Training mechanism and robot for water-based lower-limb rehabilitation

A training mechanism for water-based lower-limb rehabilitation, comprising:

• a remote control motor box;
• a support plate;
• a sliding table-rod assembly;
• a hanging frame;
• and
• two leg training sub-mechanisms;
• wherein the remote control motor box is arranged at a portion of a wall of a water tank which is not in contact with water, or arranged at a platform outside the water;
• the support plate is configured for buttocks of a patient to lean on;
• the sliding table-rod assembly is fixedly arranged at a position on the support plate corresponding to a back of the patient;
• the hanging frame is arranged at an end of the sliding table-rod assembly away from the patient, and is configured to be located under patient's arms;
• and the two leg training sub-mechanisms are symmetrically arranged at two sides of the support plate, and are configured for training of patient's legs;
• each of the two leg training sub-mechanisms comprises a hip joint training device, an adjustable thigh plate, an adjustable shank plate, a knee training device, an ankle training device and a pedal;
• and the hip joint training device, the knee training device and the ankle training device are in power connection with the remote motor control box through a Bowden cable assembly, respectively;
• and
• the Bowden cable assembly comprises a first driving wheel, two first guide wheels matching the first driving wheel, and two first Bowden cables;
• first ends of the two first Bowden cables are connected to output shafts of two first motors in the remote control motor box, respectively;
• and a second end of one of the two first Bowden cables is configured to wind around one of the two first guide wheels to be fixed to a first side of the first driving wheel, and a second end of the other of the two first Bowden cables is configured to wind around the other of the two first guide wheels to be fixed to a second side of the first driving wheel;
• and the two first Bowden cables are configured to drive the first driving wheel to rotate along a rotation axis of the first driving wheel.