Fracture auxiliary rehabilitation robot

Abstract

The invention relates to the technical field of rehabilitation robots, and discloses a fracture auxiliary rehabilitation robot which comprises a waist fixing plate and a leg outer skeleton, the leg outer skeleton comprises a first exoskeleton, a second exoskeleton and a joint driving machine, and a first connecting disc is rotatably mounted at the upper end of the first exoskeleton; a first connecting shaft and a fulcrum baffle are fixedly installed on the side face of the first connecting disc, the first connecting shaft is rotationally connected with the waist fixing plate, a second connecting disc is rotationally installed at the bottom end of the first exoskeleton, and a swing arm is fixedly installed on the surface of the second connecting disc. According to the rehabilitation robot, the leg outer skeleton is arranged, the leg outer skeleton has the effect of supporting and protecting the legs of the patient, the joint driving machine has the function of driving the first exoskeleton and the second exoskeleton to cooperatively act, so that the rehabilitation robot can assist the patient in walking exercise through power, and a driving mechanism at the hip joint is omitted in the design; the whole structure is simple and light, and the requirements of different lower limb rehabilitation exercises of the user are met.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation robots, and in particular to a fracture-assisted rehabilitation robot. Background Art

[0002] A rehabilitation robot is a device that assists rehabilitation therapy. It helps patients restore motor function and improve their quality of life through the combination of motion, mechanical electronics and computer technology. It is generally divided into upper limb rehabilitation robots, lower limb rehabilitation robots and whole-body rehabilitation robots.

[0003] For example, in the prior art, the patent document with announcement number CN109701217B discloses a nursing rehabilitation robot, including a base; a moving mechanism is installed at the lower part of the base; a control box and a seat saddle are installed on the upper surface of the base; a controller is installed in the control box; one end of the seat saddle is overlapped with the upper end of the control box; a rehabilitation training mechanism is arranged between the control box and the seat saddle; a back support plate is installed on one surface of the seat saddle; a headrest is installed on the upper end of the back support plate; a video monitoring module is installed on one surface of the headrest; the video monitoring module is connected to the controller in the control box; and an arm support mechanism is installed on the back support plate. This invention integrates nursing functions and rehabilitation training functions on the same robot, uses the rehabilitation training mechanism to train the user's arms or legs, and uses the video monitoring module to collect real-time video information of the robot's surrounding environment, so as to facilitate understanding of the user's physical condition. It is highly practical and has a high degree of market recognition.

[0004] For patients with leg fractures and difficulty in knee joint movement, walking exercises need to be increased during the rehabilitation period. Current rehabilitation robots mainly focus on simple motion-assisting functions, such as limb movements on a fixed trajectory. Due to the large degree of freedom of lower limb movement, it is difficult for rehabilitation robots to achieve this, especially rehabilitation robots with power-assisting functions. For example, drive motors are set at each joint. The large number of drive motors makes the rehabilitation robot overall bulky, the joint movement control is complicated, and it is not convenient to use, which seriously affects its promotion and popularization in the market. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of existing rehabilitation robots, such as being bulky as a whole, complex to control joint movements, and inconvenient to use, and to propose a fracture-assisted rehabilitation robot.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a fracture auxiliary rehabilitation robot, comprising a waist fixing plate and a leg exoskeleton, wherein the leg exoskeleton comprises a first exoskeleton, a second exoskeleton and a joint driving machine; A first connection plate is rotatably mounted on the upper end of the first exoskeleton, a first connection shaft and a fulcrum baffle are fixedly mounted on the sides of the first connection plate, the first connection shaft is rotatably connected to the waist fixing plate, a second connection plate is rotatably mounted on the bottom end of the first exoskeleton, and a swing arm is fixedly mounted on the surface of the second connection plate; A sleeve is rotatably mounted on the side of the first exoskeleton, a transmission rod is slidably mounted inside the sleeve, the bottom end of the transmission rod is rotatably connected to the swing arm, and the top end of the transmission rod is pressed against the fulcrum baffle; A second connecting shaft is fixedly installed on the surface of the joint driving machine, the top end of the second exoskeleton is rotatably connected to the second connecting shaft, the joint driving machine is movably connected to the second connecting disk, and drives the second connecting disk to rotate, thereby driving the swing arm to swing back and forth and the transmission rod to extend and retract, completing the coordinated action of lifting the first exoskeleton and retracting the second exoskeleton. Driven by the power of the joint driving machine, the leg exoskeleton has the function of power-assisted walking exercise, the waist fixing plate can be freely flipped downward, and the waist bending movement is comfortable and flexible after wearing.

[0007] Preferably, a central axis is fixedly installed inside the joint drive machine, the second connecting disk is rotatably connected to the central axis, a hydraulic telescopic rod is rotatably installed inside the joint drive machine, the telescopic end of the hydraulic telescopic rod is rotatably connected to the end face of the second connecting disk, a hydraulic chamber is opened inside the central axis, a piston is slidably installed inside the hydraulic chamber, an electromagnetic coil is embedded inside the central axis, a permanent magnet is embedded inside the piston, the piston divides the hydraulic chamber into two left and right chambers, the left and right chambers are respectively connected to the two input ports of the hydraulic telescopic rod through pipelines, when the electromagnetic coil is energized, the magnetic thrust generated drives the piston to reciprocate in the hydraulic chamber, the energization size of the electromagnetic coil is adjustable, so that the power output of the joint drive machine is adjustable and controllable.

[0008] Preferably, a guide sleeve is fixedly installed inside the hydraulic chamber, the piston is annular in structure, and the piston sliding sleeve is arranged on the surface of the guide sleeve. Two first connecting holes are provided on the surface of the guide sleeve, and an adjusting sleeve is rotatably installed inside the guide sleeve. Two second connecting holes are provided on the surface of the adjusting sleeve. The two second connecting holes are connected through the inner cavity of the adjusting sleeve. After the first connecting hole and the second connecting hole are aligned, a hydraulic channel penetrating the adjusting sleeve is formed, and the left and right chambers in the hydraulic chamber are connected through the hydraulic channel.

[0009] The end of the adjusting sleeve extends to the outside of the joint drive motor and is fixedly installed with a rotating handle. A locking ring is threadedly installed on the surface of the rotating handle. The angle of the adjusting sleeve can be rotated to control the overlapping area of ​​the first connecting hole and the second connecting hole, that is, the flow rate between the left and right chambers in the hydraulic cavity can be controlled, so that the resistance value of the reciprocating movement of the piston can be adjusted.

[0010] Preferably, a foot pedal is rotatably mounted on the bottom end of the second exoskeleton, a gas spring telescopic rod is rotatably mounted on the rear side of the second exoskeleton, and the telescopic end of the gas spring telescopic rod is rotatably connected to the foot pedal.

[0011] The surfaces of the waist fixing plate, the first exoskeleton and the second exoskeleton are all provided with strap installation openings, which are used to tie the rehabilitation robot so as to facilitate wearing.

[0012] Preferably, there are two leg exoskeletons, and the first connecting shafts at the upper ends of the two leg exoskeletons are rotatably connected to the waist fixing plate respectively, so as to facilitate use by people with injured legs and mobility impairment.

[0013] Preferably, the fracture-assisted rehabilitation robot also includes a floor support assembly, which includes a floor base, the upper surface of which is respectively fixedly mounted with support columns and outer guardrails, the surface of the support columns is fixedly mounted with a riding seat, and a waist fixing plate is fixedly mounted on the top of the support columns. The user can sit on the riding seat with his legs respectively tied to the leg exoskeletons on both sides, and exercise walking movements while suspended in the air.

[0014] The present invention has the following beneficial effects: 1. The rehabilitation robot is provided with a leg exoskeleton composed of a first exoskeleton, a second exoskeleton and a joint drive mechanism. The leg exoskeleton has the function of supporting and protecting the patient's legs. Moreover, the joint drive mechanism has the function of driving the first exoskeleton and the second exoskeleton to act in coordination, so that the robot can perform power-assisted walking exercises for the patient. The design eliminates the drive mechanism at the hip joint, making the overall structure simple, light, and easy to wear, thus meeting the different needs of users for lower limb rehabilitation exercises. In addition, since the first connecting plate and the first exoskeleton are rotatably connected, and the top end of the transmission rod is not directly connected to the fulcrum baffle, the waist fixing plate can be freely flipped downward, and the patient can bend comfortably and flexibly after wearing the robot.

[0015] 2. The joint drive motor of the rehabilitation robot is different from the ordinary drive motor. The joint drive motor uses an electromagnetic coil to drive the piston to move back and forth in the hydraulic chamber as a power unit, and uses the telescopic action of the hydraulic telescopic rod as an execution unit to drive the swing arm to swing back and forth. Through the transmission of the transmission rod, the linkage action of the first exoskeleton and the second exoskeleton is realized, which meets the activity characteristics of the lower limbs and knee joints during walking, and achieves a more coordinated and comfortable effect of power-assisted walking.

[0016] 3. The joint drive motor of the rehabilitation robot is different from the ordinary drive motor. The joint drive motor has the function of reversibly collecting rehabilitation exercise data. For example, some users do not need power assistance to walk. During the self-walking exercise process, the leg exoskeleton moves with the patient's legs, and the pressure in the left and right chambers of the hydraulic chamber changes alternately, pushing the piston to move back and forth. The electromagnetic coil generates a changing electromotive force signal corresponding to the walking action. The recording and analysis of the rules of the electromotive force signal can be used to judge the quality of rehabilitation exercise.

[0017] 4. The rehabilitation robot is provided with a rotatable and adjustable adjustment sleeve in the guide sleeve. By rotating the angle of the adjustment sleeve, the overlapping area of ​​the first connecting hole and the second connecting hole can be controlled, that is, the flow rate between the left and right chambers in the hydraulic cavity can be controlled, so that the resistance value of the reciprocating movement of the piston can be adjusted, which indirectly provides conditions for adjusting the resistance of the activity between the first exoskeleton and the second exoskeleton, so that the exercise intensity of the rehabilitation robot can be adjusted according to the specific situation of the user, and meet the requirements of gradual exercise, and is suitable for a wider range of people. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the explosion three-dimensional structure of the present invention; Figure 3 It is a front view structural diagram of the leg exoskeleton of the present invention; Figure 4 It is a side view structural schematic diagram of the joint driving machine of the present invention; Figure 5 It is a schematic diagram of the side cross-section structure of the joint driving machine of the present invention (I); Figure 6 It is a schematic diagram of the side section structure of the joint driving machine of the present invention (II); Figure 7 It is a schematic diagram of the front cross-section structure of the joint driving machine of the present invention; Figure 8 It is a schematic diagram of the leg exoskeleton action of the present invention; Fig. 9 This is a schematic diagram of the assembly and use of the floor support assembly of the present invention; Fig.10 It is a schematic diagram of the three-dimensional structure of the floor support assembly of the present invention.

[0019] In the figure: 1 waist fixing plate, 2 leg exoskeleton, 3 first exoskeleton, 4 second exoskeleton, 5 joint driving machine, 6 first connecting plate, 7 first connecting shaft, 8 fulcrum baffle, 9 second connecting plate, 10 sleeve, 11 transmission rod, 12 swing arm, 13 second connecting shaft, 14 center shaft, 15 hydraulic telescopic rod, 16 hydraulic chamber, 17 piston, 18 electromagnetic coil, 19 guide sleeve, 20 first connecting hole, 21 adjusting sleeve, 22 second connecting hole, 23 rotating handle, 24 locking ring, 25 pedal, 26 gas spring telescopic rod, 27 strap mounting port, 28 floor base, 29 support column, 30 outer guardrail, 31 riding seat. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] Reference Figure 1-10 A fracture-assisted rehabilitation robot comprises a waist fixation plate 1 and a leg exoskeleton 2, wherein the leg exoskeleton 2 comprises a first exoskeleton 3, a second exoskeleton 4 and a joint driver 5.

[0023] For details, see Figure 2 A first connecting plate 6 is rotatably mounted on the upper end of the first exoskeleton 3, and a first connecting shaft 7 and a fulcrum baffle 8 are fixedly mounted on the sides of the first connecting plate 6. The first connecting shaft 7 is rotatably connected to the waist fixing plate 1, and a second connecting plate 9 is rotatably mounted on the bottom end of the first exoskeleton 3, and a swing arm 12 is fixedly mounted on the surface of the second connecting plate 9.

[0024] A sleeve 10 is rotatably installed on the side of the first exoskeleton 3, and a transmission rod 11 is slidably installed inside the sleeve 10. The bottom end of the transmission rod 11 is rotatably connected to the swing arm 12. When the swing arm 12 swings, the top end of the transmission rod 11 extends upward, so that the top end of the transmission rod 11 is pressed against the fulcrum baffle 8.

[0025] A second connecting shaft 13 is fixedly installed on the surface of the joint driver 5, the top of the second exoskeleton 4 is rotatably connected to the second connecting shaft 13, the joint driver 5 is movably connected to the second connecting disk 9, and the joint driver 5 drives the second connecting disk 9 to rotate, thereby driving the swing arm 12 to swing back and forth and the transmission rod 11 to extend and retract, completing the coordinated action of lifting the first exoskeleton 3 and retracting the second exoskeleton 4.

[0026] Specifically, refer to Figure 5 A central shaft 14 is fixedly installed inside the joint driving machine 5, and the second connecting plate 9 is rotatably connected to the central shaft 14. A hydraulic telescopic rod 15 is rotatably installed inside the joint driving machine 5, and the telescopic end of the hydraulic telescopic rod 15 is rotatably connected to the end surface of the second connecting plate 9.

[0027] A hydraulic chamber 16 is provided inside the central shaft 14, and a piston 17 is slidably installed inside the hydraulic chamber 16. The piston 17 divides the hydraulic chamber 16 into two left and right chambers. The left and right chambers are respectively connected to two input ports of the hydraulic telescopic rod 15 through pipelines. An electromagnetic coil 18 is embedded inside the central shaft 14, and a permanent magnet is embedded inside the piston 17. When the electromagnetic coil 18 is energized, a magnetic field is generated, and the magnetic field is used to push the piston 17 to reciprocate in the hydraulic chamber 16, and the hydraulic medium in the hydraulic chamber 16 is pressed into the hydraulic telescopic rod 15, so that the telescopic end of the hydraulic telescopic rod 15 is extended or retracted. Figure 7 As shown, the second connecting plate 9 is driven to rotate, and the first exoskeleton 3 is turned upward through the transmission of the transmission rod 11. Figure 8 ,like Figure 8 As shown in a→b→c, the coordinated action of lifting the first exoskeleton 3 and retracting the second exoskeleton 4 is completed. It should be noted that during the walking process, not only the leg lifting action but also the leg stepping action is required, wherein the leg stepping action is achieved by the activity at the hip joint, that is, by the activity at the first connecting plate 6. The human body leans forward to complete the leg stepping action, and there is no need to add an independent driving mechanism to perform the leg stepping action, which can be achieved by the forward leaning of the human body. This design makes the rhythm of walking exercise more comfortable and coordinated.

[0028] What needs to be strong is that after the electromagnetic coil 18 is energized, the magnetic thrust generated drives the piston 17 to move back and forth in the hydraulic chamber 16. The energization level of the electromagnetic coil 18 is adjustable, so that the power output of the joint drive machine 5 is adjustable and controllable.

[0029] See Figure 6A guide sleeve 19 is fixedly installed inside the hydraulic chamber 16, and the piston 17 is annular in structure, and the piston 17 is slidably sleeved on the surface of the guide sleeve 19. Two first communicating holes 20 are provided on the surface of the guide sleeve 19, and an adjusting sleeve 21 is rotatably installed inside the guide sleeve 19. Two second communicating holes 22 are provided on the surface of the adjusting sleeve 21. The two second communicating holes 22 are connected through the inner cavity of the adjusting sleeve 21. The adjusting sleeve 21 is rotated, and the first communicating hole 20 and the second communicating hole 22 are aligned to form a hydraulic channel that penetrates the adjusting sleeve 21. The left and right chambers in the hydraulic chamber 16 are connected through the hydraulic channel, and the hydraulic media in the left and right chambers in the hydraulic chamber 16 can flow in the hydraulic channel. The flow rate of the hydraulic channel can be adjusted by changing the overlapping area of ​​the first communicating hole 20 and the second communicating hole 22, and it can also be indirectly realized. By changing the flow rate of the hydraulic channel, the power output of the joint drive machine 5 can be adjusted and controlled.

[0030] In this embodiment, the end of the adjusting sleeve 21 extends to the outside of the joint driving machine 5 and is fixedly installed with a rotating handle 23. A locking ring 24 is threadedly installed on the surface of the rotating handle 23. By rotating the rotating handle 23, the rotation angle of the adjusting sleeve 21 can be adjusted, and the overlap size of the first connecting hole 20 and the second connecting hole 22 can be adjusted. Then, the locking ring 24 is tightened to lock and fix the rotating handle 23.

[0031] By providing a rotatable and adjustable adjusting sleeve 21 in the guide sleeve 19 and rotating the angle of the adjusting sleeve 21, the overlapping area of ​​the first connecting hole 20 and the second connecting hole 22 can be controlled, that is, the flow rate between the left and right chambers in the hydraulic chamber 16 can be controlled, so that the resistance value of the reciprocating movement of the piston 17 can be adjusted, which indirectly provides conditions for adjusting the resistance of the activity between the first exoskeleton 3 and the second exoskeleton 4, so that the exercise intensity of the rehabilitation robot can be adjusted according to the specific situation of the user, and meet the requirements of gradual exercise, and is suitable for a wider range of people.

[0032] A foot pedal 25 is rotatably mounted on the bottom end of the second exoskeleton 4 , a gas spring telescopic rod 26 is rotatably mounted on the rear side of the second exoskeleton 4 , and the telescopic end of the gas spring telescopic rod 26 is rotatably connected to the foot pedal 25 .

[0033] The surfaces of the waist fixing plate 1, the first exoskeleton 3 and the second exoskeleton 4 are all provided with strap installation openings 27. When worn, the feet step on the foot pedals 25, the waist fixing plate 1 is tied to the user's waist and buttocks with straps, the first exoskeleton 3 is tied to the user's thighs with straps, and the second exoskeleton 4 is tied to the user's calves with straps.

[0034] It should be noted that the joint driving machine 5 is different from the ordinary driving motor. The joint driving machine 5 uses the electromagnetic coil 18 to drive the piston 17 to move back and forth in the hydraulic chamber 16 as a power unit, and uses the telescopic action of the hydraulic telescopic rod 15 as an execution unit to drive the swing arm 12 to swing back and forth. Through the transmission of the transmission rod 11, the linkage action of the first exoskeleton 3 and the second exoskeleton 4 is realized, which adapts to the activity characteristics of the lower limbs and knee joints during walking, and achieves a more coordinated and comfortable effect of power-assisted walking.

[0035] The joint drive machine 5 has the function of reversibly collecting rehabilitation exercise data. For example, some users do not need power assistance to walk. During the self-walking exercise process, the leg exoskeleton 2 moves with the patient's legs. At this time, the hydraulic medium in the hydraulic telescopic rod 15 is squeezed and input into the hydraulic chamber 16, so that the pressure of the left and right chambers in the hydraulic chamber 16 changes alternately, pushing the piston 17 to move back and forth, and the magnetic field coil of the permanent magnet inside the piston 17 moves and changes. The electromagnetic coil 18 cuts the magnetic field lines to generate an induced electromotive force. The magnitude of the induced electromotive force is positively correlated with the movement speed, frequency and stroke of the piston 17, that is, the electromagnetic coil 18 generates a changing electromotive force signal corresponding to the walking action, and the electromotive force signal is detected with the help of a volt-ampere tester. The rules of recording and analyzing the electromotive force signal can be used to judge the quality of rehabilitation exercise. For example, the function is used to judge the amplitude, frequency, duration and other data of rehabilitation exercise. The specific content of the detection technology does not fall within the scope of protection required by this application, so it is not explained in detail.

[0036] The rehabilitation robot can be provided with a leg exoskeleton 2, that is, the leg exoskeleton 2 is tied to one of the injured legs of the user. This type of rehabilitation robot is suitable for users who have injured one leg and can walk normally with the other leg. The style of two leg exoskeletons 2 can also be set, and the first connecting shafts 7 at the upper ends of the two leg exoskeletons 2 are respectively rotatably connected to the waist fixing plate 1, such as Figure 1 As shown, this type of rehabilitation robot is suitable for people with injured legs and limited mobility; In addition, if Fig. 9 , Fig.10 As shown, the fracture-assisted rehabilitation robot also includes a floor support assembly, which includes a floor base 28, on the upper surface of which support columns 29 and an outer guardrail 30 are respectively fixedly installed, and a riding seat 31 is fixedly installed on the surface of the support column 29, and a waist fixing plate 1 is fixedly installed on the top of the support column 29. The user can sit on the riding seat 31 with both legs tied to the leg exoskeleton 2 on both sides. The weight of the body acts on the riding seat 31 without compressing the lower limbs, and the user can exercise walking movements in mid-air. This type of rehabilitation robot is suitable for users whose legs cannot bear weight.

[0037] The rehabilitation robot is provided with a leg exoskeleton 2 composed of a first exoskeleton 3, a second exoskeleton 4 and a joint driver 5. The leg exoskeleton 2 has the function of supporting and protecting the patient's legs. Moreover, the joint driver 5 has the function of driving the first exoskeleton 3 and the second exoskeleton 4 to act in coordination, so that the robot can perform power-assisted walking exercises for the patient. The design eliminates the driving mechanism at the hip joint. Since the first connecting plate 6 is rotatably connected to the first exoskeleton 3, and the top end of the transmission rod 11 is not directly connected to the fulcrum baffle 8, the reference Figure 3 The waist fixing plate 1 can be freely flipped downward, and the user can bend the waist comfortably and flexibly after wearing it. The overall structure of the design is simple, light, and easy to wear, which meets the different needs of users for lower limb rehabilitation exercises and is conducive to wide market promotion.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fracture-assisted rehabilitation robot, comprising a waist fixation plate (1) and a leg exoskeleton (2), characterized in that: The leg exoskeleton (2) comprises a first exoskeleton (3), a second exoskeleton (4) and a joint driving machine (5); A first connection plate (6) is rotatably mounted on the upper end of the first exoskeleton (3); a first connection shaft (7) and a fulcrum baffle (8) are respectively fixedly mounted on the side surfaces of the first connection plate (6); the first connection shaft (7) is rotatably connected to the waist fixing plate (1); a second connection plate (9) is rotatably mounted on the bottom end of the first exoskeleton (3); and a swing arm (12) is fixedly mounted on the surface of the second connection plate (9); A sleeve (10) is rotatably mounted on the side of the first exoskeleton (3), a transmission rod (11) is slidably mounted inside the sleeve (10), the bottom end of the transmission rod (11) is rotatably connected to the swing arm (12), and the top end of the transmission rod (11) is pressed against the fulcrum baffle (8); A second connecting shaft (13) is fixedly mounted on the surface of the joint drive machine (5); the top end of the second exoskeleton (4) is rotatably connected to the second connecting shaft (13); the joint drive machine (5) is movably connected to the second connecting disk (9) and drives the second connecting disk (9) to rotate, thereby driving the swing arm (12) to swing back and forth and the transmission rod (11) to extend and retract, thereby completing the coordinated action of lifting the first exoskeleton (3) and retracting the second exoskeleton (4).

2. A fracture assisting rehabilitation robot according to claim 1, characterized in that: A central shaft (14) is fixedly installed inside the joint drive machine (5), the second connecting plate (9) is rotatably connected to the central shaft (14), a hydraulic telescopic rod (15) is rotatably installed inside the joint drive machine (5), and the telescopic end of the hydraulic telescopic rod (15) is rotatably connected to the end surface of the second connecting plate (9).

3. A fracture assisting rehabilitation robot according to claim 2, characterized in that: A hydraulic chamber (16) is provided inside the central shaft (14), a piston (17) is slidably mounted inside the hydraulic chamber (16), the piston (17) divides the hydraulic chamber (16) into two left and right chambers, and the left and right chambers are respectively connected to two input ports of the hydraulic telescopic rod (15) through pipelines.

4. The fracture assisting rehabilitation robot according to claim 3, characterized in that: An electromagnetic coil (18) is embedded inside the central shaft (14), and a permanent magnet is embedded inside the piston (17).

5. The fracture assisting rehabilitation robot according to claim 4, characterized in that: A guide sleeve (19) is fixedly mounted inside the hydraulic chamber (16); the piston (17) is annular in structure and is slidably sleeved on the surface of the guide sleeve (19); two first communication holes (20) are provided on the surface of the guide sleeve (19); an adjustment sleeve (21) is rotatably mounted inside the guide sleeve (19); two second communication holes (22) are provided on the surface of the adjustment sleeve (21); the two second communication holes (22) are connected through the inner cavity of the adjustment sleeve (21); the first communication hole (20) and the second communication hole (22) are aligned to form a hydraulic passage that penetrates the adjustment sleeve (21); and the left and right chambers in the hydraulic chamber (16) are connected through the hydraulic passage.

6. The fracture assisting rehabilitation robot according to claim 5, characterized in that: The end of the adjusting shaft sleeve (21) extends to the outside of the joint driving machine (5) and is fixedly mounted with a rotating handle (23), and a locking ring (24) is threadedly mounted on the surface of the rotating handle (23).

7. The fracture assisting rehabilitation robot according to claim 6, characterized in that: A foot pedal (25) is rotatably mounted on the bottom end of the second exoskeleton (4), a gas spring telescopic rod (26) is rotatably mounted on the rear side of the second exoskeleton (4), and the telescopic end of the gas spring telescopic rod (26) is rotatably connected to the foot pedal (25).

8. The fracture assisting rehabilitation robot according to claim 7, characterized in that: The surfaces of the waist fixing plate (1), the first exoskeleton (3) and the second exoskeleton (4) are all provided with strap mounting openings (27).

9. A fracture assisting rehabilitation robot according to any one of claims 1 to 8, characterized in that: There are two leg exoskeletons (2), and the first connecting shafts (7) at the upper ends of the two leg exoskeletons (2) are rotatably connected to the waist fixing plate (1) respectively.

10. The fracture assisting rehabilitation robot according to claim 9, characterized in that: The fracture-assisted rehabilitation robot also includes a floor support assembly, which includes a floor base (28), a support column (29) and an outer guardrail (30) are fixedly mounted on the upper surface of the floor base (28), a riding seat (31) is fixedly mounted on the surface of the support column (29), and a waist fixing plate (1) is fixedly mounted on the top of the support column (29).

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