Ankle rehabilitation robot and rehabilitation system

Abstract

The application discloses an ankle joint rehabilitation robot and a rehabilitation system, the ankle joint rehabilitation robot comprising a pedal mechanism, the pedal mechanism comprising a moving component, a pedal and a mounting seat, the mounting seat being provided with a first driving device, the first driving device comprising a first driving shaft, the outer periphery of the first driving shaft being provided with a first gear, the moving component being provided with a first rack in mesh with the first gear, the moving component being provided with a second driving device, the second driving device comprising a second driving shaft, the top of the second driving shaft being fixedly connected with the bottom of the pedal, the bottom of the pedal being provided with a third driving device, the third driving device comprising a third driving shaft, the outer periphery of the third driving shaft being provided with a second gear, the bottom of the pedal being fixedly connected with a second rack in mesh with the second gear, the rehabilitation system being composed of the rehabilitation robot, human-computer interaction and electromyographic acquisition devices, supporting multi-posture rehabilitation of patients, and solving the problems of limited use environment and function of the ankle joint rehabilitation robot and low participation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to an ankle rehabilitation robot and a rehabilitation system. BACKGROUND

[0002] Neurological diseases such as stroke and spinal cord injury can affect the central nervous system of a person, leading to motor dysfunction, among which the proportion of patients with lower limb motor dysfunction after stroke is as high as 50%, which has a long-term impact on basic daily living ability. Among them, the ankle joint is one of the main joints that bear the movement of the lower limbs of the human body, and improving its muscle strength, joint range of motion and coordination is one of the key factors for regaining independent and safe mobility. Using a rehabilitation robot can help patients perform repetitive and intensive mobility training tasks (such as isokinetic training that cannot be achieved by hand rehabilitation training), compared with artificial treatment, the rehabilitation robot reduces the requirement for therapist skills, reduces the labor cost, and enhances the effect of rehabilitation training, but the existing platform type ankle rehabilitation robot has limited support for rehabilitation posture, and the use of patients in certain scenarios (such as lying in bed) is limited. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art, and provides an ankle rehabilitation robot and a rehabilitation system, wherein the ankle rehabilitation robot can support the rehabilitation training of the ankle joint of the patient in multiple modes and multiple postures / positions; the rehabilitation system provides a guided feedback rehabilitation training platform for the patient, and controls the ankle rehabilitation robot to perform matched rehabilitation training on the patient through the surface electromyogram signal collected by the electromyogram acquisition device.

[0004] The technical solution adopted by the present application to solve its technical problems is:

[0005] An ankle rehabilitation robot, comprising a pedal mechanism, the pedal mechanism comprising a moving component, a pedal for fixing a foot of a patient, and a mounting seat capable of moving along the length direction of the pedal, a first driving device is arranged on the mounting seat, the first driving device comprising a first driving shaft, a first gear for driving the moving component to swing is arranged on the outer periphery of the first driving shaft, a first rack meshing with the first gear is arranged on the moving component, a second driving device is arranged on the moving component, the second driving device comprising a second driving shaft arranged in the height direction, the top of the second driving shaft is fixedly connected with the bottom of the pedal, a third driving device is arranged on the bottom of the pedal, the third driving device comprising a third driving shaft capable of driving the pedal to turn in and out, a second gear is arranged on the outer periphery of the third driving shaft, the bottom of the pedal is fixedly connected with a second rack meshing with the second gear, the second rack is arranged along the width direction of the pedal, and the first rack and the second rack are both arc-shaped.

[0006] Preferably, the second driving device comprises a direct-current speed reducer motor connected with the second driving shaft, a torque sensor is arranged between the second driving shaft and the pedal, the torque sensor is connected with the second driving shaft through a flange, and a first limiting part for limiting the rotation angle of the pedal is arranged on the moving part.

[0007] Preferably, a support plate for mounting the second rack is arranged at the bottom of the pedal, the torque sensor, the support plate and the third driving device are sequentially arranged along the length direction of the pedal, and the third driving device is rotatably connected with the support plate through a bearing.

[0008] Preferably, a fourth driving device is arranged on the mounting seat, the fourth driving device comprises a fourth driving shaft, a third gear is sleeved on the outer periphery of the fourth driving shaft, a base is arranged below the mounting seat, and a third rack meshing with the third gear is arranged on the base.

[0009] Preferably, the first driving device is located above the fourth driving device, and a support frame for mounting the first driving device is arranged on the mounting seat.

[0010] Preferably, a connecting seat is arranged between the moving part and the base, the first rack is arranged on the inner side of the moving part, the inner side and the outer side of the moving part are both provided with a sliding groove, the two sides of the connecting seat are both provided with a limiting sliding rod for penetrating through the sliding groove, the sliding groove is arranged along the movement path of the moving part, and the moving part is slidably connected with the connecting seat.

[0011] Preferably, a first guide rail and a second guide rail are arranged on the base, the mounting seat comprises an L-shaped sliding block matched with the first guide rail, the bottom of the connecting seat is provided with a guide groove matched with the second guide rail, and the second guide rail is located on the inner side of the first guide rail.

[0012] Preferably, the third rack, the first guide rail and the second guide rail are all arranged along the width direction of the base, two pedal mechanisms are symmetrically arranged along the length direction of the base, a second limiting part for limiting the movement range of the mounting seat is arranged on the base, a universal wheel and a support are arranged at the bottom of the base, and the universal wheel and the support are staggered.

[0013] Preferably, a movement compensation device is arranged on the base, the movement compensation device is connected with the first driving device, the second driving device, the third driving device and the fourth driving device, a support platform is arranged between the two moving parts, the support platform is arranged above the first driving device and the fourth driving device, the movement compensation device is mounted on the support platform, and a power battery is further arranged on the support platform.

[0014] A rehabilitation system, comprising a human-computer interaction device, an electromyography collection device and the ankle rehabilitation robot described above, the human-computer interaction device is connected with the ankle rehabilitation robot, guiding the patient to make the correct action, and guiding the ankle rehabilitation robot to recover the action, the ankle rehabilitation robot transmits the movement to the human-computer interaction device, so that the human-computer interaction device can issue corresponding instructions, the electromyography collection device is connected with the ankle rehabilitation robot, so as to collect the movement of the patient in the rehabilitation training process, the electromyography collection device is connected with the human-computer interaction device, and the electromyography collection device transmits the movement data to the human-computer interaction device, so that the human-computer interaction device can make matching instructions

[0015] The above technical scheme has at least one of the following advantages or beneficial effects: the rehabilitation robot has four degrees of freedom, the mounting seat can move along the length direction of the pedal, the first driving device drives the moving part through the first gear and the first rack, the horizontal posture of the pedal is adjusted, the second driving device drives the pedal to rotate in the horizontal direction through the second driving shaft, the horizontal posture is adjusted, the third driving device drives the pedal to return and supinate through the second gear and the second rack, and the patient can adjust the movement angle, the ankle rehabilitation robot is designed through the gear and the rack, the structure is more compact, the patient can perform movement rehabilitation by fixing the foot on the pedal, the use is convenient, the ankle rehabilitation robot supports the rehabilitation training of multiple modes and multiple postures / positions of the patient and the muscle strength rehabilitation of multiple stages, and the rehabilitation system using the ankle rehabilitation robot can support the ankle rehabilitation training of the stroke patient in multiple scenes.

[0016] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, in which:

[0018] Figure 1 is one of the structure schematic diagrams of an embodiment of the ankle rehabilitation robot of the present application;

[0019] Figure 2 is one of the partial structure schematic diagrams of an embodiment of the ankle rehabilitation robot of the present application;

[0020] Figure 3 is the second partial structure schematic diagram of an embodiment of the ankle rehabilitation robot of the present application;

[0021] Figure 4 This is a partial structural schematic diagram of one embodiment of the ankle joint rehabilitation robot of the present invention;

[0022] Figure 5 This is a partial structural schematic diagram of one embodiment of the ankle joint rehabilitation robot of the present invention;

[0023] Figure 6 This is a second schematic diagram of the structure of an embodiment of the ankle joint rehabilitation robot of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of one embodiment of the rehabilitation system of the present invention;

[0025] Figure 8 This is a control flowchart of the human-computer interaction device in this invention. Detailed Implementation

[0026] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0027] In this invention, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this invention, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0028] In this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number. In the description of this invention, the terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0029] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention based on the specific content of the technical solution.

[0030] in,Figure 1 , Figure 2 and Figure 5 Reference direction coordinate system of the embodiment of the present application is given, the embodiment of the present application is described below in combination with the direction shown in Figure 1 , Figure 2 and Figure 5 .

[0031] The embodiment of the present application provides a kind of ankle rehabilitation robot, including pedal mechanism, refer to Figure 1 , pedal mechanism includes moving part 200, the pedal 300 for fixing patient foot and the mounting seat 100 capable of moving along the length direction of pedal 300, refer to Figure 2 , mounting seat 100 is equipped with first driving device 110, first driving device 110 includes first driving shaft 111, the outer periphery of first driving shaft 111 is equipped with first gear 120 for driving moving part 200 swing, moving part 200 is equipped with the first rack 210 meshing with first gear 120, refer to Figure 3 , moving part 200 is equipped with second driving device 220, second driving device 220 includes the second driving shaft 221 being arranged along height direction, in combination with Figure 4The top of the second driving shaft 221 is fixedly connected with the bottom of the pedal 300, the bottom of the pedal 300 is provided with a third driving device 310, the third driving device 310 comprises a third driving shaft 311 capable of driving the pedal 300 to turn inside and outside, the outer periphery of the third driving shaft 311 is provided with a second gear 320, the bottom of the pedal 300 is fixedly connected with a second rack 330 engaged with the second gear 320, the second rack 330 is arranged along the width direction of the pedal 300, the first rack 210 and the second rack 330 are both arc-shaped, preferably, the rotation center of the first rack 210, the rotation center of the second rack 300 and the rotation center of the second driving shaft 221 intersect at a point, so that the pedal mechanism has a movement effect similar to a spherical joint, the rehabilitation robot has four degrees of freedom, the mounting seat 100 can move along the length direction of the pedal 300, so that the pedal mechanism can be moved to a suitable position, the first driving device 110 drives the moving part through the first gear 120 and the first rack 210 engaged with each other, so as to adjust the horizontal posture of the pedal, the second driving device 220 drives the pedal 300 to rotate in the horizontal direction through the second driving shaft 221, so as to adjust the horizontal posture, the third driving device 310 drives the pedal 300 to turn inside and outside through the second gear 320 and the second rack 330 engaged with each other, so as to support the patient to adjust the movement angle, the ankle rehabilitation robot is designed through the gear and the rack, so that the structure is more compact, the patient can perform movement rehabilitation by fixing the foot on the pedal 300, the use is convenient, the ankle rehabilitation robot supports the rehabilitation training of multiple modes and multiple postures / positions of the patient and the muscle strength rehabilitation of multiple stages, and can provide support for the ankle rehabilitation training of multiple scenes of the patient with stroke.

[0032] In some embodiments, referring to Figure 3 The second driving device 220 comprises a DC speed reduction motor connected with the second driving shaft 221, in combination with Figure 4 The second driving shaft 221 is provided with a torque sensor 230 between the second driving shaft 221 and the pedal 300, referring to Figure 3 The torque sensor 230 is connected with the second driving shaft 221 through a flange, the moving part 200 is provided with a first limiting part 240 for limiting the rotation angle of the pedal 300, and the first limiting part 240 is used for ensuring the safety of the patient.

[0033] As a preferred embodiment of the present application, referring to Figure 4The bottom of the pedal 300 is provided with a support plate 340 for mounting the second rack 330, the torque sensor 230, the support plate 340 and the third driving device 310 are sequentially arranged along the length direction of the pedal 300, the third driving device 310 is rotationally connected with the support plate 340 through a bearing to reduce the friction force, the pedal 300 is used to fix the ankle and foot of the patient, and the rotation center of the ankle and foot joint of the patient can be guaranteed to stably follow the rotation center of the movement executor mechanism of the rehabilitation robot, and the less human-machine contact area can guarantee the comfort of the patient to a certain extent.

[0034] Referring to Figure 2 The mounting seat 100 is provided with a fourth driving device 130, the fourth driving device 130 comprises a fourth driving shaft 131, the outer periphery of the fourth driving shaft 131 is sleeved with a third gear 140, referring to Figure 1 The bottom of the mounting seat 100 is provided with a base 400, and the base 400 is provided with a third rack 410 engaged with the third gear 140.

[0035] As a preferred embodiment of the present application, referring to Figure 1 The first driving device 110 is located above the fourth driving device 130, and the mounting seat 100 is provided with a support frame 112 for mounting the first driving device 110.

[0036] In some embodiments, referring to Figure 1 The movement component 200 and the base 400 are provided with a connecting seat 500, referring to Figure 2 The first rack 210 is arranged on the inner side of the movement component 200, and the inner side and the outer side of the movement component 200 are provided with sliding grooves 250, the two sides of the connecting seat 500 are provided with limiting sliding rods 510 for penetrating through the sliding grooves 250, the limiting sliding rods 510 are used to guarantee the safety of the patient in use, the sliding grooves 250 are arranged along the movement path of the movement component 200, the movement component 200 is slidingly connected with the connecting seat 500, preferably, the first driving shaft 111 and the first gear 120 are provided with a shaft coupling, and the connecting seat 500 is provided with a third limiting component for limiting the movement range of the first gear 120.

[0037] Referring to Figure 5 The base 400 is provided with a first guide rail 420 and a second guide rail 430, in combination with Figure 1 The mounting seat 100 comprises an L-shaped sliding block 150 matched with the first guide rail 420, and the bottom of the connecting seat 500 is provided with a guide groove 520 matched with the second guide rail 430, the second guide rail 430 is located on the inner side of the first guide rail 420, so as to guide the movement of the mounting seat 100 and the connecting seat 500 on the base 400.

[0038] Referring to Figure 5The third rack 410, the first guide rail 420 and the second guide rail 430 are arranged along the width direction of the base 400, and the two pedal mechanisms are symmetrically arranged along the length direction of the base 400, so that the ankle rehabilitation robot has the characteristics of bilateral symmetry and compactness in structure. Figure 6 The bilateral symmetric mechanical structure ensures that patients with hemiplegia on different sides can receive rehabilitation training support on the ankle rehabilitation robot, and can perform bilateral cooperative rehabilitation to ensure bilateral muscle balance, and support unilateral rehabilitation of patients with hemiplegia on different sides. The bilateral symmetric structure is convenient for control. The base 400 is provided with a second limiting component 421 for limiting the movement range of the mounting seat 100. The second limiting component 421 is used to ensure the safety of the patient. The bottom of the base 400 is provided with universal wheels 440 and supports 450. The universal wheels 440 and the supports 450 are arranged staggered. The universal wheels 440 and the supports 450 facilitate the angle and position adjustment of the ankle rehabilitation robot, and facilitate the support of the patient to perform ankle rehabilitation training.

[0039] As a preferred embodiment of the present application, in some embodiments, the base 400 is provided with a motion compensation device connected with the first driving device 110, the second driving device 220, the third driving device 310 and the fourth driving device 130. A support platform 460 is arranged between the two motion components 200. Referring to Figure 5 The support platform 460 is arranged above the first driving device 110 and the fourth driving device 130. The motion compensation device is installed on the support platform 460. The ankle rehabilitation robot can completely guide the motion of the motion compensation device. Bilateral cooperative rehabilitation training, i.e. driving the affected side by the healthy side, is performed by the healthy side to drive the affected side for rehabilitation training. Active rehabilitation training, i.e. the patient independently completes the motion. The support platform 460 is also provided with a power battery. The elements with bearing or strength requirements in the ankle rehabilitation robot are processed by CNC, which is a steel structure. In order to reduce the overall weight of the robot, the support platform 460 is designed with double layers, and the acrylic plate is used as the fixed bottom plate, and the solid wood plate is used as the support bottom plate.

[0040] The ankle rehabilitation robot has the most compact structure supporting multifunctional ankle rehabilitation. The various devices are connected to each other, and the overall height is about 30cm lower than that of the parallel type rehabilitation robot such as Stewart structure.

[0041] Preferably, the motion compensation device is controlled by a vector control algorithm (FOC). The vector control algorithm has the characteristics of high dynamic response, torque stability and efficiency when controlling the brushless motor, and can ensure the compliance of the control to a certain extent. One of the important rehabilitation training functions of the ankle rehabilitation robot is to guide the patient's limbs to move. Based on the bilateral symmetry structure of the ankle rehabilitation robot and the vector control, the ankle rehabilitation robot can realize passive rehabilitation training completely dragged by the robot, bilateral cooperative rehabilitation training of the healthy side driving the affected side for rehabilitation, and active rehabilitation training completely completed by the patient independently. Specifically, the vector control is composed of three independent control closed loop levels. From the inside to the outside, they are current loop, speed loop and position loop, so that the torque, speed and position of the brushless DC motor can be adjusted. The main steps of the current loop control in the innermost vector control include: collecting the three-phase currents ia, ib and ic of the motor as feedback information by using the current sensing amplifier; converting the three-phase current with a phase difference of 120 degrees into two-phase current in the rectangular coordinate system by Clarke transformation, and formula (1) shows the conversion process of Clarke transformation ：

[0042]

[0043] The parameter k allows the conversion to be changed to realize equal-amplitude conversion and equal-power conversion. The dynamic two-phase current is converted into static two-phase current by Park transformation, and formula (2) is the conversion step of Park transformation:

[0044]

[0045] Wherein θ is the motor rotor angle information obtained through the sensor; the difference between iq and id and the set two-phase current iqref and idref is calculated, wherein iqref is not required and needs to be controlled to 0 as much as possible; the calculated error is obtained by the PID controller to obtain the output control voltage Uq and Ud; the direct current voltage Uq and Ud are converted into alternating current voltage Uα and Uβ by Park inverse transformation; finally, according to Uα and Uβ, the voltage space vector is synthesized, the real-time three half-bridge state code value is output by using the space vector modulator (SVPWM), the six power switching elements of the three-phase power inverter are controlled to generate pulse width modulation wave, and the output voltage waveform is ensured to be as close to the ideal sine waveform as possible, so as to control the motion error of the ankle rehabilitation robot.

[0046] The embodiment of the application also relates to a rehabilitation system, see Figure 7, including a human-computer interaction device, an electromyography collection device, and the ankle joint rehabilitation robot in the above embodiment, the human-computer interaction device is connected with the ankle joint rehabilitation robot, guides the patient to make correct actions, and guides the ankle joint rehabilitation robot to make rehabilitation actions, the ankle joint rehabilitation robot transmits the movement to the human-computer interaction device, so that the human-computer interaction device can issue corresponding instructions, the electromyography collection device is connected with the ankle joint rehabilitation robot, to collect the movement of the patient in the rehabilitation training process, the electromyography collection device is connected with the human-computer interaction device, the electromyography collection device transmits the movement data to the human-computer interaction device, so that the human-computer interaction device can make matching instructions, specifically, the control flowchart of the human-computer interaction device is shown in Figure 8 The human-computer interaction device is a program based on a computer, the program is designed based on Unity, and contains a virtual robot model, a rehabilitation guiding program, and a serial communication module. The computer is connected with the rehabilitation robot through a serial port, acquires surface electromyography and torque signals collected by the rehabilitation robot, and then controls the rehabilitation robot to perform rehabilitation training on the patient. The rehabilitation system provides a visual guiding feedback rehabilitation training platform for the patient, and controls the ankle joint rehabilitation robot to perform matching rehabilitation training on the patient through the thigh surface electromyography signals collected by the electromyography collection device. The rehabilitation system uses a self-developed patented technology: CN114722863A, a multi-angle continuous prediction method, system, device, and storage medium for an ankle joint, which are used in cooperation.

[0047] The surface electromyography collection device uses six channels to collect muscles participating in ankle joint movement of the lower limbs at a moment, collects surface electromyography signals of the movement muscle group corresponding to ankle joint movement of the patient at a moment, combines movement torque signals acquired by the torque sensor on the robot, transmits the signals to the human-computer interaction device through a serial port, analyzes the signals, and then matches corresponding control signals to guide the patient to complete appropriate rehabilitation training.

[0048] The ankle joint rehabilitation robot supports three rehabilitation training modes: passive rehabilitation training, cooperative rehabilitation training, and active rehabilitation training. The passive rehabilitation training is rehabilitation training of the ankle joint of the patient completely guided by the rehabilitation robot. The cooperative rehabilitation training is same-direction or mirror-image rehabilitation training of the affected side end guided by the healthy side end of the patient, which is realized through a bilateral symmetric structure. The active rehabilitation training is rehabilitation training of the ankle joint rehabilitation robot independently operated by the patient, and the robot can provide certain resistance to realize resistance training.

[0049] In the description of the specification, reference to terms such as "the example", "an embodiment", or "some embodiments" or the like is meant to refer to specific features, structures, materials, or characteristics that are included in at least one embodiment of the present application. Descriptions of the above terms are illustrative and are not necessarily meant to refer to the same embodiment or example. Also, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0050] Of course, the present application is not limited to the embodiments described above, and those skilled in the art can make equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. An ankle rehabilitation robot characterized by: The pedal mechanism comprises a moving component, a pedal for fixing a patient's foot, and a mounting seat capable of moving along the length direction of the pedal, wherein the mounting seat is provided with a first driving device, the first driving device comprises a first driving shaft, the outer periphery of the first driving shaft is provided with a first gear for driving the moving component to swing, the moving component is provided with a first rack engaged with the first gear, the moving component is provided with a second driving device, the second driving device comprises a second driving shaft arranged along the height direction, the top of the second driving shaft is fixedly connected with the bottom of the pedal, the bottom of the pedal is provided with a third driving device, the third driving device comprises a third driving shaft capable of driving the pedal to turn in and out, the outer periphery of the third driving shaft is provided with a second gear, the bottom of the pedal is fixedly connected with a second rack engaged with the second gear, the second rack is arranged along the width direction of the pedal, the first rack and the second rack are both arc-shaped, the mounting seat is provided with a fourth driving device, the fourth driving device comprises a fourth driving shaft, the outer periphery of the fourth driving shaft is provided with a third gear, the bottom of the base is provided with a third rack engaged with the third gear, the bottom of the base is provided with a universal wheel and a support.

2. The ankle rehabilitation robot according to claim 1, characterized in that: The second driving device comprises a DC speed reducer connected with the second driving shaft, a torque sensor is arranged between the second driving shaft and the pedal, the torque sensor is connected with the second driving shaft through a flange, and the moving component is provided with a first limiting component for limiting the rotation angle of the pedal.

3. The ankle rehabilitation robot according to claim 2, characterized in that: The bottom of the pedal is provided with a support plate for mounting the second rack, the torque sensor, the support plate and the third driving device are sequentially arranged along the length direction of the pedal, and the third driving device is rotatably connected with the support plate through a bearing.

4. The ankle rehabilitation robot according to claim 1, characterized in that: The first driving device is located above the fourth driving device, and the mounting seat is provided with a support frame for mounting the first driving device.

5. The ankle rehabilitation robot according to claim 4, characterized in that: A connecting seat is arranged between the moving component and the base, the first rack is arranged on the inner side of the moving component, the inner side and the outer side of the moving component are both provided with a sliding groove, the two sides of the connecting seat are both provided with a limiting sliding rod for penetrating through the sliding groove, the sliding groove is arranged along the movement path of the moving component, and the moving component is slidably connected with the connecting seat.

6. The ankle rehabilitation robot according to claim 5, characterized in that: The base is provided with a first guide rail and a second guide rail, the mounting seat comprises an L-shaped sliding block matched with the first guide rail, the bottom of the connecting seat is provided with a guide groove matched with the second guide rail, and the second guide rail is located on the inner side of the first guide rail.

7. The ankle rehabilitation robot according to claim 6, characterized in that: The third rack, the first guide rail and the second guide rail are all arranged along the width direction of the base, two pedal mechanisms are symmetrically arranged along the length direction of the base, the base is provided with a second limiting component for limiting the movement range of the mounting seat, and the universal wheel and the support are staggered.

8. The ankle rehabilitation robot according to claim 7, wherein: The base is provided with a motion compensation device, the motion compensation device is connected with the first driving device, the second driving device, the third driving device and the fourth driving device, two motion parts are provided with a support platform, the support platform is arranged above the first driving device and the fourth driving device, the motion compensation device is installed on the support platform, and a power battery is further arranged on the support platform.

9. A rehabilitation system characterized by: The ankle joint rehabilitation robot comprises a human-computer interaction device, an electromyography collection device and the ankle joint rehabilitation robot in claim 8, the human-computer interaction device is connected with the ankle joint rehabilitation robot, guides the patient to make correct actions, and guides the ankle joint rehabilitation robot to make rehabilitation actions, the ankle joint rehabilitation robot transmits motions to the human-computer interaction device, so that the human-computer interaction device can send corresponding instructions, the electromyography collection device is connected with the ankle joint rehabilitation robot, so as to collect motions in a rehabilitation training process of the patient, the electromyography collection device is connected with the human-computer interaction device, the electromyography collection device transmits motion data to the human-computer interaction device, so that the human-computer interaction device can make matching instructions.

Images