Knee-joint rehabilitation robot realizing two translation and one rotation movements

Abstract

The invention provides a knee-joint rehabilitation robot realizing two translation and one rotation movements. A thigh fixing support frame of a thigh fixture is connected with a first support chain upper connecting rod adjusting device through a rotation pair A, and a first support chain lower connecting rod adjusting device is connected with a shank fixture through a rotation pair C; the thigh fixing support frame of the thigh fixture is connected with a second support chain upper connecting rod adjusting device through a cylindrical pair, and a second support chain lower connecting rod adjusting device is connected with the shank fixture through a hooke hinge; the thigh fixing support frame of the thigh fixture is connected with the free end of an electric push rod of a third support chain through a rotation pair D, and the fixed end of the electric push rod is connected with the shank fixture through a rotation pair E. The knee-joint rehabilitation robot is large in rigidity, strong in carrying capacity, small in accumulated error, and high in movement precision, can well adapt to the movement rule of the human knee-joints, is good in bio-imitability, and has no interference with the legs during the rehabilitation process, the work space of the swing direction of the shanks is increased, the movement locus of the human body can be changed, the demands of patients with different knee joint sizes can be satisfied, and the universality is good.

Description

technical field [0001] The invention relates to a rehabilitation robot, in particular to a novel parallel knee joint rehabilitation robot. Background technique [0002] In recent years, China's economy has grown rapidly, and the transportation industry has also developed rapidly. The number of people with physical injuries caused by traffic accidents has also increased. At the same time, my country is also facing an aging population. Cardiovascular and cerebrovascular diseases occur frequently in the elderly, and most patients are accompanied by hemiplegia symptoms. According to relevant clinical medical research and evidence, in addition to early surgical treatment of such diseases, correct and scientific rehabilitation training can greatly promote the recovery and improvement of limb motor function. The current medical methods mainly rely on therapists to carry out manual rehabilitation treatment. This rehabilitation training method not only takes a long time for treatme...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a two-translation-rotation knee joint rehabilitation robot that can overcome the shortcomings of the single-degree-of-freedom rotation pair with a fixed axis, the poor bionicity, and the poor versatility of the multi-link mechanism, and can realize the rotational movement of the variable center.

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