螺母4-6将沿着所述减重系统丝杠螺杆4-9做直线运动，从而带动所述减重绳索4-3的一端沿着所述减重系统直线导轨4-8做直线运动。此时，所述减重绳索4-3的另一端将带动绑带挂钩4-1做直线运动，从而使得所述绑带沿着训练者躯体方向拉紧或放松。因此通过控制所述减 重系统驱动电机4-11，即可控制减重拉力的大小。
图5为根据本发明实施例的靠垫角度调整机构结构图。如图5所示，所述靠垫角度调整机构主要包括：靠垫角度调整机构横梁A 5-2，靠垫角度调整机构电动推杆5-3，靠垫角度调整机构横梁B 5-4。所述靠垫框架5-1用于安装所述靠垫1-5。所述靠垫角度调整机构横梁A 5-2固定安装于所述靠垫框架5-1。所述靠垫角度调整机构横梁B 5-4固定安装于所述床体框架1-7。所述靠垫角度调整机构电动推杆5-3一端与所述靠垫角度调整机构横梁A 5-2铰接，另一端与所述靠垫角度调整机构横梁B 5-4铰接。同时，所述靠垫框架5-1和所述床体框架1-7也相互铰接。
所述靠垫角度调整机构电动推杆5-3的长度由电机控制。当所述靠垫角度调整机构推杆5-3的长度发生变化时，所述靠垫框架5-1和所述床体框架1-7之间的夹角会发生变化。该夹角即为靠垫的倾角。因此，通过控制靠垫角度调整机构电动推杆5-3的长度即可控制所述靠垫的倾角。
本实施例中，座椅宽度调整机构直线运动装置由一套座椅宽度调整机构驱动电机2-3、一套座椅宽度调整机构电机安装座2-4、一套座椅宽度调整机构锥齿轮系2-5、两套座椅宽度调整机构丝杠螺杆2-6、两套座椅宽度调整机构丝杠螺母2-8、两套座椅宽度调整机构丝杠螺母安装座2-9构成，将座椅宽度调整机构驱动电机2-3输出的回转运动转变为座椅宽度调整机构丝杠螺母2-8的直线运动，从而带动座椅宽度调整机构丝杠螺母安装座2-9做直线运动，实现位置的调整，在实际应用中可采用电动推杆作为直线运动装置来替换本实施例中座椅宽度调整机构直线运动装置，可以实现同样的功能。
本实施例中，人体重心调整机构直线运动装置由一台人体重心调整机构驱动电机3-2、一套人体重心调整机构电机安装座3-3、一套人体重心调整机构丝杠螺杆3-4、一套人体重心调整机构丝杠螺母3-5、一套人体重心调整机构丝杠螺母安装座3-6构成，将人体重心调整机构驱动电机3-2输出的回转运动转变为人体重心调整机构丝杠螺母3-5的直线运动，从而带动人体重心调整机构丝杠螺母安装座3-6做直线运动，实现位置的调整，在实际应用中可采用电动推杆作为直线运动装置来替换本实施例中人体重心调整机构直线运动装置，可以实现同样的功能。
本实施例中，减重系统直线运动装置由一台减重系统驱动电机4-11、一套减重系统丝杠联轴器4-10、一套减重系统丝杠螺杆4-9、一套减重系统丝杠螺母4-6、一套减重系统丝杠螺母安装座4-7构成，将减重系统驱动电机4-11输出的回转运动转变为减重系统丝杠螺母4-6的直线运动，从而带动减重系统丝杠螺母安装座4-7做直线运动，实现位置的调整，在实际应用中可采用电动推杆作为直线运动装置来替换本实施例中减重系统直线运动装置，可以实现同样的功能。
以上所述，仅为本发明中的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉该技术的人在本发明所揭露的技术范围内，可理解想到的变换或替换，都应涵盖在发明的包含范围之内，因此，本发明的保护范围应该以权利要求书的保护范围为准。

Claims (10)

  1. 一种多位姿下肢康复训练机器人，其特征在于，包括机器人基座(1-1)和训练床；
    所述机器人基座(1-1)为多位姿下肢康复训练机器人的支撑底座；同时所述机器人基座(1-1)安装了一套床体调整机构，该床体调整机构通过床体支撑组件(1-8)与所述训练床的床体框架(1-7)铰接，用于对所述训练床角度进行调整，以改变训练时训练者的姿态；
    所述训练床主要包括腿部机构(1-2)、座椅(1-4)、座椅宽度调整机构、人体重心调整机构、靠垫(1-5)、靠垫框架(5-1)、靠垫角度调整机构、床体框架(1-7)、以及减重系统(1-6)；
    所述腿部机构(1-2)包括髋、膝、踝三个关节和大、小腿两套连杆机构，用于固定训练者下肢，并辅助训练者下肢进行运动训练；
    所述座椅(1-4)用于坐姿训练时训练者就座，支撑训练者重量；
    座椅(1-4)固设于所述座椅宽度调整机构上，所述座椅宽度调整机构用于调整两套腿部机构(1-2)之间的距离，以适应不同训练者的体型；所述座椅宽度调整机构安装于所述人体重心调整机构上，所述人体重心调整机构用于步态训练时实时调整训练者重心的位置，模拟人体自然行走时重心的上下变化；
    靠垫(1-5)用于卧姿训练时支撑训练者上身重量。所述靠垫(1-5)固设于靠垫框架(5-1)正面。所述靠垫框架(5-1)一端与所述床体框架(1-7)铰接；
    所述靠垫角度调整机构安装于所述靠垫框架(5-1)与所述床体框架(1-7)之间，用于坐姿或卧姿态训练时调整靠垫的角度，以提高训练的舒适度；
    减重系统(1-6)由减重系统驱动电机(4-11)驱动，安装于靠垫框架(5-1)的背面，用于平衡训练者的部分或者全部体重。
  2. 如权利要求1所述的一种多位姿下肢康复训练机器人，其特征在于，所述座椅(1-4)两侧各安装了一套座椅扶手(1-3)，用于训练过程中为训练者提供手部支撑；所述机器人基座(1-1)底部安装有滚轮，用于多位姿下肢康复训练机器人的移动。
  3. 如权利要求2所述的一种多位姿下肢康复训练机器人，其特征在于，所述的座椅宽度调整机构包括座椅宽度调整机构安装板(2-2)、用于安装腿部机构的两个腿部机构安装座(2-10)、左右对称设置的座椅宽度调整机构直线导轨(2-7)、与座椅宽度调整机构直线导轨(2-7)配套使用的座椅宽度调整机构导轨滑鞍(2-1)、座椅宽度调整机构直线运动装置；
    座椅宽度调整机构直线运动装置安装于座椅宽度调整机构安装板(2-2)上；
    腿部机构安装座(2-10)正面与腿部机构(1-2)固定连接；所述腿部机构安装座(2-10)背面与座椅宽度调整机构直线运动装置和座椅宽度调整机构导轨滑鞍(2-1)固定连接；
    座椅宽度调整机构直线导轨(2-7)与座椅宽度调整机构导轨滑鞍(2-1)对应设置，且固定安装于座椅宽度调整机构安装板(2-2)上。
  4. 如权利要求2所述的一种多位姿下肢康复训练机器人，其特征在于，所述的人体重心调整机构包括人体重心调整机构安装板(3-1)、人体重心调整机构直线运动装置、人体重心调整机构导轨滑鞍(3-8)、人体重心调整机构直线导轨(3-7)；
    人体重心调整机构安装板(3-1)安装于所述床体框架(1-7)上；
    人体重心调整机构直线运动装置安装于人体重心调整机构安装板(3-1)上，且与座椅宽度调整机构安装板(2-2)固定连接；
    人体重心调整机构导轨滑鞍(3-8)安装于座椅宽度调整机构安装板(2-2)面向人体重心调整机构安装板(3-1)的一侧；
    人体重心调整机构直线导轨(3-7)与人体重心调整机构导轨滑鞍(3-8)对应设置，并固定安装于人体重心调整机构安装板(3-1)上。
  5. 如权利要求2所述的一种多位姿下肢康复训练机器人，其特征在于，所述的减重系统(1-6)包括减重系统安装板(4-12)、减重系统直线运动装置、减重系统导轨滑鞍(4-5)、减重系统直线导轨(4-8)、减重绳索(4-3)、挂钩横梁(4-2)、减重轮系(4-4)、绑带挂钩(4-1)；
    减重系统安装板(4-12)安装于靠垫框架(5-1)上；
    减重系统直线运动装置安装于减重系统安装板(4-12)上；
    减重系统导轨滑鞍(4-5)安装于减重系统直线运动装置上；
    减重系统直线导轨(4-8)与减重系统导轨滑鞍(4-5)对应设置；
    减重绳索(4-3)的一端与减重系统直线运动装置相连接，其另一端与挂钩横梁(4-2)相连接；
    减重轮系(4-4)安装于靠垫框架(5-1)的上部，与减重绳索(4-3)配合使用；
    绑带挂钩(4-1)为两个，分别固定安装于挂钩横梁(4-2)的两端。
  6. 如权利要求2所述的一种多位姿下肢康复训练机器人，其特征在于，所述的靠垫角度调整机构包括靠垫角度调整机构横梁A(5-2)、靠垫角度调整机构电动推杆(5-3)、靠垫角度调整机构横梁B(5-4)；
    靠垫角度调整机构横梁A(5-2)固定安装于靠垫框架(5-1)上，靠垫角度调整机构横梁B(5-4)固定安装于所述床体框架(1-7)上，靠垫角度调整机构推杆(5-3)一端与所述靠垫角度调整机构横梁A(5-2)铰接，另一端与所述靠垫角度调整机构横梁B(5-4)铰接。
  7. 如权利要求3所述的一种多位姿下肢康复训练机器人，其特征在于，座椅宽度调整机构直线运动装置包括一套座椅宽度调整机构驱动电机(2-3)、一套座椅宽度调整机构电机安装座(2-4)、一套座椅宽度调整机构锥齿轮系(2-5)、两套座椅宽度调整机构丝杠螺杆(2-6)、两套座椅宽度调整机构丝杠螺母(2-8)、两套座椅宽度调整机构丝杠螺母安装座(2-9)；
    座椅宽度调整机构驱动电机(2-3)固定安装于座椅宽度调整机构电机安装座(2-4)中；座椅宽度调整机构电机安装座(2-4)固定安装于座椅宽度调整机构安装板(2-2)的上；座椅宽度调整机构锥齿轮系(2-5)包括一个输入端和两个输出端，其输入端与座椅宽度调整机构驱动电机(2-3)的输出轴固定连接，其输出端分别与两套座椅宽度调整机构丝杠螺杆(2-6)固定连接；每套座椅宽度调整机构丝杠螺杆(2-6)和对应的一套座椅宽度调整机构丝杠螺母(2-8)构成一组螺旋副；两套座椅宽度调整机构丝杠螺母(2-8)分别固定安装于对应的一套座椅宽度调整机构丝杠螺母安装座(2-9)上；每套座椅宽度调整机构丝杠螺母安装座(2-9)固定安装于对应的一套腿部机构安装座(2-10)面向座椅宽度调整机构安装板(2-2)的一侧。
  8. 如权利要求4所述的一种多位姿下肢康复训练机器人，其特征在于，所述的人体重心调整机构直线运动装置包括一台人体重心调整机构驱动电机(3-2)、一套人体重心调整机构电机安装座(3-3)、一套人体重心调整 机构丝杠螺杆(3-4)、一套人体重心调整机构丝杠螺母(3-5)、一套人体重心调整机构丝杠螺母安装座(3-6)；
    人体重心调整机构驱动电机(3-2)固定安装于人体重心调整机构电机安装座(3-3)中；人体重心调整机构电机安装座(3-3)固定安装于人体重心调整机构安装板(3-1)上；人体重心调整机构丝杠螺杆(3-4)与人体重心调整机构驱动电机(3-2)的输出轴固定连接；人体重心调整机构丝杠螺杆(3-4)与人体重心调整机构丝杠螺母(3-5)构成一组螺旋副；人体重心调整机构丝杠螺母(3-5)固定安装于人体重心调整机构丝杠螺母安装座(3-6)中；人体重心调整机构丝杠螺母安装座(3-6)固定安装于座椅宽度调整机构安装板(2-2)面向人体重心调整机构安装板(3-1)的一侧。
  9. 如权利要求5所述的一种多位姿下肢康复训练机器人，其特征在于，所述的减重系统直线运动装置包括一台减重系统驱动电机(4-11)、一套减重系统丝杠联轴器(4-10)、一套减重系统丝杠螺杆(4-9)、一套减重系统丝杠螺母(4-6)、一套减重系统丝杠螺母安装座(4-7)；
    减重系统驱动电机(4-11)固定安装于减重系统安装板(4-12)上；减重系统驱动电机(4-11)的输出轴通过减重系统丝杠联轴器(4-10)和减重系统丝杠螺杆(4-9)固定连接；减重系统丝杠螺杆(4-9)和减重系统丝杠螺母(4-6)构成一组螺旋副；减重系统丝杠的螺母(4-6)固定安装于减重系统丝杠螺母安装座(4-7)中；减重系统丝杠螺母安装座(4-7)和减重系统导轨滑鞍(4-5)固定连接；减重系统丝杠螺母安装座(4-7)和所述减重绳索(4-3)的一端固定连接。
  10. 如权利要求3～5中任一项所述的一种多位姿下肢康复训练机器人，其特征在于，所述的座椅宽度调整机构直线运动装置、人体重心调整机构 直线运动装置、减重系统直线运动装置均为电动推杆。
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