Hip joint rotating mechanism of lower limb rehabilitation robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to a hip joint rotating mechanism of a lower limb rehabilitation robot, which comprises a lower limb rotating robot component, a hip joint bearing component and upper limb armrest components, the hip joint bearing component is connected with a hip joint articulation piece, and the upper limb armrest components are rotatably mounted on two sides of the hip joint bearing component; the upper limb armrest assembly comprises a rotating hinge assembly, the rotating hinge assembly is connected with the hip joint bearing assembly, an elbow rotating joint shaft is arranged at the end of the adjusting plate, the forearm armrest plate is connected with the adjusting plate through the elbow rotating joint shaft, and the angle adjusting handle is matched with the elbow rotating joint shaft. The anti-collision rubber column is fixedly installed on the outer side wall of the angle adjusting handle. The upper limb armrest assists in balancing, the risk of falling down and shifting in the training process is reduced, the rotating hinge assembly serves as a connecting core of the upper limb armrest assembly and the back bearing base, and the whole upper limb armrest assembly can rotate around the back bearing base in multiple directions.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field especially, relate to a lower limbs rehabilitation robot hip joint rotation mechanism. BACKGROUND

[0002] Lower extremity paralysis is common in spinal cord injury, intramedullary tumor and other diseases, and is manifested as different degrees of movement disorders in both lower limbs. While actively receiving treatment, necessary rehabilitation training should be carried out using a multi-degree-of-freedom lower limb rehabilitation robot to prevent muscle atrophy and help patients recover as soon as possible. Medical rehabilitation equipment for lower limb rehabilitation is attracting more and more attention. As the largest and most heavily loaded joint in the human body, the hip joint is particularly important for the rehabilitation training of damaged hip joints.

[0003] Prior art such as a lower limb rehabilitation robot hip joint rotation mechanism with publication number CN217987942U includes a hip joint support mechanism for supporting the patient's body and hip joint. The hip joint support mechanism includes a support base, a hip joint support seat, and a workbench connected to the hip joint support seat. A body fixation mechanism is provided on the workbench for fixing the body of patients of different body types and a rotating connection assembly for adjusting the position of the hip joint. The utility model embodiment sets the rotating connection assembly, which works with the body fixation mechanism to flexibly adjust the position of the patient's hip joint, thus facilitating the treatment and rehabilitation of the hip joint and ensuring the safety of the patient and avoiding secondary injury. Although a hard rubber anti-skid layer is installed on the hip joint support seat and a shock-absorbing strip is provided on the body fixation plate, some patients with sensitive skin or high comfort requirements may still feel uncomfortable after long-term use. Although the rotating connection assembly can drive the hip joint support seat to rotate in different directions, it may not be able to completely simulate the natural movement trajectory and range of the human hip joint in actual use. For some patients who need highly flexible rehabilitation training, the limited flexibility may affect the rehabilitation effect. UTILITY MODEL CONTENT

[0004] The utility model provides the following technical solutions in view of the deficiencies of the prior art.

[0005] The application discloses a lower limb rehabilitation robot hip joint rotating mechanism, which comprises a lower limb rotating robot assembly, a hip joint supporting assembly and an upper limb handrail assembly.

[0006] As an improvement of the above technical scheme, the foot bottom supporting seat is used for supporting the foot of a patient, the lower leg adjusting joint assembly comprises a lower leg supporting frame, an ankle rotating part, a first telescopic motor and a first baffle, the lower leg supporting frame is connected with the foot bottom supporting seat through the ankle rotating part, the first telescopic motor is arranged on the side of the lower leg supporting frame, one end of the first telescopic motor is connected with the ankle rotating part, and the telescopic end of the first telescopic motor is fixedly installed on one side of the lower leg supporting frame, and the first baffle is installed on the bottom of the lower leg supporting frame.

[0007] As an improvement of the above technical scheme, the hip joint supporting assembly comprises a hip joint supporting frame, a body supporting pad, a body fixing belt, a main body supporting column and a back supporting seat, the hip joint supporting frame is connected with the hip joint hinge, the body supporting pad is arranged on the top of the hip joint supporting frame, the body fixing belt is connected with the body supporting pad, the main body supporting column is supported on the bottom of the hip joint supporting frame, and the back supporting seat is arranged on the top of the main body supporting column.

[0008] As the improvement of the above technical scheme, the second telescopic motor and the third telescopic motor are respectively used for driving the thigh support frame to adjust along the horizontal direction and the vertical direction, the knee joint part is used for realizing the flexion movement between the calf support frame and the thigh support frame, the ankle part rotating part is used for driving the foot bottom support seat to rotate around the ankle, and the first telescopic motor is used for driving the calf support frame to telescope along the vertical direction.

[0009] As the improvement of the above technical scheme, the rotating joint assembly is used for adjusting the overall angle of the upper limb handrail assembly, the transverse adjusting clamping seat cooperates with the adjusting plate to realize the length adjustment of the upper limb handrail assembly, and the angle adjusting handle is used for locking the rotating angle of the elbow rotating joint shaft.

[0010] The utility model discloses the beneficial effects of the following:

[0011] 1. The utility model discloses the synergic design of hip joint joint part and lower limb rotating robot assembly can copy the compound motion track of human hip joint, solves the problem that the motion range of traditional equipment is limited, improves the pertinence and effect of rehabilitation training, and the calf and thigh adjusting assembly can adapt to the limb size of patients with different body shapes, avoids the training deviation caused by the inadaptation of fixed structure and limb, ensures the stability of limb fixation through the flexible fixing belt, and improves the comfort of long-time training, the upper limb handrail auxiliary balance reduces the risk of falling and displacement in the training process, and the rotating joint assembly is the connecting core of the upper limb handrail assembly and the back supporting seat, can realize the multidirectional rotation of the upper limb handrail assembly around the back supporting seat, can realize the multidirectional rotation of the upper limb handrail assembly around the back supporting seat according to the sitting posture or lying posture demand of patient. DRAWINGS

[0012] Fig. 1 It is the overall structural drawing of the utility model;

[0013] Fig. 2 It is the lower limb rotating robot assembly structure drawing of the utility model;

[0014] Fig. 3 It is the upper limb handrail assembly structure drawing of the utility model.

[0015] Fig. 1 is a lower limb rotating robot assembly; 11 is a foot bottom support seat; 12 is a lower leg adjusting joint assembly; 121 is a lower leg support frame; 122 is an ankle rotating part; 123 is a first telescopic motor; 124 is a first baffle; 13 is a thigh adjusting joint assembly; 131 is a thigh support frame; 132 is a second telescopic motor; 133 is a third telescopic motor; 134 is a second baffle; 14 is a knee joint hinged part; 15 is a hip joint hinged part; 16 is a lower leg fixing belt; 17 is a thigh fixing belt; 2 is a hip joint bearing assembly; 21 is a hip joint bearing frame; 22 is a body support pad; 23 is a body fixing belt; 24 is a main body support column; 25 is a back bearing seat; 3 is an upper limb handrail assembly; 31 is a rotating hinged assembly; 32 is a transverse adjusting clamping seat; 33 is an adjusting plate; 34 is an elbow rotating joint shaft; 35 is a small arm handrail plate; 36 is an angle adjusting handle; 37 is an anti-collision rubber column. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme and advantages of the utility model more clearly understood, the utility model will be further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the utility model and not used to limit the utility model.

[0017] Please refer to Figs. 1-3 The utility model provides a technical scheme:

[0018] A lower limb rehabilitation robot hip joint rotating mechanism, including lower limb rotating robot assembly 1, hip joint bearing assembly 2 and upper limb handrail assembly 3, lower limb rotating robot assembly 1 includes foot bottom support seat 11, lower leg adjusting joint assembly 12, thigh adjusting joint assembly 13, knee joint hinged part 14 and hip joint hinged part 15, hip joint bearing assembly 2 is connected with hip joint hinged part 15, and upper limb handrail assembly 3 is rotatably installed on both sides of hip joint bearing assembly 2, upper limb handrail assembly 3 includes rotating hinged assembly 31, transverse adjusting clamping seat 32, adjusting plate 33, elbow rotating joint shaft 34, small arm handrail plate 35, angle adjusting handle 36 and anti-collision rubber column 37, rotating hinged assembly 31 is connected with hip joint bearing assembly 2, transverse adjusting clamping seat 32 is connected with rotating hinged assembly 31, adjusting plate 33 cooperates with transverse adjusting clamping seat 32, elbow rotating joint shaft 34 is arranged at the end of adjusting plate 33, small arm handrail plate 35 is connected with adjusting plate 33 by elbow rotating joint shaft 34, angle adjusting handle 36 cooperates with elbow rotating joint shaft 34, and anti-collision rubber column 37 is fixedly installed on the outer side wall of angle adjusting handle 36.

[0019] In the embodiment, the foot support base 11 of the lower limb rotating robot assembly 1 stably supports the patient's foot to prevent the foot from sliding during training, and provides a force receiving base point for the lower limb to ensure the stability of the rehabilitation movement. The lower leg adjusting joint assembly 12 is adapted to the size of the lower leg of different patients through extension and rotation structure to realize the adjustment of the angle or position of the lower leg, and cooperates with the hip joint training to complete the linkage movement of the lower limb. The thigh adjusting joint assembly 13 adjusts the support angle and position of the thigh, cooperates with the lower leg adjusting assembly, simulates the natural flexion trajectory of the lower limb, and improves the physiological adaptability of the training. The knee hinge 14 replicates the flexion function of the human knee joint, so that the lower limb training movement is more consistent with the physiological movement mode, and the joint stiffness is avoided. The lower limb rotating robot assembly 1 is connected with the hip joint hinge 15 to realize the multidirectional movement of the thigh around the hip joint, flexion or extension, adduction or abduction, internal rotation or external rotation, accurately simulating the natural movement trajectory of the hip joint. The hip joint support assembly 2 supports the hip joint area of the patient to fix the position of the upper body, avoiding the displacement of the body during training; at the same time, it provides stable support for the hip joint hinge 15 to ensure the accuracy of the rotating movement. The upper limb handrail assembly 3 is used for the patient to lean on during training to assist in maintaining body balance. The rotating hinge assembly 31, as the connection core of the upper limb handrail assembly 3 and the hip joint support assembly 2, can realize the multidirectional rotation of the upper limb handrail assembly 3 around the hip joint support assembly 2. It can adjust the overall placement angle of the upper limb handrail assembly 3 according to the needs of the patient's sitting or lying position, such as forward flipping for the patient to hold conveniently, backward flipping without hindering the patient to get on and off the equipment, and can also adapt to the upper limb extension amplitude of different patients to improve the flexibility and adaptability of the handrail use. The transverse adjusting clamping seat 32 is connected with the rotating hinge assembly 31 and cooperates with the adjusting plate 33. The core function is to realize the transverse length adjustment of the handrail assembly. By loosening or locking the clamping structure, the adjusting plate 33 can be driven to slide transversely, thereby adjusting the distance between the small arm handrail plate 35 and the patient's body to accurately adapt to patients with different shoulder widths and upper limb lengths, ensuring that the patient's upper limbs can be naturally and comfortably placed on the handrail. The adjusting plate 33, as the main support rod of the upper limb handrail assembly 3, is connected with the transverse adjusting clamping seat 32 at one end and bears the elbow rotating joint shaft 34 and the small arm handrail plate 35 at the other end, playing a role in connecting components and transferring support force. Its length can further expand the adjustment range of the handrail assembly through the transverse adjusting clamping seat 32 to provide a stable support carrier for the upper limb. The elbow rotating joint shaft 34 connects the adjusting plate 33 and the small arm handrail plate 35 to simulate the flexion movement of the human elbow, allowing the small arm handrail plate 35 to rotate freely around the joint shaft. The small arm handrail plate 35 directly bears the support component of the patient's small arm, and its surface conforms to the curve of the human small arm to provide a stable and conformable support surface for the small arm. During training, the patient places the small arm on it to assist in maintaining body balance, reducing body sway, and dispersing the pressure on the small arm to avoid local compression discomfort.The angle adjusting handle 36 cooperates with the elbow rotating joint shaft 34 to play an angle locking role. When the patient adjusts the comfortable angle of the small arm handrail plate 35, the angle adjusting handle 36 is tightened to fix the position of the elbow rotating joint shaft 34, prevent the angle of the handrail plate from being accidentally changed during the training process, ensure the stability and safety of the upper limb support, and the anti-collision rubber column 37 is made of rubber material and has excellent elastic deformation ability. When the angle adjusting handle 36 is operated or the device is running, the anti-collision rubber column 37 can absorb impact energy through its own deformation to avoid deformation, cracking or surface wear of the handle caused by direct contact with hard objects, thereby prolonging the service life of the handle.

[0020] Use process: patient positioning: the patient sits or lies on the hip joint bearing assembly 2, places the feet on the foot support seat 11, fixes the lower leg and upper leg through the lower leg fixing belt 16 and the upper leg fixing belt 17 respectively, holds the upper limb handrail assembly 3, starts the device, adjusts the angle and position of the lower limb support structure through the lower leg adjusting joint assembly 12 and the upper leg adjusting joint assembly 13, makes the lower limb accurately fit the mechanism, drives the upper leg to rotate around the hip joint through the hip joint hinge 15 driven by the upper leg adjusting joint assembly 13, synchronously realizes the flexion and extension of the knee joint through the knee hinge 14, and simulates the natural movement trajectory of the human lower limb; during the training process, the patient can maintain balance through the upper limb handrail.

[0021] Effect: the cooperative design of the hip joint hinge 15 and the lower limb rotating robot assembly 1 can reproduce the compound movement trajectory of the human hip joint, solve the problem of limited movement range of traditional devices, improve the pertinence and effect of rehabilitation training, the lower leg and upper leg adjusting assemblies can adapt to the limb size of patients with different body types, avoid training deviation caused by the inadaptation of fixed structures and limbs, ensure the stability of limb fixation through flexible fixing belts, and improve the comfort of long-time training; the upper limb handrail assists balance, reduces the risk of falling and displacement during the training process, the rotating hinge assembly 31 as the connection core of the upper limb handrail assembly 3 and the back bearing seat 25 can realize the multidirectional rotation of the upper limb handrail assembly 3 around the back bearing seat 25, can adjust the overall placement angle of the upper limb handrail assembly 3 according to the sitting or lying posture demand of the patient, such as forward flipping for the patient to conveniently hold, backward flipping without hindering the patient to get on and off the device, and can adapt to the upper limb unfolding amplitude of different patients, improve the flexibility and adaptability of the handrail use.

[0022] Specifically, the foot support 11 is used to support the patient's foot. The lower leg adjustable joint assembly 12 includes a lower leg support frame 121, an ankle rotating component 122, a first telescopic motor 123, and a first baffle 124. The lower leg support frame 121 is connected to the foot support 11 via the ankle rotating component 122. The first telescopic motor 123 is located on the side of the lower leg support frame 121, with one end connected to the ankle rotating component 122. The telescopic end of the first telescopic motor 123 is fixedly installed on one side of the lower leg support frame 121. The first baffle 124 is installed at the bottom of the lower leg support frame 121. The thigh adjustable joint assembly 13 includes a thigh support frame 131, a second telescopic motor 132, a third telescopic motor 133, and a second baffle 134. The thigh support frame 131... The thigh support frame 131 is connected to the calf support frame 121 via the knee hinge 14. The second telescopic motor 132 and the third telescopic motor 133 are symmetrically arranged at intervals on the side of the thigh support frame 131. One end of the second telescopic motor 132 is connected to the knee hinge 14, and the telescopic end of the second telescopic motor 132 is fixedly installed on the top side of the thigh support frame 131. One end of the third telescopic motor 133 is fixedly installed on the side wall of the thigh support frame 131, and the telescopic end of the third telescopic motor 133 is fixedly installed on the hip joint hinge 15. The second baffle 134 is installed at the bottom of the thigh support frame 131. The thigh support frame 131 is connected to the hip joint support assembly 2 via the hip joint hinge 15. The calf support frame 121 is provided with a calf fixing strap 16, and the thigh support frame 131 is provided with a thigh fixing strap 17.

[0023] In this embodiment, after the patient completes lower limb fixation, the hip joint and lower limb combined rehabilitation training exercise process is as follows: Initial position adjustment: The patient places their foot on the foot support seat 11, and fixes the lower leg and thigh respectively through the calf fixation strap 16 and thigh fixation strap 17; The first telescopic motor 123 extends and retracts, driving the ankle rotating component 122 to rotate, adjusting the foot support seat 11 to an angle that matches the patient's natural ankle posture; The second telescopic motor 132 extends and retracts, driving the thigh support frame 131 to rotate around the knee hinge 14, so that the knee joint is in a comfortable initial position with slight flexion; The second telescopic motor 132 continues to extend and retract, driving the thigh support frame 131 to reciprocate around the knee hinge 14, simulating the "flexion-extension" movement of the knee joint; The third telescopic motor 133 extends and retracts, driving the thigh support frame 131 to rotate around the hip joint hinge 15, realizing the "flexion-extension" movement of the hip joint. "During the exercise, the first telescopic motor 123 maintains a slight extension and retraction, adjusting the angle of the foot support seat 11 via the ankle rotating component 122 to match the natural ankle posture during lower limb flexion and extension; the third telescopic motor 133 alternately extends and retracts to both sides, driving the thigh support frame 131 to perform "adduction-abduction" movements around the hip joint hinge 15; simultaneously, the third telescopic motor 133, in coordination with the rotation of the hip joint hinge 15, drives the thigh support frame 131 to complete "internal rotation-external rotation" movements; during this process, the second telescopic motor 132 maintains moderate extension and retraction to maintain the appropriate angle of the knee joint and avoid stiffness and uneven force distribution in the lower limbs; after the training and repositioning exercise is completed, the first, second, and third telescopic motors synchronously reposition, driving the calf support frame 121 and thigh support frame 131 back to the initial comfortable position; the calf fixation strap 16 and thigh fixation strap 17 are released, and the patient is removed from the equipment."

[0024] Specifically, the hip joint support assembly 2 includes a hip joint support frame 21, a body support pad 22, a body fixation strap 23, a main support column 24, and a back support seat 25. The hip joint support frame 21 is connected to the hip joint hinge 15. The body support pad 22 is located on the top of the hip joint support frame 21. The body fixation strap 23 is connected to the body support pad 22. The main support column 24 is supported at the bottom of the hip joint support frame 21. The back support seat 25 is located on the top of the main support column 24.

[0025] In this embodiment, the hip joint support frame 21 is directly connected to the hip joint hinge 15, providing a stable support for the patient's hip joint area and a mounting base for the rotational movement of the hip joint hinge 15, ensuring the stability of force and the accuracy of movement during hip joint rehabilitation training. The body support pad 22 is set on top of the hip joint support frame 21, using memory foam of flexible cushioning material, conforming to the curve of the human body, dispersing body pressure, avoiding discomfort caused by prolonged training, and improving the patient's comfort during training. The body fixation strap 23 works in conjunction with the body support pad 22 to bind the patient's body, fixing the position of the patient's upper body and preventing the body from shifting downwards during training. The limb movement is displaced, ensuring the accuracy of hip joint training movements, while reducing the risk of secondary injury caused by body swaying. The main support column 24 is supported at the bottom of the hip joint support frame 21 and is the core of the structural support of the entire hip joint support component 2. It distributes the load of the support frame, body support pad 22 and other components to the equipment base, ensuring the overall structural stability of the component and avoiding swaying or tilting during training. The back support seat 25 is set at the top of the main support column 24, conforming to the curve of the patient's back, providing auxiliary support for the patient's back, further improving the patient's body stability and comfort in sitting or lying positions during training, and reducing compensatory force exertion of the back muscles.

[0026] Specifically, the second telescopic motor 132 and the third telescopic motor 133 are used to drive the thigh support frame 131 to adjust in the horizontal and vertical directions, respectively. The knee hinge 14 is used to realize the flexion movement between the calf support frame 121 and the thigh support frame 131. The ankle rotating component 122 is used to drive the foot support seat 11 to rotate around the ankle. The first telescopic motor 123 is used to drive the calf support frame 121 to extend and retract in the vertical direction.

[0027] In this embodiment, the first telescopic motor 123 extends and retracts vertically, directly driving the calf support frame 121 to move up and down, adapting to different patients' calf lengths and ensuring precise fit between the calf and the support frame; synchronously, it links with the ankle rotating component 122, causing the foot support seat 11 to rotate flexibly around the ankle, adapting to the natural posture of the ankle during lower limb movement, such as flexion and extension, and slight inversion and supination, avoiding ankle stiffness or uneven force; the second telescopic motor 132 extends and retracts horizontally, driving the thigh support frame 131 to move horizontally relative to the calf support frame 121. The angle adjustment; in conjunction with the knee hinge 14, it realizes the flexion movement between the lower leg support frame 121 and the thigh support frame 131, accurately simulating the natural flexion trajectory of the human knee joint, providing a coordinated lower limb movement basis for hip joint linkage training; the third telescopic motor 133 extends and retracts in the vertical direction, driving the thigh support frame 131 to make vertical angle adjustment around the hip joint hinge 15, which realizes multi-directional movements such as flexion, adduction or abduction of the hip joint, replicates the natural movement trajectory of the human hip joint, and ensures the pertinence of rehabilitation training.

[0028] Specifically, the rotating hinge assembly 31 is used to adjust the overall angle of the upper limb armrest assembly 3, the lateral adjustment clamp 32 cooperates with the adjustment plate 33 to realize the length adjustment of the upper limb armrest assembly 3, and the angle adjustment handle 36 is used to lock the rotation angle of the elbow rotation joint axis 34.

[0029] In this embodiment, the rotating hinge assembly 31 enables flexible adjustment of the overall angle of the upper limb armrest assembly 3. As the connection hub between the armrest assembly and the back support 25, it can drive the entire armrest assembly to rotate in multiple directions around the connection point, tilting forward, backward, and to both sides. The lateral adjustment clamp 32 and the adjustment plate 33 work together to form a length adjustment mechanism. Its core function is to accurately adapt to the shoulder width and upper limb length of different patients. The lateral adjustment clamp 32 has a horizontal distance that can be released or the hand plate 35 is at from the patient's body. After adjusting to the appropriate position, locking the clamp can fix the adjustment plate 33 and ensure length stability. The core function of the angle adjustment handle 36 is to lock the angle of the elbow rotation joint axis 34 to ensure the stability of the upper limb support. The patient can adjust the angle of the forearm armrest by rotating the elbow joint axis 34 to adapt to the natural bending posture of their elbow. After adjusting to a comfortable angle, tightening the angle adjustment handle 36 can lock the rotational freedom of the joint axis and prevent the armrest angle from changing unexpectedly due to equipment vibration or slight limb force during training.

[0030] The above embodiments are only used to illustrate the technical solution of this utility model, and are not intended to limit it.

Claims

1. A hip joint rotation mechanism for a lower limb rehabilitation robot, characterized in that: The system includes a lower limb rotation robot assembly (1), a hip joint support assembly (2), and an upper limb handrail assembly (3). The lower limb rotation robot assembly (1) includes a foot support base (11), a lower leg adjustment joint assembly (12), a thigh adjustment joint assembly (13), a knee hinge (14), and a hip joint hinge (15). The hip joint support assembly (2) is connected to the hip joint hinge (15), and the upper limb handrail assembly (3) is rotatably mounted on both sides of the hip joint support assembly (2). The upper limb handrail assembly (3) includes a rotation hinge assembly (31), a lateral adjustment clamping seat (32), an adjustment plate (33), an elbow rotation joint axis (34), and a forearm support. The components include a hand plate (35), an angle adjustment handle (36), and an anti-collision rubber post (37). The rotating hinge assembly (31) is connected to the hip joint support assembly (2). The lateral adjustment clamp (32) is connected to the rotating hinge assembly (31). The adjustment plate (33) cooperates with the lateral adjustment clamp (32). The elbow rotation joint shaft (34) is located at the end of the adjustment plate (33). The forearm handrail (35) is connected to the adjustment plate (33) through the elbow rotation joint shaft (34). The angle adjustment handle (36) cooperates with the elbow rotation joint shaft (34). The anti-collision rubber post (37) is fixedly installed on the outer wall of the angle adjustment handle (36).

2. The hip joint rotation mechanism of the lower limb rehabilitation robot according to claim 1, characterized in that: The foot support base (11) is used to support the patient's foot. The lower leg adjustable joint assembly (12) includes a lower leg support frame (121), an ankle rotating component (122), a first telescopic motor (123), and a first baffle (124). The lower leg support frame (121) is connected to the foot support base (11) through the ankle rotating component (122). The first telescopic motor (123) is disposed on the side of the lower leg support frame (121). One end of the first telescopic motor (123) is connected to the ankle rotating component (122). The telescopic end of the first telescopic motor (123) is fixedly installed on one side of the lower leg support frame (121). The first baffle (124) is installed at the bottom of the lower leg support frame (121). The thigh adjustable joint assembly (13) includes a thigh support frame (131), a second telescopic motor (132), a third telescopic motor (133), and a second baffle (134). The thigh support frame (131) The thigh support frame (131) is connected to the calf support frame (121) via the knee hinge (14). The second telescopic motor (132) and the third telescopic motor (133) are symmetrically arranged on the side of the thigh support frame (131). One end of the second telescopic motor (132) is connected to the knee hinge (14). The telescopic end of the second telescopic motor (132) is fixedly installed on the top side of the thigh support frame (131). One end of the third telescopic motor (133) is fixedly installed on the side wall of the thigh support frame (131). The telescopic end of the third telescopic motor (133) is fixedly installed on the hip joint hinge (15). The second baffle (134) is installed at the bottom of the thigh support frame (131). The thigh support frame (131) is connected to the hip joint support assembly (2) via the hip joint hinge (15). The calf support frame (121) is provided with a calf fixing strap (16). The thigh support frame (131) is provided with a thigh fixing strap (17).

3. The hip joint rotation mechanism of the lower limb rehabilitation robot according to claim 1, characterized in that: The hip joint support assembly (2) includes a hip joint support frame (21), a body support pad (22), a body fixation strap (23), a main support column (24), and a back support seat (25). The hip joint support frame (21) is connected to the hip joint hinge (15). The body support pad (22) is located on the top of the hip joint support frame (21). The body fixation strap (23) is connected to the body support pad (22). The main support column (24) is supported at the bottom of the hip joint support frame (21). The back support seat (25) is located on the top of the main support column (24).

4. The hip joint rotation mechanism of the lower limb rehabilitation robot according to claim 2, characterized in that: The second telescopic motor (132) and the third telescopic motor (133) are used to drive the thigh support frame (131) to adjust in the horizontal and vertical directions, respectively. The knee hinge (14) is used to realize the flexion movement between the calf support frame (121) and the thigh support frame (131). The ankle rotating component (122) is used to drive the foot support seat (11) to rotate around the ankle. The first telescopic motor (123) is used to drive the calf support frame (121) to extend and retract in the vertical direction.

5. The hip joint rotation mechanism of the lower limb rehabilitation robot according to claim 1, characterized in that: The rotating hinge assembly (31) is used to adjust the overall angle of the upper limb armrest assembly (3). The lateral adjustment clamp (32) cooperates with the adjustment plate (33) to realize the length adjustment of the upper limb armrest assembly (3). The angle adjustment handle (36) is used to lock the rotation angle of the elbow rotation joint axis (34).

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