Knee rehabilitation training robot

Abstract

The present application relates to a knee joint rehabilitation training robot. It includes: a thigh support frame and a calf support frame rotatably connected to the thigh support frame; a double-rod hydraulic cylinder, in which two chambers arranged opposite to each other are formed in the cylinder body, each of which is provided with a piston rod, the cylinder body is fixed to the thigh support frame, and a piston rod is rotatably connected to the calf support frame; a hydraulic unit is connected to both chambers; the hydraulic unit can alternately supply medium to the two chambers to drive the two piston rods to move and drive the calf support frame and the thigh support frame to rotate relative to each other, so as to realize the passive training mode of the knee joint rehabilitation training robot; the calf support frame and the thigh support frame rotate relative to each other to drive the two piston rods to move, and the medium in one chamber can flow back to the other chamber through the hydraulic unit, so as to realize the active training mode of the knee joint rehabilitation training robot, so as to meet the use needs of patients at various stages of motor recovery, and has high applicability.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a knee joint rehabilitation training robot. Background Art

[0002] Knee joint rehabilitation training robot is an emerging technology that has developed rapidly in recent years and is a new application of robotics in the medical field. The knee joint rehabilitation training robot can be worn on the lower limbs of the human body to provide rehabilitation training for patients with lower limb movement disorders, allowing the patients to gradually recover.

[0003] For patients with movement disorders in the lower limbs, they are usually divided into multiple training stages according to the degree of their movement disorders. For example, in the case of muscle weakness, training is usually carried out using a training device to drive the lower limb movements, which is a passive training mode; in the stage of incomplete muscle strength, training is usually carried out using a mode of active human movement and auxiliary support from a training device, which is an active training mode.

[0004] However, the current knee rehabilitation training robots have relatively simple functions and cannot meet the usage needs of patients with lower limb movement disorders at various stages of gradual recovery of motor ability. This not only makes the applicability of knee rehabilitation training robots less, but also leads to a serious waste of medical resources. Summary of the invention

[0005] Based on this, it is necessary to provide a knee joint rehabilitation training robot with strong applicability.

[0006] A knee joint rehabilitation training robot, comprising:

[0007] A support assembly for wearing on the lower limbs of a human body, comprising a thigh support frame and a calf support frame rotatably connected to the thigh support frame;

[0008] A double-rod hydraulic cylinder, wherein two chambers disposed opposite to each other are formed in the cylinder body of the double-rod hydraulic cylinder, a piston rod is provided in each of the two chambers, the cylinder body is fixedly connected to the thigh support frame, and one of the piston rods is rotatably connected to the calf support frame; and

[0009] A hydraulic unit, wherein the two chambers are respectively connected to the hydraulic unit;

[0010] Among them, the hydraulic unit can alternately supply medium to the two chambers to drive the two piston rods to move and drive the calf support frame and the thigh support frame to rotate relative to each other, thereby realizing the passive training mode of the knee joint rehabilitation training robot; the calf support frame and the thigh support frame rotate relative to each other to drive the two piston rods to move, and the medium in one of the chambers can flow back to the other chamber through the hydraulic unit, thereby realizing the active training mode of the knee joint rehabilitation training robot.

[0011] In one embodiment, the hydraulic unit includes a medium box and a hydraulic pump, and the two chambers are respectively a first chamber and a second chamber;

[0012] One end of the hydraulic pump is connected to the medium box through a first passage, and is connected to the first chamber through a second passage, a first one-way valve is provided on the first passage, and a second one-way valve is provided on the second passage;

[0013] The other end of the hydraulic pump is connected to the medium box through a third passage, and is connected to the second chamber through a fourth passage, a third one-way valve is provided on the third passage, and a fourth one-way valve is provided on the fourth passage;

[0014] If the hydraulic pump rotates forward, the medium in the medium box can enter the second chamber through the first passage, the hydraulic pump, and the fourth passage in sequence, and the pressure in the fourth passage can force the second one-way valve and the first one-way valve to open, and the medium in the first chamber can enter the second chamber through the second passage, the hydraulic pump, and the fourth passage in sequence;

[0015] If the hydraulic pump reverses, the medium in the medium box can enter the first chamber via the third passage, the hydraulic pump, and the second passage in sequence, the pressure in the second passage can force the fourth one-way valve and the third one-way valve to open, and the medium in the second chamber can enter the first chamber via the fourth passage, the hydraulic pump, and the second passage in sequence.

[0016] In one of the embodiments, the hydraulic unit further comprises an electromagnetic relief valve, and the set pressure of the electromagnetic relief valve is adjustable;

[0017] One end of the electromagnetic relief valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a fifth passage, and is communicated with the second passage between the second one-way valve and the first chamber through a sixth passage, a fifth one-way valve is provided on the fifth passage, and a sixth one-way valve is provided on the sixth passage;

[0018] The other end of the electromagnetic relief valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a seventh passage, and is communicated with the second passage between the second one-way valve and the first chamber through an eighth passage, a seventh one-way valve is provided on the seventh passage, and an eighth one-way valve is provided on the eighth passage;

[0019] If the pressure of the fourth passage between the fourth one-way valve and the second chamber is greater than the set pressure of the electromagnetic relief valve, the medium enters the second passage between the second one-way valve and the first chamber through the fifth passage, the electromagnetic relief valve and the eighth passage;

[0020] If the pressure of the second passage between the second one-way valve and the first chamber is greater than the set pressure of the electromagnetic relief valve, the medium enters the fourth passage between the fourth one-way valve and the second chamber through the sixth passage, the electromagnetic relief valve, and the seventh passage.

[0021] In one of the embodiments, the hydraulic unit further includes a pressure gauge connected to one end of the electromagnetic relief valve connected to the fifth passage to measure the pressure of the medium passing through the electromagnetic relief valve.

[0022] In one embodiment, the knee joint rehabilitation training robot includes a main control circuit board and an angle sensor connected to the main control circuit board. The angle sensor is installed at the connection between the thigh support frame and the calf support frame to detect the rotation angle between the thigh support frame and the calf support frame. The hydraulic pump and the electromagnetic overflow valve are both connected to the main control circuit board.

[0023] In one embodiment, the knee joint rehabilitation training robot includes a power supply and an emergency stop button, the power supply is connected to the main control circuit board, and pressing the emergency stop button can cut off the power supply of the power supply to the main control circuit board.

[0024] In one embodiment, the knee joint rehabilitation training robot includes a system control box and a system drive box, the main control circuit board, the power supply and the hydraulic unit are arranged in the system control box, the double-rod hydraulic cylinder is arranged in the system drive box, and the emergency stop button is provided on the system drive box and the system control box.

[0025] In one of the embodiments, the system control box is also provided with a control panel, which is connected to the main control circuit board. Through the control panel, the relative rotation speed of the thigh support frame and the calf support frame, the angle range of the relative rotation of the thigh support frame and the calf support frame, the movement time and the pressure of the electromagnetic overflow valve can be set.

[0026] In one of the embodiments, the knee joint rehabilitation training robot includes a footrest rotatably connected to the calf support frame, and a roller capable of rolling relative to the footrest is installed at the bottom of the footrest.

[0027] In one embodiment, the knee joint rehabilitation training robot includes a hip pad and a connecting rod, and both ends of the connecting rod are rotatably connected to the hip pad and the thigh support frame respectively, so that the human buttocks can sit on the hip pad.

[0028] The above-mentioned knee joint rehabilitation training robot has a passive training mode and an active training mode, which can meet the usage needs of patients at various stages of motor recovery. It has high applicability, effectively improves the utilization rate of the rehabilitation training robot, and avoids serious waste of medical resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of a knee joint rehabilitation training robot according to an embodiment of the present application;

[0030] Figure 2 for Figure 1 Schematic diagram of the connection between the hydraulic unit and the double-rod hydraulic cylinder in the knee joint rehabilitation training robot shown in. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0032] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0034] Combination Figure 1 and Figure 2As shown, a knee joint rehabilitation training robot 10 according to an embodiment of the present invention comprises a support assembly 100, a double-rod hydraulic cylinder 200 and a hydraulic unit 300. The support assembly 100 is used to be worn on the lower limbs of a human body, and the support assembly 100 comprises a thigh support frame 110 for being mounted on the thigh of a human body and a calf support frame 120 for being mounted on the calf of a human body, and the thigh support frame 110 is rotatably connected to the calf support frame 120. Two chambers arranged opposite to each other are formed in the cylinder body 210 of the double-rod hydraulic cylinder 200, and a piston rod 220 is respectively arranged in the two chambers. The cylinder body 210 of the double-rod hydraulic cylinder 200 is fixedly connected to the thigh support frame 110, and one piston rod 220 is rotatably connected to the calf support frame 120, and the two piston rods 220 can slide synchronously, that is, when one piston rod 220 extends out of the cylinder body 210 of the double-rod hydraulic cylinder 200, the other piston rod 220 retracts into the cylinder body 210 of the double-rod hydraulic cylinder 200. It should be noted that the cross-sectional areas of the two piston rods 220 are equal, so that when the two piston rods 220 move synchronously, the volume changes in the left and right chambers are equal.

[0035] The two chambers in the double-rod hydraulic cylinder 200 are respectively connected to the hydraulic unit 300, and the hydraulic unit 300 can alternately supply medium to the two chambers to drive the two piston rods 220 to move and drive the calf support frame 120 and the thigh support frame 110 to rotate relative to each other, thereby realizing the passive training mode of the knee joint rehabilitation training robot 10. The calf support frame 120 and the thigh support frame 110 rotate relative to each other to drive the two piston rods 220 to move, and the medium in one chamber can flow back to the other chamber through the hydraulic unit 300, thereby realizing the active training mode of the knee joint rehabilitation training robot 10.

[0036] The above-mentioned knee joint rehabilitation training robot 10 has a passive training mode and an active training mode, which can meet the usage needs of patients at various stages of motor recovery. It has high applicability, effectively improves the utilization rate of the rehabilitation training robot, and avoids serious waste of medical resources.

[0037] Specifically, the two chambers in the double-rod hydraulic cylinder 200 are respectively set as the first chamber 211 and the second chamber 212, and the hydraulic unit 300 includes a medium box 311 and a hydraulic pump 312. The A end of the hydraulic pump 312 is connected to the medium box 311 through the first passage 313, and is connected to the first chamber 211 through the second passage 314. The first passage 313 is provided with a first check valve 315, and the second passage 314 is provided with a second check valve 316. The B end of the hydraulic pump 312 is connected to the medium box 311 through the third passage 317, and is connected to the second chamber 212 through the fourth passage 318. The third passage 317 is provided with a third check valve 319, and the fourth passage 318 is provided with a fourth check valve 321.

[0038] If the hydraulic pump 312 rotates forward, the medium in the medium box 311 can reach the hydraulic pump 312 through the first one-way valve 315 when passing through the first passage 313 under the action of the hydraulic pump 312, and then reach the second chamber 212 through the fourth one-way valve 321 when passing through the fourth passage 318, forcing the two piston rods 220 to move to the right at the same time. At both ends of the hydraulic pump 312, the pressure of the fourth passage 318 is higher than the pressure of the second passage 314, so the pressure of the fourth passage 318 can force the second one-way valve 316 to open, so that the medium in the first chamber 211 enters the second chamber 212 through the second passage 314, the hydraulic pump 312, and the fourth passage 318. In addition, the pressure of the fourth passage 318 can also force the first one-way valve 315 to open, so that the medium in the medium box 311 can smoothly enter the hydraulic pump 312.

[0039] If the hydraulic pump 312 is reversed, the medium in the medium box 311 can reach the hydraulic pump 312 through the third one-way valve 319 when passing through the third passage 317, and then enter the first chamber 211 through the second one-way valve 316 when passing through the second passage 314. At this time, at both ends of the hydraulic pump 312, the pressure of the second passage 314 is higher than the pressure of the third passage 317, so the pressure of the second passage 314 can force the fourth one-way valve 321 to open, so that the medium in the second chamber 212 enters the first chamber 211 through the fourth passage 318, the hydraulic pump 312, and the second passage 314. In addition, the pressure of the second passage 314 can also force the third one-way valve 319 to open, so that the medium in the medium box 311 can smoothly enter the hydraulic pump 312.

[0040] In this way, by alternately rotating the hydraulic pump 312 forward and reversely, the first chamber 211 and the second chamber 212 can be alternately supplied with oil to drive the piston rod 220 to reciprocate, thereby achieving bending and extension of the human knee joint, thereby performing passive rehabilitation training on the human knee joint.

[0041] The hydraulic unit 300 further includes an electromagnetic relief valve 322, and the set pressure of the electromagnetic relief valve 322 is adjustable. One end of the electromagnetic relief valve 322 is connected to the fourth passage 318 between the fourth check valve 321 and the second chamber 212 through the fifth passage 323, and is connected to the second passage 314 between the second check valve 316 and the first chamber 211 through the sixth passage 324. The fifth passage 323 is provided with a fifth check valve 325, and the sixth passage 324 is provided with a sixth check valve 326. The other end of the electromagnetic relief valve 322 is connected to the fourth passage 318 between the fourth check valve 321 and the second chamber 212 through the seventh passage 327, and is connected to the second passage 314 between the second check valve 316 and the first chamber 211 through the eighth passage 328. The seventh passage 327 is provided with a seventh check valve 329, and the eighth passage 328 is provided with an eighth check valve 331.

[0042] If the pressure of the fourth passage 318 between the fourth one-way valve 321 and the second chamber 212 is greater than the set pressure of the electromagnetic relief valve 322, the medium enters the second passage 314 between the second one-way valve 316 and the first chamber 211 through the fifth passage 323, the electromagnetic relief valve 322, and the eighth passage 328. In this way, when the hydraulic pump 312 rotates forward to supply oil to the second chamber 212, the fourth passage 318 can be protected from overpressure. In addition, it can also provide a circulation path for the medium to flow from the second chamber 212 to the first chamber 211 when the hydraulic pump 312 stops running and the knee joint rehabilitation training robot 10 is in active training mode.

[0043] If the pressure of the second passage 314 between the second one-way valve 316 and the first chamber 211 is greater than the set pressure of the electromagnetic relief valve 322, the medium enters the fourth passage 318 between the fourth one-way valve 321 and the second chamber 212 through the sixth passage 324, the electromagnetic relief valve 322, and the seventh passage 327. In this way, when the hydraulic pump 312 reverses to supply oil to the first chamber 211, the second passage 314 can be protected from overpressure. In addition, when the hydraulic pump 312 stops running and the knee joint rehabilitation training robot 10 is in the active training mode, it can provide a circulation path for the medium to flow from the first chamber 211 to the second chamber 212.

[0044] Since the set pressure of the electromagnetic relief valve 322 is adjustable, when the human knee joint wants to bend or stretch but the strength is insufficient, the hydraulic pump 312 is started, and by adjusting the pressure of the electromagnetic relief valve 322 in real time, the piston rod 220 can output appropriate thrust and speed to assist the human lower limbs to complete the training action, thereby realizing the power training mode of the knee joint rehabilitation training robot 10; in addition, when the human knee joint actively performs bending or stretching training and the hydraulic pump 312 is turned off, by adjusting the set pressure of the electromagnetic relief valve 322, the piston rod 220 can be subjected to appropriate resistance, thereby changing the difficulty of the piston rod 220's telescopic movement, thereby realizing the impedance training mode of the knee joint rehabilitation training robot 10. In this way, the knee joint rehabilitation training robot 10 has a passive training mode, an active training mode, a power training mode and an impedance training mode, which further improves the applicability of the knee joint rehabilitation training robot 10 and meets the use needs of patients at various stages of motor recovery.

[0045] In addition, the hydraulic unit 300 further includes a pressure gauge 332, which is connected to one end of the electromagnetic relief valve 322 connected to the fifth passage 323 to measure the pressure of the medium passing through the electromagnetic relief valve 322. The hydraulic unit 300 further includes a pressure switch 333 connected to the second passage 314, and the pressure switch 333 can also be connected to any passage other than the second passage 314 to protect the entire hydraulic unit 300. The hydraulic unit 300 further includes a filter 334 for filtering out foreign matter in the medium. The filter 334 can be provided at the oil inlet of the medium box 311 and on any passage in the hydraulic unit 300.

[0046] The knee joint rehabilitation training robot 10 includes a main control circuit board (not shown) and an angle sensor (not shown) connected to the main control circuit board. The angle sensor is installed at the connection between the thigh support frame 110 and the calf support frame 120 to detect the rotation angle between the thigh support frame 110 and the calf support frame 120. In this way, the main control circuit board can obtain the time, angle, and speed information of the rehabilitation training. The hydraulic pump 312 and the electromagnetic relief valve 322 are both connected to the main control circuit board. The main control circuit board can control the start, shut down, forward rotation, and reverse rotation of the hydraulic pump 312. The main control circuit board can also adjust the set pressure of the electromagnetic relief valve 322.

[0047] The knee joint rehabilitation training robot 10 includes a power supply (not shown) and an emergency stop button 500. The power supply is connected to the main control circuit board. Pressing the emergency stop button 500 can cut off the power supply to the main control circuit board to prevent the occurrence of emergencies.

[0048] The knee joint rehabilitation training robot 10 includes a system control box 600 and a system drive box 700. The main control circuit board, power supply and hydraulic unit 300 are arranged in the system control box 600. The double-rod hydraulic cylinder 200 is arranged in the system drive box 700. Emergency stop buttons 500 are provided on the system drive box 700 and the system control box 600.

[0049] The system control box 600 is also provided with a control panel 610, which is connected to the main control circuit board. Through the control panel 610, the relative rotation speed of the thigh support frame 110 and the calf support frame 120, the angle range of relative rotation of the thigh support frame 110 and the calf support frame 120, the exercise time and the pressure of the electromagnetic overflow valve 322 can be set, and different training modes can also be quickly selected and switched.

[0050] In some embodiments, the knee joint rehabilitation training robot 10 includes a footrest 800 rotatably connected to the calf support frame 120, and a roller 810 that can roll relative to the footrest 800 is installed at the bottom of the footrest 800. During rehabilitation training, the human foot can be placed on a support plane, and the roller 810 rolls on the support plane, which can effectively reduce the difficulty of extending or bending the calf relative to the thigh.

[0051] In some embodiments, the knee joint rehabilitation training robot 10 includes a hip pad 900 and a connecting rod (not shown in the figure). The two ends of the connecting rod are rotatably connected to the hip pad 900 and the thigh support frame 110 respectively. The human buttocks can sit on the hip pad 900. In this way, the support component 100 can be prevented from moving relative to the human knee joint during rehabilitation training, thereby effectively ensuring the stability of the relative position of the support component 100 and the human knee joint.

[0052] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A knee joint rehabilitation training robot, characterized in that: include: A support assembly for wearing on the lower limbs of a human body, comprising a thigh support frame and a calf support frame rotatably connected to the thigh support frame; A double-rod hydraulic cylinder, wherein two chambers disposed opposite to each other are formed in the cylinder body of the double-rod hydraulic cylinder, a piston rod is provided in each of the two chambers, the cylinder body is fixedly connected to the thigh support frame, and one of the piston rods is rotatably connected to the calf support frame; and A hydraulic unit, wherein the two chambers are respectively connected to the hydraulic unit; The hydraulic unit can alternately supply medium to the two chambers to drive the two piston rods to move and drive the calf support frame and the thigh support frame to rotate relative to each other, thereby realizing the passive training mode of the knee joint rehabilitation training robot; the calf support frame and the thigh support frame rotate relative to each other to drive the two piston rods to move, and the medium in one of the chambers can flow back to the other chamber through the hydraulic unit, thereby realizing the active training mode of the knee joint rehabilitation training robot. The hydraulic unit includes a medium box and a hydraulic pump, and the two chambers are respectively a first chamber and a second chamber; One end of the hydraulic pump is connected to the medium box through a first passage, and is connected to the first chamber through a second passage, a first one-way valve is provided on the first passage, and a second one-way valve is provided on the second passage; The other end of the hydraulic pump is connected to the medium box through a third passage, and is connected to the second chamber through a fourth passage, a third one-way valve is provided on the third passage, and a fourth one-way valve is provided on the fourth passage; If the hydraulic pump rotates forward, the medium in the medium box can enter the second chamber through the first passage, the hydraulic pump, and the fourth passage in sequence, and the pressure in the fourth passage can force the second one-way valve and the first one-way valve to open, and the medium in the first chamber can enter the second chamber through the second passage, the hydraulic pump, and the fourth passage in sequence; If the hydraulic pump is reversed, the medium in the medium box can enter the first chamber through the third passage, the hydraulic pump, and the second passage in sequence, and the pressure in the second passage can force the fourth check valve and the third check valve to open, and the medium in the second chamber can enter the first chamber through the fourth passage, the hydraulic pump, and the second passage in sequence. The hydraulic unit further comprises an electromagnetic relief valve, the set pressure of which is adjustable; One end of the electromagnetic relief valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a fifth passage, and is communicated with the second passage between the second one-way valve and the first chamber through a sixth passage, a fifth one-way valve is provided on the fifth passage, and a sixth one-way valve is provided on the sixth passage; The other end of the electromagnetic relief valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a seventh passage, and is communicated with the second passage between the second one-way valve and the first chamber through an eighth passage, a seventh one-way valve is provided on the seventh passage, and an eighth one-way valve is provided on the eighth passage; If the pressure of the fourth passage between the fourth one-way valve and the second chamber is greater than the set pressure of the electromagnetic relief valve, the medium enters the second passage between the second one-way valve and the first chamber through the fifth passage, the electromagnetic relief valve and the eighth passage; If the pressure of the second passage between the second one-way valve and the first chamber is greater than the set pressure of the electromagnetic relief valve, the medium enters the fourth passage between the fourth one-way valve and the second chamber through the sixth passage, the electromagnetic relief valve and the seventh passage. The hydraulic unit further includes a pressure gauge connected to one end of the electromagnetic relief valve connected to the fifth passage to measure the pressure of the medium passing through the electromagnetic relief valve. The knee joint rehabilitation training robot includes a main control circuit board and an angle sensor connected to the main control circuit board. The angle sensor is installed at the connection between the thigh support frame and the calf support frame to detect the rotation angle between the thigh support frame and the calf support frame. The hydraulic pump and the electromagnetic overflow valve are both connected to the main control circuit board.

2. The knee joint rehabilitation training robot according to claim 1, characterized in that: The knee joint rehabilitation training robot comprises a power supply and an emergency stop button. The power supply is connected to the main control circuit board. Pressing the emergency stop button can cut off the power supply of the power supply to the main control circuit board.

3. The knee joint rehabilitation training robot according to claim 2, characterized in that: The knee joint rehabilitation training robot includes a system control box and a system drive box. The main control circuit board, the power supply and the hydraulic unit are arranged in the system control box. The double-rod hydraulic cylinder is arranged in the system drive box. The emergency stop button is provided on the system drive box and the system control box.

4. The knee joint rehabilitation training robot according to claim 3, characterized in that: The system control box is also provided with a control panel, which is connected to the main control circuit board. The control panel can be used to set the relative rotation speed of the thigh support frame and the calf support frame, the angle range of relative rotation of the thigh support frame and the calf support frame, the movement time and the pressure of the electromagnetic relief valve.

5. The knee joint rehabilitation training robot according to claim 1, characterized in that: The knee joint rehabilitation training robot comprises a footrest rotatably connected to the calf support frame, and a roller capable of rolling relative to the footrest is installed at the bottom of the footrest.

6. The knee joint rehabilitation training robot according to claim 1, characterized in that: The knee joint rehabilitation training robot comprises a hip pad and a connecting rod, two ends of the connecting rod are respectively rotatably connected to the hip pad and the thigh support frame, and a human body's hips can sit on the hip pad.

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