Knee joint exoskeleton rehabilitation device

Abstract

The application discloses a knee joint exoskeleton rehabilitation device, which comprises a seat plate and a frame structure arranged at the front end of the seat plate; the front end of the seat plate is further provided with a knee joint exoskeleton support structure, and the knee joint exoskeleton support structure is arranged in the frame structure and is used for active and passive knee joint rehabilitation actions of a patient. The knee joint exoskeleton support structure can adjust the rehabilitation training mode according to the rehabilitation state of the patient, namely, a lying, sitting, standing and walking integrated knee joint rehabilitation training tool is provided. The knee joint exoskeleton support structure can adjust the rehabilitation training mode according to the rehabilitation state of the patient, namely, a lying, sitting, standing and walking integrated knee joint rehabilitation training tool is provided, and the multi-functionality of rehabilitation and rest is realized.

Description

Technical Field

[0001] This invention relates to the field of knee exoskeleton technology, specifically to a knee exoskeleton rehabilitation device. Background Technology

[0002] Currently, knee exoskeletons can help frail elderly people walk and assist rehabilitation patients with their training. Existing knee exoskeletons consist of a fixation unit and a support unit. The fixation unit is used to secure the device to the leg, while the support unit is located on the side of the leg and provides support to the body.

[0003] However, in practice, knee exoskeleton rehabilitation devices have a simple structure, low practicality, and lack recreational functions, so they cannot be used for both rehabilitation and rest. Summary of the Invention

[0004] The purpose of this invention is to provide a knee joint exoskeleton rehabilitation device. Through the designed knee joint exoskeleton support structure, the rehabilitation training mode can be adjusted according to the patient's rehabilitation status. That is, it provides a knee joint rehabilitation training tool that integrates lying, sitting, standing and walking, realizing the versatility of rehabilitation and rest.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a knee joint exoskeleton rehabilitation device, comprising: a seat plate, and a frame structure disposed at the front end of the seat plate; the front end of the seat plate is further provided with a knee joint exoskeleton support structure, and the knee joint exoskeleton support structure is disposed inside the frame structure for active and passive knee joint rehabilitation movements of the patient; when the frame structure and the seat plate are placed horizontally, the patient is in a supine and relaxed state, and the knee joint exoskeleton support structure is used to support the patient's knee joint; when the frame structure and the seat plate are placed vertically, the patient is in a standing and knee flexion training state, and the knee joint exoskeleton support structure is used for auxiliary guidance of the patient's knee joint.

[0006] Preferably, the knee exoskeleton support structure includes two sets of auxiliary support assemblies for supporting the patient's knees. Each set of auxiliary support assemblies includes a connector and a movable seat rotatably connected to the connector. It also includes extension frames fixed to both sides of the movable seat, with mounting blocks fixed to opposite faces of the extension frames. Each mounting block is rotatably connected to a second transmission rod via a first pin, and mounting shafts are rotatably connected to opposite faces of the two ends of the second transmission rod. A first transmission sprocket and a second transmission sprocket are fixed to the two mounting shafts. The structure also includes a transmission chain belt sleeved on the first and second transmission sprockets for supporting the patient's thighs; connecting plates fixed to both sides of the second transmission sprocket, with the mounting shaft of the second transmission sprocket passing through a through groove in the connecting plate; a support plate fixed to the upper surface of the connecting plate for supporting the patient's lower legs; a linkage drive mechanism on the extension frames for adjusting the curvature of the transmission chain belt and the support plate; and a second motor mounted on the side wall of the connector, with its output end passing through the connector and fixedly connected to the movable seat to provide power for the rotation of the movable seat.

[0007] Preferably, the linkage drive mechanism is provided in two sets. Each set of linkage drive mechanism includes a power telescopic rod, which is fixed to the side wall of the mounting block, and a mounting member disposed at the output end of the power telescopic rod. A first transmission rod is rotatably mounted on the mounting member, and the end of the first transmission rod away from the mounting member is fixed to the end of the mounting shaft where the first transmission sprocket is located. It also includes a connecting block disposed on the other side of the mounting member, and the connecting block can move inside the connecting groove opened on the extension frame.

[0008] Preferably, one of the extension frames is also provided with a scale and a pointer fixed to the outer wall of the connecting block on that side, for measuring the extension and retraction of the power telescopic rod, and thus measuring the bending degree of the conveyor belt and the support plate.

[0009] Preferably, an angle sensor is also provided between the second transmission sprocket and its mounting shaft.

[0010] Preferably, the straps respectively disposed on both sides of the second transmission rod and the connecting plate are used for limiting and fixing the patient's thigh and calf.

[0011] Preferably, the frame structure includes a support frame slidably mounted on both sides of the seat plate, and two wheels rotatably connected to each support frame, with a braking structure inside the wheel for locking the wheel; it also includes a fastening assembly disposed between the support frame and the seat plate for locking the support frame after it moves.

[0012] Preferably, the frame structure is further provided with a support rod structure and a pressing assembly disposed on the support rod structure for releasing and massaging the knee; the pressing assembly includes a rotating sleeve that limits rotation on the support rod structure, and an extension plate fixed to the side wall of the rotating sleeve, and also includes a drive rod and a second pin rotatably connected to the extension plate, with a limiting post rotatably connected to the end of the drive rod away from the extension plate; two arc-shaped parts are fixed on the second pin, and each arc-shaped part has an arc-shaped groove, the limiting post can pass through the two arc-shaped grooves and is fixed with a massage roller, and the massage roller is placed in the middle of the two arc-shaped parts; it also includes a first motor disposed on the extension plate, and the output end of the first motor passes through a through hole opened on the extension plate and is fixedly connected to the drive rod.

[0013] Preferably, the support rod structure is provided in two sets. Each set of support rod structures includes a support column, which is slidably installed on the end of the support frame near the seat plate and locked to the support frame by a locking component; a mounting sleeve fixed to the top of the support column; a support rod slidably installed on the mounting sleeve; a pressing component is provided on the support rod, which acts as a support crank when the support rod is in a vertical state; a support head fixed to one end of the support rod for supporting the support rod; and a handle fixed to the other end of the support rod, with a spring provided between the handle and the mounting sleeve, and the spring sleeved on the outer wall of the support rod for resetting the support rod.

[0014] Preferably, the rear end of the seat plate is rotatably connected to a connecting shaft and a backrest fixed on the connecting shaft for back support of the patient; the side wall of the seat plate is also provided with a third motor to provide power for adjusting the tilt of the backrest.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. Through the designed knee joint exoskeleton support structure, the rehabilitation training mode can be adjusted according to the patient's rehabilitation status, thus providing a knee joint rehabilitation training tool that integrates lying, sitting, standing, and walking, achieving versatility for rehabilitation and rest.

[0017] 2. This invention, through the structural design of the knee joint exoskeleton support structure, can detect the active or passive range of motion of the patient's knee joint, and the detection values ​​are accurate, so that medical staff can more intuitively and accurately understand the patient's recovery level and update the training plan in a timely manner. In addition, the device can enable patients to perform active and passive training to increase the patient's range of motion. Attached Figure Description

[0018] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0019] Figure 2 for Figure 1 A second-view 3D structural diagram;

[0020] Figure 3 for Figure 1 A schematic diagram of the side view structure;

[0021] Figure 4 for Figure 1 Front view structural diagram;

[0022] Figure 5 This is a schematic diagram of the structure of the present invention in its vertical state;

[0023] Figure 6 for Figure 5 A schematic diagram of the rear view structure;

[0024] Figure 7 This is a partially enlarged schematic diagram of the linkage drive mechanism;

[0025] Figure 8 This is a partially enlarged schematic diagram of the pressing component;

[0026] Figure 9 for Figure 2 A partially enlarged structural diagram.

[0027] In the diagram: 1. Seat plate; 2. Handle; 3. Spring; 5. Support rod; 6. Mounting sleeve; 7. First locking bolt; 8. Rotating sleeve; 9. Support head; 10. First motor; 11. Drive rod; 12. Massage roller; 13. Arc pressing component; 14. Arc groove; 15. Support frame; 16. Slide groove; 17. Wheel body; 18. Third motor; 19. Backrest; 20. Slide column; 21. Second locking bolt; 22. Second motor; 23. Connecting... 24. Connecting component; 25. Movable seat; 26. Extension frame; 27. Support plate; 28. Connecting plate; 29. ​​Strap; 30. Connecting block; 31. Connecting groove; 32. Power telescopic rod; 33. Mounting block; 34. Conveyor chain; 35. First transmission sprocket; 36. First transmission rod; 37. Second transmission sprocket; 39. Scale; 40. Support column; 41. Extension plate; 42. Connecting shaft; 43. Second transmission rod; 44. Limiting post. Detailed Implementation

[0028] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings.

[0029] Example 1

[0030] Please see Figures 1 to 9 The present invention preferably provides the following technical solution: a knee joint exoskeleton rehabilitation device, comprising: a seat plate 1, and a frame structure disposed at the front end of the seat plate 1; the front end of the seat plate 1 is further provided with a knee joint exoskeleton support structure, and the knee joint exoskeleton support structure is disposed inside the frame structure for active and passive knee joint rehabilitation movements of the patient; when the frame structure and the seat plate 1 are placed horizontally, the patient is in a supine and relaxed state, and the knee joint exoskeleton support structure is used to support the patient's knee joint; when the frame structure and the seat plate 1 are placed vertically, the patient is in a standing and knee flexion training state, and the knee joint exoskeleton support structure is used to assist and guide the patient's knee joint.

[0031] In this embodiment, such as Figure 1 , 2 As shown in Figures 5 and 6, the designed knee exoskeleton support structure allows for both active and passive rehabilitation training of the patient's knees. Due to the structure's design, the patient's active and passive knee joint range of motion can be precisely measured, providing medical staff with a more intuitive and accurate understanding of the patient's recovery progress and enabling timely updates to the training plan. Furthermore, the device allows patients to perform both active and passive training to increase their range of motion. As rehabilitation progresses, after seated training, once the patient's knee joint range of motion and stability have reached the standard for standing training, the device can be adjusted to a vertical position. Figure 6 As shown in the diagram, the device provides support for the patient's standing posture, enabling alternating support training with the left and right legs, as well as subsequent upright walking training. Through its designed knee exoskeleton support structure, the device can adjust the rehabilitation training mode according to the patient's recovery status, providing a knee joint rehabilitation training tool that integrates lying, sitting, standing, and walking. Furthermore, the structural characteristics of the knee exoskeleton support structure allow for more precise measurement of the patient's active and passive knee joint range of motion, enabling medical staff to more intuitively and accurately understand the patient's recovery progress and reducing the workload of staff.

[0032] Furthermore, the knee exoskeleton support structure includes two sets of auxiliary support assemblies for supporting the patient's knees; each set of auxiliary support assemblies includes a connector 23, a movable seat 24 rotatably connected to the connector 23, and an extension frame 25 fixed to both sides of the movable seat 24. Mounting blocks 32 are also fixed to opposite faces of the extension frames 25, and each mounting block 32 is rotatably connected to a second transmission rod 43 via a first pin, and mounting shafts are rotatably connected to opposite faces of both ends of the second transmission rod 43. A first transmission sprocket 34 and a second transmission sprocket 37 are fixed to the two mounting shafts, and a mounting shaft is also sleeved on the first transmission sprocket 34 and the second transmission sprocket 37. The transmission chain 33 on the second transmission sprocket 37 is used to support the patient's thigh; and the connecting plates 27 are fixed on both sides of the second transmission sprocket 37, with the mounting shaft of the second transmission sprocket 37 passing through the through groove of the connecting plate 27; it also includes a support plate 26 fixed on the upper surface of the connecting plate 27 for supporting the patient's lower leg; and a linkage drive mechanism set on the extension frame 25 for adjusting the curvature of the transmission chain 33 and the support plate 26; and a second motor 22 set on the side wall of the connector 23, with the output end of the second motor 22 passing through the connector 23 and fixedly connected to the movable seat 24 to provide power for the rotation of the movable seat 24.

[0033] like Figure 9 As shown, the movable seat 24 is rotatably connected to the connector 23, and the extension frames 25 on both sides of the movable seat 24 are fixed with mounting blocks 32. The mounting blocks 32 are rotatably connected with the second transmission rod 43. The mounting shafts at both ends of the second transmission rod 43 are respectively fixed with the first transmission sprocket 34 and the second transmission sprocket 37, and the transmission chain belt 33 sleeved on the first transmission sprocket 34 and the second transmission sprocket 37 for supporting the patient's thigh. The second transmission sprocket 37 is fixed with the connecting plate 27, and the support plate 26 fixed on the upper surface of the connecting plate 27 is used for supporting the patient's lower leg. Therefore, by adjusting the linkage drive mechanism, the range of motion of the patient's knee can be adjusted. When the linkage drive mechanism is energized, the transmission chain belt 33 and the support plate 26 are passively moving. When the power is off, the transmission chain belt 33 and the support plate 26 are freely moving to meet the active and passive range of motion training of the patient's knee.

[0034] In conjunction with adjusting the second motor 22, such as Figure 9 As shown, the output end of the second motor 22 passes through the connector 23 and is fixedly connected to the movable seat 24, providing power for the rotation of the movable seat 24. By adjusting the tilt of the movable seat 24, the elevation of the patient's hip is adjusted, that is, the angle of the patient's thigh root, thereby adjusting the strength of the patient's active and passive knee flexion and extension. That is, when the patient's hip is normal, the greater the hip flexion angle, the greater the strength of the patient's knee flexion and extension.

[0035] Furthermore, the linkage drive mechanism is provided in two sets. Each set of linkage drive mechanism includes a power telescopic rod 31, which is fixed to the side wall of the mounting block 32, and a mounting component provided at the output end of the power telescopic rod 31. A first transmission rod 35 is rotatably mounted on the mounting component. The end of the first transmission rod 35 away from the mounting component is fixed to the end of the mounting shaft where the first transmission sprocket 34 is located. It also includes a connecting block 29 provided on the other side of the mounting component. The connecting block 29 can move inside the connecting groove 30 opened on the extension frame 25. Preferably, the outer walls of the first transmission sprocket 34 and the second transmission sprocket 37 are provided with meshing bars, and meshing grooves are opened on the inner wall of the conveyor belt 33. The meshing bars and meshing grooves mesh and drive each other.

[0036] like Figure 7 , 8 As shown, the power telescopic rod 31 is preferably a ball screw type electric push rod, which can move freely when the power is off. Since the telescopic end of the power telescopic rod 31 is fixedly mounted, one end of which is rotatably connected to the first transmission rod 35 and the other end of which is connected to the connecting block 29, and the end of the first transmission rod 35 away from the mounting part is fixed to the end of the mounting shaft where the first transmission sprocket 34 is located, when the power telescopic rod 31 moves telescopically, the second transmission rod 43 can be deflected back and forth, thereby adjusting the angle between the transmission chain belt 33 and the support plate 26, i.e., the angle of the patient's knee.

[0037] The specific process is as follows: Figure 8 As shown, when the power telescopic rod 31 extends, the first transmission sprocket 34 and the second transmission sprocket 37 rotate counterclockwise, causing the angle between the transmission chain belt 33 and the lower part of the connecting plate 27 to increase and tend to be horizontal, thus performing knee extension training; when the power telescopic rod 31 retracts, the angle between the two decreases, thus performing knee flexion training, thereby adjusting the passive range of motion of the patient's knee. Due to the structural characteristics of the power telescopic rod 31, in the event of a power outage, the transmission chain belt 33 and the connecting plate 27 can move freely to meet the active range of motion training of the patient's knee.

[0038] Furthermore, a scale 39 and a pointer fixed to the outer wall of the connecting block 29 on one of the extension frames 25 are provided on the outside of the frame, for measuring the extension degree of the power telescopic rod 31, and thus measuring the bending degree of the conveyor belt 33 and the support plate 26.

[0039] By setting the scale 39, such as Figure 7 As shown, the movement distance of the connecting block 29 here is equivalent to the angle change between the conveyor belt 33 and the support plate 26. At this time, the pointer set on the outer wall of the connecting block 29 points to the position of the scale 39, thus clarifying the value of the active and passive range of motion of the patient's knee.

[0040] As another implementation method for determining the active and passive range of motion of a patient's knee, an angle sensor is also provided between the second drive sprocket 37 and its mounting shaft.

[0041] Since the second transmission sprocket 37 and its mounting shaft are both located at the end of the second transmission rod 43, combined with... Figure 8 As shown, the mounting shaft is rotatably connected to the second transmission sprocket 37, and the connecting plate 27 is fixed to the second transmission sprocket 37. Therefore, the angle sensor set between the second transmission sprocket 37 and the mounting shaft can reflect the deflection angle of the connecting plate 27 relative to the transmission chain 33, thereby obtaining the active and passive range of motion values ​​of the patient's knee.

[0042] Furthermore, the straps 28 respectively provided on both sides of the second transmission rod 43 and the connecting plate 27 are used for limiting and fixing the patient's thigh and lower leg.

[0043] Furthermore, the frame structure includes a support frame 15, which is slidably mounted on both sides of the seat plate 1, and two wheels 17 rotatably connected to each support frame 15, with a braking structure inside the wheels 17 for locking the wheels 17; it also includes a fastening assembly disposed between the support frame 15 and the seat plate 1 for locking the support frame 15 after it moves.

[0044] The fastening assembly here is existing technology, consisting of a sliding post 20 fixed to the side wall of the seat plate 1 and a sliding groove 16 opened on the support frame 15. The sliding groove 16 can slide on the sliding post 20, and the support frame 15 is provided with a second locking bolt 21. When the second locking bolt 21 spirals through the first threaded hole opened on the support frame 15 and abuts against the sliding post 20, it is used to lock the support frame 15 after it moves.

[0045] The braking structure here is also existing technology, so I will not go into details about it. This design is intended to improve the stability of the device during patient standing training.

[0046] This design, such as Figure 1 As shown, the support frame 15 can slide on the seat plate 1, which allows the device to accommodate people with different leg lengths when it is in a horizontal position.

[0047] Example 2

[0048] In another embodiment of the present invention, the frame structure is further provided with a support rod structure and a pressing assembly provided on the support rod structure for releasing and massaging the knee. The pressing assembly includes a rotating sleeve 8 that is limited to rotating on the support rod structure, and an extension plate 41 fixed to the side wall of the rotating sleeve 8. It also includes a drive rod 11 and a second pin that are rotatably connected to the extension plate 41. The end of the drive rod 11 away from the extension plate 41 is rotatably connected to a limiting post 44. Two arc-shaped members 13 are fixed on the second pin, and each arc-shaped member 13 has an arc-shaped groove 14. The limiting post 44 can pass through the two arc-shaped grooves 14 and is fixed with a massage roller 12. The massage roller 12 is located in the middle of the two arc-shaped members 13. It also includes a first motor 10 provided on the extension plate 41, and the output end of the first motor 10 passes through a through hole opened on the extension plate 41 and is fixedly connected to the drive rod 11.

[0049] The knee can be released by the pressing structure set on the support rod structure. Since the rotating sleeve 8 is rotatably connected to the support rod structure and fixed by the bolt structure, the bolt structure is existing technology and consists of the first locking bolt 7 and the second threaded hole opened on the rotating sleeve 8.

[0050] The extension plate 41, fixed to the rotating sleeve 8, is rotatably connected to the drive rod 11 and the second pin, such as... Figure 8 As shown, two arc-pressing components 13 are fixed on the second pin shaft, and the limiting post 44 fixed on the drive rod 11 passes through the arc-shaped grooves 14 opened on the two arc-pressing components 13 in sequence, and a massage roller 12 is fixed thereon, with the massage roller 12 positioned in the middle of the two arc-pressing components 13, as shown. Figure 8 As shown in the diagram, when the drive rod 11 rotates, the limiting post 44 on it can move back and forth inside the arc groove 14, thereby causing the two pressing arc members 13 to deflect on the extension plate 41. When it deflects downward, the massage roller 12 on it can roll and press on the patient's knee. The specific position can be selected as the upper edge of the patella, thereby relaxing the upper edge of the patella and increasing the mobility of the patella.

[0051] Example 3

[0052] In another embodiment of the present invention, the support rod structure is provided in two sets. Each set of support rod structure includes a support column 40, which is slidably installed on the end of the support frame 15 near the seat plate 1 and locked to the support frame 15 by a locking component; a mounting sleeve 6 fixed to the top of the support column 40; a support rod 5 slidably installed on the mounting sleeve 6; a pressing component is provided on the support rod 5; when the support rod 5 is in a vertical state, the support rod 5 acts as a support crank; a support head 9 fixed to one end of the support rod 5 for supporting the support rod 5; and a handle 2 fixed to the other end of the support rod 5. A spring 3 is also provided between the handle 2 and the mounting sleeve 6, and the spring 3 is sleeved on the outer wall of the support rod 5 for resetting the support rod 5.

[0053] The locking component here is existing technology. It is used to lock the support column 40 and the support frame 15, thereby adjusting the position of the support rod structure and adjusting the distance between the pressing component and the patient's knee. While ensuring that the pressing component is in contact with the knee, it also has a certain amount of force. This can be adjusted according to the patient's force level.

[0054] Because the spring 3 at the top of the support rod 5 has a support head 9 fixed at its bottom, when the patient needs to stand upright and perform upright training, the brake wheel 17 is activated, preventing the wheel 17 from rotating. Figure 5 In this state, the patient can hold the handle 2 fixed at the top of the support rod 5 and perform standing training;

[0055] When upright walking is required, the brake on wheel 17 is released, allowing the patient to hold two support rods. Due to the action of spring 3, the support rods 5 automatically return to their original position after the patient releases their grip, reducing the burden on the patient.

[0056] Furthermore, the rear end of the seat 1 is rotatably connected to a connecting shaft 42, and a backrest 19 fixed on the connecting shaft 42 for back support of the patient; a third motor 18 is also provided on the side wall of the seat 1 to provide power for adjusting the tilt of the backrest 19. This design improves the patient's comfort when lying flat.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0058] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0059] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A knee exoskeleton rehabilitation device, characterized by, It includes: The seat plate (1) and the frame structure arranged at the front end of the seat plate (1); The front end of the seat plate (1) is also provided with a knee joint exoskeleton support structure, and the knee joint exoskeleton support structure is arranged in the frame structure, which is used for the active and passive knee joint rehabilitation action of the patient; When the frame structure and the seat plate (1) are placed horizontally, it is the patient's lying leisure state, and the knee joint exoskeleton support structure is used for supporting the knee joint of the patient; When the frame structure and the seat plate (1) are placed vertically, it is the patient's standing and kneeling training state, and the knee joint exoskeleton support structure is used for assisting the guidance of the knee joint of the patient; The knee joint exoskeleton support structure includes two groups of auxiliary support assemblies for supporting the knees of the patient; Each group of auxiliary support assemblies includes a connecting piece (23), a movable seat (24) rotatably connected to the connecting piece (23), an extension frame (25) fixed on both sides of the movable seat (24), and an installation block (32) fixed on the opposite surfaces of the extension frame (25), respectively, and each installation block (32) is rotatably connected with a second transmission rod (43) through a first pin shaft, and an installation shaft is rotatably connected on the opposite surfaces of the two ends of the second transmission rod (43), respectively, and a first transmission sprocket (34) and a second transmission sprocket (37) are fixed on the two installation shafts, respectively, and a transmission chain (33) is sleeved on the first transmission sprocket (34) and the second transmission sprocket (37), which is used for supporting the thighs of the patient; And a connecting plate (27) is fixed on both sides of the second transmission sprocket (37), and the installation shaft where the second transmission sprocket (37) is located penetrates the through slot where the connecting plate (27) is located; It also includes a support plate (26) fixed on the upper surface of the connecting plate (27), which is used for supporting the lower legs of the patient; And a connecting rod driving mechanism arranged on the extension frame (25) is used for adjusting the bending degree of the transmission chain (33) and the support plate (26); It also includes a second motor (22) arranged on the side wall of the connecting piece (23), and the output end of the second motor (22) penetrates the connecting piece (23) and is fixedly connected with the movable seat (24), which provides power for the rotation of the movable seat (24); The connecting rod driving mechanism is provided with two groups, and each group of connecting rod driving mechanisms includes a power telescopic rod (31) fixed on the side wall of the installation block (32), and an installation piece arranged on the output end of the power telescopic rod (31), a first transmission rod (35) rotatably installed on the installation piece, and the end of the first transmission rod (35) away from the installation piece is fixed with the installation shaft end of the first transmission sprocket (34); It also includes a connecting block (29) arranged on the other side of the installation piece, and the connecting block (29) can move in the connecting groove (30) formed in the extension frame (25).

2. The knee joint exoskeleton rehabilitation device according to claim 1, wherein: One of the extension frame (25) is also provided with a scale (39), and the pointer is fixed on the outer wall of the side connecting block (29), which is used to measure the extension degree of the power telescopic rod (31), and further measure the bending degree of the conveying chain belt (33) and the support plate (26).

3. The knee joint exoskeleton rehabilitation device according to claim 1, wherein: The second transmission sprocket (37) and the mounting shaft are also provided with an angle sensor.

4. The knee joint exoskeleton rehabilitation device according to claim 1, wherein: And the binding belt (28) is arranged on the two sides of the second transmission rod (43) and the connecting plate (27) respectively, and is used for limiting and fixing the thigh and the calf of the patient respectively.

5. The knee joint exoskeleton rehabilitation device according to claim 1, wherein: The frame structure includes a support frame (15), the support frame (15) is slidingly installed on both sides of the seat plate (1), and two wheel bodies (17) are rotationally connected to each of the support frames (15), and a brake structure is arranged inside the wheel body (17) for locking the wheel body (17); It also includes a fastening assembly arranged between the support frame (15) and the seat plate (1) for locking the support frame (15) after moving.

6. The knee joint exoskeleton rehabilitation device according to claim 5, wherein: The frame structure is also provided with a support rod structure, and a pressing assembly is arranged on the support rod structure for loosening and massaging the knee; The pressing assembly includes a rotating sleeve (8) rotationally limited on the support rod structure, and an extension plate (41) fixed on the side wall of the rotating sleeve (8), further includes a drive rod (11) and a second pin shaft rotationally connected to the extension plate (41), the end of the drive rod (11) away from the extension plate (41) is rotationally connected to a limiting column (44); Two pressing arc pieces (13) are fixed on the second pin shaft, and an arc-shaped groove (14) is formed in each of the pressing arc pieces (13), the limiting column (44) can pass through the two arc-shaped grooves (14) and is fixed with a massage roller (12), and the massage roller (12) is arranged at the middle part of the two pressing arc pieces (13); A first motor (10) is arranged on the extension plate (41), and the output end of the first motor (10) passes through the through hole formed in the extension plate (41) and is fixedly connected with the drive rod (11).

7. The knee joint exoskeleton rehabilitation device according to claim 6, wherein: The support rod structure is provided with two groups, each group of support rod structure includes a support column (40), the support column (40) is slidingly installed on the end of the support frame (15) close to the seat plate (1), and is locked with the support frame (15) through a locking assembly; And an installation sleeve (6) is fixed on the top of the support column (40), a support rod (5) is slidingly installed on the installation sleeve (6), and the pressing assembly is arranged on the support rod (5), when the support rod (5) is in a vertical state, the support rod (5) is used as a support elbow. And the support head (9) fixed at one end of the support rod (5) is used for supporting the support rod (5). The handle (2) is fixed at the other end of the support rod (5), and a spring (3) is arranged between the handle (2) and the mounting sleeve (6), and the spring (3) is sleeved on the outer wall of the support rod (5) and is used for resetting the support rod (5).

8. The knee joint exoskeleton rehabilitation device according to claim 1, characterized in that: The rear end of the seat plate (1) is further rotationally connected with a connecting shaft (42), and a backrest (19) is fixed on the connecting shaft (42) and is used for supporting the back of the patient; The sidewall of the seat plate (1) is further provided with a third motor (18) to provide power for adjusting the inclination of the backrest (19).

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