A four-degree-of-freedom parallel robot for leg rehabilitation

Abstract

The invention discloses a four-degree-of-freedom parallel robot for leg rehabilitation, which belongs to the field of industrial robots. The present invention includes a static platform and a dynamic platform distributed up and down, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the static platform and the dynamic platform, the first branch chain, the second branch chain Both the main chain and the third branch chain include the active arm and the driven arm, the active arm and the driven arm are connected by a rotating pair, the top of the active arm is hinged to the static platform, and the bottom end of the driven arm is hinged to the moving platform; the fourth branch The upper part of the chain is hinged with the static platform, the lower part of the fourth branch chain rotates and fits through the moving platform, and the bottom of the fourth branch chain is provided with a foot support. In view of the fact that there is still room for evolution in the application of leg training robot technology in the prior art, the present invention intends to provide a four-degree-of-freedom parallel robot for leg rehabilitation, which can simulate knee-ankle joint and hip joint rehabilitation with four degrees of freedom. The exercise method of training is convenient to apply and has a good rehabilitation effect.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a four-degree-of-freedom parallel robot for leg rehabilitation. Background technique [0002] The knee joint and ankle joint are the weight-bearing joints of the human body and participate in sports, so they are easily injured, and postoperative rehabilitation training is particularly important. At present, the rehabilitation training of the knee and ankle joints mainly relies on the guidance of the rehabilitation therapist, and the robots used for the rehabilitation training of the knee and ankle joints are seldom used in practical applications, which cannot meet the convenience requirements for people to carry out knee joint rehabilitation training at home. Therefore, with the rapid development of robot technology, it is particularly important to design a robot mechanism to assist people in rehabilitation training of legs. [0003] After searching, the Chinese patent...

AI Technical Summary

Problems solved by technology

At present, the rehabilitation training of the knee and ankle joints mainly relies on the guidance of the rehabilitation therapist, and the robots used for the rehabilitation training of the knee and ankle joints are rarely used in practical applications, which cannot meet the convenience requirements of people performing knee joint rehabilitation training at home.

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