A walking robot for postoperative rehabilitation training of orthopedics

Abstract

The present application relates to the technical field of rehabilitation robots, and discloses a walking aid robot for orthopedic postoperative rehabilitation training, which comprises a thigh shell and a joint plate fixedly connected below the thigh shell, and a lower leg shell fixedly installed on the side of the joint plate. The present power-assisted robot is suitable for the whole-cycle rehabilitation after knee joint orthopedic surgery, and has the following advantages: relying on the leg to release the linkage gear ring gear, multi-stage transmission of the transmission belt, driving the clockwork spring to store energy efficiently without additional force, precise and effective boost force is output through the ratchet transmission when lifting the leg, which greatly reduces the burden of the patient after the surgery; and through the cooperation of the thread groove, screw rod and L rod, the knee joint angle is rigidly and accurately limited and adapted to different rehabilitation stages. At the same time, the power-assisted energy is dynamically adapted to the rehabilitation process, and the more the lifting amplitude increases, the stronger the power assistance is, so that the training safety and science are taken into account, and the whole process is free of external power, the structure is compact, the transmission is efficient, and the reliability is high, which can improve the rehabilitation training cooperation degree and effect, and has outstanding clinical practical value.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a walking assistance robot for postoperative rehabilitation training in orthopedics. Background Technology

[0002] In the field of orthopedic clinical rehabilitation, walking robots, including lower limb exoskeleton robots and gait training robots, are mainly used to address the inherent deficiencies of traditional walking aids such as crutches, orthotics, and walking frames in terms of precise weight-bearing control, standardized gait correction, and muscle strength-balance coordination training. They are suitable for patients with severely impaired limb function after surgery, weak independent walking ability, or a high risk of falls.

[0003] Existing walking assistance robots can be divided into two main categories based on their power source and working principle: passive walking assistance devices and active walking assistance devices.

[0004] Active walking aids are walking aids equipped with motors, hydraulic or pneumatic drive devices. They collect human motion signals through pressure sensors, angle sensors, inertial sensors, etc., and the control system outputs power to drive joint flexion and extension, assisting or replacing patients in completing walking movements.

[0005] Passive walking aids are walking aids that do not have an external power source and rely on mechanical structures, such as springs, dampers, linkages, limit blocks, and the human body's own force or gravitational potential energy, to achieve walking support, angle limitation, or auxiliary force.

[0006] Passive walking aids and existing related technologies often have the following drawbacks: In the postoperative rehabilitation stage of knee-related orthopedic surgeries, in order to avoid excessive knee flexion and the generation of traction and shear forces, which would increase the risk of complications, it is necessary to strictly limit the knee joint rotation angle.

[0007] However, since the energy stored in the spring is proportional to the square of the joint rotation angle, the torsional or compression stroke of the spring is greatly shortened at small angles, and the stored energy is far below the design threshold. As a result, the elastic potential energy released later is not only unable to overcome the friction of the device and the weight of the lower limb to form an effective assist, but also increases the extra force burden on the patient when lowering the leg due to the energy stored in the early stage. This leads to the patient reducing the amount of activity, aggravating muscle disuse atrophy, or causing secondary damage due to the compensatory force of the hip joint, which aggravates the patient's pain and discomfort, and ultimately reduces the patient's compliance. This seriously limits the application of passive walking aids in the early and precise rehabilitation of the knee joint after surgery. Summary of the Invention

[0008] The technical problem to be solved by the present invention is that the existing technology has the disadvantage of insufficient knee joint rotation angle, which makes the passive walking aid unable to provide effective assistance. To this end, we propose a walking aid robot for postoperative rehabilitation training in orthopedics.

[0009] To achieve the above objectives, this application adopts the following technical solution: a walking robot for post-orthopedic rehabilitation training, comprising a thigh shell and a joint plate fixedly connected below it, a lower leg shell fixedly installed on the side of the joint plate, a spring 1 fixedly installed on the inner wall of the lower leg shell, a ratchet 1 fixedly installed on the other end of the spring 1, a fixing rod fixedly installed on one side of the joint plate, a large gear ring rotatably installed on one side of the joint plate, a small gear rotatably installed on the inner side of the joint plate, the small gear meshing with the inner circumferential surface of the large gear ring, a groove rod rotatably installed on one side of the joint plate, a spring-loaded spring provided on the inner side of the joint plate, one end of the spring-loaded spring sleeved on the outer side of the fixing rod, the other end of the spring-loaded spring fixedly connected to the groove rod, a transmission belt sleeved on the outer side of the groove rod and the small gear, a ratchet 2 fixedly installed on the other end of the groove rod, the ratchet 2 abutting against the ratchet 1, a ratchet groove opened on the outer circumferential surface of the large gear ring, a relief groove opened on the inner wall of the lower leg shell, and an elastic element 1 provided on the inner side of the relief groove.

[0010] Preferably, the elastic element includes a torsion spring fixedly connected to the surface of the relief groove, and a locking block is fixedly installed at the other end of the torsion spring. In the initial state, the locking block engages with the ratchet groove.

[0011] Preferably, a plurality of semi-circular grooves are provided on one side of the joint plate, and the plurality of semi-circular grooves are arranged in a circular interval with the joint plate as the axis. A groove is provided on the side of the large gear ring near the joint plate. A second spring is fixedly installed on the inner side of the groove, and a semi-circular protrusion is fixedly installed on the other end of the second spring. The semi-circular protrusion matches the semi-circular groove.

[0012] Preferably, a connecting rod is provided on the inner side of the torsion spring, one end of the connecting rod is fixedly connected to the locking block, and the other end of the connecting rod is rotatably connected to the surface of the relief groove.

[0013] Preferably, a telescopic rod is provided on the inner side of the spring, one end of the telescopic rod is fixedly connected to the ratchet, and the other end of the telescopic rod is fixedly connected to the inner wall of the lower leg shell.

[0014] Preferably, the lower leg shell has multiple threaded grooves on the side near the joint plate. The multiple threaded grooves are arranged in a circular interval with the rotation axis of the joint plate as the axis. A screw is installed on the inner thread of one of the threaded grooves, and an L-shaped rod is fixedly installed on one side of the joint plate.

[0015] Preferably, the outer side of the fixing rod is fitted with two sets of retaining rings, which are located on both sides of the spring.

[0016] Preferably, the axis of rotation of the groove rod and the large gear ring is on the same axis as the axis of rotation of the joint plate.

[0017] Preferably, the inner side of the transmission belt is corrugated and fits against the outer side of the groove bar and the pinion.

[0018] Preferably, the outer walls of both the thigh shell and the joint plate have pre-drilled mounting holes for connection to the leg strap module.

[0019] The technical effects and advantages of this invention are as follows: The multi-stage transmission structure, involving a gear ring and a transmission belt, drives a spring to wind up and store energy during the leg-lowering motion. This energy is released during the leg-raising phase and, via a ratchet transmission, provides precise and effective thrust for the leg-raising movement. Through the circumferentially arranged threaded grooves working in conjunction with a screw and an L-shaped rod, both rigid and precise limiting of the knee joint rotation angle can be achieved, matching the angle adjustment needs at different postoperative stages. Furthermore, the angle range of adjacent threaded grooves ensures smooth and linear knee joint rotation during the non-limited phase, conforming to the natural gait of the human body. It also achieves dynamic adaptation of the assisting energy to the rehabilitation process. As the leg-raising amplitude increases with the progress of rehabilitation, the energy stored in the spring increases synchronously, allowing for step-by-step adjustment of the assisting force. This precisely matches the rehabilitation needs of gentle, small-angle assistance in the early postoperative period and powerful, large-angle assistance in the middle and late stages, balancing training safety and scientific principles. Attached Figure Description

[0020] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0021] Figure 1 This is a schematic diagram of the overall external structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the overall internal structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the articulated plate structure of the present invention;

[0024] Figure 4 This is an exploded view of the articulated plate structure of the present invention;

[0025] Figure 5 This is an exploded view of the large gear ring structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the internal structure of the lower leg shell of the present invention;

[0027] Figure 7 This is a cross-sectional schematic diagram of the lower leg shell structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the spring, ratchet, and telescopic rod of the present invention.

[0029] Legend: 1. Thigh shell; 2. Joint plate; 21. L-bar; 22. Fixing rod; 221. Retaining ring; 23. Large gear ring; 231. Ratchet; 232. Groove; 233. Spring II; 234. Semi-circular protrusion; 24. Pinion; 25. Groove rod; 251. Ratchet II; 26. Drive belt; 27. Clockwork spring; 28. Semi-circular groove; 29. ​​Mounting hole; 3. Lower leg shell; 31. Spring I; 32. Ratchet I; 33. Telescopic rod; 34. Relief groove; 35. Elastic element I; 351. Torsion spring; 352. Locking block; 353. Connecting rod; 36. Threaded groove; 37. Screw. Detailed Implementation

[0030] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0031] According to one embodiment of the present invention, Figures 1 to 8 As shown.

[0032] During the postoperative rehabilitation phase of knee-related orthopedic surgeries, in order to avoid excessive knee flexion which can generate traction and shear forces and increase the risk of complications, it is necessary to strictly limit the knee joint rotation angle.

[0033] However, since the energy stored in the spring is proportional to the square of the joint rotation angle, the torsional or compression stroke of the spring is significantly shortened at small angles, and the stored energy is far below the design threshold. This results in the subsequent release of elastic potential energy not only failing to overcome the friction of the device and the weight of the lower limb to provide effective assistance, but also increasing the extra force burden on the patient when lowering their leg due to the initial energy storage. This leads to reduced activity levels, exacerbated muscle disuse atrophy, or secondary injuries caused by compensatory force exertion in the hip joint, worsening patient pain and discomfort, and ultimately reducing patient compliance. This severely limits the application of passive walking aids in the early and precise rehabilitation of the knee joint after surgery. To solve this problem, the present invention incorporates the following design in a walking aid robot for orthopedic postoperative rehabilitation training:

[0034] A walking robot for post-orthopedic rehabilitation training includes: a thigh shell 1 and a joint plate 2 fixedly connected below it; a lower leg shell 3 is fixedly installed on the side of the joint plate 2; a spring 31 is fixedly installed on the inner wall of the lower leg shell 3; a ratchet 32 ​​is fixedly installed on the other end of the spring 31; a fixing rod 22 is fixedly installed on one side of the joint plate 2; a large gear ring 23 is rotatably mounted on one side of the joint plate 2; a small gear 24 is rotatably mounted on the inner side of the joint plate 2, and the small gear 24 meshes with the inner circumferential surface of the large gear ring 23; a grooved rod 25 is rotatably mounted on one side of the joint plate 2; a spring-loaded spring 27 is provided on the inner side of the joint plate 2; one end of the spring-loaded spring 27 is sleeved on the outside of the fixing rod 22; the other end of the spring-loaded spring 27 is fixedly connected to the grooved rod 25; a transmission belt 26 is sleeved on the outside of the grooved rod 25 and the small gear 24; a ratchet 251 is fixedly installed on the other end of the grooved rod 25; and the ratchet 251 meshes with the small gear 24. The ratchet 32 ​​abuts against each other, and the outer circumferential surface of the large gear ring 23 is provided with a ratchet groove 231. The inner wall of the lower leg shell 3 is provided with a relief groove 34. An elastic element 35 is provided on the inner side of the relief groove 34. The elastic element 35 includes a torsion spring 351 fixedly connected to the surface of the relief groove 34. The other end of the torsion spring 351 is fixedly installed with a locking block 352. In the initial state, the locking block 352 is engaged with the ratchet groove 231. Multiple [unclear] are provided on one side of the joint plate 2. A semi-circular groove 28 is provided, and multiple semi-circular grooves 28 are arranged in a circular interval with the joint plate 2 as the axis. A groove 232 is provided on the side of the large gear ring 23 near the joint plate 2. A spring 233 is fixedly installed on the inner side of the groove 232. A semi-circular protrusion 234 is fixedly installed on the other end of the spring 233. The semi-circular protrusion 234 matches the semi-circular groove 28. The inner side of the transmission belt 26 is corrugatedly fitted and abutted against the outer side of the groove rod 25 and the pinion 24.

[0035] During rehabilitation training, when the patient lowers their leg, the torsion spring 351 is in its initial state, causing the locking block 352 to engage with the ratchet groove 231. This causes the lower leg shell 3 to rotate synchronously with the large gear ring 23 during subsequent rotation. The large gear ring 23, due to its inner circumference meshing with the pinion 24, further rotates the pinion 24 multiple times. During this rotation, the pinion 24 applies a synchronous force in the same direction to the groove rod 25 via the transmission belt 26. At this point, the second ratchet 251 converts the rotational force of the groove rod 25 into a pushing force on the first ratchet 32, forcing the first ratchet 32 ​​to compress the spring 31 to form a force against the ratchet. During the rotation of wheel 251, the avoidance mechanism allows the pinion 24 and the grooved rod 25 to rotate synchronously for multiple turns. During this process, since one end of the spring 27 is sleeved on the outside of the fixed rod 22, the spring 27 is gradually wound up as the grooved rod 25 drives the other end of the spring 27 to rotate, thereby generating and storing energy. By amplifying the winding stroke of the spring 27 through multi-turn transmission, the energy storage efficiency and energy storage can be greatly improved, providing sufficient energy for subsequent rehabilitation assistance. This solves the problem that traditional passive walking aids cannot provide effective assistance in the subsequent leg-lifting stage due to insufficient knee joint rotation angle, resulting in insufficient spring energy storage.

[0036] Subsequently, when the patient's lower limb completes support and enters the leg-raising stage, the spring 27 gradually releases the energy stored previously, thereby driving the groove rod 25 and ratchet 251 to rotate in the opposite direction. At this time, because ratchet 251 engages with ratchet 32, it transmits and applies an effective boosting force to the lower leg shell 3 in the same direction as the leg-raising rotation, providing precise mechanical assistance for the patient's leg-raising movement, reducing the muscle exertion burden when the patient raises their leg, and accurately synchronizing the assisted movement with the gait cycle without the need for external power intervention, thus meeting the exertion needs of postoperative rehabilitation.

[0037] Furthermore, to prevent the torsion spring 351 and spring 31 from deforming in a non-axial direction during use, thus failing to achieve normal function, a connecting rod 353 is provided inside the torsion spring 351. One end of the connecting rod 353 is fixedly connected to the locking block 352, and the other end of the connecting rod 353 is rotatably connected to the surface of the relief groove 34. A telescopic rod 33 is provided inside the spring 31. One end of the telescopic rod 33 is fixedly connected to the ratchet 32, and the other end of the telescopic rod 33 is fixedly connected to the inner wall of the lower leg shell 3. The connecting rod 353 and the telescopic rod 33 provide limiting and support for the torsion spring 351 and spring 31 respectively, effectively constraining the deformation direction of the two and preventing abnormal deformation such as skewing and bending. This ensures the stable realization of the elastic reset function of the torsion spring 351 on the locking block 352 and the elastic support function of the spring 31 on the ratchet 32. At the same time, it can effectively improve the structural stress stability of the elastic element, extend its service life, and ensure that the transmission and triggering functions of the energy storage assist mechanism are always accurate and reliable.

[0038] In addition, before using this assistive robot, to avoid patients unintentionally over-flexing their knees and generating traction and shearing forces, which would increase the risk of complications, it was necessary to strictly limit the knee joint rotation angle. Therefore, the following design was implemented:

[0039] Multiple threaded grooves 36 are provided on the side of the lower leg shell 3 near the joint plate 2. These grooves are arranged in a circular pattern around the rotation axis of the joint plate 2. A screw 37 is installed on the inner thread of one of the threaded grooves 36. An L-bar 21 is fixedly installed on one side of the joint plate 2. During the leg-raising phase, the lower leg shell 3 synchronously drives the screw 37 to rotate. When the screw 37 and the L-bar 21 come into contact, the patient can no longer raise their leg. This achieves precise and rigid limitation of the knee joint rotation angle, avoiding the traction and shearing forces caused by unintentional excessive knee flexion during rehabilitation training. It also avoids secondary damage to the repaired ligaments, meniscus, fracture ends, or prosthesis interface, significantly reducing the risk of complications. This creates a stable and safe mechanical environment for the healing of fragile tissues after surgery, ensuring the safety and standardization of rehabilitation training. It allows patients to train within a safe angle range, avoiding rehabilitation risks caused by angle loss of control and enabling patients to complete forceful movements with greater confidence, thus improving the cooperation and effectiveness of rehabilitation training.

[0040] Furthermore, at different stages of postoperative rehabilitation, patients can flexibly adjust the upper limit of knee joint rotation angle by screwing the screw 37 into the corresponding threaded groove 36. This allows for step-by-step adjustment of angle limits throughout the entire rehabilitation cycle, precisely matching the phased rehabilitation pattern of strict angle limitation in the early postoperative period, gradual angle expansion in the middle period, and relaxed angle in the later period. This adjustment method is simple to operate and highly accurate. The threaded connection ensures the stability and reliability of the adjusted angle limit, eliminating the risk of loosening or displacement. This allows the angle limit to dynamically match the rehabilitation training needs, enhancing the scientific and targeted nature of the rehabilitation training.

[0041] Furthermore, because a continuous rotation angle range is reserved between adjacent threaded grooves 36, the knee joint can achieve smooth and linear rotation within the set range during the patient's leg lifting process, before reaching the upper limit of the angle, without mechanical obstruction such as jamming or stuttering. This design allows the leg rotation movement to conform to the movement trajectory of the human body's natural gait, avoiding movement interruption caused by the interval setting of the limiting structure. It not only ensures the accuracy of the angle limitation, but also takes into account the smoothness and comfort of limb movement in rehabilitation training, reduces the interference of the mechanical structure on the patient's normal force exertion, and allows the patient to naturally complete the leg lifting movement within the safe angle limit range, improving the standardization and experience of rehabilitation training. At the same time, the smooth linear rotation can also avoid local abnormal force caused by movement jamming, further reducing the risk of joint injury.

[0042] As the patient's postoperative rehabilitation progresses, the leg-raising range can be gradually increased according to the rehabilitation pattern. The winding stroke of the spring 27 also increases accordingly, increasing the stored energy and thus increasing the assist energy released during the leg-raising phase. This provides appropriate gentle assistance in the early postoperative small-angle rehabilitation phase to meet the initial needs of weak muscle strength, and provides stronger thrust in the middle and late large-angle training phase to match the training intensity after muscle strength recovery. This allows the assistance level to be precisely matched with the patient's muscle strength recovery progress and leg-raising range, achieving a step-by-step linear adjustment of assistance throughout the rehabilitation cycle. This avoids the problem that a single assistance level cannot meet the rehabilitation needs of different stages, taking into account both the auxiliary and training aspects of each stage of training, and improving the scientific nature and effectiveness of rehabilitation training.

[0043] During the winding and unwinding process, one end of the spring 27 is prone to lateral displacement outside the fixed rod 22, which can easily cause the spring 27 to deflect or jam, disrupting its smooth winding and unwinding, and consequently affecting the stable performance of energy storage and release. To avoid this situation, the following design was implemented:

[0044] Two sets of retaining rings 221 are fixedly sleeved on the outside of the fixed rod 22. The two sets of retaining rings 221 are located on both sides of the spring 27. The axis of the groove rod 25 and the large gear ring 23 is on the same axis as the rotation axis of the joint plate 2. The two sets of retaining rings 221 are respectively set to fit against both sides of the spring 27 to form an axial limiting structure, which can effectively prevent the spring 27 from moving laterally outside the fixed rod 22, strictly limit its winding and unwinding working position, and ensure that the spring 27 always completes winding and unwinding energy storage and energy release smoothly.

[0045] Before use, the device was designed to be easy for patients to wear, as follows:

[0046] Mounting holes 29 are pre-drilled on the outer walls of both the thigh shell 1 and the joint plate 2. These mounting holes 29 allow for quick connection and assembly of the device with the straps. The straps then secure the thigh shell 1, joint plate 2, and calf shell 3 to the corresponding parts of the patient's thigh, knee, and calf, respectively. This design eliminates the need for additional complex assembly structures, making it simple and efficient to wear. It allows for rapid and precise matching of the device with the human limb. Furthermore, the flexible fixation of the straps accommodates differences in limb size among patients, improving the fit and comfort of the device. This avoids pressure on the patient's skin from rigid connections, and the secure strap connection ensures synchronized movement between the device and the limb during rehabilitation training. It prevents transmission failure and assistive deviation caused by relative slippage, ensuring precise linkage between energy storage, assistive movements, and the patient's limb movements, thus guaranteeing the effectiveness of rehabilitation training.

[0047] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A walking assistance robot for post-orthopedic rehabilitation training, characterized in that, The device includes a thigh shell and a joint plate fixedly connected below it. A lower leg shell is fixedly installed on the side of the joint plate. A spring is fixedly installed on the inner wall of the lower leg shell. A ratchet is fixedly installed on the other end of the spring. A fixing rod is fixedly installed on one side of the joint plate. A large gear ring is rotatably installed on one side of the joint plate. A small gear is rotatably installed on the inner side of the joint plate. The small gear meshes with the inner circumferential surface of the large gear ring. A grooved rod is rotatably installed on one side of the joint plate. A spring is provided on the inner side of the joint plate. One end of the spring is sleeved on the outside of the fixing rod. The other end of the spring is fixedly connected to the grooved rod. A transmission belt is sleeved on the outside of the grooved rod and the small gear. A ratchet is fixedly installed on the other end of the grooved rod. The ratchet abuts against the ratchet. A ratchet groove is formed on the outer circumferential surface of the large gear ring. A relief groove is formed on the inner wall of the lower leg shell. An elastic element is provided on the inner side of the relief groove.

2. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: The elastic element includes a torsion spring fixedly connected to the surface of the relief groove, and a locking block is fixedly installed at the other end of the torsion spring. In the initial state, the locking block engages with the ratchet groove.

3. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: The joint plate has multiple semi-circular grooves on one side, and the multiple semi-circular grooves are arranged in a circular interval with the joint plate as the axis. The large gear ring has a groove on the side close to the joint plate. A second spring is fixedly installed on the inner side of the groove, and a semi-circular protrusion is fixedly installed on the other end of the second spring. The semi-circular protrusion matches the semi-circular groove.

4. The walking robot for post-orthopedic rehabilitation training according to claim 2, characterized in that: A connecting rod is provided on the inner side of the torsion spring. One end of the connecting rod is fixedly connected to the locking block, and the other end of the connecting rod is rotatably connected to the surface of the relief groove.

5. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: A telescopic rod is provided on the inner side of the spring. One end of the telescopic rod is fixedly connected to the ratchet, and the other end of the telescopic rod is fixedly connected to the inner wall of the lower leg shell.

6. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: The lower leg shell has multiple threaded grooves on the side near the joint plate. The multiple threaded grooves are arranged in a circular pattern with the rotation axis of the joint plate as the axis. A screw is installed on the inner thread of one of the threaded grooves, and an L-shaped rod is fixedly installed on one side of the joint plate.

7. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: Two sets of retaining rings are fixedly sleeved on the outer side of the fixing rod, and the two sets of retaining rings are respectively located on both sides of the spring.

8. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: The axis of the groove rod and the large gear ring is on the same axis as the axis of rotation of the joint plate.

9. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: The inner side of the transmission belt is corrugated and abuts against the outer side of the grooved rod and the pinion.

10. The walking robot for post-orthopedic rehabilitation training according to claim 1, characterized in that: Both the outer wall of the thigh shell and the outer wall of the joint plate have pre-drilled mounting holes, which are used to connect to the leg strap module.

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