WO2021238501A1 - 一种可作机械限位的床旁下肢康复训练机器人 - Google Patents

一种可作机械限位的床旁下肢康复训练机器人 Download PDF

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Publication number
WO2021238501A1
WO2021238501A1 PCT/CN2021/088031 CN2021088031W WO2021238501A1 WO 2021238501 A1 WO2021238501 A1 WO 2021238501A1 CN 2021088031 W CN2021088031 W CN 2021088031W WO 2021238501 A1 WO2021238501 A1 WO 2021238501A1
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WIPO (PCT)
Prior art keywords
ankle
limit
hip
knee
sole
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Application number
PCT/CN2021/088031
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English (en)
French (fr)
Inventor
郭利伟
李恒
李耀峰
徐红亮
楚向前
闫孟
张峰涛
付风生
侯亚飞
Original Assignee
希迪克（郑州）智能康复设备有限公司
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Publication of WO2021238501A1 publication Critical patent/WO2021238501A1/zh

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    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors

Definitions

  • This application relates to the field of rehabilitation equipment, in particular to a bedside lower limb rehabilitation training robot that can be used as a mechanical limit.
  • the existing lower limb rehabilitation robot does not mechanically limit joint movement during the rehabilitation training process. Since there is no mechanical limit, once the control limit is out of control, it will pose a great threat to the safety of the patient. Therefore, how to make a bedside lower limb rehabilitation training robot that can solve the existing technical problems and can be used as a mechanical limit has become a technical problem to be solved.
  • this application proposes a bedside lower limb rehabilitation training robot that can be used as a mechanical limit to solve the above-mentioned problems in the background technology.
  • this application proposes a bedside lower limb rehabilitation training robot that can be used as a mechanical limit. It includes a fixed frame and a mechanical leg.
  • the mechanical leg includes a thigh assembly, a calf assembly, and an ankle that are sequentially rotatably arranged.
  • the assembly includes a thigh driver, a hollow rotating platform, a hip torque sensor, a hip adapter plate and a thigh arm that are sequentially arranged, and the bottom of the hip adapter plate is provided with a hip limiter,
  • the hip adapter plate is provided with an inner stopper for limiting the hip limiter on the outer circumference
  • the calf assembly includes a calf driver, a knee torque sensor, and a knee limiter arranged in sequence A ring and a calf arm, the calf arm is provided with a knee limiting member, and the knee limiting ring is provided with a knee limiting groove for the knee limiting member to limit sliding; so
  • the ankle assembly includes an ankle drive member, an ankle adapter plate and an ankle connecting plate arranged in sequence.
  • the ankle connecting plate is provided with an ankle limiter
  • the ankle adapter plate is provided with An ankle limiting groove for the ankle limiting member to slide.
  • the hip limiter and the knee limiter respectively include a gear eccentric crankshaft, a gear shaft, and a reversing block.
  • the gear eccentric crankshaft and the gear The shaft is engaged, the gear reversing block is provided with a through hole and an installation groove, the installation groove is provided with a spring, the top of the spring is provided with a limit pin, and the lower part of the limit pin is provided with a connecting hole
  • the gear eccentric crankshaft is arranged between the two groups of the reversing blocks, the crankshaft of the gear eccentric crankshaft passes through the through hole and is arranged in the connecting hole, and one end of the gear shaft A knob is provided.
  • the ankle limiting member includes a knob fixing seat and a limiting knob, the limiting knob is arranged in the knob fixing seat, and the knob fixing seat is connected to the Compression spring one is arranged between the mentioned limit knobs.
  • the thigh drive member includes a hip motor, a hip driving wheel, a hip transmission belt, a hip driven wheel, and a hip connecting shaft that are sequentially arranged, and the hip connecting shaft is The output end is connected to the input end of the hollow rotating platform, and an outer stopper for the limit pin to limit the position is also provided outside the inner stopper.
  • the lower leg drive member includes a knee motor, a coupling, a knee drive shaft, a knee driving wheel, a knee driving belt, and a knee driven wheel that are sequentially arranged.
  • the output end of the passive wheel is connected to the input end of the calf arm, and the knee limit ring is symmetrically provided with two sets of knee limit grooves.
  • the ankle driving member includes an ankle motor, and the output end of the ankle motor is connected to the ankle connecting plate; the ankle limiting member is in the Two groups are arranged on the ankle connecting plate in sequence, and two groups of the ankle limit grooves are arranged in the ankle adapter plate in sequence.
  • a sole assembly is provided on the ankle connecting plate, and the sole assembly includes a sole driver, a sole motor fixing plate, a sole restraining ring, a sole fixing plate, and The sole strap, the output end of the sole driving member is connected to the sole fixing plate.
  • the sole driving member includes a sole motor, a sole driving wheel, a sole transmission belt, a sole driven wheel, and a sole reducer, which are sequentially arranged;
  • the sole motor fixing plate is provided with two mounting grooves.
  • the second installation groove is provided with a second compression spring, the upper part of the second compression spring is provided with an ankle stopper, and the outer circumference of the sole stop ring is provided with the ankle stopper Two sets of limit stops.
  • a calf support assembly is provided on the outer side of the ankle connecting plate, and the calf support assembly includes a leg support connecting plate, a leg support and a directional knob, and the leg support connecting plate is provided There is a reversing shaft fixing disc, the leg support is provided with a reversing shaft, and the reversing shaft is detachably arranged on the reversing shaft fixing disc through a directional knob.
  • a hip fixing seat is arranged at the bottom of the hip motor, a hollow rotating platform fixing seat is arranged on one side of the hollow rotating platform, and the hip fixing seat is connected to the Tension bolts are arranged between the fixing seats of the hollow rotating platform;
  • the fixed frame includes a frame and a shell, a mechanical leg fixing plate is arranged in the middle of the frame, and a touch screen and a hand-held emergency stop switch are arranged on the upper part of the frame ,
  • the bottom of the frame is provided with movable casters.
  • This application proposes a bedside lower limb rehabilitation training robot that can be used as a mechanical limit. Compared with the prior art, it has the following beneficial effects:
  • the hip and knee joints of the present application adopt torque sensors to feed back the patient's muscle strength status in the course of rehabilitation training in real time, assist in the case of insufficient muscle strength of the patient, and realize assisted rehabilitation training for the patient;
  • the hip limiter increases the limit angle by increasing the number of internal and external stops, which can realize the overlap area limit of two or more groups of limit areas; the knee limiter changes the internal limit of the gear eccentric crankshaft
  • the pin status is limited to achieve two or more limit modes; the ankle limiter is limited by the limit knob, which can be used in a small space; the foot limiter is through the ankle limit block and stop Cooperate to achieve a small space limit; this application ensures the safety of the patient in the rehabilitation training through the mechanical limit of each joint when the control limit is out of control;
  • the robot can be moved to the front of the bed by moving the casters to realize the bed rest training for the patient, and prevent the patient who is unattended and inconvenient to get out of bed from missing the golden period of recovery.
  • Figure 1 shows a schematic diagram of the overall structure of the present application
  • Figure 2 shows a schematic diagram of the connection structure of each component
  • Figure 3 shows a schematic diagram of the fixed frame structure
  • Figure 4 shows a schematic diagram of the mechanical leg connection structure
  • Figure 5 shows a schematic diagram of the connection structure of the hip limiter
  • Figure 6 shows a cross-sectional view of the hip stopper
  • Figure 7 shows a second cross-sectional view of the hip limiter
  • Figure 8 shows a schematic diagram of the connection structure of the knee limiter
  • Figure 9 shows a cross-sectional view of the ankle joint limiting component
  • Figure 10 shows a schematic diagram of the connection structure of the ankle stopper
  • Figure 11 shows a schematic diagram of the structure of the calf support assembly
  • Figure 12 shows a schematic diagram of the connection structure of the sole assembly and the ankle stopper
  • Figure 13 shows a schematic diagram of the connection structure of the hollow rotating platform
  • the first embodiment is shown in Figure 1, Figure 2, Figure 3 and Figure 4: a bedside lower limb rehabilitation training robot that can be used as a mechanical limit, which includes: a fixed frame 1 and a mechanical leg.
  • the mechanical leg It includes a thigh assembly 2, a calf assembly 3, and an ankle assembly 4 that are sequentially rotatably arranged;
  • the thigh assembly 2 includes a thigh driver, a hollow rotating platform 207, a hip torque sensor 210, a hip adapter plate 211, and
  • the fixed frame 1 at the bottom of the hip adapter plate 211 is provided with a hip limiter 7
  • the hip adapter plate 211 is provided with the hip limiter 7 on its outer periphery.
  • the calf assembly 3 includes a calf driver, a knee torque sensor 307, a knee limit ring 309 and a calf arm 308 arranged in sequence, and the inner end of the calf arm 308 is provided with
  • the knee limiter 8 the knee limit ring 309 is provided with an arc-shaped knee limit groove 304 for the knee limiter 8 to limit sliding
  • the ankle assembly 4 includes successively An ankle driving member, an ankle adapter plate 402 and an ankle connecting plate 403 rotatably arranged with the ankle adapter plate 402 are provided, and an ankle limiting member 9 is provided on the ankle connecting plate 403
  • An ankle limiting groove 404 is provided in the ankle adapter plate 402 for the ankle limiting member 9 to slide.
  • the hip limiter 7 includes a gear eccentric crankshaft 705, a gear shaft 704 and a reversing block.
  • the gear eccentric crankshaft 705 meshes with the gear shaft 704 .
  • the gear reversing block is provided with a through hole 709 and a mounting groove 710, the mounting groove 710 is provided with a spring 711, the top of the spring 711 is provided with a limit pin, and the lower part of the limit pin is provided
  • the through hole 709 is provided in the connecting hole 712 at the lower
  • the knee limiter 8 includes a gear eccentric crankshaft 804, a gear shaft 803 and a reversing block.
  • the gear eccentric crankshaft 804 meshes with the gear shaft 803, and the gear change
  • the direction block is provided with a through hole and a mounting groove, the mounting groove is provided with a spring, the top of the spring is provided with a limit pin, the lower part of the limit pin is provided with a connecting hole, and the gear eccentric crankshaft 804
  • the gear shaft 803 is arranged between the two groups of reversing blocks, the two groups of reversing blocks are reversing block three 801 and reversing block four 802, the reversing block three 801
  • a limit pin three 805 is provided in the reversing block four 802
  • a limit pin four 806 is provided in the reversing block four 802
  • the crankshaft of the gear eccentric crankshaft 803 passes through the through hole and is arranged at the lower part of the limit pin
  • the ankle limiter 9 includes a knob fixing seat 903 and a limit knob 901, and the limit knob 901 includes a small stud, a large stud, and a nut arranged in sequence.
  • the knob fixing seat 903 is sequentially provided with a small threaded hole and a large threaded hole that match the limit knob 901, and the large threaded hole is provided with a compression spring 902, the limit knob The 901 can be screwed out and arranged on the knob fixing seat 903, and the screwed-out part of the limit knob 901 is used for setting in the ankle limit groove 404 for limit.
  • the thigh drive member includes a hip motor 201, a hip driving wheel 203, a hip transmission belt 205, a hip driven wheel 204, and a hip connecting shaft 206 that are sequentially arranged.
  • the output end of the hip connecting shaft 206 is connected to the input end of the hollow rotating platform 207, and the inner stop 213 is also provided with an outer stop 214 for the limit pin to limit.
  • the calf driver includes a knee motor 301, a coupling 302, a knee drive shaft 303, a knee drive wheel, a knee drive belt 306, and a knee drive wheel 305 that are arranged in sequence.
  • the output end of the passive knee wheel 305 is connected to the input end of the calf arm 308, and two sets of arc-shaped knee limit grooves 304 are symmetrically provided on the knee limit ring 309;
  • the knee driving wheel 304 and the knee driven wheel 305 are respectively arranged at the inner ends of the thigh arm 212, and the knee motor 301 is arranged on the hollow rotating platform fixing seat 208
  • the knee drive shaft 303 passes through the hollow rotating platform 207, the hip torque sensor 210, and the hip adapter plate 211 to connect to the knee drive wheel 304.
  • the ankle drive member includes an ankle motor 401, the ankle motor 401 is arranged at the other end of the inside of the calf arm 308, and the output end of the ankle motor 401 is connected to the The ankle connecting plate 403; the ankle limiting member 9 is provided with two groups in sequence on the ankle connecting plate 403, and the ankle adapter plate 402 is provided with two groups of the ⁇ ankle limit slot 404.
  • the ankle connecting plate 403 is provided with a sole assembly 5, and the sole assembly 5 includes a sole driver, a sole motor fixing plate 506, and a sole limit ring 507 arranged in sequence.
  • the sole fixing plate 510 and the sole strap 511, the output end of the sole driving member passes through the sole motor fixing plate 506 to connect to the sole fixing plate 510, and the sole limit cushion ring 507 is set at The outer circumference of the lower part of the sole fixing plate 510 is upward; the sole motor fixing plate 506 is connected to the ankle connecting plate 403.
  • the sole driving member includes a sole motor 501, a sole driving wheel 502, a sole transmission belt 504, a sole driven wheel 503, and a sole reducer 505 which are arranged in sequence;
  • the sole motor fixing plate 506 is provided with two mounting grooves.
  • Two compression springs are arranged in the second mounting groove, an ankle stop block 508 is arranged on the upper part of the second compression spring, and the ankle stop block 508 is arranged on the outer periphery of the sole stop ring 507.
  • a screw is provided on one side of the bottom of the ankle limiting block 508, and an ankle spring one is provided between the other side of the bottom of the ankle limiting block 508 and the top of the second mounting groove.
  • the upper sleeve is provided with an ankle spring two, a through hole is provided on the lower side of the second mounting groove, the lower part of the screw can be movably arranged in the through hole 17, and the screw is used for the ankle The positioning of the limiting block 508 in the second installation slot.
  • the outer side of the ankle connecting plate 403 is rotatably provided with a calf support assembly 6.
  • the calf support assembly 6 includes a leg support connecting plate 601, a leg support 604, and an orientation knob 606.
  • the leg A reversing shaft fixing plate 603 is provided on the support connecting plate 601, a reversing shaft 602 is provided on the leg support 604, and the reversing shaft 602 is detachably fixed to the reversing shaft through the orientation knob 606.
  • Plate 603; the leg support 604 is provided with a leg support strap 605, and the calf support assembly 6 is set outside the ankle connecting plate 403 through the leg support connecting plate 601.
  • the bottom of the hip motor 201 is provided with a hip fixing seat 202, and one side of the hollow rotating platform 207 is provided with a hollow rotating platform fixing seat 208, the hip fixing seat A tightening bolt 209 is provided between 202 and the hollow rotating platform fixing seat 208, and a tightening mechanism is provided on both the calf drive member and the sole drive member;
  • the fixed frame 1 includes a frame 101 And the housing 103, the middle of the frame 101 is provided with a mechanical leg fixing plate 102, and the mechanical leg is fixed on the mechanical leg through the hollow rotating platform fixing seat 208 and the hip fixing seat 202.
  • the upper part of the frame 101 is provided with a touch screen 105 and a hand-held emergency stop switch 106, and the bottom of the frame 101 is provided with movable casters 104.
  • the hip motor 201 and the hollow rotating platform 207 transmit power through the hip transmission belt 205, and then pass through the hip torque sensor 210 and hip transfer
  • the disc 211 transmits the power to the thigh arm 212, so that the thigh arm 212 performs fan-shaped movement.
  • the fan angle is determined by the range of movement of the limit pin in the hip limiter 7 in the block on the hip adapter plate 211; there are two limit stops on the hip adapter plate 211, which are similar to those described above.
  • the two sets of limit pins in the hip limiter 7 cooperate, one set is used as the limited range during the training of the left limb, and the other set is used as the limited range during the training of the right limb.
  • the hip limiter 7 transmits power through a gear, so that the crankshafts at both ends of the gear eccentric crankshaft 705 drive the limit pin to move up and down; when the limit pin 706 protrudes, the change To block one 702, the limit pin one 706 cooperates with the inner block 213 in the hip adapter plate 211 to form a set of limit regions. Similarly, when the limit pin two When 707 protrudes from the second reversing block 703, the second limit pin 707 cooperates with the outer stop 214 on the outside of the hip adapter plate 211 to form a set of limit regions. It can solve the problem of overlapping of the two sets of limit areas and increase the angle of the two sets of limit areas.
  • the knee motor 301 transmits power through the knee transmission belt 306, and transmits the force to the calf arm 308 through the knee torque sensor 307, so that the The calf arm 308 performs a fan movement.
  • the fan-shaped angle is determined by the movable range of the limiting pin in the knee limiting member 8 in the knee limiting groove 304.
  • the ankle motor 401 directly drives the ankle connecting plate 403 to perform fan-shaped movement.
  • the fan angle is determined by the range of movement of the limit knob 901 in the ankle limit groove 404.
  • the ankle adapter plate 402 has two groups of the ankle limit grooves 404, which cooperate with the two groups of the ankle limit members 9, and one group serves as the limit range for the left limb training. One set is used as the limited range for right limb training.
  • the small stud can be screwed out of the ankle connecting plate 403, and cooperate with the ankle limit groove 404 to form a limit area .
  • the limit knob 901 is screwed out of the knob fixing seat 903, the large stud can be pushed out of the knob fixing seat 903 by means of the compression spring 902.
  • the The small stud pushes out the ankle limit groove 404 to release the limit state; when the limit knob 901 is screwed in, the limit knob 901 can be moved by the compression spring 902
  • the knob fixing seat 903 is screwed in; when the limit knob 901 is screwed out, the compression spring 902 pushes the large stud out of the large threaded hole to stop the rotation, ensuring The small stud is not safely ejected from the small threaded hole, and has a good retaining effect.
  • the sole motor 501 and the sole reducer 505 transmit power through the sole transmission belt 504, and drive the sole fixing plate through the sole restraining ring 507 510 does a fan movement.
  • the fan angle is determined by the range of movement of the ankle stopper 508 in the stopper 509 on the sole stop ring 507.
  • the second compression spring pushes the ankle limit block 508 out of the sole motor fixing plate 506 plane to cooperate with the stop block 509 to form a limit area.
  • the calf support assembly 6 follows the plantar flexion and dorsiflexion of the sole of the foot; when in use, the orientation knob 606 is screwed into the reversing shaft fixing plate 603 to resist the reversing shaft 602 to prevent The mentioned leg support 604 rotates. When reversing the left and right limbs, loosen the orientation knob 606, rotate the leg support 604 by 180°, and then press the orientation knob 606 against the reversing shaft 602.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种可作机械限位的床旁下肢康复训练机器人，其包括:固定框架(1)和机械腿，机械腿包括大腿组件(2)、小腿组件(3)和脚踝组件(4)；大腿组件(2)包括依次设置的大腿驱动件、中空旋转平台(207)、髋部扭矩传感器(210)、髋部转接盘(211)和大腿臂(212)，髋部转接盘(211)底部设置有髋部限位件(7)，髋部转接盘(211)外周向上设置有供髋部限位件(7)限位的内挡块(213)；小腿组件(3)包括依次设置的小腿驱动件、膝部扭矩传感器(307)、膝部限位环(309)和小腿臂(308)，小腿臂(308)内设置有膝部限位件(8)，膝部限位环(309)上设置有供膝部限位件(8)限位滑动的膝部限位槽(304)；脚踝组件(4)包括依次设置的脚踝驱动件、踝部转接盘(402)和踝部连接板(403)，踝部连接板(403)上设置有踝部限位件(9)，踝部转接盘(402)内设置有供踝部限位件(9)滑动的踝部限位槽(404)。可作机械限位的床旁下肢康复训练机器人提高了患者康复训练中的安全性。

Description

一种可作机械限位的床旁下肢康复训练机器人 技术领域
本申请涉及康复器械领域，特别是一种可作机械限位的床旁下肢康复训练机器人。
背景技术
21世纪以后，我国人口老龄化加速发展，老年人数量基数大、增长快。其中，失去自理能力的老年人也在逐渐增多。
康复治疗是降低致残率、提高患者生活质量的主要途径。随着康复机器人在临床中的广泛应用和发展，康复治疗对康复设备的要求也在逐渐提高。
现有的下肢康复机器人，在康复训练过程中，没有对关节活动机械限位。由于没有机械限位，一旦控制限位失控，将会对患者的安全产生极大的威胁。因此，如何制作一种能够解决现有技术问题的可作机械限位的床旁下肢康复训练机器人就成为有待解决的技术问题。
发明内容
本申请正是基于上述技术问题，提出了一种可作机械限位的床旁下肢康复训练机器人，以解决上述背景技术中存在的问题。
有鉴于此，本申请提出了一种可作机械限位的床旁下肢康复训练机器人，它包括：固定框架和机械腿，所述的机械腿包括依次可转动设置的大腿组件、小腿组件和脚踝组件；所述的大腿组件包括依次设置的大腿驱动件、中空旋转平台、髋部扭矩传感器、髋部转接盘和大腿臂，所述的髋部转接盘底部设置有髋部限位件，所述的髋部转接盘外周向上设置有供所述的髋部限位件限位的内挡块；所述的小腿组件包括依次设置的小腿驱动件、膝部扭矩传感器、膝部限位环和小腿臂，所述的小腿臂内设置有膝部限位件，所述的膝部限位环上设置有供所述的膝部限位件限位滑动的膝部限位槽；所述的脚踝组件包括依次设置的脚踝驱动件、踝部转接盘和踝部连接板，所述的踝部连接板上设置有踝部限位件，所述的踝部转接盘内设置有供所述的踝部限位件滑动的踝部限位槽。
在上述技术方案中，优选的，所述的髋部限位件、所述的膝部限位件分别包括齿轮偏心曲轴、齿轮轴和换向块，所述的齿轮偏心曲轴与所述的齿轮轴啮合，所述的齿轮换向块上设置有通孔和安装槽，所述的安装槽内设置有弹簧，所述的弹簧顶部设置有限位 销，所述的限位销下部设置有连接孔，所述的齿轮偏心曲轴设置在两组所述的换向块之间，所述的齿轮偏心曲轴的曲轴穿过所述的通孔设置在所述的连接孔内，所述的齿轮轴一端设置有旋钮。
在上述技术方案中，优选的，所述的踝部限位件包括旋钮固定座和限位旋钮，所述的限位旋钮设置在所述的旋钮固定座内，所述的旋钮固定座与所述的限位旋钮之间设置有压缩弹簧一。
在上述技术方案中，优选的，所述的大腿驱动件包括依次设置的髋部电机、髋部主动轮、髋部传动带、髋部被动轮和髋部连接轴，所述的髋部连接轴的输出端连接所述的中空旋转平台的输入端，所述的内挡块外部还设置有供所述的限位销限位的外挡块。
在上述技术方案中，优选的，所述的小腿驱动件包括依次设置的膝部电机、联轴器、膝部传动轴、膝部主动轮、膝部传动带和膝部被动轮，所述的膝部被动轮的输出端连接所述的小腿臂的输入端，所述的膝部限位环上对称设置有两组所述的膝部限位槽。
在上述技术方案中，优选的，所述的脚踝驱动件包括踝部电机，所述的踝部电机的输出端连接所述的踝部连接板；所述的踝部限位件在所述的踝部连接板上依次设置有两组，所述的踝部转接盘内依次设置有两组所述的踝部限位槽。
在上述技术方案中，优选的，所述的踝部连接板上设置有脚掌组件，所述的脚掌组件包括依次设置的脚掌驱动件、脚掌电机固定板、脚掌限位垫环、脚掌固定板和脚掌绑带，所述的脚掌驱动件的输出端连接所述的脚掌固定板。
在上述技术方案中，优选的，所述的脚掌驱动件包括依次设置的脚掌电机、脚掌主动轮、脚掌传动带、脚掌被动轮和脚掌减速机；所述的脚掌电机固定板上设置有安装槽二，所述的安装槽二内设置有压缩弹簧二，所述的压缩弹簧二上部设置有踝部限位块，所述的脚掌限位垫环外周向上设置有供所述的踝部限位块限位的两组挡块。
在上述技术方案中，优选的，所述的踝部连接板外侧设置有小腿支撑组件，所述的小腿支撑组件包括腿托连接板、腿托和定向旋钮，所述的腿托连接板上设置有换向轴固定盘，所述的腿托上设置有换向轴，所述的换向轴通过定向旋钮可拆卸设置在所述的换向轴固定盘上。
在上述技术方案中，优选的，所述的髋部电机底部设置有髋部固定座，所述的中空旋转平台一侧设置有中空旋转平台固定座，所述的髋部固定座与所述的中空旋转平台固定座之间设置有涨紧螺栓；所述的固定框架包括框架和外壳，所述的框架中部设置有机械腿固定板，所述的框架上部设置有触摸屏和手握式急停开关，所述的框架底部设置有移动脚轮。
本申请提出了一种可作机械限位的床旁下肢康复训练机器人，与现有技术相比，具 有以下有益效果：
1、本申请的髋、膝关节处采用扭矩传感器，实时反馈患者在康复训练过程中的肌力状态，在患者肌力不足的情况下助力，实现对患者的助力式康复训练；
2、髋部限位件通过增加内外挡块数量来增加限位角度，可以实现对两组或多组限位区域的重合区域限位；膝部限位件通过改变齿轮偏心曲轴内部的限位销状态进行限位，能够实现两种或多种限位模式；踝部限位件通过限位旋钮限位，可在小空间内使用；脚掌的限位件通过踝部限位块和挡块配合，可实现小空间限位；本申请在控制限位失控时，通过各关节的机械限位保证患者在康复训练当中的安全性；
3、本申请能够通过移动脚轮将机器人移至床前，实现对患者的卧床训练，避免无人照顾、不便下床的患者错过康复黄金期。
附图说明
图1示出了本申请的整体结构示意图；
图2示出了各部件连接结构示意图；
图3示出了固定框架结构示意图；
图4示出了机械腿连接结构示意图；
图5示出了髋部限位件连接结构示意图；
图6示出了髋部限位件剖视图一；
图7示出了髋部限位件剖视图二；
图8示出了膝部限位件连接结构示意图；
图9示出了踝关节限位组件剖视图；
图10示出了踝部限位件连接结构示意图；
图11示出了小腿支撑组件结构示意图；
图12示出了脚掌组件及踝部限位件连接结构示意图；
图13示出了中空旋转平台连接结构示意图；
图中：1固定框架、101框架、102机械腿固定板、103框架外壳、104移动脚轮、105触摸屏、106手握式急停开关；2大腿组件、201髋部电机、202髋部固定座、203髋部主动轮、204髋部被动轮、205髋部传动带、206髋部连接轴、207中空旋转平台、208中空旋转平台固定座、209涨紧螺栓、210髋部扭矩传感器、211髋部转接盘、212大腿臂、213内挡块、214外挡块；3小腿组件、301膝部电机、302联轴器、303膝部传动轴、304膝部限位槽、305膝部被动轮、306膝部传动带、307膝部扭矩传感器、308小腿臂、309膝部限位环；4脚踝组件、401踝部电机、402踝部转接盘、403踝部连接板、404踝 部限位槽；5脚掌组件、501脚掌电机、502脚掌主动轮、503脚掌被动轮、504脚掌传动带、505脚掌减速机、506脚掌电机固定板、507脚掌限位垫环、508踝部限位块、509挡块、510脚掌固定板、511脚掌绑带；6小腿支撑组件、601腿托连接板、602换向轴、603换向轴固定盘、604腿托、605腿托绑带、606定向旋钮；7髋部限位件、701换向块底组、702换向块一、703换向块二、704齿轮轴、705齿轮偏心曲轴、706限位销一、707限位销二、708旋钮、709通孔、710安装槽、711弹簧、712连接孔；8膝部限位件、801换向块三、802换向块四、803齿轮轴、804轮偏心曲轴、805限位销三、806限位销四、807旋钮；9踝部限位件、901限位旋钮、902压缩弹簧一、903旋钮固定座。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的内容的限制。
以下结合图1至图13对本申请的技术方案作进一步说明。
第一实施例，如图1、图2、图3和图4所示：一种可作机械限位的床旁下肢康复训练机器人，它包括：固定框架1和机械腿，所述的机械腿包括依次可转动设置的大腿组件2、小腿组件3和脚踝组件4；所述的大腿组件2包括依次设置的大腿驱动件、中空旋转平台207、髋部扭矩传感器210、髋部转接盘211和大腿臂212，所述的髋部转接盘211底部的固定框架1上设置有髋部限位件7，所述的髋部转接盘211外周向上设置有供所述的髋部限位件7限位的内挡块213；所述的小腿组件3包括依次设置的小腿驱动件、膝部扭矩传感器307、膝部限位环309和小腿臂308，所述的小腿臂308内部一端设置有膝部限位件8，所述的膝部限位环309上设置有供所述的膝部限位件8限位滑动的弧形膝部限位槽304；所述的脚踝组件4包括依次设置的脚踝驱动件、踝部转接盘402和与所述的踝部转接盘402可转动设置的踝部连接板403，所述的踝部连接板403上设置有踝部限位件9，所述的踝部转接盘402内设置有供所述的踝部限位件9滑动的踝部限位槽404。
如图5、图6和图7所示：所述的髋部限位件7包括齿轮偏心曲轴705、齿轮轴704和换向块，所述的齿轮偏心曲轴705与所述的齿轮轴704啮合，所述的齿轮换向块上设置有通孔709和安装槽710，所述的安装槽710内设置有弹簧711，所述的弹簧711顶部设置有限位销，所述的限位销下部设置有连接孔712，所述的齿轮偏心曲轴705与所述的齿轮轴704设置在两组所述的换向块之间，两组所述的换向块分别为换向块一702和换 向块二703，所述的换向块一702内设置有限位销一706，所述的换向块二703内设置有限位销二707，所述的齿轮偏心曲轴705的曲轴穿过所述的通孔709设置在所述的限位销下部的所述的连接孔712内，所述的齿轮轴704穿出换向块的一端设置有旋钮708，所述的髋部限位件7通过换向块底组701设置在所述的固定框架1上。
如图8所示：所述的膝部限位件8包括齿轮偏心曲轴804、齿轮轴803和换向块，所述的齿轮偏心曲轴804与所述的齿轮轴803啮合，所述的齿轮换向块上设置有通孔和安装槽，所述的安装槽内设置有弹簧，所述的弹簧顶部设置有限位销，所述的限位销下部设置有连接孔，所述的齿轮偏心曲轴804与所述的齿轮轴803设置在两组所述的换向块之间，两组所述的换向块分别为换向块三801和换向块四802，所述的换向块三801内设置有限位销三805，所述的换向块四802内设置有限位销四806，所述的齿轮偏心曲轴803的曲轴穿过所述的通孔设置在所述的限位销下部的所述的连接孔内，所述的齿轮轴803穿出换向块的一端设置有旋钮807。
如图9和图10所示，所述的踝部限位件9包括旋钮固定座903和限位旋钮901，所述的限位旋钮901包括依次设置的小螺柱、大螺柱和螺帽，所述的旋钮固定座903内依次设置有与所述的限位旋钮901匹配的小螺纹孔和大螺纹孔，所述的大螺纹孔内设置有压缩弹簧一902，所述的限位旋钮901可旋出设置在所述的旋钮固定座903上，所述的限位旋钮901的旋出部用于设置在所述的踝部限位槽404中限位。
如图4和图5所示，所述的大腿驱动件包括依次设置的髋部电机201、髋部主动轮203、髋部传动带205、髋部被动轮204和髋部连接轴206，所述的髋部连接轴206的输出端连接所述的中空旋转平台207的输入端，所述的内挡块213外部还设置有供所述的限位销限位的外挡块214。
如图4和图8所示，所述的小腿驱动件包括依次设置的膝部电机301、联轴器302、膝部传动轴303、膝部主动轮、膝部传动带306和膝部被动轮305，所述的膝部被动轮305的输出端连接所述的小腿臂308的输入端，所述的膝部限位环309上对称设置有两组所述的弧形膝部限位槽304；所述的膝部主动轮304与所述的膝部被动轮305分别设置在所述的大腿臂212的内部两端，所述的膝部电机301设置在所述的中空旋转平台固定座208上，所述的膝部传动轴303穿过所述的中空旋转平台207、所述的髋部扭矩传感器210、所述的髋部转接盘211连接所述的膝部主动轮304。
如图4所示，所述的脚踝驱动件包括踝部电机401，所述的踝部电机401设置在所述的小腿臂308的内部另一端，所述的踝部电机401的输出端连接所述的踝部连接板403；所述的踝部限位件9在所述的踝部连接板403上依次设置有两组，所述的踝部转接盘402内依次设置有两组所述的踝部限位槽404。
如图4和图12所示，所述的踝部连接板403上设置有脚掌组件5，所述的脚掌组件5包括依次设置的脚掌驱动件、脚掌电机固定板506、脚掌限位垫环507、脚掌固定板510和脚掌绑带511，所述的脚掌驱动件的输出端穿过所述的脚掌电机固定板506连接所述的脚掌固定板510，所述的脚掌限位垫环507设置在所述的脚掌固定板510下部的外周向上；所述的脚掌电机固定板506连接所述的踝部连接板403。
所述的脚掌驱动件包括依次设置的脚掌电机501、脚掌主动轮502、脚掌传动带504、脚掌被动轮503和脚掌减速机505；所述的脚掌电机固定板506上设置有安装槽二，所述的安装槽二内设置有压缩弹簧二，所述的压缩弹簧二上部设置有踝部限位块508，所述的脚掌限位垫环507外周向上设置有供所述的踝部限位块508限位的两组挡块509。
所述的踝部限位块508底部一侧设置有螺钉，所述的踝部限位块508底部另一侧与所述的安装槽二顶部之间设置有踝部弹簧一，所述的螺钉上套设有踝部弹簧二，所述的安装槽二下部一侧设置有通孔，所述的螺钉下部可活动设置在所述的通孔17中，所述的螺钉用于所述的踝部限位块508在所述的安装槽二内的定位。
如图11所示，所述的踝部连接板403外侧可转动设置有小腿支撑组件6，所述的小腿支撑组件6包括腿托连接板601、腿托604和定向旋钮606，所述的腿托连接板601上设置有换向轴固定盘603，所述的腿托604上设置有换向轴602，所述的换向轴602通过定向旋钮606可拆卸设置在所述的换向轴固定盘603上；所述的腿托604上设置有腿托绑带605，所述的小腿支撑组件6通过所述的腿托连接板601设置在所述的踝部连接板403外侧。
如图3和图4所示，所述的髋部电机201底部设置有髋部固定座202，所述的中空旋转平台207一侧设置有中空旋转平台固定座208，所述的髋部固定座202与所述的中空旋转平台固定座208之间设置有涨紧螺栓209，所述的小腿驱动件与所述的脚掌驱动件上均设置有涨紧机构；所述的固定框架1包括框架101和外壳103，所述的框架101中部设置有机械腿固定板102，所述的机械腿通过所述的中空旋转平台固定座208、所述的髋部固定座202设置在所述的机械腿固定板102上，所述的框架101上部设置有触摸屏105和手握式急停开关106，所述的框架101底部设置有移动脚轮104。
在使用过程中：所述的大腿组件2中，所述的髋部电机201与所述的中空旋转平台207之间通过髋部传动带205传递动力，再经过髋部扭矩传感器210、髋部转接盘211将动力传递给大腿臂212，使大腿臂212做扇形运动。扇形角度由髋部限位件7中的限位销在髋部转接盘211上的挡块中活动的范围决定；髋部转接盘211上有两块限位挡块，与所述的髋部限位件7中的两组限位销配合，一组做为左肢训练时的限定范围，另外一组做为右肢训练时的限定范围。
所述的髋部限位件7通过齿轮传递动力，使所述的齿轮偏心曲轴705两端的曲轴带动所述的限位销做上下运动；当所述的限位销一706突出所述的换向块一702时，所述的限位销一706配合所述的髋部转接盘211里面所述的内挡块213形成一组限位区域，同理，当所述的限位销二707突出所述的换向块二703时，所述的限位销二707配合所述的髋部转接盘211外面的所述的外挡块214形成一组限位区域。能够解决两组限位区域重合的问题，增加了两组限位区域的角度。
所述的小腿组件3中，所述的膝部电机301通过所述的膝部传动带306传递动力，经过所述的膝部扭矩传感器307将力传递给所述的小腿臂308，使所述的小腿臂308做扇形运动。扇形角度由所述的膝部限位件8中的限位销在所述的膝部限位槽304中活动的范围决定。所述的膝部限位环309上有两块膝部限位槽304，与所述的膝部限位件8中的两组限位销配合，一组做为左肢训练时的限定范围，另外一组做为右肢训练时的限定范围。
所述的脚踝组件4中，所述的踝部电机401直接驱动所述的踝部连接板403做扇形运动。扇形角度由所述的限位旋钮901在所述的踝部限位槽404中活动的范围决定。所述的踝部转接盘402上有两组所述的踝部限位槽404，与两组所述的踝部限位件9配合，一组做为左肢训练时的限定范围，另外一组做为右肢训练时的限定范围。
所述的限位旋钮901旋入所述的旋钮固定座903时，所述的小螺柱可旋出所述的踝部连接板403，配合所述的踝部限位槽404形成限位区域。所述的限位旋钮901旋出所述的旋钮固定座903时，可借助所述的压缩弹簧一902将所述的大螺柱顶出所述的旋钮固定座903，此时，所述的小螺柱顶出所述的踝部限位槽404，解除限位状态；在所述的限位旋钮901旋入时，所述的限位旋钮901可通过所述的压缩弹簧一902向所述的旋钮固定座903内旋入；在所述的限位旋钮901旋出时，所述的压缩弹簧一902将所述的大螺柱顶出所述的大螺纹孔即可停止旋转，确保所述的小螺柱在所述的小螺纹孔内不被安全顶出，具有良好的保持效果。
所述的脚掌组件5中，所述的脚掌电机501与所述的脚掌减速机505通过所述的脚掌传动带504传递动力，经过所述的脚掌限位垫环507，驱动所述的脚掌固定板510做扇形运动。扇形角度由所述的踝部限位块508在所述的脚掌限位垫环507上的所述的挡块509中活动的范围决定。所述的压缩弹簧二将所述的踝部限位块508顶出所述的脚掌电机固定板506平面配合所述的挡块509形成限位区域。当左、右肢进行互换时，用力将所述的踝部限位块508压进去，转动所述的脚掌固定板510进入另一处限位区域，然后松开所述的踝部限位块508，即完成左、右肢转换。
所述的小腿支撑组件6随着脚掌做跖屈、背屈时做随动；使用时，所述的定向旋钮 606旋入所述的换向轴固定盘603顶住换向轴602，防止所述的腿托604转动。在做左、右肢换向时，松动所述的定向旋钮606，将所述的腿托604转动180°，然后再将所述的定向旋钮606顶住所述的换向轴602即可。
以上所述的仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种可作机械限位的床旁下肢康复训练机器人，包括固定框架和机械腿，其特征在于：所述的机械腿包括依次可转动设置的大腿组件、小腿组件和脚踝组件；所述的大腿组件包括依次设置的大腿驱动件、中空旋转平台、髋部扭矩传感器、髋部转接盘和大腿臂，所述的髋部转接盘底部设置有髋部限位件，所述的髋部转接盘外周向上设置有供所述的髋部限位件限位的内挡块；所述的小腿组件包括依次设置的小腿驱动件、膝部扭矩传感器、膝部限位环和小腿臂，所述的小腿臂内设置有膝部限位件，所述的膝部限位环上设置有供所述的膝部限位件限位滑动的膝部限位槽；所述的脚踝组件包括依次设置的脚踝驱动件、踝部转接盘和踝部连接板，所述的踝部连接板上设置有踝部限位件，所述的踝部转接盘内设置有供所述的踝部限位件滑动的踝部限位槽。
  2. 根据权利要求1所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的髋部限位件、所述的膝部限位件分别包括齿轮偏心曲轴、齿轮轴和换向块，所述的齿轮偏心曲轴与所述的齿轮轴啮合，所述的齿轮换向块上设置有通孔和安装槽，所述的安装槽内设置有弹簧，所述的弹簧顶部设置有限位销，所述的限位销下部设置有连接孔，所述的齿轮偏心曲轴设置在两组所述的换向块之间，所述的齿轮偏心曲轴的曲轴穿过所述的通孔设置在所述的连接孔内，所述的齿轮轴一端设置有旋钮。
  3. 根据权利要求2所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的踝部限位件包括旋钮固定座和限位旋钮，所述的限位旋钮设置在所述的旋钮固定座内，所述的旋钮固定座与所述的限位旋钮之间设置有压缩弹簧一。
  4. 根据权利要求3所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的大腿驱动件包括依次设置的髋部电机、髋部主动轮、髋部传动带、髋部被动轮和髋部连接轴，所述的髋部连接轴的输出端连接所述的中空旋转平台的输入端，所述的内挡块外部还设置有供所述的限位销限位的外挡块。
  5. 根据权利要求4所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的小腿驱动件包括依次设置的膝部电机、联轴器、膝部传动轴、膝部主动轮、膝部传动带和膝部被动轮，所述的膝部被动轮的输出端连接所述的小腿臂的输入端，所述的膝部限位环上对称设置有两组所述的膝部限位槽。
  6. 根据权利要求5所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的脚踝驱动件包括踝部电机，所述的踝部电机的输出端连接所述的踝部连接板；所述的踝部限位件在所述的踝部连接板上依次设置有两组，所述的踝部转接盘内依次 设置有两组所述的踝部限位槽。
  7. 根据权利要求6所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的踝部连接板上设置有脚掌组件，所述的脚掌组件包括依次设置的脚掌驱动件、脚掌电机固定板、脚掌限位垫环、脚掌固定板和脚掌绑带，所述的脚掌驱动件的输出端连接所述的脚掌固定板。
  8. 根据权利要求7所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的脚掌驱动件包括依次设置的脚掌电机、脚掌主动轮、脚掌传动带、脚掌被动轮和脚掌减速机；所述的脚掌电机固定板上设置有安装槽二，所述的安装槽二内设置有压缩弹簧二，所述的压缩弹簧二上部设置有踝部限位块，所述的脚掌限位垫环外周向上设置有供所述的踝部限位块限位的两组挡块。
  9. 根据权利要求8所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的踝部连接板外侧设置有小腿支撑组件，所述的小腿支撑组件包括腿托连接板、腿托和定向旋钮，所述的腿托连接板上设置有换向轴固定盘，所述的腿托上设置有换向轴，所述的换向轴通过定向旋钮可拆卸设置在所述的换向轴固定盘上。
  10. 根据权利要求1或9所述的可作机械限位的床旁下肢康复训练机器人，其特征在于：所述的髋部电机底部设置有髋部固定座，所述的中空旋转平台一侧设置有中空旋转平台固定座，所述的髋部固定座与所述的中空旋转平台固定座之间设置有涨紧螺栓；所述的固定框架包括框架和外壳，所述的框架中部设置有机械腿固定板，所述的框架上部设置有触摸屏和手握式急停开关，所述的框架底部设置有移动脚轮。
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