Lower limb rehabilitation system, mechanical branch chain thereof and lower limb rehabilitation robot

Abstract

The invention relates to the field of tail end driving type lower limb rehabilitation robots, and discloses a mechanical branch chain suitable for a lower limb rehabilitation system, the mechanical branch chain comprises a moving pair and four rotating pairs which are connected in sequence, and the mechanical branch chain is connected with a shank of a human body through a protector assembly to assist human joints in rehabilitation exercise. The mechanical branch chains can assist the hip joint of the human body in adduction / abduction and flexion / extension movement and limit the inward rotation / outward rotation movement of the hip joint; the flexion / extension movement of the knee joint of the human body can be realized. The invention further provides a lower limb rehabilitation system which comprises a machine frame and the mechanical branch chain, and lateral lane changing walking of the human body in the rehabilitation training process is achieved. The invention further provides a lower limb rehabilitation robot which comprises a running machine and the lower limb rehabilitation system, so that motions such as dorsiflexion / plantar flexion, introversion / extroversion, adduction / abduction and the like of ankle joints are controlled by the mechanical branch chains connected with the legs.

Description

Technical Field

[0001] The present invention relates to the technical field of an end-driven lower limb rehabilitation robot and its peripheral supporting facilities, and in particular to a lower limb rehabilitation system and its mechanical branch chain and a lower limb rehabilitation robot. Background Art

[0002] According to the contact method between the lower limb rehabilitation robot and the patient, the existing lower limb rehabilitation robots can be divided into two categories: wearable lower limb rehabilitation robots and end-driven lower limb rehabilitation robots.

[0003] Wearable lower-limb rehabilitation robots are typically attached to the human lower limbs and equipped with actuators at key lower-limb joints. These actuators work together to guide the lower limbs through rehabilitation exercises along a pre-set gait path. Representative products of this type of lower-limb rehabilitation robot include Lokomat, ReWalk, PAM&POGO, EKSO, and LOPES. Wearable lower-limb rehabilitation robots can monitor and control the position and posture of lower-limb joints in real time. However, when worn, these robots must ensure that the robot's joint axes are accurately aligned with those of the human joints; otherwise, the rehabilitation effect will be weakened and even secondary injuries may occur. Specifically, the peripheral surrounding tissues of human joints, such as ligaments, muscles, and skin, make it difficult to align the actuator joint axes of the wearable lower-limb rehabilitation robot with those of the human joints during wear. Furthermore, human joints differ fundamentally from mechanical joints in that they are composed of irregular bones and ligaments, resulting in the joint axes of motion changing in real time during movement. This further exacerbates the difficulty of aligning the human-robot joint axes. If the axis between the wearable lower limb rehabilitation robot and the corresponding joint of the human lower limb is not aligned, it will cause relative sliding between the lower limb rehabilitation robot and the human lower limb, and cause additional internal force between the human and the machine. This will not only affect the wearing comfort and weaken the rehabilitation effect, but in severe cases it will also cause secondary injuries to the patient.

[0004] End-drive lower limb rehabilitation robots are tightly connected to the human foot through their end effectors, ensuring that the motion path of the robot's end effector is consistent with the motion trajectory of the foot. Most of these robots are designed as single-degree-of-freedom structures, such as GaitTrainer, LokoHelp, Mech-Walker, and DDgo Pro. These end-drive lower limb rehabilitation robots use simple planar linkage mechanisms to simulate the motion trajectory of the foot when the lower limbs walk. The significant advantage of end-drive lower limb rehabilitation robots is that they avoid the alignment of the robot's joint axes with the human body's joint axes. It only needs to ensure that the motion trajectory of the end effector is consistent with the end connection point of the human body. However, a core challenge facing end-drive lower limb rehabilitation robots is the lack of degree of freedom configuration.

[0005] According to human movement anatomy, the hip joint of the human lower limb has three rotational degrees of freedom, the knee joint has one rotational degree of freedom, and the ankle joint has three rotational degrees of freedom. Therefore, a single lower limb generally has seven degrees of freedom. To achieve more complex and varied gait training, it is necessary to increase the number of degrees of freedom of lower limb rehabilitation robots. For example, the HapticWalker and G-EO lower limb rehabilitation robots use a planar linkage mechanism with three degrees of freedom, but there are still significant differences compared to the complex multi-degree-of-freedom properties of the human lower limb. Summary of the Invention

[0006] The purpose of the present invention is to provide a lower limb rehabilitation system, its mechanical branch chain and lower limb rehabilitation robot to solve the problems existing in the above-mentioned related technologies, improve the number of degrees of freedom of the end-driven lower limb rehabilitation robot, make the lower limb rehabilitation system and the lower limb rehabilitation robot more compatible with the degrees of freedom of the human lower limbs, avoid the problem of human-machine axis alignment of the wearable lower limb rehabilitation robot, and enhance the rehabilitation exercise effect of the human lower limb joints.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a mechanical branch chain suitable for a lower limb rehabilitation system, comprising:

[0009] a substrate capable of sliding back and forth along the mounting base to form a first moving pair;

[0010] an adapter plate, the adapter plate being rotatably connected to the base plate to form a first rotation pair;

[0011] a connecting element, wherein a first end of the connecting element is rotatably connected to the adapter plate to form a second rotating pair, and a rotation axis of the second rotating pair is perpendicular to the rotation axis of the first rotating pair;

[0012] a transfer element, wherein a first end of the transfer element is rotatably connected to the second end of the connecting element to form a third rotational pair, and a rotation axis of the third rotational pair is parallel to the rotation axis of the first rotational pair;

[0013] A protective gear assembly is rotatably connected to the second end of the adapter element to form a fourth rotational pair, and the rotation axis of the fourth rotational pair is perpendicular to the rotation axis of the third rotational pair. The protective gear assembly can be connected to the lower leg of a human body.

[0014] Preferably, the first moving pair, the first rotating pair and the second rotating pair are active motion pairs, and the third rotating pair and the fourth rotating pair are passive motion pairs;

[0015] The adapter plate is connected to a first driver, and the connecting element is connected to a second driver.

[0016] Preferably, the connecting element adopts a connecting rod mechanism.

[0017] Preferably, the connecting element adopts a parallelogram mechanism;

[0018] The connecting element includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod and the second connecting rod are respectively hinged to the adapter plate, and the hinge axis is perpendicular to the relative rotation axis of the adapter plate and the base plate; the other ends of the first connecting rod and the second connecting rod are respectively hinged to the third connecting rod; the third connecting rod is also rotatably connected to the adapter element, and the rotation axis is parallel to the relative rotation axis of the adapter plate and the base plate; the first connecting rod and the second connecting rod are arranged in parallel, and form a parallelogram mechanism with the third connecting rod and the adapter plate.

[0019] Preferably, the first driver and the second driver are both motors, the output end of the first driver is transmission-connected to the adapter plate via a gear mechanism, and the output end of the second driver is transmission-connected to the connecting element via a gear mechanism.

[0020] Preferably, the protective gear assembly includes a protective gear body, a flexible strap and a protective gear connector, the protective gear body is a U-shaped structure, the flexible strap is arranged on one side of the opening of the protective gear body and is connected to the protective gear body, the protective gear body and the flexible strap cooperate to cover the lower leg of the human body; the protective gear connector is connected to the protective gear body, and the protective gear connector is rotatably connected to the adapter element.

[0021] Preferably, the protective gear connector is a U-shaped structure, the bottom of the protective gear connector is connected to the protective gear body, the opening of the protective gear connector is arranged toward the adapter element, and both side walls of the protective gear connector are rotatably connected to the adapter element.

[0022] Preferably, the protective gear connector is a nut, and the protective gear connector is rotatably connected to the adapter element by a bolt shaft, one end of the bolt shaft is threadedly connected to the protective gear connector, and the other end of the bolt shaft is rotatably connected to the adapter element.

[0023] Preferably, the adapter element is rotatably connected to the connecting element using a quick release mechanism;

[0024] The quick-release mechanism includes a first quick-release head, a second quick-release head and a locking cam. The first quick-release head is rotatably connected to the adapter element, and the rotation axis is parallel to the relative rotation axis of the base plate and the adapter plate. The second quick-release head is connected to the connecting element and is slidably connected to the first quick-release head. The locking cam is rotatably provided on the second quick-release head. The locking cam can rotate to abut against and tighten the first quick-release head to fix the relative positions of the first quick-release head and the second quick-release head.

[0025] Preferably, the adapter element is rotatably connected to the connecting element using a quick release mechanism;

[0026] The quick-release mechanism includes a first quick-release head and a second quick-release head, the first quick-release head is connected to the protective gear assembly, the second quick-release head is rotatably connected to the adapter element, and the rotation axis is perpendicular to the relative rotation axis between the adapter element and the connecting element, and the second quick-release head is slidably connected to the first quick-release head; one of the first quick-release head and the second quick-release head has a hook, and the other one of the first quick-release head and the second quick-release head has a hook seat adapted to the hook, and the hook can be hooked and connected with the hook seat; the hook is connected to a handle, and the handle is hinged to one of the first quick-release head and the second quick-release head, and rotating the handle can drive the hook to move so that it is hooked and connected to the hook seat and separated from the hook seat.

[0027] Preferably, a force sensor is provided between the adapter element and the connecting element to monitor the contact force and torque between the mechanical branch chain and the human calf.

[0028] The present invention further provides a lower limb rehabilitation system, comprising a frame and the above-mentioned mechanical branch chain suitable for the lower limb rehabilitation system, wherein the base plate is slidably mounted on the frame;

[0029] The number of the mechanical branch chains is two, and the two groups of mechanical branch chains are symmetrically arranged on the frame with the center line of the frame as the axis.

[0030] Preferably, the reciprocating sliding direction of the substrate is parallel to the vertical direction.

[0031] Preferably, the base plate is connected to the frame using a linear module;

[0032] The linear module includes a first guide rail, a first slider, a lead screw nut, a lead screw and a third driver. The first guide rail is arranged on the frame, the first slider is slidably arranged on the first guide rail, the first slider and the lead screw nut are both connected to the base plate, the lead screw nut is threadedly connected to the lead screw, the lead screw is rotatably arranged on the frame and is transmission-connected to the third driver, and the third driver is fixed to the frame.

[0033] Preferably, the reciprocating sliding direction of the substrate is parallel to the horizontal direction.

[0034] Preferably, the base plate is connected to the frame using a linear module;

[0035] The linear module includes a second guide rail, a second slider, a driving pulley, a driven pulley, a synchronous belt and a third drive. The second guide rail is arranged on the frame, the second slider is slidably arranged on the second guide rail, and the second slider is connected to the base plate; the driving pulley and the driven pulley are both rotatably arranged on the frame, the driving pulley and the driven pulley cooperate to tension the synchronous belt and drive the synchronous belt to move, the synchronous belt is connected to the base plate, the third drive is arranged on the frame, and the output end of the third drive is transmission-connected to the driving pulley.

[0036] Preferably, the rack is a frame structure;

[0037] The frame is further connected with a handrail, which is detachably connected to the frame and whose connection position can be adjusted.

[0038] The present invention also provides a lower limb rehabilitation robot, comprising a treadmill and the above-mentioned lower limb rehabilitation system, wherein the treadmill is arranged between the two groups of the mechanical branches, and the movement direction of the treadmill belt matches the movement of the human lower limbs.

[0039] Preferably, the rotation axis of the running belt of the treadmill is parallel to the axis of the first rotating pair in the mechanical branch chain.

[0040] Preferably, the rotation axis of the running belt of the treadmill is perpendicular to the axis of the first rotating pair in the mechanical branch chain.

[0041] Compared with the related art, the present invention has achieved the following technical effects: the mechanical branch chain of the present invention suitable for the lower limb rehabilitation system includes a movable pair and four rotating pairs connected in sequence. The mechanical branch chain can assist the human hip joint in adduction / abduction, flexion / extension movement, and flexion / extension movement of the human knee joint, and can adapt to the posture changes of the human calf during movement, limit the direction of movement of the calf in real time, and make the patient always move in the set direction of movement. The mechanical branch chain of the present invention is suitable for the lower limb rehabilitation system. Compared with the end-drive rehabilitation robot with three planar degrees of freedom in the prior art, the spatial five-degree-of-freedom mechanical branch chain of the present invention is more consistent with the degree of freedom properties of the human lower limbs, can control more degrees of freedom of the lower limb joints, and can adapt to the front-back, left-right, and up-and-down movement of the center of gravity during walking, thereby enhancing the effect of auxiliary rehabilitation movement.

[0042] The present invention also provides a lower limb rehabilitation system, comprising a frame and the aforementioned mechanical support chain, wherein the frame provides a stable mounting base for the mechanical support chain. The mechanical support chain of the present invention can assist the human hip joint in performing adduction / abduction movements, thereby enabling the human body to perform lateral lane-changing walking during rehabilitation training. Compared with the prior art lower limb rehabilitation training system that uses straight-line walking training, the lateral lane-changing walking training of the lower limb rehabilitation system of the present invention can effectively activate the hip joint adduction / abduction movements, which have a low participation rate in normal straight-line walking training. This is of great value for improving the balance ability of patients with lower limb movement disorders during walking.

[0043] At the same time, the present invention also provides a lower limb rehabilitation robot, including a treadmill and the above-mentioned lower limb rehabilitation system. The lower limb rehabilitation robot of the present invention solves the problem of human-machine axis alignment of wearable lower limb rehabilitation robots in the prior art; and compared with the end-driven rehabilitation robots in the prior art, the number of degrees of freedom is increased. The end-driven rehabilitation robot is connected to the human calf instead of the human foot in the prior art. When one of the human legs is in a supporting state, the leg contacts the treadmill and forms a closed-loop motion chain. The mechanical branch connected to the leg can control the flexion / extension and adduction / abduction of the hip joint in the leg, as well as the flexion / extension of the knee joint, and can limit the internal rotation / external rotation of the hip joint. Moreover, because the leg forms a closed-loop motion chain with the treadmill, the dorsiflexion / plantar flexion, inversion / valgus, pronation / supination and other movements of the ankle joint are also controlled by the mechanical branch connected to the leg, which is conducive to further enhancing the effect of human lower limb joint rehabilitation exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 This is a schematic diagram of a mechanical branch chain applicable to a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0046] Figure 2 This is a diagram showing the structure of a mechanical branch chain for moving a substrate in a vertical direction according to an embodiment of the present invention;

[0047] Figure 3 This is a diagram showing the structure of a mechanical branch chain for horizontally moving a substrate according to an embodiment of the present invention;

[0048] Figure 4 This is an axonometric diagram of a mechanical branch chain for moving a substrate in a vertical direction according to an embodiment of the present invention;

[0049] Figure 5 Schematic diagram of an axonometric view at another angle of a mechanical branch chain for moving a substrate in a vertical direction according to an embodiment of the present invention;

[0050] Figure 6 This is an axonometric diagram of a mechanical branch chain for horizontally moving a substrate disclosed in an embodiment of the present invention;

[0051] Figure 7 This is a schematic structural diagram of a protective gear assembly for a mechanical branch chain of a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0052] Figure 8 This is a schematic structural diagram of another type of protective gear assembly applicable to a mechanical branch chain of a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0053] Figure 9 This is a schematic structural diagram of a quick-release mechanism of a mechanical branch chain applicable to a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0054] Figure 10 This is a schematic diagram of the disassembly of a quick-release mechanism of a mechanical branch chain applicable to a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0055] Figure 11 This is a schematic structural diagram of a quick-release mechanism of another structure of a mechanical branch chain applicable to a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0056] Figure 12A schematic diagram of the disassembly of a quick-release mechanism of another structure of a mechanical branch chain applicable to a lower limb rehabilitation system disclosed in an embodiment of the present invention;

[0057] Figure 13 This is a schematic structural diagram of a lower limb rehabilitation robot with a base plate that moves in a vertical direction according to an embodiment of the present invention;

[0058] Figure 14 This is a schematic diagram of the operation of a lower limb rehabilitation robot with a base plate moving in a vertical direction according to an embodiment of the present invention;

[0059] Figure 15 This is a schematic structural diagram of a linear module of a lower limb rehabilitation robot with a base plate moving in a vertical direction according to an embodiment of the present invention;

[0060] Figure 16 This is a schematic structural diagram of a lower limb rehabilitation robot with a base plate that moves in a horizontal direction according to an embodiment of the present invention;

[0061] Figure 17 This is a schematic diagram of the operation of the lower limb rehabilitation robot with a base plate moving in a horizontal direction disclosed in an embodiment of the present invention;

[0062] Figure 18 This is a schematic structural diagram of a linear module of a lower limb rehabilitation robot with a base plate that moves in a horizontal direction according to an embodiment of the present invention;

[0063] Figure 19 This is a structural schematic diagram of a treadmill for a lower limb rehabilitation robot disclosed in an embodiment of the present invention.

[0064] In the figure: P1, first moving pair; R1, first rotating pair; R2, second rotating pair; R3, third rotating pair; R4, fourth rotating pair;

[0065] 100, mechanical branch chain; 200, rack; 300, treadmill;

[0066] 1. Base plate; 2. Adapter plate; 3. Connecting element; 301. First connecting rod; 302. Second connecting rod; 303. Third connecting rod; 4. Adapter element; 5. Protective gear assembly; 501. Protective gear body; 502. Flexible strap; 503. Protective gear connector; 504. Bolt shaft; 6. First driver; 7. Second driver; 8. Quick release mechanism; 801. First quick release head; 802. Second quick release head; 803. Locking cam; 804. Slide groove; 805. Sliding block; 806. Hook; 807. Hook seat; 808. Handle; 9. Force sensor; 10. First guide rail; 11. First slider; 12. Screw nut; 13. Screw; 14. Third driver; 15. Handrail; 16. Second guide rail; 17. Second slider; 18. Driving pulley; 19. Driven pulley; 20. Synchronous belt;

[0067] a, right track line; b, middle track line; c, left track line. DETAILED DESCRIPTION

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0069] The purpose of the present invention is to provide a lower limb rehabilitation system, its mechanical branch chain and lower limb rehabilitation robot to solve the problems existing in the above-mentioned related technologies, improve the number of degrees of freedom of the end-driven lower limb rehabilitation robot, make the lower limb rehabilitation system and the lower limb rehabilitation robot more compatible with the degrees of freedom of the human lower limbs, avoid the problem of human-machine axis alignment of the wearable lower limb rehabilitation robot, and enhance the rehabilitation exercise effect of the human lower limb joints.

[0070] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] Example 1

[0072] This embodiment provides a mechanical branch chain 100 suitable for a lower limb rehabilitation system. Figures 1-19 , including a base plate 1, an adapter plate 2, a connecting element 3, an adapter element 4 and a protective gear assembly 5, wherein the base plate 1 can slide back and forth along the mounting base to form a first moving pair P1; the adapter plate 2 is rotatably connected to the base plate 1 to form a first rotating pair R1; the first end of the connecting element 3 is rotatably connected to the adapter plate 2 to form a second rotating pair R2, and the rotation axis of the second rotating pair R2 is perpendicular to the rotation axis of the first rotating pair R1; the first end of the adapter element 4 is rotatably connected to the second end of the connecting element 3 to form a third rotating pair R3, and the rotation axis of the third rotating pair R3 is parallel to the rotation axis of the first rotating pair R1; the protective gear assembly 5 is rotatably connected to the second end of the adapter element 4 to form a fourth rotating pair R4, and the rotation axis of the fourth rotating pair R4 is perpendicular to the rotation axis of the third rotating pair R3, and the protective gear assembly 5 can be connected to the lower leg of the human body.

[0073] The mechanical support chain 100 of the present invention, which is suitable for a lower limb rehabilitation system, includes a movable pair and four rotating pairs connected in sequence. The mechanical support chain 100 is connected to the human calf using a protective gear assembly 5 to assist the human joint in rehabilitation exercises. In the mechanical support chain 100, the base plate 1 is slidably connected to the mounting base, the adapter plate 2 is rotationally connected to the base plate 1, the connecting element 3 is rotationally connected to the adapter plate 2, and the rotation axis of the connecting element 3 and the adapter plate 2 is perpendicular to the rotation axis of the adapter plate 2 and the base plate 1. The first movable pair P1 constructed cooperates with the first rotating pair R1 and the second rotating pair R2 to assist the human hip joint in adduction / abduction, flexion / extension exercises, and the human knee joint in flexion / extension exercises; the end of the connecting element 3 away from the adapter plate 2 is rotationally connected to the adapter element 4 to form a support chain. A third rotation pair R3 is constructed, and the rotation axis of the third rotation pair R3 is parallel to the rotation axis of the first rotation pair R1. At the same time, the protective gear assembly 5 is rotationally connected to the adapter element 4 to construct a fourth rotation pair R4, and the rotation axis of the fourth rotation pair R4 is perpendicular to the rotation axis of the third rotation pair R3. The protective gear assembly 5 can be fixed on the human calf. The third rotation pair R3 and the fourth rotation pair R4 cooperate to adapt to the posture changes of the human calf during movement, and can limit the direction of movement of the calf in real time, so that the calf always moves in the set direction of movement. The mechanical branch chain 100 of the present invention is suitable for lower limb rehabilitation systems. Compared with the end-drive rehabilitation robot with three planar degrees of freedom in the prior art, the spatial five-degree-of-freedom mechanical branch chain 100 of the present invention is more consistent with the degree of freedom properties of the human lower limbs, can control more degrees of freedom of the lower limb joints, and can adapt to the front-back, left-right, and up-and-down movement of the center of gravity during walking, thereby enhancing the effect of auxiliary rehabilitation exercise.

[0074] Among them, the first mobile pair P1, the first rotation pair R1 and the second rotation pair R2 are active motion pairs, and the third rotation pair R3 and the fourth rotation pair R4 are passive motion pairs; the movement of the first mobile pair P1, the first rotation pair R1 and the second rotation pair R2 can drive the movement of the third rotation pair R3 and the fourth rotation pair R4, thereby realizing auxiliary rehabilitation exercises for the lower limbs of the human body.

[0075] In this specific embodiment, the adapter plate 2 is connected to a first driver 6, and the connecting element 3 is connected to a second driver 7. The first driver 6 is arranged on the base plate 1 and can drive the adapter plate 2 to rotate. The second driver 7 is arranged on the adapter plate 2 and drives the connecting element 3 to rotate close to one end of the adapter plate 2. In combination with the sliding of the base plate 1 along the installation base, the relative rotation of the adapter element 4 and the connecting element 3 and the adapter element 4 and the protective gear assembly 5 is achieved. The protective gear assembly 5 is connected to the human calf to assist the human lower limb in rehabilitation training exercises. It should be explained here that in actual applications, the installation base can be a structure used for installation and fixing when the mechanical branch chain 100 is used, or other equipment to which the mechanical branch chain 100 can be connected. The sliding direction of the base plate 1 relative to the installation base can be determined according to the specific situation of the installation base. For example, the base plate 1 slides back and forth on the installation base in the vertical direction. See for details. Figure 2 , or, the substrate 1 slides back and forth horizontally on the mounting base, see Figure 3 , so that the mechanical branch chain 100 can meet different usage and installation conditions.

[0076] In practical applications, the connecting element 3 can be a connecting rod mechanism. This mechanism transmits mechanical motion and force smoothly and efficiently. It can withstand the weight of the human lower limbs and the resistance load during training, minimizing instability and improving the motion control accuracy of the mechanical branch chain 100.

[0077] In this specific embodiment, the connecting element 3 adopts a parallelogram mechanism. The geometric symmetry of the parallelogram mechanism enables the connecting element 3 to evenly distribute the load when subjected to force, reducing bending or twisting of the component and improving the deformation resistance of the connecting element 3. At the same time, the parallelogram mechanism forms a closed loop through four hinge points, which can disperse external forces, improve the stability of the connecting element 3, and facilitate improving the motion accuracy and transmission efficiency of the mechanical branch chain 100.

[0078] Specifically, the connecting element 3 includes a first connecting rod 301, a second connecting rod 302 and a third connecting rod 303, see Figure 4 and Figure 5One end of the first link 301 and the second link 302 are respectively hinged to the adapter plate 2, and the hinge axis is perpendicular to the relative rotation axis of the adapter plate 2 and the base plate 1; the other ends of the first link 301 and the second link 302 are respectively hinged to the third link 303; the third link 303 is also rotatably connected to the adapter element 4, and the rotation axis is parallel to the relative rotation axis of the adapter plate 2 and the base plate 1; the first link 301 and the second link 302 are arranged in parallel, and form a parallelogram mechanism with the third link 303 and the adapter plate 2. The hinge axes of the first link 301 and the second link 302 and the adapter plate 2 are perpendicular to the rotation axes of the adapter plate 2 and the base plate 1, and the hinge axes of the first link 301 and the second link 302 and the adapter plate 2 are parallel to the hinge axes of the first link 301 and the second link 302 and the third link 303, so that the adapter plate 2 can drive the first link 301, the second link 302 and the third link 303 to rotate, and the third link 303 is hinged to the first link 301 and the second link 302 respectively, and the third link 303 is rotationally connected to the adapter element 4, thereby realizing the rotational connection between the connecting element 3 and the adapter element 4.

[0079] In other embodiments of the present invention, both the first driver 6 and the second driver 7 may be motors. The output end of the first driver 6 is connected to the adapter plate 2 via a gear mechanism, and the output end of the second driver 7 is connected to the connecting element 3 via a gear mechanism. Using a gear mechanism as a transmission mechanism offers high transmission accuracy and a rigid transmission that can adapt to impact loads, thereby improving the impact resistance of the mechanical branch chain 100.

[0080] It should also be noted here that, in this specific embodiment, the output end of the second driver 7 is transmission-connected to the first link 301 of the connecting element 3, and the first link 301 is used to drive the parallelogram mechanism to move. Compared with the second link 302, the first link 301 can adopt a thick rod structure (that is, the transverse cross-sectional area of ​​the first link 301 is larger than the transverse cross-sectional area of ​​the second link 302) to enhance the structural strength and motion stability of the first link 301 and the parallelogram mechanism. The second link 302 can adopt a thin rod structure to reduce the load of the second driver 7, and on the premise of ensuring the movement reliability of the mechanical branch chain 100, reduce the mass of the mechanical branch chain 100 as much as possible to improve the flexibility and adaptability of the mechanical branch chain 100.

[0081] More specifically, the protective gear assembly 5 includes a protective gear body 501, a flexible strap 502, and a protective gear connector 503. Figure 7The protective gear body 501 has a U-shaped structure to increase the contact area between the protective gear assembly 5 and the human calf. This improves the comfort of the human calf while the protective gear body 501 is fixed to the human calf. The flexible strap 502 is disposed on one side of the opening of the protective gear body 501 and is connected to the protective gear body 501. The protective gear body 501 and the flexible strap 502 cooperate to wrap around the human calf, ensuring a stable connection between the protective gear assembly 5 and the human calf. In actual use, the flexible strap 502 can be configured to be connected to the protective gear body 501 at one end. After the human calf is positioned within the groove of the protective gear body 501, the other end of the flexible strap 502 is tied to the protective gear body 501, improving ease of use. Alternatively, the flexible strap 502 can be connected to the protective gear body 501 using Velcro, making it easier to use and adaptable to various leg shapes. At the same time, two flexible straps 502 can also be provided, each connected to the protective gear body 501. After the human calf enters the groove of the protective gear body 501, the two flexible straps 502 are tied or connected using Velcro, snaps, etc. In addition, to enhance the connection stability between the protective gear assembly 5 and the human calf, multiple sets of flexible straps 502 can be provided. The flexible straps 502 are arranged along the height direction of the protective gear body 501 to enhance the fixing effect of the protective gear assembly 5 and the human calf. At the same time, multi-point fixing helps to improve the fixing reliability of the protective gear assembly 5, and can also avoid strangulation of the human calf, improving the user experience.

[0082] It should also be noted that the protective gear connector 503 is connected to the protective gear body 501, and the protective gear connector 503 is rotatably connected to the adapter element 4. The protective gear assembly 5 uses the protective gear connector 503 to achieve a rotatable connection with the adapter element 4. In this specific embodiment, the protective gear connector 503 is a U-shaped structure, with the bottom of the protective gear connector 503 connected to the protective gear body 501, the opening of the protective gear connector 503 is arranged to face the adapter element 4, and both side walls of the protective gear connector 503 are rotatably connected to the adapter element 4 to ensure the stability of the connection structure.

[0083] In other specific embodiments of the present invention, the protective gear connector 503 may be a nut. Figure 8 The nut is fixed on the protective gear body 501, and the protective gear connector 503 is rotatably connected to the adapter element 4 using the bolt shaft 504. One end of the bolt shaft 504 is threadedly connected to the nut, and the other end of the bolt shaft 504 is rotatably connected to the adapter element 4. The structure is simple and easy to assemble and disassemble.

[0084] Furthermore, the adapter element 4 is rotatably connected to the connecting element 3 using a quick-release mechanism 8; the quick-release mechanism 8 can quickly realize the assembly and disassembly of the adapter element 4 and the connecting element 3, that is, the protective gear assembly 5 and the adapter element 4 can be conveniently removed. When using the mechanical branch chain 100 of the present invention to perform rehabilitation training exercises on the human lower limbs, the protective gear assembly 5 and the adapter element 4 can be removed first, and then the protective gear assembly 5 can be fixed to the human calf. Then, the quick-release mechanism 8 can be used to connect the protective gear assembly 5 and the adapter element 4 to the connecting element 3, thereby improving the convenience of use of the protective gear assembly 5, reducing the difficulty of operating the protective gear assembly 5, and improving the user experience.

[0085] In this embodiment, the quick release mechanism 8 includes a first quick release head 801, a second quick release head 802 and a locking cam 803. Figure 9 and Figure 10 The first quick-release head 801 is rotatably connected to the adapter element 4, and the rotation axis is parallel to the relative rotation axis of the adapter element 4 and the connecting element 3. The second quick-release head 802 is connected to the connecting element 3, and the second quick-release head 802 is slidably connected to the first quick-release head 801. The locking cam 803 is rotatably provided on the second quick-release head 802. The locking cam 803 rotates to abut against the first quick-release head 801 and tighten the first quick-release head 801 to fix the relative positions of the first quick-release head 801 and the second quick-release head 802. The first quick-release head 801 is connected to the adapter element 4, and the second quick-release head 802 is connected to the connecting element 3. The first quick-release head 801 and the second quick-release head 802 are slidably connected, which facilitates the quick disassembly and assembly of the quick-release mechanism 8; the locking cam 803 can fix the relative positions of the first quick-release head 801 and the second quick-release head 802, ensuring the connection reliability of the first quick-release head 801 and the second quick-release head 802; the first quick-release head 801 can be loosened by rotating the locking cam 803, and the protective gear assembly 5 and the adapter element 4 can be removed by sliding the first quick-release head 801, which is convenient and quick to operate. It should also be noted that, in actual use, one of the first quick-release head 801 and the second quick-release head 802 can be provided with a slide groove 804, and the other of the first quick-release head 801 and the second quick-release head 802 can be provided with a sliding block 805 that matches the slide groove 804, so as to improve the relative sliding accuracy of the first quick-release head 801 and the second quick-release head 802 and ensure the operating reliability of the quick-release mechanism 8. The slide groove 804 can be a dovetail groove, which ensures sliding accuracy while preventing slippage and improving the structural stability of the quick-release mechanism 8.

[0086] In other achievable embodiments of the present invention, the first quick release head 801 and the second quick release head 802 of the quick release mechanism 8 can be connected in a buckle-fixed manner, please refer to Figure 11 and Figure 12For example, a hook-shaped locking buckle is selected, and one of the first quick-release head 801 and the second quick-release head 802 has a hook 806, and the other one of the first quick-release head 801 and the second quick-release head 802 has a hook seat 807. The hook 806 can be hooked and connected with the hook seat 807, and a handle 808 is also provided on the first quick-release head 801 or the second quick-release head 802 where the hook 806 is located. The handle 808 is hinged to the first quick-release head 801 or the second quick-release head 802 and the hook 806 respectively. Rotating the handle 808 can drive the hook 806 to move, so as to realize the hooking connection and separation between the hook 806 and the hook seat 807. During application, after the first quick-release head 801 and the second quick-release head 802 are slid into place, and the hook 806 is hooked to the hook seat 807, the handle 808 is pulled to drive the hook 806 to hook the hook seat 807, and the lever principle is used to enhance the fastening force of the buckle; when disassembling, it is only necessary to pull the handle 808 in the opposite direction to loosen the buckle, and the hook 806 and the hook seat 807 can be separated to achieve quick release. In actual applications, other types of buckles or locking elements can be selected according to actual needs to lock the first quick-release head 801 and the second quick-release head 802 and achieve the purpose of quick release. It should also be explained here that the setting position of the quick-release mechanism 8 can be adjusted according to the actual working conditions. For example, the connecting element 4 is connected to the protective gear assembly 5 using the quick-release mechanism 8, which can also achieve quick release of the protective gear assembly 5, facilitate the operation of the protective gear assembly 5, and provide convenience for the patient. Please refer to Figure 12 The first quick-release head 801 of the quick-release mechanism 8 is connected to the protective gear assembly 5, and the second quick-release head 802 is rotatably connected to the adapter element 4, and the rotation axis is perpendicular to the relative rotation axis of the adapter element 4 and the connecting element 3. Similarly, it can also be set to a structural form in which the second quick-release head 802 is connected to the protective gear assembly 5 and the first quick-release head 801 is connected to the connecting element 4, while achieving quick disassembly and assembly, improving the flexibility and adaptability of the quick-release mechanism 8 and the mechanical branch chain 100.

[0087] In order to monitor the working status of the mechanical branch chain 100 in assisting the rehabilitation training of the human lower limbs, the present invention provides a force sensor 9 between the adapter element 4 and the connecting element 3 to monitor the contact force and torque between the mechanical branch chain 100 and the human lower leg, so as to facilitate the patient to adjust the movement status according to the monitoring data, thereby improving the safety factor of the mechanical branch chain 100.

[0088] Example 2

[0089] This embodiment provides a lower limb rehabilitation system, including a frame 200 and a mechanical branch chain 100 suitable for the lower limb rehabilitation system of embodiment 1. The base plate 1 can be slidably installed on the frame 200. At this time, the frame 200 serves as an installation base and is slidably connected to the base plate 1 to form a moving pair.

[0090] There are two groups of mechanical support chains 100 , which are symmetrically arranged on the frame 200 with the center line of the frame 200 as the axis. The two groups of mechanical support chains 100 respectively assist the patient's two legs in rehabilitation training exercises.

[0091] In this embodiment, the reciprocating sliding direction of the base plate 1 is parallel to the vertical direction. The first driver 6 drives the adapter plate 2 to rotate, thereby achieving flexion / extension of the human lower limb hip joint. The second driver 7 drives the connecting element 3 to rotate. Combined with the reciprocating sliding of the base plate 1 along the vertical direction of the frame 200, this can achieve adduction / abduction of the human lower limb hip joint, thereby exercising the muscles and nerves related to hip abduction / adduction, and enhancing the patient's walking stability.

[0092] In order to improve the reciprocating motion accuracy of the base plate 1, the base plate 1 is connected to the frame 200 using a linear module. The linear module has strong rigidity and load capacity, which can effectively improve the working reliability of the lower limb rehabilitation system.

[0093] Specifically, the linear module includes a first guide rail 10, a first slider 11, a lead screw nut 12, a lead screw 13 and a third driver 14, see Figure 15 The first guide rail 10 is disposed on the frame 200, and the length direction of the first guide rail 10 is parallel to the vertical direction. The first slider 11 is slidably disposed on the first guide rail 10. The first slider 11 and the lead screw nut 12 are both connected to the base plate 1. The lead screw nut 12 is threadedly connected to the lead screw 13. The lead screw 13 is rotatably disposed on the frame 200 and is transmission-connected to the third driver 14. The third driver 14 is fixed to the frame 200. The third driver 14 drives the lead screw 13 to rotate, and the lead screw 13 then drives the lead screw nut 12 adapted thereto to move along the axis of the lead screw 13. The lead screw nut 12 is connected to the base plate 1, thereby driving the base plate 1 to reciprocate along the first guide rail 10. The base plate 1 drives the first slider 11 to slide back and forth, ensuring the reciprocating motion accuracy of the base plate 1.

[0094] The frame 200 is a framework structure that provides stable mounting contact for the mechanical support chain 100 and the linear module, while simplifying the structure and reducing production costs. In practical applications, to enhance the structural stability of the frame 200, counterweight elements can be installed on the frame 200 to ensure its stability. This allows the frame 200 to adapt to patients of varying body shapes and training requirements, further ensuring the reliability of the lower limb rehabilitation training system.

[0095] To assist in supporting the patient, the frame 200 is also connected to a handrail 15 for the patient to hold onto during rehabilitation exercises. The handrail 15 is detachably connected to the frame 200, allowing the patient to choose whether to install the handrail 15 based on actual needs. When installed, the connection position of the handrail 15 to the frame 200 can be adjusted, making it easy to adjust the height of the handrail 15 to accommodate patients of different heights and improving its flexibility and adaptability.

[0096] Example 3

[0097] This embodiment provides a lower limb rehabilitation system. In this embodiment, the reciprocating sliding direction of the base plate 1 is parallel to the horizontal direction. The second driver 7 drives the connecting element 3 to rotate, thereby achieving flexion / extension of the human lower limb hip joint. The first driver 6 drives the adapter plate 2 to rotate. Combined with the reciprocating sliding of the base plate 1 along the horizontal direction of the frame 200, this system can achieve adduction / abduction of the human lower limb hip joint, thereby training the muscles and nerves associated with hip abduction / adduction, and enhancing the patient's walking stability.

[0098] In this embodiment, the base plate 1 is also connected to the frame 200 by a linear module to ensure the reciprocating motion accuracy of the base plate 1. The linear module includes a second guide rail 16, a second slider 17, a driving pulley 18, a driven pulley 19, a synchronous belt 20 and a third driver 14, see Figure 18 The second guide rail 16 is provided on the frame 200, and the length direction of the second guide rail 16 is parallel to the horizontal direction. The second slider 17 is slidably provided on the second guide rail 16, and the second slider 17 is connected to the base plate 1. The driving pulley 18 and the driven pulley 19 are both rotatably provided on the frame 200. The driving pulley 18 and the driven pulley 19 cooperate to tension the synchronous belt 20 and drive the synchronous belt 20 to move. The synchronous belt 20 is connected to the base plate 1. The third driver 14 is provided on the frame 200, and the output end of the third driver 14 is transmission-connected to the driving pulley 18. The third driver 14 drives the driving pulley 18 to rotate. The driving pulley 18 uses the driven pulley 19 to tension the synchronous belt 20 and drives the synchronous belt 20 and the driven pulley 19 to move, thereby driving the base plate 1 connected to the synchronous belt 20 to reciprocate along the direction of the second guide rail 16, ensuring the reciprocating motion accuracy of the base plate 1, and further ensuring the motion reliability of the lower limb rehabilitation system.

[0099] The other structures of the lower limb rehabilitation system of this embodiment are the same as those of the second embodiment and will not be described again here.

[0100] Example 4

[0101] The present invention also provides a lower limb rehabilitation robot, including a treadmill 300 and the lower limb rehabilitation system of the second embodiment or the third embodiment. Figures 13-19The treadmill 300 is disposed between the two sets of mechanical branches 100, and the rotation axis of the running belt of the treadmill 300 can be set to be parallel to the axis of the first rotation pair R1 in the mechanical branches 100, as shown in FIG. Figure 13 or, the rotation axis of the treadmill 300 is set to be perpendicular to the axis of the first rotating pair R1 of the mechanical branch chain 100, as shown Figure 16 shown.

[0102] In actual application, the treadmill 300 can be set in the horizontal frame of the frame 200 to fix the relative position of the frame 200 and the treadmill 300, improve the structural stability of the treadmill 300 and the lower limb rehabilitation robot, and ensure the patient's lower limb rehabilitation training effect.

[0103] The lower limb rehabilitation robot of the present invention has two sets of mechanical branches 100 connected to the left and right calves of the human body respectively. When one of the two legs of the human body is in a swinging state, the mechanical branch chain 100 connected to the leg can control the flexion / extension, adduction / abduction movement of the hip joint in the leg, as well as the flexion / extension movement of the knee joint, and can limit the internal rotation / external rotation movement of the hip joint, so that the moving direction of the lower limb is always parallel to the moving direction of the treadmill 300. When one of the two legs is in a supporting state, the leg contacts the treadmill 300 and forms a closed-loop motion chain. The mechanical branch chain 100 connected to the leg can control the flexion / extension, adduction / abduction movements of the hip joint, and the flexion / extension movements of the knee joint, and can limit the internal rotation / external rotation movements of the hip joint. Moreover, since the leg and the treadmill 300 form a closed-loop motion chain, the dorsiflexion / plantar flexion, inversion / eversion, and pronation / supination movements of the ankle joint are also controlled by the mechanical branch chain 100 connected to the leg.

[0104] In summary, the mechanical branch chain 100 can control the flexion / extension, adduction / abduction, internal rotation / external rotation of the hip joint of the lower limb, as well as the flexion / extension of the knee joint. When the human leg is in a supporting state, the mechanical branch chain 100 connected to the leg can also control the dorsiflexion / plantar flexion, inversion / eversion, and pronation / supination of the ankle joint of the leg. The end-driven lower limb rehabilitation robot of the present invention has five degrees of freedom, which increases the number of degrees of freedom compared to the three-degree-of-freedom end-driven lower limb rehabilitation robot in the prior art. Taking into account that the human lower limbs will have swinging states and supporting states during walking, in order to fully utilize the additional constraints of the treadmill 300 on the human legs in the supporting state, the present invention changes the connection point between the mechanical branch chain 100 and the human lower limbs from the traditional foot connection to the calf connection, so as to fully utilize the additional contact constraints formed between the human lower limbs and the treadmill 300 in the supporting state, and then control the dorsiflexion / plantar flexion, inversion / eversion, pronation / supination movements of the human ankle joint, so that the lower limb rehabilitation robot of the present invention has a higher matching degree with the freedom attributes of the human lower limbs, and more lower limb joint degrees of freedom can be actively controlled, which is conducive to enhancing the rehabilitation effect.

[0105] The end-drive lower limb rehabilitation robot of the present invention can assist the movement of the joints of the lower limbs of the human body in the coronal plane, and thus can realize the lateral lane change walking training. Figure 19 , and can adapt to the forward, backward, left, right, and up and down movements of the center of gravity of the human body during walking. In this specific embodiment, three motion trajectory lines are provided on the treadmill 300, namely the right trajectory line a, the middle trajectory line b and the left trajectory line c. Patients with lower limb movement disorders can perform straight-line walking training along any one of the three motion trajectory lines, and during the training process, patients can also switch between different motion trajectory lines to achieve lateral lane change walking training. In actual applications, the number of motion trajectory lines on the treadmill 300 can also be adjusted according to the actual rehabilitation training needs, so as to meet the rehabilitation training exercise needs of different patients.

[0106] Compared with the straight-line walking training commonly used in lower limb rehabilitation robots in the prior art, the end-drive lower limb rehabilitation robot of the present invention can perform lateral lane-changing walking training on patients. The lateral lane-changing walking training can effectively activate the hip adduction / abduction movement, which has a low participation rate in normal straight-line walking training. This is of great value for improving the balance ability of patients with lower limb movement disorders during walking.

[0107] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A mechanical branch chain suitable for a lower limb rehabilitation system, characterized in that: include: A substrate (1), the substrate (1) being capable of sliding back and forth along a mounting base to form a first moving pair; an adapter plate (2), the adapter plate (2) being rotatably connected to the base plate (1) to form a first rotation pair; A connecting element (3), wherein a first end of the connecting element (3) is rotatably connected to the adapter plate (2) to form a second rotating pair, and a rotation axis of the second rotating pair is perpendicular to the rotation axis of the first rotating pair; a switching element (4), wherein a first end of the switching element (4) is rotatably connected to a second end of the connecting element (3) to form a third rotational pair, and a rotational axis of the third rotational pair is parallel to the rotational axis of the first rotational pair; A protective gear assembly (5) is rotatably connected to the second end of the adapter element (4) to form a fourth rotational pair, and the rotational axis of the fourth rotational pair is perpendicular to the rotational axis of the third rotational pair. The protective gear assembly (5) can be connected to the lower leg of a human body.

2. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 1, characterized in that: The first moving pair, the first rotating pair, and the second rotating pair are active kinematic pairs, and the third rotating pair and the fourth rotating pair are passive kinematic pairs; The adapter plate (2) is connected to a first driver (6), and the connecting element (3) is connected to a second driver (7).

3. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 1, characterized in that: The connecting element (3) adopts a connecting rod mechanism.

4. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 3, characterized in that: The connecting element (3) adopts a parallelogram structure; The connecting element (3) includes a first connecting rod (301), a second connecting rod (302) and a third connecting rod (303), one end of the first connecting rod (301) and the second connecting rod (302) are respectively hinged to the adapter plate (2), and the hinge axis is perpendicular to the relative rotation axis of the adapter plate (2) and the base plate (1); the other end of the first connecting rod (301) and the second connecting rod (302) are respectively hinged to the third connecting rod (303); the third connecting rod (303) is also rotatably connected to the adapter element (4), and the rotation axis is parallel to the relative rotation axis of the adapter plate (2) and the base plate (1); the first connecting rod (301) and the second connecting rod (302) are arranged in parallel, and form a parallelogram mechanism with the third connecting rod (303) and the adapter plate (2).

5. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 2, characterized in that: The first driver (6) and the second driver (7) are both motors; the output end of the first driver (6) is connected to the adapter plate (2) via a gear mechanism, and the output end of the second driver (7) is connected to the connecting element (3) via a gear mechanism.

6. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 1, characterized in that: The protective gear assembly (5) comprises a protective gear body (501), a flexible strap (502) and a protective gear connector (503); the protective gear body (501) is a U-shaped structure; the flexible strap (502) is arranged on one side of an opening of the protective gear body (501) and is connected to the protective gear body (501); the protective gear body (501) and the flexible strap (502) cooperate to cover the lower leg of a human body; the protective gear connector (503) is connected to the protective gear body (501), and the protective gear connector (503) is rotatably connected to the adapter element (4).

7. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 6, characterized in that: The protective gear connecting piece (503) is a U-shaped structure, the bottom of the protective gear connecting piece (503) is connected to the protective gear body (501), the opening of the protective gear connecting piece (503) is arranged toward the adapter element (4), and both side walls of the protective gear connecting piece (503) are rotatably connected to the adapter element (4).

8. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 1, characterized in that: The adapter element (4) is rotatably connected to the connecting element (3) using a quick-release mechanism (8); The quick-release mechanism (8) comprises a first quick-release head (801), a second quick-release head (802) and a locking cam (803); the first quick-release head (801) is rotatably connected to the adapter element (4), and the rotation axis is parallel to the relative rotation axis of the base plate (1) and the adapter plate (2); the second quick-release head (802) is connected to the connecting element (3), and the second quick-release head (802) is slidably connected to the first quick-release head (801); the locking cam (803) is rotatably arranged on the second quick-release head (802); the locking cam (803) is rotatably arranged on the second quick-release head (802); the locking cam (803) is rotatable to abut against the first quick-release head (801) and press the first quick-release head (801) tightly, so as to fix the relative position of the first quick-release head (801) and the second quick-release head (802).

9. The mechanical branch chain suitable for a lower limb rehabilitation system according to claim 1, characterized in that: The adapter element (4) is rotatably connected to the protective gear assembly (5) using a quick-release mechanism (8); The quick-release mechanism (8) includes a first quick-release head (801) and a second quick-release head (802), wherein the first quick-release head (801) is connected to the protective gear assembly (5), and the second quick-release head (802) is rotatably connected to the adapter element (4), and the rotation axis is perpendicular to the relative rotation axis of the adapter element (4) and the connecting element (3), and the second quick-release head (802) is slidably connected to the first quick-release head (801); one of the first quick-release head (801) and the second quick-release head (802) has a hook (806), and the first quick-release head (801) is connected to the protective gear assembly (5). The other one of the first quick-release head (801) and the second quick-release head (802) has a hook seat (807) adapted to the hook (806), and the hook (806) can be hooked and connected with the hook seat (807); the hook (806) is connected with a handle (808), and the handle (808) is hinged to one of the first quick-release head (801) and the second quick-release head (802), and rotating the handle (808) can drive the hook (806) to move, so that it is hooked and connected with the hook seat (807) and separated from the hook seat (807).

10. The mechanical branch chain suitable for a lower limb rehabilitation system according to any one of claims 1 to 9, characterized in that: A force sensor (9) is provided between the switching element (4) and the connecting element (3) to monitor the contact force and torque between the mechanical branch chain and the human calf.

11. A lower limb rehabilitation system, characterized by: It comprises a frame and a mechanical branch chain suitable for a lower limb rehabilitation system according to any one of claims 1 to 10, wherein the base plate (1) is slidably mounted on the frame; The number of the mechanical branch chains is two, and the two groups of mechanical branch chains are symmetrically arranged on the frame with the center line of the frame as the axis.

12. The lower limb rehabilitation system according to claim 11, characterized in that: The reciprocating sliding direction of the substrate (1) is parallel to the vertical direction.

13. The lower limb rehabilitation system according to claim 11, characterized in that: The base plate (1) is connected to the frame using a linear module; The linear module comprises a first guide rail (10), a first slider (11), a lead screw nut (12), a lead screw (13) and a third driver (14), wherein the first guide rail (10) is arranged on the frame, the first slider (11) is slidably arranged on the first guide rail (10), the first slider (11) and the lead screw nut (12) are both connected to the base plate (1), the lead screw nut (12) is threadedly connected to the lead screw (13), the lead screw (13) is rotatably arranged on the frame and is transmission-connected to the third driver (14), and the third driver (14) is fixed to the frame.

14. The lower limb rehabilitation system according to claim 11, characterized in that: The reciprocating sliding direction of the substrate (1) is parallel to the horizontal direction.

15. The lower limb rehabilitation system according to claim 11, characterized in that: The base plate (1) is connected to the frame using a linear module; The linear module comprises a second guide rail (16), a second slider (17), a driving pulley (18), a driven pulley (19), a synchronous belt (20) and a third driver (14), wherein the second guide rail (16) is arranged on the frame, the second slider (17) is slidably arranged on the second guide rail (16), and the second slider (17) is connected to the base plate (1); the driving pulley (18) and the driven pulley (19) are both rotatably arranged on the frame, the driving pulley (18) and the driven pulley (19) cooperate to tighten the synchronous belt (20) and drive the synchronous belt (20) to move, and the synchronous belt (20) is connected to the base plate (1), and the third driver (14) is arranged on the frame, and the output end of the third driver (14) is transmission-connected to the driving pulley (18).

16. The lower limb rehabilitation system according to claim 11, characterized in that: The frame is a frame structure; The frame is also connected to a handrail (15), and the handrail (15) is detachably connected to the frame, and the connection position between the two can be adjusted.

17. A lower limb rehabilitation robot, characterized in that: The lower limb rehabilitation system comprises a treadmill and any one of claims 11-16, wherein the treadmill is arranged between the two groups of mechanical branches, and the movement direction of the treadmill belt matches the movement of the lower limbs of the human body.

18. The lower limb rehabilitation robot according to claim 17, characterized in that: The rotation axis of the running belt of the treadmill is parallel to the axis of the first rotating pair in the mechanical branch chain.

19. The lower limb rehabilitation robot according to claim 17, characterized in that: The rotation axis of the running belt of the treadmill is perpendicular to the axis of the first rotating pair in the mechanical branch chain.

Images