A lower limb rehabilitation robot

Abstract

The present invention belongs to the field of lower limb rehabilitation robot devices, specifically a lower limb rehabilitation robot. It solves the problem that rehabilitation equipment requires the cooperation of multiple caregivers during rehabilitation training, and manually helps patients to swing their limbs, which is time-consuming, labor-intensive and inefficient. The present invention includes a support frame, a rehabilitation mechanism and a binding mechanism. A waist restraint device, a clamping device, an armrest, a rotating motor and a threaded rod connected to the rotating motor are installed on the support frame. The waist restraint device is installed in the middle of the support frame, the armrest is installed in front of the waist restraint device, and the clamping device is installed on both sides of the waist restraint device. The rehabilitation mechanism includes two mechanical legs and a back frame. The back frame is installed on the support frame, and the upper parts of the two mechanical legs are connected to the back frame. The mechanical legs include a hip joint mechanism, a thigh mechanism, a knee joint flexion and extension mechanism, a calf mechanism, an ankle joint flexion and extension mechanism and a foot pedal. The present invention realizes movement in all directions at the hip joint at one time, with high control accuracy and fast response.

Description

Technical Field

[0001] The invention belongs to the field of lower limb rehabilitation robot devices, in particular to a lower limb rehabilitation robot. Background Art

[0002] The number of people with lower limb disabilities caused by traffic accidents is large and is increasing year by year. In addition, as the aging of the population deepens, more and more elderly people have difficulty walking due to the degeneration of lower limb function. Therefore, medical rehabilitation equipment for lower limb rehabilitation has attracted more and more attention. The currently commonly used rehabilitation equipment still has obvious shortcomings: many rehabilitation equipment require the cooperation of multiple caregivers during rehabilitation training, and manually help patients swing their limbs, which is time-consuming, labor-intensive, and inefficient. Therefore, there is an important practical need to invent a lower limb rehabilitation robot. Summary of the invention

[0003] The present invention provides a lower limb rehabilitation robot to solve the problem that rehabilitation equipment requires the cooperation of multiple caregivers during rehabilitation training, manually helping patients to swing their limbs, which is time-consuming, labor-intensive and inefficient.

[0004] The present invention adopts the following technical scheme: a lower limb rehabilitation robot, including a support frame, a rehabilitation mechanism and a binding mechanism, a waist restraint device, a clamping device, an armrest, a rotating motor and a threaded rod connected to the rotating motor are installed on the support frame, the waist restraint device is installed in the middle of the support frame, the armrest is installed in front of the waist restraint device, the clamping device is installed on both sides of the waist restraint device, the ends of the clamping device are installed on the threaded rod connected to the motor, and the clamping device can be controlled by the forward and reverse rotation of the motor to move left and right along the threaded rod, and the threaded rod is installed on the support frame; the rehabilitation mechanism includes two mechanical legs and a back frame, and the back frame is installed on the support frame On the frame, the upper parts of the two mechanical legs are connected to the back frame, and the mechanical legs include a hip joint mechanism, a thigh mechanism, a knee flexion and extension mechanism, a calf mechanism, an ankle flexion and extension mechanism and a foot pedal. The thigh mechanism is connected to the calf mechanism through the knee flexion and extension mechanism, and the foot pedal is connected to the calf mechanism through the ankle flexion and extension mechanism; the binding mechanism includes a shoulder binding belt, a waist binding belt, a thigh binding belt and a calf binding belt, two shoulder binding belts are provided, one end of the shoulder binding belt is fixed to the waist restraint device; the two ends of the waist binding belt are respectively fixed to the two sides of the waist restraint device, the thigh binding belt is fixed to the thigh mechanism, and the calf binding belt is fixed to the calf mechanism.

[0005] Furthermore, the hip joint mechanism includes a triangular static platform, a dynamic platform and three branches, wherein branch one is A1C1B1, branch two is A2C2 B2, branch three is A3B3, the static platform is A1A2A3 and the dynamic platform is B1B2B3, branch one includes an upper rod I and a lower rod I, the upper rod I and the lower rod I are connected by a moving pair, the upper end of branch one is connected to the static platform A1A2A3 through a universal joint, and the lower end of branch one is connected to the dynamic platform B1B2B3 through a ball pair.

[0006] Branch chain 2 includes an upper rod II and a lower rod II, which are connected by a moving pair. The upper end of branch chain 2 is connected to the static platform A1A2A3 through a universal joint, and the lower end of branch chain 2 is connected to the dynamic platform B1B2B3 through a rotating pair.

[0007] The upper end of branch chain three is connected to the static platform A1A2A3 through a ball pair, and the lower end of branch chain three is fixedly connected to the dynamic platform.

[0008] A servo motor I is installed on branch chain one, and a servo motor II is installed on branch chain two. Servo motor I controls the extension and retraction of branch chain one to achieve left and right swinging movement at the hip joint, and servo motor II controls the extension and retraction of branch chain two to achieve forward and backward flexion and extension movement at the hip joint.

[0009] Furthermore, the thigh mechanism includes a rod I and a rod II, and the rod I can be inserted into the rod II, and the rod I is fixed at the bottom of the hip joint mechanism. There are two hexagonal threaded holes I and hexagonal threaded holes II on the side of the rod II, and the rod I and the rod II can slide relative to each other. The rod I and the rod II can be locked by two hexagonal screws through the hexagonal threaded holes I and the hexagonal threaded holes II.

[0010] Furthermore, the calf mechanism includes a rod III, a rod IV and a rod V. The rod III and the rod V are respectively arranged at the upper and lower ends of the rod IV and can be inserted into the rod IV. There are four hexagonal threaded holes III, a hexagonal threaded hole IV, a hexagonal threaded hole V and a hexagonal threaded hole VI on the rod IV. The rod III and the rod V can slide relative to the rod IV respectively. The rod III is locked and fixed to the rod IV by passing through the hexagonal threaded hole III and the hexagonal threaded hole IV with a hexagonal screw, and the rod V is locked and fixed to the rod IV by passing through the hexagonal threaded hole V and the hexagonal threaded hole VI with a hexagonal screw.

[0011] Furthermore, the knee joint structure is a hexagonal structure with six connecting rods connected in pairs through a rotating pair. The hinges of the two connecting rods at the upper part of the knee joint structure are connected to the thigh rod through a rotating pair, and the hinges of the two connecting rods at the lower part of the knee joint structure are connected to the calf rod through a rotating pair.

[0012] Furthermore, a thigh clinging block is fixed on the thigh rod, and a calf clinging block is fixed on the calf rod. The thigh clinging block and the calf clinging block are connected by a branch chain four. The branch chain four includes an upper rod III and a lower rod IV connected by a movable pair. The upper end of the branch chain four is connected to the thigh clinging block by a rotating pair, and the lower end of the branch chain four is connected to the calf clinging block by a rotating pair. A servo motor is installed on the lower rod III of the branch chain four. The servo motor controls the extension and retraction of the branch chain four to rotate the thigh mechanism and the calf mechanism around the knee joint structure.

[0013] The ankle joint flexion and extension structure is a rotating pair between the calf mechanism and the foot pedal driven by a servo motor.

[0014] Furthermore, the waist restraint device is provided with a rectangular groove I, a rectangular groove II, a rectangular groove III, a rectangular groove IV, a threaded hole I and a threaded hole II. The rectangular groove I and the rectangular groove II are used to fix one end of the shoulder strap, the rectangular groove III and the rectangular groove IV are used to fix one end of the waist strap, and the threaded hole I and the threaded hole II are used to fix the waist restraint device on the supporting frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention uses a parallel mechanism at the hip joint, which can realize the movement of the hip joint in all directions at one time, with high control accuracy and fast response. During rehabilitation training, the mechanism operates stably, flexibly and reliably, and always realizes synchronous movement with the patient's hip joint, so that the patient can feel more comfortable and safe during the rehabilitation training process.

[0017] 2. The knee joint of the present invention uses a six-axis joint with multi-center characteristics, which coincides with the actual rotation center of the human knee joint during the rehabilitation process. There will be no motion interference between the human body and the mechanism. During operation, it can achieve human-machine integration and coordination with the patient's lower limb movements, and has a better rehabilitation effect.

[0018] 3. The present invention can simulate different gaits of human walking to meet the needs of different rehabilitation stages.

[0019] 4. The part of the present invention that contacts the human body adopts a flexible device, which is comfortable to wear.

[0020] 5. In the present invention, the human body is in a standing state, and the human body has better perception.

[0021] 6. The present invention is an adjustable mechanism that can meet the needs of people of different body shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the main view of the overall structure of the lower limb rehabilitation robot;

[0023] Figure 2 This is an oblique view of the overall structure of the lower limb rehabilitation robot;

[0024] Figure 3 is a schematic diagram of a waist restraint device;

[0025] Figure 4 is a schematic diagram of the clamping device;

[0026] Figure 5 This is a schematic diagram of the hip joint structure;

[0027] Figure 6 This is a schematic diagram of the right leg structure. DETAILED DESCRIPTION

[0028] like Figure 1 , 2 As shown, a lower limb rehabilitation robot specifically includes a supporting frame 1, a rehabilitation mechanism 2 consisting of two mechanical legs, and a binding mechanism 3.

[0029] Wherein: the support frame 1 includes a waist restraint device 1-1, a clamping device 1-2, an armrest 1-3 and a rod 1-5 connected to a motor 1-4, the rod 1-5 is a threaded rod, and the waist restraint device 1-1 has four rectangular grooves and two threaded holes, namely rectangular groove I1-1-1, rectangular groove II1-1-2, rectangular groove III1-1-3, rectangular groove IV1-1-4, threaded hole I1-1-5 and threaded hole II1-1-6, the rectangular groove I1-1-1 and the rectangular groove II1-1-2 are used to fix one end of the shoulder strap, the rectangular groove III1-1-3 and the rectangular groove IV1-1-4 are used to fix one end of the waist strap, the threaded hole I1-1-5 and the threaded hole II1-1-6 are used to fix the waist restraint device on the support frame, the armrest 1-3 is installed in front of the waist restraint device 1-1, and the threaded rod 1- 5 is installed on the supporting frame, the left and right pieces 1-2-1 and 1-2-2 of the clamping device 1-2 are symmetrically distributed at the two ends of the waist restraint device 1-1, the end I1-2-1-1 of the clamping device 1-2-1 and the end II1-2-2-1 of the 1-2-2 are threaded holes with opposite rotation directions and can cooperate with the threaded rod 1-5, wherein the end I1-2-1-1 and the end II1-2-2-1 of the clamping device 1-2 are installed on the threaded rod 1-5, during the rehabilitation exercise, when the motor 1-4 drives the threaded rod 1-5 to rotate, the clamping devices 1-2-1 and 1-2-2 with opposite rotation directions at the ends move towards each other at the same time to clamp the human waist, and the human waist is fitted with the waist restraint device 1-1 through the binding of the waist binding belt 3-2 to make the human body reach a stable state, and at the same time, during the rehabilitation process, the human hand can hold the handrail 1-3 to prevent losing balance.

[0030] In the rehabilitation mechanism 2 composed of two mechanical legs, each mechanical leg includes a hip joint mechanism 2-2, a thigh mechanism 2-3, a knee joint flexion and extension mechanism 2-4, a calf mechanism 2-5, an ankle joint flexion and extension mechanism 2-6 and a foot pedal 2-7. A back frame 2-1 is used to connect the two mechanical legs, and a retractable material is used at the middle connection of the back frame 2-1 to adjust and adapt to different people.

[0031] The UPS+UPR+S parallel mechanism is used in the hip joint mechanism 2-2, which can realize the lateral swing movement and flexion and extension movement of the hip joint. The lateral swing movement and flexion and extension movement are combined to realize the movement of the hip joint in all directions. The UPS+UPR+S parallel mechanism consists of a triangular static platform, a dynamic platform and three branch chains, such as Figure 5 As shown, branch chain 1 is A1C1B1, branch chain 2 is A2C2B2, branch chain 3 is A3B3, static platform is A1A2A3 and dynamic platform is B1B2B3, U represents universal joint, P represents moving pair, R represents rotating pair and S represents ball pair. Branch chain 1 is a UPS branch chain, A1 of branch chain 1 is connected to static platform A1A2A3 through universal joint U, B1 is connected to dynamic platform B1B2B3 through ball pair S, and the upper rod 2-2-1 and the lower rod 2-2-2 of branch chain 1 are connected by moving pair C1. Branch chain 2 is a UPR branch chain, A2 of branch chain 2 is connected to static platform A1A2A3, and U pair is used at the connection, B2 is connected to dynamic platform B1B2B3, and R pair is used at the connection, and the upper rod 2-2-3 and the lower rod 2-2-4 of branch chain 2 are connected by moving pair C2. A3 of branch chain 3 is connected to static platform A1A2A3 through ball joint S, and B3 is fixedly connected to dynamic platform. Servo motor 2-2-5 is connected to branch chain A1C1B1, and servo motor 2-2-6 is connected to branch chain A2C2B2. Servo motor 2-2-5 controls the extension and contraction of branch chain A1C1B1 to realize left and right lateral swing movement at hip joint, and servo motor 2-2-6 controls the extension and contraction of branch chain A2C2B2 to realize forward and backward flexion and extension movement at hip joint. When servo motors 2-2-5 and 2-2-6 work at the same time, the left and right lateral swing movement at hip joint is combined with forward and backward flexion and extension movement to realize movement of hip joint in all directions at one time.

[0032] The thigh mechanism 2-3 is composed of a rod I2-3-1 and a rod II2-3-2. The rod I2-3-1 can be inserted into the rod II2-3-2. The rod I2-3-1 is directly fixed on the bottom surface of the hip joint mechanism 2-2. There are two hexagonal threaded holes I2-3-2-1 and a hexagonal threaded hole II2-3-2-2 on the rod II2-3-2. The rod I2-3-1 and the rod II2-3-2 can slide relative to each other to adjust the length of the thigh mechanism to adapt to different people. The adjustment range is 340mm~460mm. When adjusted to the appropriate length, two hexagonal screws can be used to lock it through the hexagonal threaded holes I2-3-2-1 and the hexagonal threaded holes II2-3-2-2 to achieve the fixation function. The calf mechanism 2-5 is composed of rod III2-5-1, rod IV2-5-2 and rod V2-5-3. Rod III2-5-1 and rod V2-5-3 can be inserted into rod IV2-5-2. Rod IV2-5-2 has four hexagonal threaded holes III2-5-2-1, hexagonal threaded hole IV2-5-2-2, hexagonal threaded hole V2-5-2-3 and hexagonal threaded hole VI2-5-2-4. Rod III2-5-1 and rod V2-5-3 can be inserted into rod IV2-5-2. 5-1 and rod V2-5-3 can slide relative to rod IV2-5-2, which makes the length of the calf mechanism adjustable and can also adapt to different groups of people. The adjustment range is 300~420mm. After the adjustment is completed to adapt to different sizes of lower limbs of the human body, the hexagonal threaded hole III2-5-2-1, hexagonal threaded hole IV2-5-2-2, hexagonal threaded hole V2-5-2-3 and hexagonal threaded hole VI2-5-2-4 are used to lock and fix it.

[0033] The design of the knee joint structure 2-4 is based on the fact that the flexion and extension movement of the knee joint of the human body during normal walking is not unicentric, and the multi-axis knee joint has multi-center characteristics. In order to obtain better bionic performance, the present invention adopts a six-axis joint to replace the traditional uniaxial joint, so that during the rehabilitation exercise, the operation center of the knee joint structure of the rehabilitation mechanism coincides with the operation center of the actual knee joint of the human body, such as Figure 6As shown, the six-axis knee joint structure consists of six connecting rods connected in pairs through revolute pairs. The knee joint structure 2-4 is connected to the thigh rod 2-3-2 through a revolute pair R at D1, and is connected to the calf rod 2-5-1 through a revolute pair R at D2, that is, the thigh mechanism 2-3 and the calf mechanism 2-5 are connected through the six-axis knee joint structure 2-4. The thigh cling block 2-3-3 is fixed on the thigh rod 2-3-2, and the calf cling block 2-5-4 is fixed on the calf rod 2-5-2. The thigh cling block 2-3-3 and the calf cling block 2-5-4 are connected by a branch chain A4C4B4. The branch chain A4C4B4 is an RPR structure, wherein the branch chain A4C4B4 is connected to the thigh cling block 2-3-3 at A4 through a rotation pair R, and is connected to the calf cling block 2-5-4 at B4 through a rotation pair R. The branch chain A4C4B4 is connected to the thigh cling block 2-3-3 at A4 through a rotation pair R, and is connected to the calf cling block 2-5-4 at B4 through a rotation pair R. The upper rod 2-4-1 and the lower rod 2-4-2 of 4C4B4 are connected by a moving pair C4, and the lower rod 2-4-2 of the branch chain A4C4B4 is installed with a servo motor 2-4-3. The servo motor 2-4-3 controls the extension and contraction of the branch chain A4C4B4 to make the thigh mechanism 2-3 and the calf mechanism 2-5 rotate around the knee joint structure 2-4 in multiple centers, so that the rotation center of the knee joint structure 2-4 of the rehabilitation mechanism 2 can coincide with the rotation center of the actual flexion and extension movement of the human knee joint. The ankle joint flexion and extension structure 2-6 is designed to set a rotational degree of freedom at the ankle joint to realize flexion and extension movement, that is, the calf mechanism 2-5 is connected to the foot pedal 2-7 by a rotating pair, and the relative rotation between the foot pedal and the calf is realized by the servo motor 2-6-1.

[0034] The binding mechanism 3 consists of a shoulder binding strap 3-1, a waist binding strap 3-2, a thigh binding strap 3-3 and a calf binding strap 3-4. One end of the shoulder binding strap 3-1 is fixed to the waist restraint device 1-1, the waist binding strap 3-2 is fixed to the waist restraint device 1-1, the thigh binding strap 3-3 is fixed to the hip joint mechanism branch chain three A3B3, and the calf binding strap 3-4 is fixed to the calf mechanism rod 2-5-2.

[0035] During rehabilitation exercises, the legs of the disabled lower limb patient and the rehabilitation mechanism 2 composed of two mechanical legs are fixed to each other through a flexible binding device 3, wherein the waist restraint device 1-1 is a part fixedly connected to the human waist, fixed to the human waist through a waist binding belt 3-2, and further fixed through a shoulder binding belt 3-1 to put the upper body of the human body in a stable state, the thigh part of the human body is fixed by a thigh binding belt 3-3, and the calf part is fixed by a calf binding belt 3-4 to put the lower body of the human body in a stable state, so as to achieve the purpose of putting the whole human body in a stable state; the clamping device 1-2 can slide within a certain range between the threaded rod 1-5 connected to the motor 1-4 to meet the needs of people of different body shapes, and the clamping and loosening of the clamping device 1-2 are controlled by the forward and reverse rotation of the motor; the function of the handrail 1-3 is to hold it by hand during the rehabilitation process to prevent loss of balance. During the rehabilitation process, the rehabilitation mechanism 2 composed of two mechanical legs drives the lower limbs of the human body to exercise to achieve the rehabilitation effect.

Claims

1. A lower limb rehabilitation robot, characterized in that: It comprises a support frame (1), a rehabilitation mechanism (2) and a binding mechanism (3), The support frame (1) is equipped with a waist restraint device (1-1), a clamping device (1-2), an armrest (1-3), a rotating motor (1-4), and a threaded rod (1-5) connected to the rotating motor (1-4); the waist restraint device (1-1) is installed in the middle of the support frame (1); the armrest (1-3) is installed in front of the waist restraint device (1-1); the clamping device (1-2) is installed on both sides of the waist restraint device (1-1); and the clamping device (1-3) is installed on the upper and lower sides of the waist restraint device (1-1). The end of the clamping device (1-2) is mounted on a threaded rod (1-5) connected to a motor (1-4), and the forward and reverse rotation of the motor can control the clamping device (1-2) to move left and right along the threaded rod (1-5), and the threaded rod (1-5) is mounted on a support frame (1); the rehabilitation mechanism (2) comprises two mechanical legs and a back frame (2-1), the back frame (2-1) is mounted on the support frame (1), the upper parts of the two mechanical legs are connected to the back frame (2-1), and the mechanical legs are wrapped The binding mechanism (3) comprises a hip joint mechanism (2-2), a thigh mechanism (2-3), a knee joint flexion and extension mechanism (2-4), a calf mechanism (2-5), an ankle joint flexion and extension mechanism (2-6) and a foot pedal (2-7); the thigh mechanism (2-3) is connected to the calf mechanism (2-5) via the knee joint flexion and extension mechanism (2-4); the foot pedal (2-7) is connected to the calf mechanism (2-5) via the ankle joint flexion and extension mechanism (2-6); the binding mechanism (3) comprises a shoulder binding belt (3-1 ), a waist binding belt (3-2), a thigh binding belt (3-3) and a calf binding belt (3-4), two shoulder binding belts (3-1) are provided, one end of the shoulder binding belt (3-1) is fixed to the waist restraint device (1-1); the two ends of the waist binding belt (3-2) are respectively fixed to the two sides of the waist restraint device (1-1), the thigh binding belt (3-3) is fixed to the thigh mechanism (2-3), and the calf binding belt (3-4) is fixed to the calf mechanism (2-5); The hip joint mechanism (2-2) comprises a triangular static platform, a dynamic platform and three branches, wherein branch one is A1C1B1, branch two is A2C2 B2, branch three is A3B3, the static platform is A1A2A3 and the dynamic platform is B1B2B3. The branch chain 1 includes an upper rod member I (2-2-1) and a lower rod member I (2-2-2), the upper rod member I (2-2-1) and the lower rod member I (2-2-2) are connected by a moving pair, the upper end of the branch chain 1 is connected to the static platform A1A2A3 through a universal joint, and the lower end of the branch chain 1 is connected to the dynamic platform B1B2B3 through a ball pair; The branch chain 2 includes an upper rod member II (2-2-3) and a lower rod member II (2-2-4), the upper rod member II (2-2-3) and the lower rod member II (2-2-4) are connected via a moving pair, the upper end of the branch chain 2 is connected to the static platform A1A2A3 via a universal joint, and the lower end of the branch chain 2 is connected to the dynamic platform B1B2B3 via a rotating pair; The upper end of branch chain 3 is connected to the static platform A1A2A3 through a ball pair, and the lower end of branch chain 3 is fixedly connected to the dynamic platform; A servo motor I (2-2-5) is installed on branch chain one, and a servo motor II (2-2-6) is installed on branch chain two. Servo motor I (2-2-5) controls the extension and retraction of branch chain one to achieve left and right swinging movement at the hip joint, and servo motor II (2-2-6) controls the extension and retraction of branch chain two to achieve forward and backward flexion and extension movement at the hip joint.

2. The lower limb rehabilitation robot according to claim 1, characterized in that: The thigh mechanism (2-3) comprises a rod I (2-3-1) and a rod II (2-3-2). Rod I (2-3-1) can be inserted into rod II (2-3-2), and rod I (2-3-1) is fixed at the bottom of the hip joint mechanism (2-2). Rod II (2-3-2) has two hexagonal threaded holes I (2-3-2-1) and hexagonal threaded holes II (2-3-2-2) on the side. Rod I (2-3-1) and rod II (2-3-2) can slide relative to each other, and rod I (2-3-1) and rod II (2-3-2) can be locked by two hexagonal screws through hexagonal threaded holes I (2-3-2-1) and hexagonal threaded holes II (2-3-2-2).

3. The lower limb rehabilitation robot according to claim 2, characterized in that: The calf mechanism (2-5) comprises a rod III (2-5-1), a rod IV (2-5-2) and a rod V (2-5-3). The rod III (2-5-1) and the rod V (2-5-3) are respectively arranged at the upper and lower ends of the rod IV (2-5-2) and can be inserted into the rod IV (2-5-2). The rod IV (2-5-2) has four hexagonal threaded holes III (2-5-2-1), a hexagonal threaded hole IV (2-5-2-2), a hexagonal threaded hole V (2-5-2-3) and a hexagonal threaded hole VI (2-5-2-3). 5-2-4), rod III (2-5-1) and rod V (2-5-3) can slide relative to rod IV (2-5-2), rod III (2-5-1) is locked and fixed with rod IV (2-5-2) by means of a hexagon socket screw passing through the hexagonal threaded hole III (2-5-2-1) and the hexagonal threaded hole IV (2-5-2-2), and rod V (2-5-3) is locked and fixed with rod IV (2-5-2) by means of a hexagon socket screw passing through the hexagonal threaded hole V (2-5-2-3) and the hexagonal threaded hole VI (2-5-2-4).

4. The lower limb rehabilitation robot according to claim 3, characterized in that: The knee joint flexion and extension mechanism (2-4) is a hexagonal structure in which six connecting rods are connected in pairs via a revolute pair; the hinges of the two upper connecting rods of the knee joint flexion and extension mechanism (2-4) are connected to the thigh rod (2-3-2) via a revolute pair; and the hinges of the two lower connecting rods of the knee joint flexion and extension mechanism (2-4) are connected to the calf rod (2-5-1) via a revolute pair.

5. The lower limb rehabilitation robot according to claim 4, characterized in that: A thigh close-fitting block (2-3-3) is fixed on the thigh rod (2-3-2), and a calf close-fitting block (2-5-4) is fixed on the calf rod (2-5-2). The thigh close-fitting block (2-3-3) and the calf close-fitting block (2-5-4) are connected via a branch chain 4. The branch chain 4 includes an upper rod III (2-4-1) and a lower rod III (2-4-2) connected via a moving pair. The upper end of the branch chain 4 is connected to the thigh close-fitting block (2-3-3) via a rotating pair. The lower end of the branch chain 4 is connected to the calf close-fitting block (2-5-4) via a rotating pair. A servo motor (2-4-3) is installed on the lower rod III (2-4-2) of the branch chain 4. The servo motor (2-4-3) controls the extension and retraction of the branch chain 4 to rotate the thigh mechanism (2-3) and the calf mechanism (2-5) around the knee joint flexion and extension mechanism (2-4).

6. The lower limb rehabilitation robot according to claim 5, characterized in that: The ankle joint flexion and extension mechanism (2-6) is a rotation pair between the calf mechanism (2-5) and the foot pedal (2-7) driven by a servo motor (2-6-1).

7. The lower limb rehabilitation robot according to claim 6, characterized in that: The waist restraint device (1-1) is provided with a rectangular groove I (1-1-1), a rectangular groove II (1-1-2), a rectangular groove III (1-1-3), a rectangular groove IV (1-1-4), a threaded hole I (1-1-5) and a threaded hole II (1-1-6); the rectangular groove I (1-1-1) and the rectangular groove II (1-1-2) are used to fix one end of the shoulder strap, the rectangular groove III (1-1-3) and the rectangular groove IV (1-1-4) are used to fix one end of the waist strap, and the threaded hole I (1-1-5) and the threaded hole II (1-1-6) are used to fix the waist restraint device on the support frame.

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