CN109700638A - A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat - Google Patents

Abstract

The present invention is a kind of rope driving rehabilitation device for lower limb joint structure for being installed on wheelchair seat, including main part, footrest mechanism, rope driving device and seat frame, the main part upper end is connected and fixed on seat frame by two joint pedestals, and lower end is connected with footrest mechanism；Main part includes joint pedestal, three stiffness changing structures, the first joint, guide rod, line handspike, second joint, third joint, support frame, line handspike pedestal, line handspike is fixed on along the vertical direction on line handspike pedestal, and guide rod is connected with footrest mechanism.The mechanism pulls rotary joint to rotate around axle center using rope driving, realizes the control to its motion profile, by three stiffness changing structures, changes joint stiffness, realize the decoupling of movement, due to the lightweight of rope driving, when which is installed in wheelchair seat, load-self weight ratio of complete machine can be improved.

Description

A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat

Technical field

The invention belongs to lower limb rehabilitation mechanism fields, refer specifically to a kind of be installed in wheelchair seat and by the lower limb of rope driving Joint recovering mechanism.

Background technique

The increase of the disadvantaged group such as aging of population aggravation and limbs disability quantity, so that more and more people are because of dysfunction It is unable to independent ambulation.Lower limb paralysis is sensory disturbance caused by being damaged due to nervous system, causes body lower limb to be lost complete Or componental movement function.But clinic shows that rehabilitation training appropriate can improve the symptom of extremity numbness and dyskinesia.Pass through Rehabilitation institution, which drives joint of lower extremity to do simple song of stretching, can promote blood circulation, and promotion functions improve.However existing lower limb health Structure of answering a pager's call can not accurately allow hip joint, knee joint and ankle-joint to carry out targetedly rehabilitation training, and structure is complicated, Equipment is heavy, expensive.

Application number 201810270119.9 discloses a kind of lower limb rehabilitation device that can be mounted on wheelchair, is being set to H-shaped Thigh bar is affected under the driving of the second driving device of a pair of the left and right end of support frame, through linkage transmission, is being set Shank bar is affected under the driving of disc type electric machine on the outside of knee joint, under the fourth drive device being set on shank bar Foot pedal is affected, the movement of thigh bar, shank bar and foot pedal is realized.Although the mechanism has the health of joint of lower extremity Multiple function, but four line handspike motors make control system complicated, and mechanism be easy it is self-locking, due to line handspike itself Length and freedom degree, limit the rehabilitation amount in joint and the rehabilitation to a certain independent joint.Driving has been applied directly to people The two sides in body joint, safety can not be protected.

Summary of the invention

For it is existing can to the independent joint rehabilitation training and multi-joint of joint of lower extremity coordinate rehabilitation training mechanism compared with It is few, there are coupled problem and structure is complicated when three joints move at the same time, the kind of drive of motor gear make overall weight it is big, The technical issues of the deficiencies of low efficiency, poor safety, the present invention intends to solve, is to provide a kind of independent joint with joint of lower extremity Trained and multi-joint exercise for coordination function rehabilitation institution.The mechanism pulls rotary joint to rotate around axle center using rope driving, real Now is changed by joint stiffness, realizes the decoupling of movement by three stiffness changing structures for the control of its motion profile, since rope drives When the mechanism is installed in wheelchair seat, load-self weight ratio of complete machine is can be improved in dynamic lightweight.

The technical scheme is that

A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat, including main part, footrest mechanism, rope Driving device and seat frame, it is characterised in that:

The main part upper end is connected and fixed on seat frame by two joint pedestals, lower end and footrest mechanism phase Even；Main part includes joint pedestal, three stiffness changing structures, the first joint, guide rod, line handspike, second joint, third Joint, support frame, line handspike pedestal, line handspike are fixed on along the vertical direction on line handspike pedestal, guide rod and foot-operated Trigger structure is connected；The joint of second joint and stiffness changing structure (two) is separately connected on the upper end two sides of line handspike pedestal End is driven, the other end of second joint is connected on the joint drive end of stiffness changing structure (three), the pass of stiffness changing structure (three) The first joint is connected on section input terminal, the top in the first joint is connect by pin shaft with a joint pedestal, stiffness changing structure (3) joint input terminal transmits power by bevel gear set and third motor, and the third motor is fixed on the first joint Lower part；

It is limited and is axially moved by support frame between second joint and third joint, support frame is simultaneously by second joint and change The motor base of stiffness structure (two) connects together；

The other end in third joint is connected on the joint input terminal of stiffness changing structure (one), the pass of stiffness changing structure (one) It saves input terminal and passes through the joint drive end of third joint connection stiffness changing structure (two)；The joint drive end of stiffness changing structure (two) Power is transmitted by corresponding bevel gear set and the second motor；The joint drive end of stiffness changing structure (one) passes through corresponding helical gear Group and first motor transfer motion power, the motor base of first motor are connect with the joint pedestal that one is fixed on seat frame；

The footrest mechanism include gear, pedal motor, gear shaft, foot pedal, angle limit switch, two it is foot-operated Plate connection frame, screw rod, foot pedal pedestal, sleeve pedestal；The output end of pedal motor passes through gear set and gear axis connection, tooth Wheel shaft is fixed on a foot pedal connection frame, and the top of two foot pedal connection frames is symmetrically arranged on screw rod two sides, foot pedal The bottom surface of foot pedal is fixed in connection frame lower end, the setting angle limit switch on the side of foot pedal connection frame；Foot pedal connects It connects the top of frame while being fixed with foot pedal pedestal, setting is used to support the sleeve bottom of fixed guide pole on foot pedal pedestal Seat；

The rope driving device has three groups of independent driving mechanisms in parallel, and each driving mechanism connects in the same manner, often A driving mechanism includes rope driving motor, reel, pulley blocks, rope, and the pulley blocks include horizontal trolley and vertical pulley, The two omnidirectional distribution is in seat frame front bottom end；The corresponding joint of described rope one end and main part is fixed, and the other end twines It is wound on reel；Reel is fixed on the output shaft of rope driving motor.

The beneficial effects of the present invention are:

The present invention is that wheelchair increases a kind of rehabilitation institution, can drive the rehabilitation training of joint of lower extremity, the three of human body lower limbs A joint, together with seat and main body joint, main body line handspike constitutes 6 linkages with 3DOF, utilizes kinematics Inverse solution, the movement of the amount of spin and rope of moving bar piece when rehabilitation joint of lower extremity can be obtained according to the motion profile of foot pedal Amount, as long as realizing lower limbs joint recovered training by controlling corresponding motor, stiffness changing structure can change joint stiffness, Realize ankle-joint, in knee joint and hip joint single joint or multiple joint coordinations rehabilitation training.The mechanism can be into Row is actively and passive rehabilitation training, driving motor are located at under-seat, and security reliability is higher, and rotary joint is led by rope Draw, compared with gear transmission mode, space utilization rate is high, and quality is small, light-weighted to design the weight for greatly reducing complete machine.

Detailed description of the invention

The present invention is described further with reference to the accompanying drawings and detailed description:

Fig. 1 is the overall structure diagram for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat；

Fig. 2 is the structural representation of the main part for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat Figure；

Fig. 3 is that the structure of the footrest mechanism for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat is shown It is intended to；

Fig. 4 is that the structure of the rope driving device for the rope driving rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat is shown It is intended to；

Fig. 5 is a certain position view of mechanism for carrying out knee-joint rehabilitation training；

Fig. 6 is the another location schematic diagram of mechanism for carrying out knee-joint rehabilitation training；

Fig. 7 is a certain position view of mechanism for carrying out hip joint healing training；

Fig. 8 is the another location schematic diagram of mechanism for carrying out hip joint healing training；

Fig. 9 is a kind of variation rigidity knot for rope driving embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat The structural schematic diagram of stiffness tuning part is implemented in joint in structure；

Figure 10 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat The schematic diagram of internal structure of stiffness tuning part is implemented in joint in structure；

Figure 11 is structure in Fig. 9 along A-A directional profile structural schematic diagram；

Figure 12 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat The sleeve schematic perspective view of structure；

Figure 13 is rope driving a kind of variation rigidity of embodiment of rehabilitation device for lower limb joint structure that the present invention is installed on wheelchair seat The center spindle structure schematic diagram of structure；

(in figure:

101, first motor；102, stiffness changing structure (one)；103, the second motor；104, guide rod；105, third motor； 106, line handspike；107, line handspike pedestal；108, second joint；109, the first joint；110, joint pedestal；111, it supports Frame；112, third joint；113, stiffness changing structure (two)；114, stiffness changing structure (three)；

1021, the first cone disk；1022, torsional spring；1023, the first disc spring；1024, central axis；1025, first group of steel ball； 1026, the first sliding block；1027, the second sliding block；1028, the second disc spring；1029, the second cone disk；1030, second group of steel ball； 1031, left end cap；1032, the first pressure spring；1033, right-handed nut；1034, left-handed nut；1035, sleeve；1036, the second pressure Spring；1037 first axle sleeves, 1,038 second axle sleeves；1039 helical teeth gear wheels；

21, rope driving motor；22, reel；23, horizontal trolley；24, vertical pulley；25, rope；

30, gear；31, pedal motor；32, gear shaft；33, foot pedal；34, angle limit switchs；35, foot pedal connects Connect frame；36, screw rod；37, foot pedal pedestal；38, sleeve pedestal；4, seat frame.

Specific embodiment

The specific embodiment of invention is given below, and is described further in conjunction with diagram:

The present invention is installed on the rope driving rehabilitation device for lower limb joint structure of wheelchair seat, including main part, footrest mechanism With rope driving device,

The main part upper end is connected and fixed on seat frame 4 by two joint pedestals 110, lower end and foot-operated trigger Structure is connected；Main part includes 110, three stiffness changing structures of joint pedestal, the first joint 109, guide rod 104, line handspike 106, second joint 108, third joint 112, support frame 111, line handspike pedestal 107, line handspike 106 are solid along the vertical direction It is scheduled on line handspike pedestal 107, guide rod 104 is connected with the sleeve pedestal 38 of footrest mechanism, guarantees the fortune of line handspike It is dynamic axially not have radial force；Second joint is separately connected on the upper end two sides of line handspike pedestal 107 108 and stiffness changing structure (two) 113 joint drive end, the other end of second joint 108 is connected to stiffness changing structure (three) On 102 joint drive end, the first joint 109, the first joint 109 are connected on the joint input terminal of stiffness changing structure (three) 102 Top connect with a joint pedestal 110 by pin shaft, the joint input terminal of stiffness changing structure (three) 102 passes through bevel gear set Power is transmitted with third motor 105, the third motor 105 is fixed on the lower part in the first joint, and third motor is located at first The inside in joint；

It is connected between second joint 108 and third joint 112 by support frame 111, second joint and third joint pass through Support frame limitation is axially moved, and the motor base of second joint and stiffness changing structure (two) 113 is connected to by support frame 111 simultaneously Together；

The other end in third joint 112 is connected on the joint input terminal of stiffness changing structure (one), stiffness changing structure (one) 102 joint input terminal connects the joint drive end of stiffness changing structure (two) 113 by third joint 112；Stiffness changing structure (2) 113 joint drive end power is transmitted by corresponding bevel gear set and the second motor 103；The pass of stiffness changing structure (one) By corresponding bevel gear set and 101 transfer motion power of first motor, the motor base of first motor 101 and one consolidate at section driving end The joint pedestal 110 being scheduled on seat frame 4 connects；

The footrest mechanism includes gear 30, pedal motor 31, gear shaft 32, foot pedal 33, angle limit switch 34, two foot pedal connection frames 35, screw rod 36, foot pedal pedestal 37, sleeve pedestal 38；The output end of pedal motor 31 passes through Gear set is connect with gear shaft 32, and gear shaft 32 is fixed on a foot pedal connection frame 35, two foot pedal connection frames it is upper Portion is symmetrically arranged on 36 two sides of screw rod, and the bottom surface of foot pedal 33 is fixed in foot pedal connection frame lower end, in foot pedal connection frame 35 Side on setting angle limit switch 34, for control foot pedal swing angle；The top of foot pedal connection frame simultaneously with Foot pedal pedestal 37 is fixed, and sleeve pedestal 38 is arranged on foot pedal pedestal 37, and sleeve pedestal is used to support fixed guide pole 104；

The pedal motor 31 by gear set be driven drive foot pedal connection frame 35 rotate, foot pedal connection frame 35 around The rotation of gear shaft 32 drives foot pedal 33 to swing up and down；The angle limit switch 34 by swinging to certain angle under foot pedal 33 and Triggering, cutting pedal motor 31 rotate；

The rope driving device has three groups of independent driving mechanisms in parallel, and each driving mechanism connects in the same manner, often A driving mechanism includes rope driving motor 21, reel 22, pulley blocks, rope 25, and the pulley blocks include 23 He of horizontal trolley Vertical pulley 24, the two omnidirectional distribution is in seat frame front bottom end；The corresponding joint of described rope 25 one end and main part Fixed, the other end is wrapped on reel 22；Reel 22 is fixed on the output shaft of rope driving motor 21.

Joint of lower extremity in the present invention mainly includes ankle-joint, knee joint, hip joint.The mechanism can be closed individually for one Section carries out rehabilitation training and multiple joints carry out exercise for coordination.

First joint, 109 upper end is connect by pin shaft with joint pedestal 110, and lower end is connected with stiffness changing structure (one) 114； Due to the first joint 109, the coupling of second joint 108 and third joint 112 during exercise, if during control according to Secondary application power, this method are clearly inefficient, so introducing stiffness changing structure to be decoupled.Three changes in the present invention The structure of stiffness structure is identical, and restrictive condition is: since the overall space of rehabilitation institution limits, and meeting it and use function Can, three sets of stiffness changing structures are applied on three moving bar pieces (i.e. three joints) simultaneously.

The stiffness changing structure (referring to Figure 10), including central axis, torsional spring, first group of steel ball, the first cone disk, the first dish Spring, the first sliding block, the second sliding block, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, a left side Spin nut, sleeve, the second pressure spring, the first axle sleeve, the second axle sleeve；The both ends of central axis are separately connected joint joint input terminal and pass Section driving end, joint joint input terminal is connect with corresponding motor, and is fixed by corresponding motor mounting base；Helical teeth gear wheel is in Mandrel cooperation, and fixed with joint joint input terminal；Torsional spring is wound outside sleeve, one end and joint joint of the torsional spring input End is fixed, and the other end is fixed with joint drive end；Helical teeth gear wheel is meshed with helical pinion, is connected by helical pinion Corresponding motor；

It is above-mentioned first cone disk, the first sliding block, the first disc spring, the first pressure spring respectively with it is corresponding second cone disk, the second sliding block, Second disc spring, the second pressure spring shape and structure are identical；

It is the center shaft shoulder 10241 in the middle part of the central axis 1024, the shaft part at center shaft shoulder both ends is lead screw 10242, two Lead screw is oppositely oriented, is primary optic axis 10243 on the outside of lead screw；The outside of primary optic axis is the second optical axis 10244, in side Second optical axis is equipped with keyway 10245；The outside of second optical axis is third optical axis 10246, and the outside of third optical axis is thread spindle 10247, there is the shaft shoulder in primary optic axis, the second optical axis, third optical axis, thread spindle between any two；

Left end cap 1031, the second pressure spring are successively nested with from driving end to joint input terminal on the central axis 1024 1036, the second cone disk 1029, the second disc spring 1028, left-handed nut 1034, right-handed nut 1033, the first disc spring 1023, first cone Disk 1021, the first pressure spring 1032, helical teeth gear wheel 1039, the left-handed nut 1034, right-handed nut 1033 are connected through a screw thread On the corresponding lead screw of central axis 1024, the second cone disk 1029, first bores disk 1021 and is separately fixed at the first of central axis 1024 On optical axis；Helical teeth gear wheel is mounted on the second optical axis of the central axis 1024 on the outside of the first cone disk by keyway 10245, left end Lid 1031 is located on the second optical axis of the central axis on the outside of the second cone disk；First disc spring 1023, the first pressure spring 1032, second There are gaps between central axis 1024 for disc spring 1028, the second pressure spring 1036；The left end cap 1031 passes through interference fit peace It is mounted on the second optical axis 10244 of central axis 1024, axially position is carried out to it by the second axle sleeve 1038；

1035 sets of the sleeve on first group of steel ball 1040 and second group of steel ball 1041, sleeve both ends are distributed identical number Amount, but the sliding slot that position is staggered, the quantity of sliding slot can have 3,4,5,6 etc., while on the circumference side of sleeve It is provided with a through slot 10351；First group of steel ball 1040 is located in the steel bead groove of the first cone disk 1021, passes through left end cap 1031 The flange of stretching limits its axial displacement；Second group of steel ball 1041 is located in the steel bead groove of the second cone disk 1029, by oblique Tooth gear wheel 1039 limits its axial displacement；

1026 sets of first sliding block limits its rotation, while the outside of left and right end nut point on right-handed nut 1033 It is furnished with the convex shape of equivalent amount, convex shape is matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；Institute It states 1027 sets of the second sliding block and limits its rotation on left-handed nut 1034.

The stiffness tuning method of stiffness changing structure is: motor (first motor, the second motor, third motor) is passed by gear Dynamic to drive central axis rotation, the left and right spin nut on central axis is axially moveable to both ends respectively, so that the first cone disk and second Bore the steel ball on disk it is mobile in steel bead groove and then and barrel contacts, and then the torsion of torsional spring is hindered, by adjusting two disc springs Decrement realize active variable stiffness function so that rigidity changes；When occurring to turn clock synchronization relatively, torsional spring twists, Radial deformation occurs for internal diameter, and sleeve is deformed so that first group of steel ball and the first cone disk and second group of steel ball and Second cone disk cooperates two-by-two, and radial displacement is converted to axial displacement, compresses the first disc spring and the second disc spring, hinders joint The relative rotation at end and joint joint input terminal is driven, realizes flexible output, i.e. realization passive stiffness-shift function.

The present invention is installed on the working principle of the rope driving rehabilitation device for lower limb joint structure of wheelchair seat and the course of work is:

The rehabilitation course in joint is carried out using the rehabilitation institution: according to the movement rail of foot pedal when rehabilitation human body lower limbs joint Mark inversely derives the rise of the first joint 109, second joint 108, the turned position in third joint 112 and line handspike 106 And the swing angle of foot pedal 33.It the turned position in joint can be clockwise or inverse with movable reel 22 by rope driving motor 21 Hour hands rotation, one end are fixed on the rope 25 on reel 22 around horizontal trolley 23 and the movement of vertical pulley 24, can be drawn diarthrodial Rotation.Footrest mechanism provides torque by pedal motor 31, and band moving gear 30 rotates, and gear shaft 32 is connected with the footrest frame 35 is fixed, and 33 wire winding rod 36 of foot pedal can be made to swing up and down, when swinging to extreme position, trigger angle limit switch under foot pedal 33 34, then pedal motor 31 stops operating.

The rehabilitation institution has control system, it can be achieved that hip joint, knee joint and the individual rehabilitation training of ankle-joint, rehabilitation Person need to only be sitting on wheelchair, and foot is put on the footrests, using foot pedal as a platform, passes through human foot planned in advance Motion profile realize independent training or the exercise for coordination of hip joint, knee joint and ankle-joint, comfortableness and security are higher, Even if control is broken down, the mobility in human body lower limbs joint can also slow down impact injury, should due to the lightweight of rope driving Mechanism is installed in wheelchair seat, and load-self weight ratio of complete machine can be improved.

Embodiment 1

The present embodiment is installed on the rope driving rehabilitation device for lower limb joint structure of wheelchair seat, including main part 1, foot-operated trigger Structure 3 and rope driving device 2,

The main part upper end is connected and fixed on seat frame 4 by two joint pedestals 110, lower end and foot-operated trigger Structure is connected；Main part includes 110, three stiffness changing structures of joint pedestal, the first joint 109, guide rod 104, line handspike 106, second joint 108, third joint 112, support frame 111, line handspike pedestal 107,

The stiffness changing structure (three) 114 is rotated by inside third motor 105 by gear set drive central shaft 1024, Internal nut axial movement squeezes disc spring, axial force is converted to radial force using ball and cone disk, to realize variation rigidity.Institute It states 108 one end of second joint to connect with stiffness changing structure (three) 114, the other end is connect with line handspike pedestal 106.The straight line Push rod end connecting pin pedal base 37.Stiffness changing structure (one) 102, first motor bottom are connected on the outside of the third joint 112 Seat is fixed in wheelchair frame, and second joint 108 and third joint 112 are axially moved by the limitation of support frame 111.

The footrest mechanism includes gear 30, pedal motor 31, gear shaft 32, foot pedal 33, angle limit switch 34, foot pedal connection frame 35, screw rod 36, foot pedal pedestal 37, sleeve pedestal 38.The foot pedal connection frame 35 is symmetrically arranged on 36 two sides of screw rod, the other end are fixed on 33 bottom surface of foot pedal.The pedal motor 31 is fixed on pedestal one end, is passed by gear Dynamic that foot pedal connection frame 35 is driven to rotate, the rotation of 35 wire winding rod 36 of foot pedal connection frame drives foot pedal 33 to swing up and down.It is described Angle limit switch 34 is triggered by swinging to extreme angles under foot pedal 33, and cutting pedal motor 31 rotates.

The rope driving device is made of three groups of mechanisms in parallel, including rope driving motor 21, reel 22, horizontal trolley 23, vertical pulley 24, rope 25.Driving device of restricting includes three sets of independent mechanisms, and every sets of cords connects in the same manner.It is described The arthrodesis of rope 25 one end and main part, the other end are wrapped on reel 22.

By taking rehabilitation knee joint as an example, when human body knee joint angle changes to 130 ° of Fig. 6 by 95 ° of Fig. 5, driving motor of restricting 21 band movable reels 22 rotate, so that rope 25 is mobile around horizontal trolley 23 and vertical pulley 24, first under the traction of rope 25 Joint 109 is rotated counterclockwise around top pin shaft, and second joint 108 is rotated clockwise around the central axis of stiffness changing structure (three) 114, Line handspike 106 is rotated counterclockwise around top pin shaft, and wherein the action situation of stiffness changing structure (three) 114 is third motor 105 It is rotated by gear set drive central shaft 1024, internal nut is mobile to axis center position, discharges disc spring pressure, first group of steel Pearl 1040 and second group of steel ball 1041 are mobile to centre along the chute, and 1035 diameter of sleeve is reduced, to reduce it to torsional spring 1022 extruding.Pedal motor 31 is rotated with moving gear 30, so that foot pedal 33 is rotated around the instantaneous needle of gear shaft 32.

The modification and same transformation made according to the present invention still fall within protection scope of the present invention.

The present invention does not address place and is suitable for the prior art.

Claims (4)

1. A rope-driven lower limb joint rehabilitation mechanism installed on a wheelchair seat, comprising a main body part, a foot pedal mechanism, a rope driving device and a seat frame, characterized in that: The upper end of the main body part is connected and fixed on the seat frame by two joint bases, and the lower end is connected with the foot pedal mechanism; the main body part includes a joint base, three variable stiffness structures, a first joint, a guide rod, a linear push rod, a third The second joint, the third joint, the support frame, the linear push rod base, the linear push rod is fixed on the linear push rod base in the vertical direction, and the guide rod is connected with the foot pedal mechanism; The second joint is connected to the joint driving end of the variable stiffness structure (2), the other end of the second joint is connected to the joint driving end of the variable stiffness structure (3), and the joint input end of the variable stiffness structure (3) is connected to the first joint a joint, the upper part of the first joint is connected with a joint base through a pin shaft, and the joint input end of the variable stiffness structure (3) transmits power to a third motor through a helical gear set, and the third motor is fixed at the lower part of the first joint; Axial movement is restricted between the second joint and the third joint by a support frame, and the support frame connects the second joint and the motor base of the variable stiffness structure (2) together at the same time; The other end of the third joint is connected to the joint input end of the variable stiffness structure (1), and the joint input end of the variable stiffness structure (1) is connected to the joint driving end of the variable stiffness structure (2) through the third joint; The joint drive end of the second) transmits power to the second motor through the corresponding helical gear set; the joint drive end of the variable stiffness structure (1) transmits power to the first motor through the corresponding helical gear set, and the motor base of the first motor is connected to a fixed Articulated base connection on seat frame; The foot pedal mechanism includes a gear, a foot pedal motor, a gear shaft, a foot pedal, an angle limit switch, two foot pedal connecting frames, a screw rod, a foot pedal base, and a sleeve base; the foot pedal motor The output end is connected with the gear shaft through the gear set, the gear shaft is fixed on a foot pedal connecting frame, the upper parts of the two foot pedal connecting frames are symmetrically installed on both sides of the screw rod, and the lower end of the foot pedal connecting frame is fixed on the pedal On the bottom surface of the pedal, an angle limit switch is installed on one side of the foot pedal connecting frame; the upper part of the foot pedal connecting frame is fixed with the foot pedal base at the same time, and a sleeve for supporting and fixing the guide rod is arranged on the foot pedal base. cylinder base; The rope driving device has three groups of parallel independent driving mechanisms, each driving mechanism is connected in the same way, and each driving mechanism includes a rope driving motor, a reel, a pulley block, and a rope, and the pulley block includes a horizontal pulley and a vertical pulley, The two are orthogonally distributed on the bottom of the front end of the seat frame; one end of the rope is fixed with the corresponding joint of the main body part, and the other end is wound on a reel; the reel is fixed on the output shaft of the rope drive motor. 2 . The rope-driven lower limb joint rehabilitation mechanism installed on a wheelchair seat according to claim 1 , wherein the three variable stiffness structures are the same, and each variable stiffness structure includes a central shaft, a torsion spring, and a first group of steel balls. 3 . , the first cone disc, the first disc spring, the first slider, the second slide block, the second disc spring, the second cone disc, the second group of steel balls, the left end cover, the first compression spring, the right-handed nut, the left-handed nut , sleeve, second compression spring, first bushing, second bushing; both ends of the central shaft are respectively connected to the joint, the joint input end and the joint drive end, the joint input end is connected to the corresponding motor, and is connected to the corresponding motor through the corresponding motor mounting seat Fixed; the helical gear is matched with the central shaft and fixed with the joint input end; a torsion spring is wound outside the sleeve, one end of the torsion spring is fixed with the joint input end, and the other end is fixed with the joint drive end; the helical gear gear It meshes with the helical pinion, and connects the corresponding motor through the helical pinion; The first conical disc, the first slider, the first disc spring and the first compression spring are respectively the same in shape and structure as the corresponding second conical disc, the second slider, the second disc spring and the second compression spring. 3 . The rope-driven lower limb joint rehabilitation mechanism installed on a wheelchair seat according to claim 2 , wherein the center of the central shaft is a central shoulder, the shaft segments at both ends of the central shoulder are lead screws, and the two The rotation direction of the screw is opposite, the outer side of the lead screw is the first optical axis; the outer side of the first optical axis is the second optical axis, and there is a keyway on one side of the second optical axis; the outer side of the second optical axis is the third optical axis shaft, the outer side of the third optical axis is a threaded shaft, and there are shaft shoulders between the first optical axis, the second optical axis, the third optical axis, and the threaded shaft; A left end cover, a second compression spring, a second conical disc, a second disc spring, a left-handed nut, a right-handed nut, a first disc spring, a first conical disc are nested on the central shaft in sequence from the drive end to the joint input end , the first compression spring, the helical gear, the left-handed nut and the right-handed nut are screwed on the corresponding lead screw of the central shaft, the second conical disc and the first conical disc are respectively fixed on the first optical axis of the central shaft upper; the helical gear is installed on the second optical axis of the central axis outside the first conical disk through the keyway, and the left end cover is located on the second optical axis of the central axis outside the second conical disk; the first disc spring, There is a gap between the first compression spring, the second disc spring and the second compression spring and the central shaft; the left end cover is installed on the second optical axis of the central shaft through interference fit, and the second shaft sleeve Axial positioning; The sleeve is sleeved on the first group of steel balls and the second group of steel balls, a plurality of chutes are evenly distributed on the circumference of the left and right ends, and a through groove is opened on the circumferential side of the sleeve; A group of steel balls is located in the steel ball groove of the first conical disk, and its axial displacement is limited by the flange protruding from the left end cover; the second group of steel balls is located in the steel ball groove of the second conical disk, and is limited by the helical gear. axial displacement; The first sliding block is sleeved on the right-handed nut to limit its rotation. The outer surface of the sliding block is evenly provided with the same number of protrusions as the second sliding block along the axial direction of the sliding block, and the shape of the protrusions is the same as that of the chute on the sleeve. Matching, the protrusion can slide left and right in the chute; the second sliding block is sleeved on the left-handed nut to restrict its rotation. 4 . The rope-driven lower limb joint rehabilitation mechanism installed on a wheelchair seat according to claim 1 , wherein three variable stiffness structures are arranged in the main body of the mechanism, and one end of the variable stiffness structure (1) is connected to the joint base. 5 . The connection is fixed on the seat frame, and the other end is connected with the third joint; one end of the variable stiffness structure (2) is connected with the support frame, and the other end is connected with the linear push rod base; the variable stiffness structure (3) is arranged on the first joint and Middle of the second joint.