Legged lumbar rehabilitation robot based on ups branch chain

Abstract

This invention discloses a leg-linked lumbar spine rehabilitation robot based on UPS chains, comprising an upper body support mechanism, a lumbar spine rotation mechanism, a lumbar spine traction mechanism, and a leg movement mechanism. The lumbar spine traction mechanism is installed at the bottom of the upper body plate of the upper body support mechanism and is rotatably connected to the hip support plate of the lumbar spine rotation mechanism. Two leg movement mechanisms are symmetrically installed on both sides of the hip support plate of the lumbar spine rotation mechanism. The lumbar spine rotation mechanism includes UPS chains, a moving platform, a stepper motor, a gear shaft, a turntable, and a hip support frame. The posture of the moving platform is controlled by four UPS chains, causing the hip support plate to rotate around an axis parallel to the sagittal and coronal axes of the human body. The stepper motor is located on the moving platform and drives the gear shaft to rotate using bevel gear transmission, causing the hip support frame to rotate around an axis parallel to the vertical axis of the human body. This robot can realize multi-dimensional composite rehabilitation movements of the lumbar spine, with simultaneous leg movement and lumbar spine movement, avoiding secondary injury.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical device technology, specifically relating to a leg-linked lumbar rehabilitation robot based on UPS branch chains. It can be applied to non-surgical rehabilitation training and adjuvant treatment of lumbar disc herniation, lumbar degenerative diseases, lumbar muscle strain and other diseases. It can also be adapted to the needs of multiple scenarios such as clinical medical institutions, rehabilitation centers and home use. Background Technology

[0002] With the increasing incidence of lumbar spine diseases caused by factors such as prolonged sitting and lack of exercise, and showing a significant trend towards affecting younger people, conditions such as lumbar disc herniation and lumbar muscle strain have become major chronic diseases. In the clinical treatment of lumbar spine diseases, non-surgical rehabilitation training is the preferred option and the core component of postoperative rehabilitation. Lumbar traction and physiological exercise training are clinically recognized effective rehabilitation methods. Their core is to widen the intervertebral space, relieve nerve root compression, relax spastic muscle groups, and restore the normal physiological curvature and motor function of the lumbar spine through controlled loads and movements. However, existing supine lumbar traction beds can only achieve single passive traction movements along the spinal axis, and cannot achieve flexion, extension, lateral flexion, and twisting movements of the lumbar spine. Moreover, the rehabilitation mode is limited, and it is easy to lead to disuse atrophy of the lumbar muscles, resulting in significantly limited rehabilitation effects.

[0003] Existing multi-degree-of-freedom lumbar spine rehabilitation equipment is divided into two categories: serial and parallel. While serial equipment can achieve multi-dimensional movement, it suffers from inherent defects such as progressive error accumulation, insufficient end-effector rigidity, and low control precision, making it prone to safety hazards like over-traction and improper force application. Parallel equipment mostly uses the six-degree-of-freedom Stewart platform, which suffers from redundancy in degrees of freedom, large equipment size, and high manufacturing costs. Moreover, both serial and parallel equipment use a drive method that directly applies force to the lumbar region or trunk, completely ignoring the biomechanical coupling characteristics of lumbar spine movement and lower limb movement. This can easily generate abnormal shear forces and stress concentrations within the intervertebral discs, posing a risk of secondary lumbar spine injury. A few devices that combine lower limb traction can only achieve synchronous single-axis traction for both legs, failing to achieve differential adjustment between the left and right legs and multi-degree-of-freedom coordinated control, thus failing to meet the rehabilitation needs of conditions such as lumbar scoliosis and unilateral nerve root compression. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to propose a leg-linked lumbar spine rehabilitation robot based on UPS branch chains.

[0005] The technical solution adopted by the present invention to solve the aforementioned technical problem is as follows: A leg-linked lumbar rehabilitation robot based on UPS branch chain is characterized by comprising an upper body support mechanism, a lumbar rotation mechanism, a lumbar traction mechanism, and a leg movement mechanism; the lumbar traction mechanism is installed at the bottom of the upper body plate of the upper body support mechanism, the lumbar traction mechanism is rotatably connected to the hip support plate of the lumbar rotation mechanism, and two leg movement mechanisms are symmetrically installed on both sides of the hip support plate of the lumbar rotation mechanism. The lumbar spine rotation mechanism includes a first UPS branch, a moving platform, a stepper motor, a small bevel gear, a large bevel gear, a shaft base, a gear shaft, a turntable, a hip support frame, and a limiting bracket. The four first UPS branches are symmetrically installed in pairs on the left and right sides of the front of the base plate. The Hooke's joints of the first UPS branches are connected to the base plate of the upper body support mechanism. The moving platform is connected to the ball joints of the four first UPS branches. The stepper motor is mounted on the moving platform via a motor bracket. The output shaft of the stepper motor runs along the robot's front-to-back direction and is connected to the small bevel gear via a reducer. The shaft base is fixedly installed on the moving platform. The gear shaft is vertically inserted into the shaft base and rotatably connected to the shaft base. The large bevel gear is fixed in the middle of the gear shaft and meshes with the small bevel gear. The turntable is fixedly connected to the upper end of the gear shaft. The lower ends of both sides of the limiting bracket are fixedly connected to the moving platform. The main body of the limiting bracket is located above the turntable, and the limiting post on the turntable cooperates with the arc groove on the main body of the limiting bracket. When the turntable rotates, the limiting post can slide back and forth in the arc groove. The hip support frame is fixed to the front end of the turntable, and the rear side of the hip support frame is connected to the traction shaft of the lumbar traction mechanism through a ball joint.

[0006] Furthermore, the lumbar traction mechanism includes a lead screw motor, a motor mounting bracket, a lead screw support, a ball screw, a lead screw slider, a traction shaft, and a shaft support. The lead screw motor is mounted on the bottom of the upper body plate of the upper body support mechanism via the motor mounting bracket. Both ends of the ball screw are mounted on the bottom of the upper body plate of the upper body support mechanism via the lead screw support. One end of the ball screw is connected to the lead screw motor, and the lead screw slider is slidably connected to the ball screw. The traction shaft is mounted on the bottom of the upper body plate of the upper body support mechanism via the shaft support, and the middle part of the traction shaft is hinged to the upper part of the lead screw slider via a pin.

[0007] Furthermore, the leg movement mechanism includes a thigh plate, a calf plate, a support plate, second UPS branches, a calf electric push rod, and a connecting block; wherein, one end of the thigh plate is rotatably connected to one side of the connecting block, and the axis of rotation is parallel to the sagittal axis of the human body; the connecting block is also rotatably connected to the front side of the hip support frame, and the axis of rotation is parallel to the coronal axis of the human body; one end of the calf plate is rotatably connected to the other end of the thigh plate; the support plate is located below the thigh plate, and one end is fixedly connected to the bottom of the hip support frame; two second UPS branches are distributed below the thigh plate; one end of the second UPS branch is hinged to the bottom of the thigh plate near the hip support frame, and the other end of the second UPS branch is hinged to the support plate, and the second UPS branch is tilted backward at a certain angle; one end of the calf electric push rod is hinged to the bottom of the thigh plate near the hip support frame, and the other end is hinged to the bottom of the calf plate near the thigh plate.

[0008] Furthermore, the upper body support mechanism includes a base plate, support rods, push rods, a lifting platform, an upper body plate bracket, and an upper body plate; support rods are symmetrically installed on both sides of the rear of the base plate, and each support rod is fitted with a push rod and can slide up and down within the support rod; the lifting platform is fixed to the top of the two push rods, and the upper body plate is installed above the lifting platform through the upper body plate bracket.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The lumbar spine rotation mechanism uses a stepper motor and four first UPS branches as the core drive units to achieve three rotational degrees of freedom of the lumbar spine. The four first UPS branches form a parallel mechanism, and the flexion, extension, and lateral flexion of the lumbar spine are achieved through the coordinated movement of the four first UPS branches. The torsion of the lumbar spine is achieved through the stepper motor. The lumbar spine traction mechanism uses a ball screw module to achieve lumbar spine traction. Compared with the problem of single degree of freedom and limited movement forms in traditional lumbar spine rehabilitation equipment, this invention can realize multi-dimensional compound rehabilitation movements of the lumbar spine. At the same time, it avoids the defects of weak rigidity, large cumulative error, and low control precision of serial mechanisms, and also overcomes the disadvantages of six-degree-of-freedom parallel platform structure redundancy, complex control, and high cost, while taking into account structural simplicity, movement precision, and overall machine stability.

[0010] 2. This invention abandons the traditional rehabilitation method of directly applying force to the waist and adopts a biomechanical design of leg linkage traction. It relies on the synergistic effect of the lower limb-lumbar spine kinetic chain to complete rehabilitation training. The leg linkage during lumbar spine movement can effectively reduce intervertebral disc shear stress and local stress concentration, avoid secondary damage caused by abnormal stress concentration of intervertebral disc, and the training process is more in line with the natural movement law of the human body, significantly improving safety and comfort.

[0011] 3. Two leg movement mechanisms independently drive bilateral leg movements, enabling both synchronous and differential traction. This allows for targeted adaptation to the individualized training needs of patients with different conditions such as lumbar scoliosis, unilateral nerve compression, and asymmetrical lumbar muscle stress, making it applicable to a wider range of conditions and offering flexible and adjustable rehabilitation programs.

[0012] 4. The overall structure is compact and reasonable, with a simplified configuration and simple control logic, effectively reducing manufacturing and usage costs; it is easy to operate and understand, meeting the clinical professional needs of hospitals and rehabilitation centers, and also suitable for community health care and home rehabilitation scenarios, making it highly valuable for promotion and application. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the upper body support mechanism and lumbar spine rotation mechanism of the present invention; Figure 3 This is a partial cross-sectional view of the lumbar spine rotation mechanism of the present invention; Figure 4 This is a partial exploded view of the lumbar spine rotation mechanism of the present invention; Figure 5 This is a schematic diagram of the lumbar traction mechanism of the present invention; Figure 6 This is a schematic diagram of the leg movement mechanism of the present invention; Figure 7 This is a schematic diagram of the leg-raising rehabilitation mode of the present invention; Figure 8 This is a schematic diagram of the leg flexion rehabilitation mode of the present invention; Figure 9 This is a schematic diagram of the leg-raising and eversion rehabilitation mode of the present invention; Figure 10 This is a schematic diagram of the single-leg flexion inversion rehabilitation mode of the present invention; Figure 11 This is a schematic diagram of the single-leg flexion eversion rehabilitation mode of the present invention; Explanation of reference numerals in the attached diagram: 1. Upper body support mechanism; 2. Lumbar spine rotation mechanism; 3. Lumbar spine traction mechanism; 4. Leg movement mechanism; 101. Base plate; 102. Support rod; 103. Push rod; 104. Lifting platform; 105. Upper body bracket; 106. Upper body; 201. First UPS branch chain; 202. Moving platform; 203. Motor bracket; 204. Stepper motor; 205. Reducer; 206. Small bevel gear; 207. Large bevel gear; 208. Shaft base; 209. Gear shaft; 210. Coupling; 211. Turntable 212. Hip support frame; 213. Ball joint; 214. Limiting bracket; 301. Lead screw motor; 302. Motor mounting bracket; 303. Lead screw support; 304. Ball screw; 305. Lead screw slider; 306. Traction shaft; 307. Shaft support; 401. Thigh plate; 402. Lower leg plate; 403. Support plate; 404. Second UPS branch chain; 405. Lower leg electric push rod; 406. Connecting block. Detailed Implementation

[0014] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to describe the technical solution of the present invention in detail and are not intended to limit the scope of protection of this application.

[0015] like Figure 1-6 As shown, the present invention provides a leg-linked lumbar rehabilitation robot based on UPS branch chain, including an upper body support mechanism 1, a lumbar rotation mechanism 2, a lumbar traction mechanism 3, and a leg movement mechanism 4; the lumbar traction mechanism 3 is installed at the bottom of the upper body plate of the upper body support mechanism 1, and the lumbar traction mechanism 3 is rotatably connected to the hip support plate of the lumbar rotation mechanism 2, and the two leg movement mechanisms 4 are symmetrically installed on both sides of the hip support plate of the lumbar rotation mechanism 2.

[0016] The upper body support mechanism 1 includes a base plate 101, support rods 102, push rods 103, a lifting platform 104, an upper body bracket 105, and an upper body plate 106. The entire robot is fixedly mounted on the base plate 101. Support rods 102 are symmetrically installed on both sides of the rear of the base plate 101. Each support rod 102 has a push rod 103 inserted into it, and the push rod 103 can slide up and down within the support rod 102. The lifting platform 104 is fixed to the top of the two push rods 103. The upper body plate 106 is mounted above the lifting platform 104 via the upper body bracket 105. The upper body plate 106 is raised and lowered by sliding the push rods 103, thus adjusting the height of the upper body support mechanism 1 to suit different users. The lumbar spine rotation mechanism 2 includes a first UPS branch 201, a moving platform 202, a motor bracket 203, a stepper motor 204, a reducer 205, a small bevel gear 206, a large bevel gear 207, a shaft base 208, a gear shaft 209, a coupling 210, a turntable 211, a hip support frame 212, a ball joint 213, and a limiting bracket 214. Four first UPS branches 201 are symmetrically installed on the left and right sides of the front of the base plate 101, two on each side. The Hooke joints of the first UPS branches 201 are connected to the base plate 101, and the moving platform 202 is connected to the ball joints of the four first UPS branches 201. The motor bracket 203 is installed on the moving platform 202, and the stepper motor 204 is fixed on the motor bracket 203. The output shaft of the stepper motor 204 is along the front-rear direction of the robot and connected to the input end of the reducer 205. A small bevel gear 206 is fixed on the output shaft of the reducer 205. The shaft base 208... The gear shaft 209 is vertically inserted into the shaft base 208 and rotatably connected to the shaft base 208 via bearings, and is fixedly installed on the moving platform 202. The large bevel gear 207 is fixed in the middle of the gear shaft 209 and meshes with the small bevel gear 206. The turntable 211 is fixedly connected to the upper end of the gear shaft 209 via coupling 210. The lower ends of both sides of the limiting bracket 214 are fixedly connected to the moving platform 202. The main body of the limiting bracket 214 is located above the turntable 211. The limiting posts on both sides of the turntable 211 respectively cooperate with the corresponding arc grooves on the main body of the limiting bracket 214. The limiting posts can slide back and forth in the arc grooves, and the maximum rotation position of the turntable 211 is limited by the arc grooves. The hip support frame 212 is fixed to the front end of the turntable 211. The rear side of the hip support frame 212 is connected to the traction shaft 306 of the lumbar traction mechanism 3 via ball joint 213. The moving platform 202, as the main carrier of the lumbar spine rotation mechanism 2, controls its posture through four first UPS branches 201. When the electric push rods of the four first UPS branches 201 extend and retract synchronously, the hip support frame 212 can be raised and lowered, allowing for fine-tuning of its height to accommodate users of different heights. When the two first UPS branches 201 on the left extend synchronously and the two first UPS branches 201 on the right retract synchronously, the moving platform 202 rotates around an axis parallel to the sagittal axis of the human body, causing the hip support frame 212 to rotate to the left, thus achieving... When the lumbar spine rotates to the left, the hip support frame 212 rotates to the right. When the two first UPS branches 201 on the front side extend synchronously and the two first UPS branches 201 on the rear side shorten synchronously, the moving platform 202 rotates around an axis parallel to the coronal axis of the human body, causing the hip support frame 212 to rotate backward, thus realizing the lumbar spine rotation. Conversely, the hip support frame 212 rotates forward. The stepper motor 204 drives the gear shaft 209 to rotate through bevel gear transmission, which drives the turntable 211 to rotate, thereby realizing the hip support frame 212 to rotate around an axis parallel to the vertical axis of the human body.

[0017] The lumbar traction mechanism 3 includes a lead screw motor 301, a motor mounting bracket 302, a lead screw support 303, a ball screw 304, a lead screw slider 305, a traction shaft 306, and a shaft support 307. The lead screw motor 301 is mounted on the bottom of the upper body plate 106 via the motor mounting bracket 302. Both ends of the ball screw 304 are mounted on the bottom of the upper body plate 106 via the lead screw support 303. One end of the ball screw 304 is connected to the lead screw motor 301, and the lead screw slider 305 is slidably connected to the ball screw 304. The traction shaft 306 is mounted on the bottom of the upper body plate 106 via the shaft support 307. The middle part of the traction shaft 306 is hinged to the upper part of the lead screw slider 305 via a pin. One end of the traction shaft 306 passes through the shaft support 307 and is connected to the ball joint 213 of the lumbar rotation mechanism 2. The lead screw motor 301 drives the lead screw 304 to rotate, causing the lead screw slider 305 to slide on the lead screw 304. This drives the traction shaft 306 to move along the robot's front-to-back direction, pushing the hip support frame 212 to move slightly along the robot's front-to-back direction, thus realizing the traction action of the lumbar spine. The transmission characteristics of the ball screw 304 itself can ensure precise control and self-locking of the traction displacement, avoiding deviation or rebound of the traction amount. At the same time, the use of a pin to realize the hinge between the traction shaft 306 and the lead screw slider 305 can compensate for the deviation of the posture angle between the upper and lower body segments during the traction process. Therefore, the lumbar traction mechanism, the lumbar rotation mechanism 2, and the upper body support mechanism 1 work together to realize lumbar traction operations under different postures, providing multi-condition, high-precision traction training for lumbar spine rehabilitation.

[0018] The leg movement mechanism 4 includes a thigh plate 401, a calf plate 402, a support plate 403, a second UPS branch chain 404, a calf electric push rod 405, and a connecting block 406. One end of the thigh plate 401 is rotatably connected to one side of the connecting block 406, with the axis of rotation parallel to the sagittal axis of the human body. The connecting block 406 is also rotatably connected to the front side of the hip support frame 212, with the axis of rotation parallel to the coronal axis of the human body. One end of the calf plate 402 is rotatably connected to the other end of the thigh plate 401. The thigh plate 401 and calf plate 402 are respectively strapped to the user's thigh and calf to ensure a stable connection during training. The support plate 403 is located below the thigh plate 401. One end is fixedly connected to the bottom of the hip support frame 212. Two second UPS branches 404 are distributed below the thigh plate 401. One end of the second UPS branch 404 is hinged to the bottom of the thigh plate 401 near the hip support frame 212, and the other end is hinged to the support plate 403. The second UPS branch 404 is always tilted backward at a certain angle to ensure that the extension and retraction of the electric push rod of the second UPS branch 404 can realize the rotation of the thigh plate 401. One end of the lower leg electric push rod 405 is hinged to the bottom of the thigh plate 401 near the hip support frame 212, and the other end is hinged to the bottom of the lower leg plate 402 near the thigh plate 401. The thigh movement is realized through the synergistic action of the two second UPS branches 404. When the two second UPS branches 404 extend and retract synchronously, the thigh plate 401 rotates around an axis parallel to the coronal axis of the human body, realizing thigh flexion and extension. Figure 7 As shown; when the inner second UPS branch 404 extends and the outer second UPS branch 404 shortens, the thigh plate 401 rotates outward around an axis parallel to the sagittal axis of the human body, achieving leg eversion; conversely, it achieves leg inversion. Figure 9 As shown; when the lower leg electric push rod 405 shortens, the lower leg plate 402 rotates downward around the thigh plate 401, achieving lower leg flexion; conversely, it achieves lower leg extension. Figure 8 As shown, the movements of the thigh and calf can be performed independently or in coordination. The leg movement mechanism 4 can realize leg lifting, leg rotation, and leg flexion movements.

[0019] The working principle and workflow of this invention are as follows: The robot is designed with the clinical needs of rehabilitation training in mind, and is divided into three stages: preparation, rehabilitation training, and repositioning.

[0020] During the preparation phase, the thigh plate 401 and calf plate 402 are in a horizontal position; the position of the push rod 103 within the support rod 102 is adjusted to adjust the upper body plate 106 to a suitable height; at the same time, the four first UPS branches 201 extend and retract synchronously to adjust the hip support frame 212, thigh plate 401 and calf plate 402 to a suitable height; the user's upper limbs lie flat on the upper body plate 106, the buttocks are placed on the hip support frame 212, and the legs are placed on the thigh plate 401 and calf plate 402 and connected by flexible straps.

[0021] During the rehabilitation training phase, when the two first UPS branches 201 on the right side extend synchronously and the two first UPS branches 201 on the left side shorten synchronously, the hip support frame 212 rotates to the left, achieving leftward rotation of the lumbar spine; when the two first UPS branches 201 on the right side shorten synchronously and the two first UPS branches 201 on the left side extend synchronously, the hip support frame 212 rotates to the right, achieving rightward rotation of the lumbar spine; when the two first UPS branches 201 on the front side extend synchronously and the two first UPS branches 201 on the rear side shorten synchronously, the hip support frame 212 rotates backward, achieving backward rotation of the lumbar spine; when the two first UPS branches 201 on the front side shorten synchronously and the two first UPS branches 201 on the rear side extend synchronously, the hip support frame 212 rotates forward, achieving forward rotation of the lumbar spine; the stepper motor 204 drives the gear shaft 209 to rotate through bevel gear transmission, driving the turntable 211 to rotate, causing the hip support frame 212 to rotate in the horizontal plane, achieving rotation of the lumbar spine in the horizontal plane; thus achieving three degrees of freedom of rotation of the lumbar spine. When lumbar traction is required, the lead screw motor 301 drives the lead screw 304 to rotate, causing the lead screw slider 305 to slide back and forth on the lead screw 304. This drives the traction shaft 306 to move back and forth along the robot's front-to-back direction, pushing the hip support frame 212 to move back and forth slightly along the robot's front-to-back direction, thus achieving lumbar traction. Simultaneously with the lumbar movement, leg movement is coordinated through the leg movement mechanism 4. When the two second UPS branches 404 of the leg movement mechanism 4 extend synchronously, the thigh plate 401 rotates upward, achieving thigh flexion. Furthermore, when the two second UPS branches 404 shorten synchronously, the thigh plate 401 rotates downward, achieving thigh extension. When the inner second UPS branch 404 extends and the outer second UPS branch 404 shortens, the thigh plate 401 rotates outward, achieving leg eversion. Figure 11 As shown; when the inner second UPS branch 404 shortens and the outer second UPS branch 404 extends, the thigh plate 401 rotates inward, achieving leg inversion, as... Figure 10 As shown; when the lower leg electric push rod 405 is shortened, the lower leg plate 402 rotates downward around the thigh plate 401 to achieve lower leg flexion, and vice versa to achieve lower leg extension.

[0022] During the reset phase, once the rehabilitation training is complete, the robot returns to its initial flat state, and the user can end the training by disconnecting from the robot.

[0023] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A leg-linked lumbar rehabilitation robot based on UPS branch chains, characterized in that, It includes an upper body support mechanism, a lumbar spine rotation mechanism, a lumbar spine traction mechanism, and a leg movement mechanism; the lumbar spine traction mechanism is installed at the bottom of the upper body plate of the upper body support mechanism, the lumbar spine traction mechanism is rotatably connected to the hip support plate of the lumbar spine rotation mechanism, and two leg movement mechanisms are symmetrically installed on both sides of the hip support plate of the lumbar spine rotation mechanism. The lumbar spine rotation mechanism includes a first UPS branch, a moving platform, a stepper motor, a small bevel gear, a large bevel gear, a shaft base, a gear shaft, a turntable, a hip support frame, and a limiting bracket. The four first UPS branches are symmetrically installed in pairs on the left and right sides of the front of the base plate. The Hooke's joints of the first UPS branches are connected to the base plate of the upper body support mechanism. The moving platform is connected to the ball joints of the four first UPS branches. The stepper motor is mounted on the moving platform via a motor bracket. The output shaft of the stepper motor runs along the robot's front-to-back direction and is connected to the small bevel gear via a reducer. The shaft base is fixedly installed on the moving platform. The gear shaft is vertically inserted into the shaft base and rotatably connected to the shaft base. The large bevel gear is fixed in the middle of the gear shaft and meshes with the small bevel gear. The turntable is fixedly connected to the upper end of the gear shaft. The lower ends of both sides of the limiting bracket are fixedly connected to the moving platform. The main body of the limiting bracket is located above the turntable, and the limiting post on the turntable cooperates with the arc groove on the main body of the limiting bracket. When the turntable rotates, the limiting post can slide back and forth in the arc groove. The hip support frame is fixed to the front end of the turntable, and the rear side of the hip support frame is connected to the traction shaft of the lumbar traction mechanism through a ball joint.

2. The leg-linked lumbar rehabilitation robot based on UPS branch chain according to claim 1, characterized in that, The lumbar traction mechanism includes a lead screw motor, a motor mounting bracket, a lead screw support, a ball screw, a lead screw slider, a traction shaft, and a shaft support. The lead screw motor is mounted on the bottom of the upper body plate of the upper body support mechanism via the motor mounting bracket. Both ends of the ball screw are mounted on the bottom of the upper body plate of the upper body support mechanism via lead screw supports. One end of the ball screw is connected to the lead screw motor, and the lead screw slider is slidably connected to the ball screw. The traction shaft is mounted on the bottom of the upper body plate of the upper body support mechanism via a shaft support, and the middle part of the traction shaft is hinged to the upper part of the lead screw slider via a pin.

3. The leg-linked lumbar rehabilitation robot based on UPS branch chain according to claim 1, characterized in that, The leg movement mechanism includes a thigh plate, a calf plate, a support plate, second UPS branches, a calf electric push rod, and a connecting block. One end of the thigh plate is rotatably connected to one side of the connecting block, with the rotation axis parallel to the sagittal axis of the human body. The connecting block is also rotatably connected to the front side of the hip support frame, with the rotation axis parallel to the coronal axis of the human body. One end of the calf plate is rotatably connected to the other end of the thigh plate. The support plate is located below the thigh plate, with one end fixedly connected to the bottom of the hip support frame. Two second UPS branches are distributed below the thigh plate. One end of each second UPS branch is hinged to the bottom of the thigh plate near the hip support frame, and the other end is hinged to the support plate. The second UPS branches are tilted backward at a certain angle. One end of the calf electric push rod is hinged to the bottom of the thigh plate near the hip support frame, and the other end is hinged to the bottom of the calf plate near the thigh plate.

4. The leg-linked lumbar rehabilitation robot based on any one of claims 1 to 3, characterized in that, The upper body support mechanism includes a base plate, support rods, push rods, a lifting platform, an upper body plate bracket, and an upper body plate; support rods are symmetrically installed on both sides of the rear of the base plate, and each support rod has a push rod inserted inside it and can slide up and down within the support rod; the lifting platform is fixed to the top of the two push rods, and the upper body plate is installed above the lifting platform through the upper body plate bracket.

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