A lower limb rehabilitation training robot is provided, which includes a bedstead support and a rising bedstead arranged on the bedstead support, and further includes a linear motion device, a push rod device, a bionic leg arranged at one end of a surface of the rising bedstead and hinged to the ris
A lower limb rehabilitation training robot is provided, which includes a bedstead support and a rising bedstead arranged on the bedstead support, and further includes a linear motion device, a push rod device, a bionic leg arranged at one end of a surface of the rising bedstead and hinged to the rising bedstead, and a bed board configured to support a patient and arranged at another end of the rising bedstead. The linear motion device is arranged between the bedstead support and the rising bedstead, is configured to allow the rising bedstead to slide along the bedstead support, and has one lateral surface connected to the bedstead support and another lateral surface hinged to the rising bedstead. The push rod device is configured to drive the rising bedstead to rotate around a hinge point where the rising bedstead is hinged to the linear motion device.
대표청구항▼
1. A lower limb rehabilitation training robot, comprising a bedstead support and a rising bedstead arranged on the bedstead support, wherein the lower limb rehabilitation training robot further comprises: a linear motion device which is arranged between the bedstead support and the rising bedstead a
1. A lower limb rehabilitation training robot, comprising a bedstead support and a rising bedstead arranged on the bedstead support, wherein the lower limb rehabilitation training robot further comprises: a linear motion device which is arranged between the bedstead support and the rising bedstead and is configured to allow the rising bedstead to be slidable along the bedstead support, wherein the linear motion device has one lateral surface connected to the bedstead support, and another lateral surface hinged to the rising bedstead;a push rod device configured to drive the rising bedstead to rotate around a hinge point where the rising bedstead is hinged to the linear motion device;a bionic leg arranged at one end of a surface of the rising bedstead and hinged to the rising bedstead;a bed board arranged at another end of the rising bedstead and configured to support a patient; andwherein, the linear motion device comprises: a sliding bracket having an upper surface hinged to the rising bedstead and a lower surface provided with a linear sliding block; anda rod mounted on the bedstead support, and the linear sliding block being slidably sleeved on the rod. 2. The lower limb rehabilitation training robot according to claim 1, wherein the rising bedstead comprises: a bedstead base plate hinged to the linear motion device and hinged to the push rod device;two standing plates arranged on the bedstead base plate and being arranged opposite to each other; anda connecting plate mounted on the two standing plates and being movable in a direction perpendicular to the bedstead base plate, the connecting plate being provided with a horizontal rod configured to mount the bionic leg, and the horizontal rod being arranged in parallel with the connecting plate. 3. The lower limb rehabilitation training robot according to claim 2, wherein the bionic leg comprises: a hip joint sleeved on the horizontal rod and being movable along an axis of the horizontal rod;a first connecting member having one end hinged to the hip joint;a first rod arranged at another end of the first connecting member;a knee joint provided with a first linear sliding block, the first linear sliding block being sleeved on the first rod and being slidable along the first rod;a first locking mechanism configured to lock the first linear sliding block;a second connecting member having one end hinged to the knee joint;a second rod arranged at another end of the second connecting member;an ankle joint provided with a second linear sliding block, the second linear sliding block being sleeved on the second rod and being slidable along the second rod;a second locking mechanism configured to lock the second linear sliding block;a foot treadle hinged to the ankle joint via a rotatable rotation shaft; anda hip joint electric machine configured to drive the hip joint to rotate, and a knee joint electric machine configured to drive the knee joint to rotate. 4. The lower limb rehabilitation training robot according to claim 3, further comprises a gas spring, wherein the gas spring has one end hinged to the ankle joint, and another end eccentrically hinged, via a connecting sheet, to a hinge point where the ankle joint is hinged to the foot treadle. 5. The lower limb rehabilitation training robot according to claim 4, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 6. The lower limb rehabilitation training robot according to claim 3, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 7. The lower limb rehabilitation training robot according to claim 2, further comprises a telescopic connecting rod, which has one end hinged to the connecting plate and another end hinged to the bedstead base plate. 8. The lower limb rehabilitation training robot according to claim 7, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 9. The lower limb rehabilitation training robot according to claim 8, further comprises a driving device configured to drive the bed board to move in a direction away from the bionic leg. 10. The lower limb rehabilitation training robot according to claim 2, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 11. The lower limb rehabilitation training robot according to claim 10, further comprises a driving device configured to drive the bed board to move in a direction away from the bionic leg. 12. The lower limb rehabilitation training robot according to claim 1, wherein the push rod device comprises two oblique push rods, the two oblique push rods are arranged at two sides of the rising bedstead, and each of the two oblique push rods has one end hinged to the bedstead support and another end hinged to the rising bedstead. 13. The lower limb rehabilitation training robot according to claim 12, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 14. The lower limb rehabilitation training robot according to claim 13, further comprises a driving device configured to drive the bed board to move in a direction away from the bionic leg. 15. The lower limb rehabilitation training robot according to claim 1, wherein the bed board is connected to a bed board push rod, and the bed board push rod has one end hinged to the rising bedstead, and another end hinged to the bed board. 16. The lower limb rehabilitation training robot according to claim 15, further comprises a driving device configured to drive the bed board to move in a direction away from the bionic leg. 17. The lower limb rehabilitation training robot according to claim 15, further comprises a control system configured to control a moving gait of the bionic leg.
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