CN107174476A - A kind of pedipulator of lower limb rehabilitation robot - Google Patents

Abstract

A mechanical leg of a lower limb rehabilitation robot, which includes: a hip joint transmission component, a thigh lengthening component, a knee joint transmission component, a calf lengthening component, an ankle joint transmission component and a plantar sensing component; the hip joint transmission component includes: a hip Joint motor, hip driving pulley and hip measuring driving pulley, hip measuring driven pulley, hip encoder, hip driven pulley, hip reducer, hip drive shaft and first torque sensor; thigh lengthening assembly includes: The thigh support and the first electric push rod; the knee joint transmission assembly includes: knee joint motor, knee driving pulley, knee driven pulley, knee measurement pulley, knee encoder and second torque sensor; the calf lengthening assembly includes: The lower leg support, the lower leg support, the second electric push rod and the electronic ruler; the plantar sensing component includes a six-dimensional force sensor. The present invention can adapt to the rehabilitation training needs of patients with different heights and different postures, and is safe and reliable.

Description

A mechanical leg of a lower limb rehabilitation robot

technical field

The invention belongs to the technical field of medical devices, in particular to a rehabilitation robot.

Background technique

With the development of the times, the aging of my country's population is becoming more and more serious, and the occurrence of diseases such as cerebral infarction and paraplegia will lead to a large number of physically disabled people. In addition, the number of patients with lower limb motor dysfunction caused by accidents such as traffic accidents and sports disabilities is increasing year by year. For the recovery of these patients, in addition to treatment such as surgery and drugs, scientific rehabilitation training is also extremely important. According to statistics, there are about 24.07 million physically disabled people in my country at present, and relying solely on physical training by rehabilitation doctors is far from meeting the needs of patients. As an automated rehabilitation medical device, the lower limb rehabilitation robot can just fill this gap.

Compared with developed countries that are leading in the field of lower limb rehabilitation robots, my country's research in the field of rehabilitation robots is still in the initial stage of development, and most of them are auxiliary rehabilitation robots, which lack multi-functional and multi-posture training modes. lower limb rehabilitation robot.

Using a mechanical leg with a structure similar to that of the human body to drive the human leg to perform rehabilitation training is more effective. However, for patients of different heights, using the same mechanical leg for training cannot guarantee the alignment between the mechanical leg's crank axis and the human leg. The joint axes are similar or coincident, which will affect the training effect. In severe cases, it may pose a safety hazard to rehabilitation training. On the other hand, the patient's sitting training and lying training have different joint axis motion curves.

Contents of the invention

In view of the fact that the mechanical leg of the lower limb rehabilitation robot proposed above cannot meet the requirements of patients of different heights and different training postures, the present invention researches and designs a mechanical leg of a lower limb rehabilitation robot with high safety that can adapt to patients of different heights and different training postures.

For solving technical problems, the technical scheme that the present invention adopts is:

The invention comprises: a hip joint transmission assembly, a thigh length adjustment assembly, a knee joint transmission assembly, a calf length adjustment assembly, an ankle joint transmission assembly and a foot sensor assembly, wherein the hip joint transmission assembly is connected with the thigh length adjustment assembly, and the thigh length adjustment assembly The assembly is connected with the knee joint transmission assembly, the knee joint transmission assembly is connected with the calf lengthening assembly, the calf lengthening assembly is connected with the ankle joint transmission assembly, and the ankle joint transmission assembly is connected with the plantar sensing assembly;

The hip joint transmission assembly includes a hip joint bracket, a hip joint motor, a hip driving pulley, a hip measuring driving pulley, a hip measuring driven pulley, a hip encoder, a hip driven pulley, a hip reducer, a first torque Sensor, hip rotation plate, hip transmission shaft, wherein the hip joint motor is arranged at the bottom of the hip joint bracket, the hip driving pulley and the hip measurement driving pulley are coaxially connected with the hip joint motor, and the hip measurement driven pulley passes through the belt The transmission is connected with the hip measurement driving pulley, the hip encoder is set coaxially with the hip driven pulley, the hip driven pulley is set on the upper part of the hip joint support, the hip reducer and the hip drive shaft are coaxial with the hip driven pulley connection, the first torque sensor is connected between the output shaft of the hip reducer and the hip transmission shaft, the hip rotation plate is fixedly connected with the hip transmission shaft, and the hip driving pulley and the hip driven pulley are connected through a belt drive;

The thigh length adjustment assembly includes: a thigh support and a first electric push rod, the fixed end of the first electric push rod is fixed on the thigh support, and the output end is fixedly connected to the hip rotation plate;

The knee joint transmission assembly includes: a knee joint motor, a knee driving pulley, a knee driven pulley, a knee metering pulley, a knee encoder, a knee reducer, a knee drive shaft and a second torque sensor, wherein the knee driving pulley It is coaxially connected with the knee joint motor, the knee driven pulley is connected with the knee driving pulley through synchronous belt transmission, the knee metering pulley is meshed with the timing belt, the knee encoder is coaxially connected with the knee metering pulley, the knee reducer is connected with the knee The driven pulley is coaxially connected, and the second torque sensor is arranged between the knee reducer and the knee drive shaft;

The calf length adjustment assembly includes: an upper calf support, a lower calf support, a second electric push rod, and an electronic ruler, wherein the upper calf support is fixedly connected to the knee drive shaft, and one end of the lower leg support is connected to one end of the upper calf support , the lower leg support can move relative to the lower leg support, the fixed end and the output end of the second electric push rod are respectively connected to the lower leg support and the lower leg support, and the fixed end and detection end of the electronic ruler are respectively connected to the lower leg support and the lower leg support;

The ankle joint transmission assembly includes: an ankle joint stator cover, an ankle reducer, a frameless motor and an ankle encoder, wherein the ankle joint stator cover is fixed with the lower leg support, and the ankle reducer, the frameless motor and the ankle encoder are connected to the The ankle joint stator jacket is fixedly connected, the frameless motor shaft of the frameless motor is coaxially connected with the input shaft of the ankle reducer, and the encoder is coaxially set with the frameless motor shaft

The plantar sensor assembly includes: an ankle joint support, an ankle base plate, a pedal and a six-dimensional force sensor, wherein the ankle joint support is connected to the ankle reducer, the ankle joint base plate is connected to the bottom of the ankle joint support, and the foot plate It is arranged at the lower part of the ankle joint bracket, and a six-dimensional force sensor is arranged between the ankle joint bottom plate and the pedal.

Further, the hip reducer of the hip joint transmission assembly is arranged in the hip reducer seat, the output shaft of the hip reducer is coaxially connected with a hip positioning plate, the hip positioning plate is fixedly connected with the inner ring of the first torque sensor, and the hip The transmission shaft is connected with the outer ring of the first torque sensor, the hip transmission shaft frame is erected on the hip transmission bearing seat through the bearing, the hip joint slide rail is fixed on the hip rotation plate, and the hip joint that matches the hip joint slide rail The slide block is fixedly connected with the thigh support.

Further, the hip joint transmission assembly is also provided with a hip joint variable limit assembly, which includes a positioning ring, a hip positioning plate, a hip positioning block, a signal plate, a stop ring, a third electric push rod, a first approaching switch and the second proximity switch, wherein the positioning ring is set on the shell of the hip reducer, the hip positioning plate is set on the output shaft of the hip reducer, the hip positioning block and the signal plate are both set on the hip positioning plate, and the third electric push rod The fixed end is connected to the above-mentioned hip joint bracket, and its output end is connected to the stop ring, the stop ring and the third electric push rod can slide coaxially relative to the positioning ring, and the positioning ring is set coaxially with the hip reducer, so The positioning ring is provided with a first proximity switch, and the stop ring is provided with a second proximity switch.

Further, the knee joint transmission assembly further includes: a first tensioning pulley and a second tensioning pulley for tensioning the synchronous belt, and the first tensioning pulley and the second tensioning pulley are respectively arranged on the high wheel frame and the low wheel frame, the high wheel frame and the low wheel frame are all arranged in the thigh support on the side of the knee joint motor, the output shaft of the knee reducer is fixedly connected with the knee positioning plate, and the outer ring of the second torque sensor It is fixed with the knee positioning plate, and its inner ring is fixed with the knee transmission shaft.

Further, the calf length adjustment assembly further includes: a slide rail fixed on the upper leg support and a slider fixed on the lower leg support.

Further, the ankle joint transmission assembly further includes: a motor output shaft and a motor shaft sleeve coaxially connected to the rotor of the frameless motor, and the stator of the frameless motor is fixed to the ankle joint stator casing by gluing , both sides of the frameless motor are also respectively provided with non-metallic frameless motor pressure plate and insulating plate; the ankle encoder is arranged on the motor output shaft; the output shaft of the ankle reducer is fixedly connected with an ankle positioning plate On, the ankle positioning plate is fixedly connected with the ankle joint support.

Furthermore, both the knee joint transmission assembly and the ankle joint transmission assembly are provided with a mechanical limit mechanism and an electrical limit mechanism.

Compared with the prior art, the present invention has the following advantages:

1. The length of the thigh can be adjusted through the thigh extension component, and the length of the calf can be adjusted through the calf extension component. The length of the joint axis of the mechanical leg and the joint axis of the human leg can be adjusted according to the length of different human leg joints. The length is the same, which can adapt to the training needs of patients with different heights, different leg lengths and different postures, and achieve the optimal training effect.

2. Monitor the direction and moment of force applied by the patient to the foot pedal through the six-dimensional force sensor installed under the foot pedal, analyze the patient's behavioral intention, and adjust the movement speed and direction of the mechanical leg in real time.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a three-dimensional view of a mechanical leg of a rehabilitation robot according to an embodiment of the present invention;

Fig. 2 is a perspective view of the hip joint transmission assembly according to the embodiment of the present invention;

Fig. 3 is a sectional view of the hip joint transmission assembly according to the embodiment of the present invention;

Fig. 4 is a perspective view of the hip joint variable limit assembly according to the embodiment of the present invention;

Fig. 5 is a perspective view of the thigh extension assembly and the knee joint transmission assembly according to the embodiment of the present invention;

Fig. 6 is an exploded diagram of the position of the knee joint in Fig. 5;

Fig. 7 is a perspective view of the calf extension assembly and the ankle joint transmission assembly according to the embodiment of the present invention;

Fig. 8 is an exploded diagram of the position of the ankle joint in Fig. 7;

Fig. 9 is a perspective view of the sole sensor assembly.

In the figure: 1. Hip joint transmission component, 2. Thigh length adjustment component, 3. Knee joint transmission component, 4. Calf length adjustment component, 5. Ankle joint transmission component, 6. Foot sensor component, 101. Hip joint Bracket, 102, hip motor, 103, hip encoder, 104, hip driving pulley, 105, hip measurement driving pulley, 106, hip measurement driven pulley, 107, hip driven pulley, 108, hip deceleration Device, 109, hip reducer seat, 110, hip transmission bearing seat, 111, hip rotating plate, 112, hip motor bearing seat, 113, hip encoder bearing seat, 114, hip positioning plate, 115, first torque sensor, 116, hip transmission shaft, 117, hip joint slide rail, 201, positioning ring, 202, first proximity switch, 203, first proximity switch seat, 204, hip positioning block, 205, signal plate, 206, second proximity switch , 207, second proximity switch seat, 208, stop ring, 209, extension arm, 210, third electric actuator, 211, hip electric actuator seat, 301, thigh support, 302, knee driven pulley, 303 , knee reducer, 304, first tensioner, 305, first thigh push rod seat, 306, first electric push rod, 307, second thigh push rod seat, 308, high wheel frame, 309, knee encoder Bearing seat, 310, low wheel frame, 311, knee driving pulley, 312, knee joint motor bearing seat, 313, knee joint motor, 314, knee measuring pulley, 315, knee encoder, 316, knee bearing jacket, 317 , knee drive belt, 319, knee drive shaft, 320, second torque sensor, 321, detection strip, 322, knee positioning block, 323, knee positioning plate, 324, knee joint cover, 325, second tensioning wheel, 401 , upper leg support, 402, first calf push rod seat, 403, second electric push rod, 404, second calf push rod seat, 405, lower leg support, 406, electronic ruler, 407, calf slide rail, 408, Lower leg support cover, 409, calf upper support cover, 410, electronic ruler rod seat, 501, ankle encoder, 502, frameless motor pressure plate, 503, motor output shaft, 504, frameless motor, 505, motor shaft sleeve, 506, insulating plate, 507, frameless motor shaft, 508, ankle joint stator overcoat, 509, ankle joint proximity switch, 510, ankle reducer, 511, ankle positioning plate, 512, ankle positioning block, 513, ankle joint cover, 601, ankle joint bracket, 603, ankle joint bottom plate, 604, six-dimensional force sensor, 605, pedal.

detailed description

The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

The mechanical leg of the lower limb rehabilitation robot as shown in Figure 1 includes: hip joint transmission component 1, thigh lengthening component 2, knee joint transmission component 3, calf lengthening component 4, ankle joint transmission component 5 and plantar sensing component 6.

As shown in Figures 2 and 3, the hip joint drive assembly can transmit the power of the hip joint motor 102 located at the bottom of the hip joint support 101 to the thigh support 301, driving the thigh of the mechanical leg to rotate around the hip joint, and the hip joint Transmission assembly 1 comprises hip joint support 101, the hip joint motor 102 that is arranged on the bottom of hip joint support 101, the hip driving pulley 104 that is all coaxially connected with hip joint motor 102 and hip measuring driving pulley 105, and hip measuring driving belt The hip measurement driven pulley 106 that wheel 105 is connected by belt transmission, the hip encoder 103 that is coaxially arranged with the hip measurement driven pulley 106, the hip driven pulley 107 that is arranged on the hip joint support 101 top, and the hip driven pulley The hip reducer 108 coaxially connected with the driving pulley 107, the hip drive shaft 116, the first torque sensor 115 connected between the output shaft of the hip reducer 108 and the hip drive shaft 116, and the hip drive shaft 116 fixedly connected Rotating plate 111; hip driving pulley 104 and hip driven pulley 107 are connected through belt transmission; hip motor bearing seat 112 is installed on hip joint support 101, and the output shaft of hip joint motor 102 is erected on hip motor bearing seat 112 through bearing Above, the hip encoder 103 is installed on the hip encoder bearing seat 113, the hip reducer 108 is installed in the hip reducer seat 109, the output shaft of the hip reducer 108 is fixedly connected with the hip positioning plate 114 through bolts, and the hip positioning plate 114 The inner ring of the first torque sensor 115 is connected by bolts, and the hip transmission shaft 116 is connected with the outer ring of the first torque sensor 115 by bolts. The coaxiality of the output shaft and the hip drive shaft 116, the end of the hip drive shaft 116 is fixed with a hip rotation plate 111, and the hip joint slide rail 117 is fixed on the hip rotation plate 111. The hip joint motor 102 drives the hip driven pulley 107 to rotate through the transmission belt, and after being decelerated by the hip reducer 108, it drives the hip positioning plate 114 installed on the output shaft of the hip reducer 108, and passes through the first torque sensor 115 inside and outside. The detection of the circle drives the hip transmission shaft 116 to rotate, and makes the hip rotation plate 111 rotate accordingly. The thigh support 301 is fixed on the hip slider, and the hip slider can move along the hip joint slide rail 117, so that the thigh support 301 can rotate around the rotation axis of the hip joint.

As shown in Figures 3 and 4, the hip joint variable limit assembly includes: a positioning ring 201 installed on the hip reducer seat 109, a hip positioning block 204 and a signal plate 205 installed on the hip positioning plate 114, and a positioning ring 201 installed on the hip positioning plate 114; The hip electric push rod seat 211 on the hip reducer seat 109 sides. The locating ring 201 is coaxial with the hip reducer 108 , and the stop ring 208 is arranged between the locating ring 201 and the hip motor bearing, and can slide relatively coaxially with the locating ring 201 . The positioning ring 201 outside is provided with the first proximity switch seat 203, the first proximity switch seat 203 is provided with the first proximity switch 202, the stop ring 208 is provided with the second proximity switch 206 seat 207, the second proximity switch 206 seat 207 There is a second proximity switch 206 on it. The hip joint variable limit assembly is driven by the third electric push rod 210 to realize the mechanical limit. The fixed end of the third electric push rod 210 is connected to the hip joint support 101, and the output end is connected to the extension arm 209. The extension arm 209 is connected to the stop The moving ring 208 is connected.

In the sitting posture state, the movement space of the hip joint is small, by making the third electric push rod 210, the stop ring 208 is stretched out from the positioning ring 201, so that the hip positioning block 204 is positioned between the positioning ring 201 and the stop ring 208. The range of motion between them is reduced, and the electrical limit is formed by the signal plate 205, the positioning ring 201, the first proximity switch 202 and the second proximity switch 206, which provides a layer of protection for the mechanical limit. When the signal plate 205 passes through the first proximity switch 202 When the range is detected, a signal is issued to command the hip joint to stop. Thereby ensuring that the rehabilitation exercise of the patient will not cause damage to the patient's body.

As shown in Figure 5, the thigh lengthening assembly includes: a thigh support 301 fixed on the hip joint slider and a first electric push rod 306 used to drive the telescopic extension of the thigh, and a first thigh push rod seat 305 is installed on the thigh support 301 , the hip rotation plate 111 is provided with a second thigh push rod seat 307, and the two ends of the second electric push rod 403 are fixedly connected with the first thigh push rod seat 305 and the second thigh push rod seat 307, by making the first electric push rod The output shaft of 306 expands and contracts, driving the thigh support 301 to move back and forth relative to the hip joint, so as to achieve the effect of thigh elongation.

As shown in Figures 5 and 6, the knee joint drive assembly includes: a knee joint motor bearing seat 312, a knee encoder 315, a bearing seat 309, a high wheel frame 308, a low wheel frame 310, and a knee joint mounted on the thigh support 301. The sleeve 324, the knee joint motor 313 is supported on the knee joint motor bearing seat 312 through the bearing, the knee encoder 315 is supported on the knee encoder bearing seat 309 through the bearing, the knee driven pulley 302 is coaxially connected with the knee reducer 303, The knee reducer 303 is fixed in the knee joint cover 324, the output shaft of the knee reducer 303 is connected with the knee positioning plate 323 by bolts, the outer ring of the second torque sensor 320 is connected with the knee positioning plate 323 by bolts, and its inner ring is connected with the knee positioning plate 323. Transmission shaft 319 is connected, and one side of knee transmission shaft 319 is fixed on the support 401 on the lower leg, and the upper support 401 on the lower leg transfers the mechanical arm weight on the knee bearing outer shell 316 through the bearing. The high wheel frame 308 is provided with a first tensioning pulley 304, and the low wheel frame 310 is provided with a second tensioning pulley 325, and the synchronous belt successively crosses the knee driving pulley 311, the second tensioning pulley 325, the first tensioning pulley The pulley 304 and the knee driven pulley 302 are coaxially connected with the knee encoder 315 and the second tensioning pulley 325 . The knee joint proximity switch is fixed on the thigh support 301, detects the knee positioning block 322 and the detection strip 321 installed on the knee positioning plate 323, and the knee driving belt 317 connects the knee driving pulley 311 and the knee driven pulley 302, and passes through the first The first tensioning wheel 304 and the second tensioning wheel 325 drive the knee metering pulley 314 to follow up, and the knee encoder 315 detects the motion state of the knee joint motor 313, and the current position can be saved after the machine is stopped, and there is no need to use it when the patient is on the machine again. Perform a mechanical reset. The knee joint motor 313 drives the knee driven pulley 302 through the knee driving pulley 311 and the knee joint transmission belt 317, and transmits the rotation to the input shaft of the knee reducer 303, and after the deceleration of the knee reducer 303, the knee positioning plate 323 drives the first The second torque sensor 320 and the knee drive shaft 319 rotate, and the second torque sensor 320 detects the current knee torque value. At the same time, the knee positioning block 322 and the knee joint cover 324 constitute a mechanical limit system. The slotting of the block 322 range of motion, the detection strip 321 and the knee joint proximity switch constitute an electrical limit system, which is the same as the operating principle of the hip joint electrical limit system.

As shown in Figure 7, the calf lengthening device comprises a shank upper support 401, a shank lower support 405, a shank slide rail 407 arranged on the shank upper support 401, a shank slider arranged on the shank lower support 405, and a shank lower support cover 408, shank upper support cover 409, the first push rod seat 402 of the calf installed on the upper support 401 of the calf, the electronic ruler rod seat 410 installed on the calf support, the second push rod seat of the calf installed on the lower support 405 of the calf 404 and the electronic ruler 406, the calf slide rail 407 is installed on the inside of the calf upper bracket 401, the calf lower bracket 405 is installed on the calf slider, and the two ends of the second electric push rod 403 are connected with the first push rod seat 402 of the calf and the second push rod seat of the calf. The push rod seat 404, the fixed end of the electronic ruler 406 is fixed on the lower leg support 405, the detection end is fixed on the electronic ruler pull rod seat 410, the lower leg support cover 408 is fixed on the outside of the lower leg support 405 by bolts, and the lower leg support cover 409 It is fixed on the outside of the lower leg upper bracket 401 through bolt connection, the ankle joint transmission component 5 and the plantar sensor component 6 are connected to the lower leg bracket, and are located at the end of the mechanical leg to form the ankle joint and the sole of the robot. By stretching the second electric push rod 403, The calf lower bracket 405 moves relative to the lower leg upper bracket 401, so that the ankle transmission assembly and the plantar sensing assembly 6 are away from or close to the knee joint. Since the second electric push rod 403 is small in size and does not have a built-in potentiometer, the second electric push rod 403 has no built-in potentiometer. Rod 403 opposite side is fixed electronic scale 406, is used for measuring current calf elongation, and the installation method of lower leg support cover 408, calf upper support cover 409 has guaranteed the easy disassembly and maintenance of calf structure.

As shown in Figure 8, the ankle joint transmission assembly 5 includes: the ankle joint stator cover 508 fixed with the lower leg support 405, the ankle speed reducer 510 fixedly connected with the ankle joint stator cover 508, the frameless motor shaft 507, the motor shaft sleeve 505, The motor output shaft 503 and the ankle encoder 501, the frameless motor shaft 507 is coaxially connected with the input shaft of the ankle reducer 510, the motor sleeve 505 is connected with the frameless motor shaft 507 through a key, and the motor output shaft 503 is connected to the frameless motor shaft through bolts. The motor shaft 507 is coaxially connected, and the rotor of the frameless motor 504 is clamped by the shaft shoulder of the motor output shaft 503 and the motor shaft sleeve 505, and the stator of the frameless motor 504 is fixedly connected with the ankle joint stator cover 508 by gluing, and the ankle is decelerated. The device 510 is fixed on the ankle joint stator cover 508 through bolt connection, and the ankle joint stator cover 508 and the ankle reducer 510 ensure high-precision coaxiality, and the frameless motor shaft 507 is fixed on the input shaft of the ankle reducer 510. And stretch into the ankle reducer 510 for a long section so that the frameless motor shaft 507 is running at high speed, due to the effect of external force, the frameless motor shaft 507 and the motor shaft sleeve 505 lose the coaxiality with the ankle reducer 510, and the frameless The two sides of the motor 504 are respectively provided with a non-metal frameless motor pressure plate 502 and an insulating plate 506 to ensure that the frameless motor 504 will not leak electricity and cause harm to the patient when it is powered on. The ankle encoder 501 detects the rotation angle of the motor output shaft 503, and controls the speed of the frameless motor 504. The output shaft of the ankle reducer 510 is fixedly connected to the ankle positioning plate 511. The ankle positioning plate 511 is connected with the ankle joint bracket 601 by bolts, and the ankle The joint support 601 carries the weight of the plantar device on the ankle joint cover 513 through the ankle joint bearing, and rotates through the frameless motor 504. The frameless motor 504 stator is fixed on the ankle joint stator cover 508 and is stationary relative to the calf lower support 405. The frameless motor The 504 rotor drives the motor output shaft 503, the frameless motor shaft 507 and the motor shaft sleeve 505 to rotate, and after being decelerated by the ankle reducer 510, the rotation is transmitted to the ankle positioning plate 511 and the ankle joint bracket 601, and the ankle positioning block 512 is connected to the ankle joint The cover 513 forms a mechanical limit system, and its working principle is the same as that of the knee mechanical limit system. The ankle joint proximity switch 509 and the ankle positioning block 512 form an electrical limit system, which ensures that the movement of the ankle joint is always within the range of motion of the human body.

As shown in Figure 9, the plantar sensor assembly 6 comprises: the ankle joint bracket 601 that is connected on the ankle positioning plate 511, the ankle joint base plate 603 that is arranged on the bottom side of the ankle joint bracket 601, and the six-dimensional force sensor 604 is fixed on the ankle joint bracket 601 by bolts. On the ankle joint base plate 603, the detection end is fixed with a foot pedal 605, and the interior of the ankle joint bracket 601 is hollowed out to facilitate the routing of the signal line of the six-dimensional force sensor 604. The patient's foot is placed on the foot pedal 605. During the rehabilitation training process, the patient The forces and moments in three directions applied to the pedal 605 will be detected by the six-dimensional force sensor 604 for analyzing the behavioral intention of the patient.

The above-mentioned ideal embodiment according to the present invention is an inspiration. Through the above-mentioned description, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.

Claims (7)

1. a mechanical leg of a lower limb rehabilitation robot, characterized in that: it comprises a hip joint transmission assembly (1), a thigh lengthening assembly (2), a knee joint transmission assembly (3), a calf lengthening assembly (4), an ankle A joint transmission assembly (5) and a plantar sensing assembly (6); the hip joint transmission assembly (1) includes a hip joint support (101), a hip joint motor (102) arranged at the bottom of the hip joint support (101) ), the hip driving pulley (104) coaxially connected with the hip joint motor (102) and the hip measuring driving pulley (105), the hip measuring driving pulley (105) connected with the hip measuring driving pulley (105) through belt transmission. Metering driven pulley (106), a hip encoder (103) coaxially arranged with the hip metering driven pulley (106), a hip driven pulley ( 107), the hip reducer (108) coaxially connected with the hip driven pulley (107), the hip drive shaft (116), the output shaft and the hip drive shaft connected to the hip reducer (108) ( 116) between the first torque sensor (115) and the hip rotation plate (111) fixedly connected with the hip transmission shaft (116); the hip driving pulley (104) and the hip driven pulley ( 107) connected by belt transmission; the thigh length adjustment assembly (2) includes: a thigh support (301) and a third electric push rod (210), the fixed end of the third electric push rod (210) is fixed on the thigh support (301), the output end is fixedly connected with the hip rotation plate (111); the knee joint transmission assembly (3) includes: a knee joint motor (313), a motor coaxially connected with the knee joint motor (313) The knee driving pulley (311), the knee driven pulley (302) connected with the knee driving pulley (311) through the synchronous belt drive, the knee metering pulley (314) engaged with the synchronous belt, and the knee The knee encoder (315) coaxially connected to the metering pulley (314), the knee speed reducer (303) coaxially connected to the knee driven pulley (302), the knee drive shaft (319) and the The second torque sensor (320) between the knee reducer (303) and the knee drive shaft (319); the calf length adjustment assembly (4) includes: The lower leg support (401), the lower leg support (405) movable relative to the lower leg support (401), the second electric push rod (403) and the electronic ruler (408), the second electric push rod (403 )’s fixed end and output end are respectively connected to the lower leg support (401) and the lower leg support (405), and the fixed end and detection end of the electronic ruler (408) are connected to the lower leg support (401) and the lower leg support (405) respectively. ); the ankle joint transmission assembly (5) includes: an ankle joint stator overcoat (508) fixedly connected with the lower leg support (405), an ankle speed reducer fixedly connected with the ankle joint stator overcoat (508) ( 510), frameless motor (504) and ankle encoder (501), the frameless motor shaft (507) of the frameless motor (504) is coaxially connected with the input shaft of the ankle reducer (510), and the encoder is coaxial with the frameless motor shaft (507) Setting; the plantar sensing assembly (6) includes: an ankle joint support (601) connected to the ankle reducer (510), an ankle joint bottom plate (603) connected to the ankle joint support (601) bottom, a foot A pedal (605) and a six-dimensional force sensor (604) arranged between the ankle joint bottom plate (603) and the foot pedal (605). 2. The mechanical leg of the lower limb rehabilitation robot according to claim 1, characterized in that: the hip reducer (108) is installed in the hip reducer seat (109), and the output shaft of the hip reducer (108) is on the same The shaft is connected with a hip positioning plate (114), the hip positioning plate (114) is fixedly connected with the inner ring of the first torque sensor (115), the hip drive shaft (116) is connected with the outer ring of the first torque sensor (115), and the hip The transmission shaft (116) is erected on the hip transmission bearing seat (110) through bearings, and the hip joint slide rail (117) is fixed on the hip rotation plate (111), and the hip joint slide rail (117) matched with the hip joint slide rail (117) The joint slide block is fixedly connected with the thigh support (301). 3. The mechanical leg of the lower limb rehabilitation robot according to claim 2, characterized in that: the mechanical leg also includes a hip joint variable limit assembly, and the hip joint variable limit assembly includes a hip reducer (108) Positioning ring (201) on the shell, hip positioning plate (114) installed on the output shaft of hip reducer (108), hip positioning block (204) and signal plate (205) installed on the hip positioning plate (114) , a stop ring (208) and a third electric push rod (210) that can slide coaxially relative to the positioning ring (201), the positioning ring (201) is coaxially arranged with the hip reducer (108), and the A first proximity switch (202) is installed on the positioning ring (201), a second proximity switch (206) is installed on the stop ring (208), and the fixed end of the third electric push rod (210) is connected to On the hip joint support (101), the output end is connected with the stop ring (208). 4. The mechanical leg of the lower limb rehabilitation robot according to claim 1, characterized in that: the knee joint transmission assembly (3) also includes: a first tensioning pulley (304) and a second tensioning wheel (304) for tensioning the synchronous belt Tensioning pulley (325), described first tensioning pulley (304) and second tensioning pulley (325) are arranged on high wheel frame (308) and short wheel frame (310) respectively, described knee speed reducer ( The output shaft of 303) is fixedly connected with a knee positioning plate (323), the outer ring of the second torque sensor (320) is fixed with the knee positioning plate (323), and the inner ring is fixed with the knee transmission shaft (319). . 5. The mechanical leg of the lower limb rehabilitation robot according to claim 1, characterized in that: the calf length adjustment assembly (4) also includes: a slide rail fixed on the calf upper bracket (401) and a slide rail fixed on the leg Describe the slider on the calf lower support (405). 6. The mechanical leg of the lower limb rehabilitation robot according to claim 1, characterized in that: the ankle joint transmission assembly (5) further comprises: a motor output shaft coaxially connected with the frameless motor shaft (507) ( 503) and the motor shaft sleeve (505), the stator of the frameless motor (504) is fixed with the ankle joint stator cover (508) by gluing, and non-metallic A frameless motor pressure plate (502) and an insulating plate (506); the ankle encoder (501) is arranged on the motor output shaft (503); the output shaft of the ankle reducer (510) is fixedly connected with an ankle On the positioning plate (511), the ankle positioning plate (511) is fixedly connected with the ankle joint bracket (601). 7. The mechanical leg of the lower limb rehabilitation robot according to claim 1, characterized in that: the knee joint transmission assembly (3) and the ankle joint transmission assembly (5) are both provided with a mechanical limit mechanism and an electrical limit mechanism.