Rehabilitation robot based on non-circular gear train-five-bar mechanism

Abstract

The invention provides a rehabilitation robot based on a non-circular gear train-five-bar mechanism, and relates to the technical field of rehabilitation medical instruments, the rehabilitation robot comprises a rack, a left rehabilitation mechanism and a right rehabilitation mechanism; the left rehabilitation mechanism and the right rehabilitation mechanism are symmetrical; the left rehabilitation mechanism comprises a left non-circular wheel train-five-rod mechanism, a left leg connecting rod and a left knee bandage; the right rehabilitation mechanism comprises a right non-circular wheel train-five-rod mechanism, a right leg connecting rod and a right knee bandage. The non-circular wheel train-five-bar mechanism is used for accurately reproducing the motion posture of the knee joint, the problems that the fitness between the motion track of an existing rehabilitation robot and the natural gait of the human body is insufficient, the control torque is large and the like can be effectively solved, and the non-circular wheel train-five-bar mechanism has the advantages of being simple in structure and low in manufacturing cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medical devices, and particularly relates to a rehabilitation robot based on a non-circular wheel system-five-bar mechanism. BACKGROUND

[0002] Rehabilitation robots are high-end rehabilitation medical technologies that have rapidly developed in recent years, and combine robot technology and medical technology. The core purpose is to help patients with motor dysfunction recover the ability of limb movement, and the rehabilitation robots have been widely applied to human assistance and clinical rehabilitation.

[0003] With the increase of rehabilitation needs, the related technologies of existing lower limb knee joint rehabilitation robots continue to develop, but there are still many problems to be solved. Traditional knee joint rehabilitation devices mostly use linkage mechanism design, but the feasible solution domain of the traditional linkage mechanism is limited, and it is difficult to realize the trajectory synthesis of more than four postures, and the structure is complex and easy to vibrate; some designs use spatial linkage mechanisms or flexible joints for improvement, but there are still problems such as insufficient fitting degree of the motion trajectory to the natural gait of the human body and large control torque. In addition, the existing devices also have limitations in adaptability, and it is difficult to meet the individual needs of patients of different heights and body shapes; at the same time, the traditional mechanism mapping method cannot accurately obtain the complex motion position of the knee joint, and the analytical design of the multi-bar mechanism often faces the dilemma of small feasible solution domain or cannot be solved, resulting in high manufacturing difficulty of the device and poor rehabilitation training effect. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a rehabilitation robot based on a non-circular wheel system-five-bar mechanism. The present application uses a non-circular wheel system-five-bar mechanism to accurately reproduce the motion posture of the knee joint, which can effectively solve the problems of insufficient fitting degree of the motion trajectory of the existing rehabilitation robot to the natural gait of the human body and large control torque, and has the characteristics of simple structure and low manufacturing cost.

[0005] The present application achieves the above technical purposes through the following technical means.

[0006] A rehabilitation robot based on a non-circular wheel system-five-bar mechanism, comprising a rack, a left rehabilitation mechanism and a right rehabilitation mechanism, the left rehabilitation mechanism and the right rehabilitation mechanism are in a symmetrical relationship; the left rehabilitation mechanism comprises a left non-circular wheel system, a left five-bar mechanism, a left leg connecting rod and a left knee strap; the right rehabilitation mechanism comprises a right non-circular wheel system, a right five-bar mechanism, a right leg connecting rod and a right knee strap.

[0007] In the above scheme, the left non-circular gear train drives the left five-bar mechanism to work as a power source to drive the left leg link to move; the right non-circular gear train (3-1) drives the right five-bar mechanism as a power source to drive the right leg link to move; the left five-bar mechanism and the right five-bar mechanism are the same in structure, the trajectory of the connecting point P of the connecting rod E and the connecting rod F in the left five-bar mechanism is a "8" shaped loop trajectory, which is flat, the upper loop is large, and the lower loop is small.

[0008] In the above scheme, the left non-circular gear train, the right non-circular gear train, the left five-bar mechanism and the right five-bar mechanism are fixedly connected in the middle part of the frame and can be adjusted up, down, left and right; the left leg link is hingedly connected with the frame; the right leg link is hingedly connected with the frame.

[0009] In the above scheme, the left non-circular gear train includes a sun gear, a left intermediate gear, a left planetary gear, a right intermediate gear and a right planetary gear, the sun gear is in mesh with the left intermediate gear and the right intermediate gear, the left intermediate gear is in mesh with the left planetary gear, and the right intermediate gear is in mesh with the right planetary gear; the left five-bar mechanism includes a connecting rod A, a connecting rod B, a connecting rod C, a connecting rod D, a connecting rod E and a connecting rod F, the connecting rod C is fixedly connected with the connecting rod E and the connecting rod D to form a triangle, one end of the connecting rod B is hingedly connected with a vertex of the triangle, and the other end is hingedly connected with one end of the connecting rod A, the other end of the connecting rod A is fixedly connected with the left planetary gear; one end of the connecting rod F is hingedly connected with a vertex of the triangle, and the other end is fixedly connected with the right planetary gear.

[0010] In the above scheme, the left leg link includes a thigh link, a shank link and a foot plate; the upper end of the thigh link is hingedly connected with the frame, and a sliding groove is arranged along the extension direction of the thigh link; the lower end of the shank link is fixedly connected with the foot plate; the upper end of the shank link is fixedly connected with the connecting pin of the connecting rod E and the connecting rod F in the left five-bar mechanism, and the connecting pin passes through the sliding groove of the thigh link.

[0011] In the above scheme, the right leg link is the same in structure as the left leg link, the connecting pin of the right leg link and the connecting rod E and the connecting rod F in the right five-bar mechanism is fixedly connected, and the connecting pin passes through the sliding groove in the right leg link.

[0012] In the above scheme, the left knee strap is fixedly connected with the connecting pin of the connecting rod E and the connecting rod F in the left five-bar mechanism.

[0013] In the above scheme, the specific design method of the left non-circular gear train and the left five-bar mechanism is as follows:

[0014] Step one: solving the relationship of the rotation angles of the non-circular gears of the left non-circular gear train

[0015] The rotation angle of the sun gear is: (1)

[0016] The rotation angle of the left intermediate gear is: (2)

[0017] Left planetary gear rotation angle is: (3)

[0018] Right intermediate wheel rotation angle is: (4)

[0019] Right planetary gear rotation angle is: (5)

[0020] Wherein, is the angular velocity of the sun gear, t is the motion time; is the transmission ratio between the sun gear and the left intermediate wheel; is the transmission ratio between the left intermediate wheel and the left planetary gear; is the transmission ratio between the sun gear and the right intermediate wheel; is the transmission ratio between the right intermediate wheel and the right planetary gear;

[0021] Step two: solve the coordinates of the hinge point A of the connecting rod A and the hinge point C of the connecting rod F and the connecting rod E;

[0022] The coordinates of the hinge point C of the connecting rod F and the connecting rod E are: (6)

[0023] Wherein, is the distance from the rotation center of the right planetary gear to the rotation center of the sun gear, is the installation angle of the right planetary gear, is the initial installation angle of the connecting rod F, is the rotation angle of the right planetary gear;

[0024] The coordinates of the hinge point A of the connecting rod A and the connecting rod B are: (7)

[0025] Wherein, is the distance from the rotation center of the left planetary gear to the rotation center of the sun gear, is the installation angle of the left planetary gear, is the initial installation angle of the connecting rod A, is the rotation angle of the left planetary gear;

[0026] Step three: solve the rotation angle of the connecting rod A and the connecting rod F

[0027] The rotation angle of the connecting rod A is:

[0028] (8)

[0029] The rotation angle of the connecting rod F is:

[0030] (9)

[0031] Wherein,​​

[0032] (10)

[0033] wherein, , are the x-axis and y-axis coordinates of the hinge point A of the connecting rod A and the connecting rod B;

[0034] Step four: solving the coordinates of the hinge point B of the connecting rod B and the connecting rod C

[0035] The coordinates of the hinge point B are: (11)

[0036] wherein, , are the rotation angles of the connecting rod A and the connecting rod F respectively, , are the lengths of the connecting rod A and the connecting rod F respectively;

[0037] Step five: solving the motion coordinates of the hinge point P of the connecting rod D and the connecting rod E

[0038] (12)

[0039]

[0040] wherein, is the x-axis coordinate of the hinge point P, is the y-axis coordinate of the hinge point P; the coordinate system takes the center of the sun gear rotation as the origin, the x-axis is horizontally to the right, and the y-axis is vertically upward; is the rotation angle of the connecting rod F in the motion process; , are the x-axis and y-axis coordinates of the hinge point C of the connecting rod C and the connecting rod E; , are the x-axis and y-axis coordinates of the hinge point B of the connecting rod B and the connecting rod C; is the length of the connecting rod D; is the length of the connecting rod E; H is a defined intermediate variable.

[0041] In the above scheme, a set of more optimal parameters of the left five-bar mechanism are: the length of the connecting rod A is 102 mm, the length of the connecting rod B is 260 mm, the length of the connecting rod C is 236 mm, the length of the connecting rod D is 113 mm, the length of the connecting rod E is 158 mm, and the length of the connecting rod F is 104 mm.

[0042] Beneficial effects:

[0043] 1. Simple structure and simplified manufacturing process: the series design of non-circular gear transmission system and five-bar mechanism replaces the traditional complex multi-bar mechanism, reduces the number of parts and assembly complexity, significantly reduces the manufacturing difficulty and production cost; the compactness of the gear transmission makes the overall volume of the device smaller, which is convenient for patients to wear and clinical scene deployment.

[0044] 2. Precise motion trajectory matching human gait: the core advantage of non-circular gear can achieve any transmission ratio, which makes the motion pose of the execution end highly coincide with the natural gait of the human body, accurately reproduces the complex motion of knee flexion and extension, and helps patients recover normal motion feeling and neuromuscular memory.

[0045] 3. The device posture can be flexibly adjusted according to the height, leg length and body shape of different patients, breaking the adaptation limitations of traditional devices and covering a wider range of rehabilitation population; at the same time, it supports dynamic adjustment of motion parameters according to the rehabilitation stage of patients, meeting the individualized rehabilitation training needs.

[0046] 4. Significant rehabilitation effect and high clinical value: by accurately reproducing the normal knee joint motion trajectory and posture of the human body, it promotes the standardized recovery of the patient's lower limb motor function, accelerates the reconstruction of knee joint neural function, and helps patients quickly return to normal life; the structural stability and adaptive flexibility of the device make it widely used in hospital rehabilitation department, community rehabilitation center and other scenes, which has important significance for promoting the development of rehabilitation medical technology. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The structure diagram of a rehabilitation robot based on non-circular gear train-five bar mechanism is related to the present application;

[0048] Figure 2 The connection diagram of non-circular gear train-five bar mechanism and leg link and knee strap;

[0049] Figure 3 The left rehabilitation mechanism;

[0050] Figure 4 The right rehabilitation mechanism;

[0051] Figure 5 The schematic diagram of non-circular gear train-five bar mechanism;

[0052] Figure 6 The schematic diagram of non-circular gear train;

[0053] Figure 7 The schematic diagram of leg link.

[0054] Reference signs:

[0055] 1-frame; 2-left side rehabilitation mechanism; 3-right side rehabilitation mechanism; 2-2-left leg connecting rod; 2-3-left knee band; 3-1-right non-circular gear train; 3-2-right leg connecting rod; 3-3-right knee band; 2-1-left non-circular gear train; 2-1-1-1-sun gear; 2-1-1-2-left intermediate gear; 2-1-1-3-left planetary gear; 2-1-1-4-right intermediate gear; 2-1-1-5-right planetary gear; 2-1-2-1-rod A; 2-1-2-2-rod B; 2-1-2-3 rod C; 2-1-2-4-rod D; 2-1-2-5-rod E; 2-1-2-6-rod F; 2-1-2-7-rehabilitation trajectory. DETAILED DESCRIPTION

[0056] Embodiments of the present application are described in detail below with reference to the attached drawings. The embodiments described below are examples of the present application, and are not intended to limit the present application. The embodiments described below are intended to explain the present application, and are not intended to limit the present application.

[0057] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be construed as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] The application discloses a rehabilitation robot based on a non-circular gear train-five bar mechanism.

[0060] The rehabilitation mechanism drives the five bar mechanism through the non-circular gear train, and the trajectory 2-1-2-7 of the connecting point P of the connecting rod E2-1-2-5 and the connecting rod F2-1-2-6 in the left five bar mechanism is an "8" shaped loop trajectory, which is flat, and the upper loop is large and the lower loop is small.

[0061] The left non-circular gear train 2-1 five bar mechanism is fixed in the middle part of the rack 1 and can be adjusted up, down, left and right; the left leg connecting rod 2-2 is hinged to the rack 1; and the right leg connecting rod 3-2 is hinged to the rack 1.

[0062] The left non-circular gear train 2-1 includes a sun gear 2-1-1-1, a left intermediate gear 2-1-1-2, a left planetary gear 2-1-1-3, a right intermediate gear 2-1-1-4 and a right planetary gear 2-1-1-5, the sun gear 2-1-1-1 is simultaneously engaged with the left intermediate gear 2-1-1-2 and the right intermediate gear 2-1-1-4, the left intermediate gear 2-1-1-2 is engaged with the left planetary gear 2-1-1-3, and the right intermediate gear 2-1-1-4 is engaged with the right planetary gear 2-1-1-5; the left five bar mechanism includes a connecting rod A 2-1-2-1, a connecting rod B 2-1-2-2, a connecting rod C 2-1-2-3, a connecting rod D 2-1-2-4, a connecting rod E 2-1-2-5 and a connecting rod F 2-1-2-6, the connecting rod C 2-1-2-3, the connecting rod E 2-1-2-5 and the connecting rod D 2-1-2-4 form a triangle, one end of the connecting rod B 2-1-2-2 is hinged to a vertex of the triangle, the other end is hinged to one end of the connecting rod A 2-1-2-1, and the other end of the connecting rod A 2-1-2-1 is fixed to the left planetary gear 2-1-1-3; one end of the connecting rod F 2-1-2-6 is hinged to a vertex of the triangle, and the other end is fixed to the right planetary gear 2-1-1-5.

[0063] The left leg connecting rod 2-2 includes a thigh connecting rod 2-2-1, a shank connecting rod 2-2-2 and a foot plate 2-2-3, the upper end of the thigh connecting rod 2-2-1 is hinged to the rack 1, and a sliding groove is arranged in the middle part; the lower end of the shank connecting rod 2-2-2 is fixed to the foot plate 2-2-3; the upper end of the shank connecting rod 2-2-2 is fixed to the connecting pin of the connecting rod E 2-1-2-5 and the connecting rod F 2-1-2-6 of the five bar mechanism 2-1-2, and the connecting pin passes through the sliding groove of the thigh connecting rod.

[0064] The connecting pin of the knee strap 2-3 is fixedly connected with the connecting rod E 2-1-2-5 and the connecting rod F 2-1-2-6.

[0065] The specific design method of the left non-circular gear train 2-1 and the left five-bar mechanism is as follows:

[0066] Step one: solve the relationship of the rotation angle of each non-circular gear of the left non-circular gear train 2-1;

[0067] The rotation angle of the sun gear 2-1-1-1 is: (1)

[0068] The rotation angle of the left intermediate gear 2-1-1-2 is: (2)

[0069] The rotation angle of the left planetary gear 2-1-1-3 is: (3)

[0070] The rotation angle of the right intermediate gear 2-1-1-4 is: (4)

[0071] The rotation angle of the right planetary gear 2-1-1-5 is: (5)

[0072] Wherein, is the angular velocity of the sun gear 2-1-1-1, and t is the motion time; is the transmission ratio between the sun gear 2-1-1-1 and the left intermediate gear 2-1-1-2; is the transmission ratio between the left intermediate gear 2-1-1-2 and the left planetary gear 2-1-1-3; is the transmission ratio between the sun gear 2-1-1-1 and the right intermediate gear 2-1-1-4; is the transmission ratio between the right intermediate gear 2-1-1-4 and the right planetary gear 2-1-1-5.

[0073] Step two: solve the coordinates of the hinge point A of the connecting rod A 2-1-2-1 and the connecting rod B 2-1-2-2 and the coordinates of the hinge point C of the connecting rod F 2-1-2-6 and the connecting rod E 2-1-2-5;

[0074] The coordinates of the hinge point C of the connecting rod F 2-1-2-6 and the connecting rod E 2-1-2-5 are: (6)

[0075] Wherein, is the distance from the rotation center of the right planetary gear 2-1-1-5 to the rotation center of the sun gear 2-1-1-1, is the installation angle of the right planetary gear 2-1-1-5, is the initial installation angle of the connecting rod F 2-1-2-6, is the rotation angle of the right planetary gear 2-1-1-5.

[0076] The coordinates of hinge point A between link A2-1-2-1 and link B2-1-2-2 are: (7)

[0077] in, The distance is the rotation center of the left planetary gear 2-1-1-3 to the rotation center of the sun gear 2-1-1-1. The mounting angle for the left planetary gear 2-1-1-3 is... The initial installation angle for link A is 2-1-2-1. The left planetary gear rotates at angles 2-1-1-5.

[0078] Step 3: Determine the rotation angles of connecting rods A2-1-2-1 and F2-1-2-6;

[0079] The rotation angle of link A 2-1-2-1 for:

[0080] (8)

[0081] The rotation angle of link F 2-1-2-6 for:

[0082] (9)

[0083] in,

[0084] (10)

[0085] in, , Let A be the x-axis and y-axis coordinates of the hinge point A between link A 2-1-2-1 and link B 2-1-2-2;

[0086] Step 4: Determine the coordinates of hinge point B between link B2-1-2-2 and link C2-1-2-3;

[0087] The coordinates of hinge point B are: (11)

[0088] in, , These are the rotation angles of connecting rod A 2-1-2-1 and connecting rod F 2-1-2-6, respectively. , For the lengths of corresponding links A2-1-2-1 and F2-1-2-6;

[0089] Step 5: Determine the motion coordinates of the hinge point P of connecting rods D2-1-2-4 and E2-1-2-5;

[0090] (12)

[0091]

[0092] in, Let P be the x-coordinate of the hinge point. Let P be the y-axis coordinate of the hinge point; this coordinate system has the sun gear 2-1-1-1 rotation center as the origin, the horizontal rightward x-axis and the vertical upward y-axis. The rotation angle of link F2-1-2-6 during its motion; , Let C be the x-axis and y-axis coordinates of the hinge point C between link C 2-1-2-3 and link E 2-1-2-5; , Let B be the x-axis and y-axis coordinates of the hinge point B between link B 2-1-2-2 and link C 2-1-2-3; Let D be the length of link D 2-1-2-4. Let H be the length of link E 2-1-2-5. H is a defined intermediate variable.

[0093] A set of preferred parameters for the left five-bar linkage are as follows: the length of link A 2-1-2-1 is 102mm, the length of link B 2-1-2-2 is 260mm, the length of link C 2-1-2-3 is 236mm, the length of link D 2-1-2-4 is 113mm, the length of link E 2-1-2-5 is 158mm, and the length of link F 2-1-2-6 is 104mm.

[0094] In this invention, the design method of the right non-circular gear system 3-1 and the right five-bar linkage is the same as the design method of the left non-circular gear system 2-1 and the left five-bar linkage, and the resulting right non-circular gear system 3-1 and the right five-bar linkage have the same structure and dimensions as the left non-circular gear system 2-1 and the left five-bar linkage.

[0095] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0096] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A rehabilitation robot based on a non-circular gear train-five bar mechanism, characterized by, The application relates to a rehabilitation device, which comprises a rack (1), a left rehabilitation mechanism (2) and a right rehabilitation mechanism (3), wherein the left rehabilitation mechanism (2) and the right rehabilitation mechanism (3) are in a symmetrical relationship; the left rehabilitation mechanism (2) comprises a left non-circular gear train (2-1-1), a left five-bar mechanism, a left leg connecting rod (2-2) and a left knee band (2-3); the right rehabilitation mechanism (3) comprises a right non-circular gear train (3-1), a right five-bar mechanism, a right leg connecting rod (3-2) and a right knee band (3-3).

2. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 1, wherein, The left non-circular gear train (2-1) drives the left five-bar mechanism to work as a power source, thereby driving the left leg connecting rod (2-2) to move; the right non-circular gear train (3-1) drives the right five-bar mechanism to work as a power source, thereby driving the right leg connecting rod (3-2) to move; the left five-bar mechanism and the right five-bar mechanism are of the same structure, the trajectory (2-1-2-7) of the connecting point P of the connecting rod E (2-1-2-5) and the connecting rod F (2-1-2-6) in the left five-bar mechanism is a "8" ring buckle type trajectory, which is flat, the upper ring buckle is large, and the lower ring buckle is small.

3. The rehabilitation robot based on non-circular wheel train-five bar mechanism according to claim 1, wherein, The left non-circular gear train (2-1), the right non-circular gear train (3-1), the left five-bar mechanism and the right five-bar mechanism are fixedly connected to the middle part of the rack (1) and can be adjusted up and down and left and right; the left leg connecting rod (2-2) is hingedly connected to the rack (1); the right leg connecting rod (3-2) is hingedly connected to the rack (1).

4. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 1, wherein, The left non-circular gear train (2-1) comprises a sun gear (2-1-1-1), a left intermediate gear (2-1-1-2), a left planetary gear (2-1-1-3), a right intermediate gear (2-1-1-4) and a right planetary gear (2-1-1-5), the sun gear (2-1-1-1) is simultaneously engaged with the left intermediate gear (2-1-1-2) and the right intermediate gear (2-1-1-4), the left intermediate gear (2-1-1-2) is engaged with the left planetary gear (2-1-1-3), and the right intermediate gear (2-1-1-4) is engaged with the right planetary gear (2-1-1-5); the left five-bar mechanism comprises a connecting rod A (2-1-2-1), a connecting rod B (2-1-2-2), a connecting rod C (2-1-2-3), a connecting rod D (2-1-2-4), a connecting rod E (2-1-2-5) and a connecting rod F (2-1-2-6), the connecting rod C (2-1-2-3) is fixedly connected with the connecting rod E (2-1-2-5) and the connecting rod D (2-1-2-4) to form a triangle, one end of the connecting rod B (2-1-2-2) is hingedly connected to the vertex of the triangle, the other end is hingedly connected to one end of the connecting rod A (2-1-2-1), and the other end of the connecting rod A (2-1-2-1) is fixedly connected to the left planetary gear (2-1-1-3); one end of the connecting rod F (2-1-2-6) is hingedly connected to the vertex of the triangle, and the other end is fixedly connected to the right planetary gear (2-1-1-5).

5. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 1, wherein, The left leg link (2-2) comprises a thigh link (2-2-1), a shank link (2-2-2) and a foot pedal (2-2-3); the upper end of the thigh link (2-2-1) is hinged to the rack (1), and a sliding slot is arranged along the extension direction of the thigh link (2-2-1); the lower end of the shank link (2-2-2) is fixedly connected to the foot pedal (2-2-3); the upper end of the shank link (2-2-2) is fixedly connected to the connecting pins of the connecting rod E (2-1-2-5) and the connecting rod F (2-1-2-6) in the left five-bar mechanism, and the connecting pins pass through the sliding slot of the thigh link (2-2-1).

6. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 5, wherein, The right leg link (3-2) is the same as the left leg link (2-2) in structure, and the connecting pins of the connecting rod E (2-1-2-5) and the connecting rod F (2-1-2-6) in the right five-bar mechanism are fixedly connected to the right leg link (3-2), and the connecting pins pass through the sliding slot in the right leg link (3-2).

7. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 1, wherein, The left knee strap (2-3) is fixedly connected to the connecting pins of the connecting rod E (2-1-2-5) and the connecting rod F (2-1-2-6) in the left five-bar mechanism.

8. The rehabilitation robot based on non-circular gear train-five bar mechanism according to claim 1, wherein, The specific design method of the left non-circular gear train (2-1) and the left five-bar mechanism is as follows: Step one: solving the relationship of the rotation angles of each non-circular gear of the left non-circular gear train (2-1-1) The sun gear (2-1-1-1) rotation angle is: (1) The left intermediate wheel (2-1-1-2) has a turning angle of: (2) The left planet wheel (2-1-1-3) rotation angle is: (3) The right intermediate wheel (2-1-1-4) has a turning angle of: (4) The right angle of the planetary gear (2-1-1-5) is: (5) wherein, is the angular velocity of the sun gear (2-1-1-1), and t is the movement time; is the transmission ratio between the sun gear (2-1-1-1) and the left intermediate gear (2-1-1-2); is the transmission ratio between the left intermediate gear (2-1-1-2) and the left planetary gear (2-1-1-3); is the transmission ratio between the sun gear (2-1-1-1) and the right intermediate gear (2-1-1-4); is the transmission ratio between the right intermediate gear (2-1-1-4) and the right planetary gear (2-1-1-5); Step two: solving the coordinates of the hinge point A of the connecting rod A (2-1-2-1) and the connecting rod B (2-1-2-2) and the coordinates of the hinge point C of the connecting rod F (2-1-2-6) and the connecting rod E (2-1-2-5) The coordinates of the hinge point C of the connecting rod F (2-1-2-6) and the connecting rod E (2-1-2-5) are: (6) wherein, is the distance from the rotation center of the right planetary gear (2-1-1-5) to the rotation center of the sun gear (2-1-1-1), is the installation angle of the right planetary gear (2-1-1-5), is the initial installation angle of the connecting rod F (2-1-2-6), is the rotation angle of the right planetary gear (2-1-1-5); The coordinates of the hinge point A of the connecting rod A (2-1-2-1) and the connecting rod B (2-1-2-2) are: (7) wherein, is the distance from the rotation center of the left planet gear (2-1-1-3) to the rotation center of the sun gear (2-1-1-1), is the installation angle of the left planet gear (2-1-1-3), is the initial installation angle of the connecting rod A (2-1-2-1), is the rotation angle of the left planet gear (2-1-1-5); Step three: solving the rotation angles of the connecting rod A (2-1-2-1) and the connecting rod F (2-1-2-6) The rotation angle of the connecting rod A (2-1-2-1) Is: （8） The rotation angle of the connecting rod F (2-1-2-6) Is: （9） Step four: solving the coordinates of the hinge point B of the connecting rod B (2-1-2-2) and the connecting rod C (2-1-2-3) （10） wherein, , are the x-axis and y-axis coordinates of the articulation point A of the connecting rod A (2-1-2-1) and the connecting rod B (2-1-2-2); Step five: solving the motion coordinates of the hinge point P of the connecting rod D (2-1-2-4) and the connecting rod E (2-1-2-5) The coordinates of the articulation point B are: (11) wherein, , are the rotation angles of the connecting rod A (2-1-2-1) and the connecting rod F (2-1-2-6), respectively, , are the lengths of the connecting rod A (2-1-2-1) and the connecting rod F (2-1-2-6), respectively. The set of parameters of the left five-bar mechanism is that the length of the connecting rod A (2-1-2-1) is 102 mm, the length of the connecting rod B (2-1-2-2) is 260 mm, the length of the connecting rod C (2-1-2-3) is 236 mm, the length of the connecting rod D (2-1-2-4) is 113 mm, the length of the connecting rod E (2-1-2-5) is 158 mm, and the length of the connecting rod F (2-1-2-6) is 104 mm. （12） 9. wherein, is the x-axis coordinate of the articulation point P, is the y-axis coordinate of the articulation point P; this coordinate system has the centre of rotation of the sun gear (2-1-1-1) as its origin, the x-axis is horizontal to the right and the y-axis is vertical upwards; is the angle of rotation of the link F (2-1-2-6) during the movement; , is the x-axis and y-axis coordinate of the articulation point C of the link C (2-1-2-3) and the link E (2-1-2-5); , is the x-axis and y-axis coordinate of the articulation point B of the link B (2-1-2-2) and the link C (2-1-2-3); is the length of the link D (2-1-2-4); is the length of the link E (2-1-2-5); H is an intermediate variable defined.

10. The rehabilitation robot based on a non-circular gear train-five bar mechanism according to claim 1, wherein, ​

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