CN112220649A

CN112220649A - Fitness type movable lower limb exoskeleton rehabilitation system

Info

Publication number: CN112220649A
Application number: CN202011080403.3A
Authority: CN
Inventors: 张咏渤; 王浩平; 王璐; 陈柏滔; 田杨
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-15

Abstract

The invention belongs to the field of medical rehabilitation training robots, and particularly relates to a body-fitted movable lower limb exoskeleton rehabilitation system. Comprises a waist support plate, a back strap, a back armrest, a front armrest, a waist belt, a hip joint component, a thigh component, a first folding mechanism, a knee joint component, a shank component, a sole support plate and a sole pulley; the lower part of the waist supporting plate is arranged in an arc-shaped bulge towards the waist, so that the waist supporting plate is attached to the back of a rehabilitee, braces are respectively arranged on two sides of the waist supporting plate, a waistband is arranged on the lower part of the waist supporting plate, a front handrail is respectively arranged on two sides of the front part of the waist supporting plate, and a rear handrail is respectively arranged on two sides of the rear part of the waist supporting plate; the thigh component is connected with the knee joint component through a first folding mechanism; the bottom of the sole supporting plate is provided with a sole pulley, and the sole pulley is folded and unfolded through a sole pulley folding mechanism. The portable mobile robot has good body fit, adopts a light-weight structural design, and is convenient to carry and move in a long distance.

Description

Fitness type movable lower limb exoskeleton rehabilitation system

Technical Field

The invention belongs to the field of medical rehabilitation training robots, and particularly relates to a body-fitted movable lower limb exoskeleton rehabilitation system.

Background

China is not only a large population of disabilities (about 8500 ten thousand), but also an aging age is coming. In the elderly population, there are a large number of patients with cerebrovascular or neurological disorders, and many of these patients are associated with hemiplegia. The number of middle-aged and elderly patients who have hemiplegia is increasing in recent years, and the patients tend to be younger in age. Meanwhile, as the number of transportation means increases, the number of people suffering from nerve injury or limb injury caused by traffic accidents is increasing. The knee joint, which is the most important joint for the lower limb movement, is the most complex joint of the human body and is very easily damaged, thereby bringing great difficulty to the lower limb movement of the patient. The population of China is large, huge rehabilitation needs exist, the medical care gap in the rehabilitation field is huge in China, and the intelligent rehabilitation equipment has important significance and value for improving the rehabilitation effect and relieving the medical care pressure. As a wearable intelligent device, the knee exoskeleton can not only reduce the burden of a rehabilitation doctor, but also accurately record the training data of a patient in the training process, thereby effectively improving the efficiency and effect of treatment.

As a system with human center, the exoskeleton has unique advantages in gait rehabilitation, force increasing and the like. The exoskeleton system is a human-centered human-machine system, which combines machine power and human intelligence, and thus can achieve more functions than the two alone, which is mainly achieved through human-machine interaction, in which a human first provides action intention and feedback information, and then the exoskeleton provides mechanical assistance to a human. Aiming at the old people with inconvenient legs and feet and the disabled, the exoskeleton robot can assist or recover the walking movement of the legs, so that the life quality of the old people and the disabled is improved. Meanwhile, the rehabilitation doctor can be relieved from heavy physical and mental loads, and treatment data in the training process can be recorded in detail and objectively for the rehabilitation doctor to analyze and evaluate the rehabilitation training effect.

However, most existing lower limb exoskeleton rehabilitation systems are complex in structure and heavy in device, and meanwhile, the output of a power source adopted by the existing lower limb exoskeleton rehabilitation systems is unstable, so that a control mechanism is complex; wherein, the structure of part of the rehabilitation system is complicated, the wearing is inconvenient, the carrying is not easy, and the practical application of the lower limb exoskeleton rehabilitation system is inconvenient. Patent application No.: 201921402689.5 discloses a wearable lower limb assistance exoskeleton robot, which cannot be folded and moved for a long distance and is poor in portability. Patent application No.: 201920869262.X discloses a lower limb exoskeleton robot, the back support part of the system is a thick support block, the sole support plate is a thin flat plate, the fitness is poor, the man-machine interaction experience of a user is poor, the robot is not beneficial to the use of the old, and therefore the robot is not suitable for being put into the market.

Disclosure of Invention

The invention aims to provide a fit type movable lower limb exoskeleton rehabilitation system, which solves the problems that an existing robot is complex in structure, insufficient in safety, insufficient in comfort, inconvenient to wear, incapable of supporting independently, inconvenient to carry and inconvenient to move.

The technical solution for realizing the purpose of the invention is as follows: a fit type movable lower limb exoskeleton rehabilitation system comprises a waist support plate, straps, a rear armrest, a front armrest, a waistband, a hip joint assembly, a thigh assembly with adjustable length, a first folding mechanism, a knee joint assembly, a shank assembly with adjustable length, a sole support plate and a sole pulley;

the lower part of the waist supporting plate is arranged in an arc-shaped bulge facing the waist, so that the waist supporting plate is attached to the back of a rehabilitee, braces for wearing are respectively arranged on two sides of the waist supporting plate, a waistband for wearing is arranged on the lower part of the waist supporting plate, a front handrail is respectively arranged on two sides of the front part of the waist supporting plate, and a rear handrail is respectively arranged on two sides of the rear part of the waist supporting plate;

the thigh component is connected with the knee joint component through a first folding mechanism, so that the exoskeleton rehabilitation system is folded;

sole backup pad bottom is equipped with the sole pulley, the sole pulley realizes folding and opening through sole pulley folding mechanism, and the sole pulley is in sole backup pad bottom when opening, realizes removing through the sole pulley, when need not remove through the sole pulley, with the folding upper portion that is located sole backup pad of sole pulley.

Further, the thigh assembly comprises a thigh support bar sleeve and a thigh support bar;

the thigh supporting rod is nested in the thigh supporting rod sleeve, a plurality of thigh supporting rod sleeve positioning holes are formed in the thigh supporting rod sleeve, and a plurality of thigh supporting rod positioning holes are formed in the thigh supporting rod; the thigh supporting rod sleeve and the thigh supporting rod are connected through different thigh supporting rod sleeve positioning holes and different thigh supporting rod positioning holes, and therefore the length of the thigh assembly is adjustable.

Further, the lower leg assembly comprises a lower leg support bar sleeve and a lower leg support bar;

the shank support rod is nested in the shank support rod sleeve, a plurality of shank support rod sleeve positioning holes are formed in the shank support rod sleeve, and a plurality of shank support rod positioning holes are formed in the shank support rod; the shank support rod sleeve and the shank support rod are connected through different shank support rod sleeve positioning holes and different shank support rod positioning holes, so that the shank component is adjustable in length.

Furthermore, leg binding bands are arranged on the thigh supporting rod sleeve and the shank supporting rod sleeve;

and a storage rack is arranged on the front handrail.

Furthermore, the leg binding bands are made of flexible materials with adjustable tightness,

furthermore, the leg bandage is made of latex.

Further, the hip joint assembly comprises a first driving motor, a first flange plate and a first speed reducer;

the first flange plate is connected to the lower ends of the two sides of the waist supporting plate and is fixedly connected with the waist supporting plate; the first speed reducer is fixed in the first flange plate, the first driving motor is fixedly connected with the outer end face of the first flange plate, and the first driving motor is connected with the first speed reducer;

the upper end of the thigh supporting rod sleeve is fixedly connected with a first rotary table, the first rotary table is connected with a first speed reducer, a first driving motor drives the thigh supporting rod sleeve to swing through the first speed reducer, and the thigh supporting rod sleeve drives the thigh supporting rod in the sleeve to swing when swinging.

Further, the knee joint component comprises a second driving motor, a second flange plate and a second speed reducer;

the lower end of the thigh supporting rod is fixedly connected with a second flange plate through a first folding mechanism, and a second driving motor is fixedly connected with the outer end face of the second flange plate; the second driving motor is connected with a second speed reducer, and the second speed reducer is fixed in the second flange plate;

the upper end of the shank support rod sleeve is fixedly connected with a second rotary table, the second rotary table is connected with a second speed reducer, and a second driving motor drives the shank support rod sleeve to swing through the second speed reducer; the shank support rod sleeve drives the shank support rod in the sleeve to swing when swinging.

Furthermore, the first folding mechanism comprises a first supporting plate, a second supporting plate and a second rotating shaft;

the lower end of the thigh supporting rod is fixedly connected with a first supporting plate, and the first supporting plate is connected with a second supporting plate through a second rotating shaft;

the lower end of the second supporting plate is fixedly connected with the second flange plate, and fixing holes are formed in the first supporting plate and the second supporting plate; the bolts penetrate through the fixing holes in the first supporting plate and the second supporting plate, so that the using form of the rehabilitation system is fixed; when the bolt between first backup pad and the second backup pad was dismantled, the second backup pad accessible second pivot upwards rotates and realizes folding.

Furthermore, the lower end of the shank support rod is fixedly provided with a circular arc-shaped rotating seat, the upper end of the sole support plate is fixedly provided with a fixed seat, the upper end of the fixed seat is provided with an arc-shaped groove, the rotating seat is connected into the arc-shaped groove of the fixed seat through a first rotating shaft, and the arc-shaped groove limits the rotating angle of the rotating seat.

Furthermore, the front and back relative angles of the rotating seat and the sole supporting plate are not more than 60 degrees;

furthermore, a foot binding belt is arranged on the sole supporting plate and used for fixing feet of a human body; the bottom of the sole supporting plate is provided with anti-skid patterns.

Furthermore, the sole pulleys are fixedly connected to a sole pulley bearing seat on a sole pulley support plate through sole pulley shafts, a hinge is arranged at the rear end of the foot support plate, and the other side of the hinge is connected with the sole pulley support plate to realize the rotation of the sole pulleys;

furthermore, a spring bolt is arranged on the sole pulley supporting plate, a clamping groove is arranged on the foot supporting plate, and the sole pulley is limited by the relative fixation of the spring bolt and the clamping groove;

furthermore, the spring bolt comprises a spring, a spring bolt shell and a shifting ring with a gasket.

Compared with the prior art, the invention has the remarkable advantages that:

(1) according to the patch type movable lower limb exoskeleton rehabilitation system, the safety, portability and lightness of a product are improved in the overall design, the interactivity and experience of a user and the product are considered, and the problems that an existing robot is complex in structure, insufficient in safety, insufficient in comfort, inconvenient to wear, incapable of supporting independently, inconvenient to carry and inconvenient to move are solved.

(2) The folding component is designed at the knee joint, so that the device can be placed in a limited space after simple folding operation, and is convenient to carry and transport in daily life.

(3) The sole pulley is provided with the sole pulley folding mechanism, wherein the sole pulley is convenient to move between a middle-distance place and a remote place, and is beneficial to carrying when a user transfers the places; and through spring bolt, hinge and the draw-in groove above the foot backup pad, realized carrying out the restriction of position to sole pulley part, the user of being convenient for folds and opens the sole pulley according to the use needs difference.

(4) The back plate is designed according with human engineering, and the shape of the back plate is beneficial to reducing the back pressure of a user and improving the fatigue feeling of the user when the user is rehabilitated for a long time.

(5) The anti-skid patterns are arranged at the bottom of the foot, so that the resistance is properly increased when the foot is used, the anti-skid capability of the foot-massage chair is improved, and the safety performance is enhanced.

(6) The invention is additionally provided with the waistband and the braces, thereby enhancing the fixed connection relationship between the user and the system, leading the human body to be more attached to the invention and being more beneficial to the rehabilitation.

(7) The front handrail arranged in front of the waist support part helps a user to keep balance; the storage rack is convenient for placing medical care products, and the back handrail arranged behind the waist back plate is helpful for medical care personnel to support.

(8) The invention arranges the tightness adjusting device on the leg bandage to adjust the tightness according to the body state of the patient, and arranges the telescopic sleeves on the thigh and the shank to adjust the length according to the body state of the patient.

Drawings

Fig. 1 is a schematic diagram of the general structure of the lower extremity exoskeleton rehabilitation system of the present invention.

Fig. 2 is a schematic view of the lumbar support of the present invention.

Figure 3 is a schematic view of the hip joint assembly attachment of the present invention.

FIG. 4 is a schematic view of the knee joint assembly attachment of the present invention.

FIG. 5 is a schematic view of the folding mechanism of the present invention attached to a knee joint.

FIG. 6 is a schematic view of the folding mechanism at the knee joint of the present invention folded upward.

Fig. 7 is a schematic view of the thigh supporting rod structure of the present invention.

FIG. 8 is a schematic view of the connection between the lower leg support bar and the sole support plate according to the present invention.

Fig. 9 is a schematic connection diagram of the sole pulley folding mechanism of the invention.

Fig. 10 is a schematic view of the folding state of the sole pulley folding mechanism of the invention.

Fig. 11 is a schematic view of the open state of the sole pulley folding mechanism of the present invention.

Fig. 12 is a schematic view of a spring latch mechanism.

Description of reference numerals:

1-lumbar support plate, 2-back strap, 3-back armrest, 4-front armrest, 5-waist belt, 6-first flange, 7-first drive motor, 8-first reducer, 9-thigh support bar sleeve, 10-leg strap, 11-thigh support bar, 12-first folding mechanism, 13-second drive motor, 14-second reducer, 15-shank support bar sleeve, 16-shank support bar, 17-sole pulley, 18-foot strap, 19-sole support plate, 20-shelf, 21-first rotary table, 22-second flange, 23-second rotary table, 24-sole pulley folding mechanism, 9-1-thigh support bar sleeve positioning hole, 11-1-thigh support bar positioning hole, 12-1-second support plate, 12-2-second rotating shaft, 12-3-first support plate, 12-4-fixing hole, 16-1-rotating seat, 19-1-first rotating shaft, 19-2-fixing seat, 24-1-sole pulley bearing seat, 24-2-sole pulley shaft, 24-3-sole pulley support plate, 24-5-spring bolt, 24-6-clamping groove, 24-5-1-spring, 24-5-2-shifting ring and 24-5-3-spring bolt shell.

Detailed Description

The present invention is described in further detail below with reference to the attached drawing figures.

Referring to fig. 1-4, the body-fitted movable lower extremity exoskeleton rehabilitation system of the present invention comprises a strap 2, a belt 5, a waist support plate 1, a rack 20, a front armrest 4, a rear armrest 3, a hip joint assembly, a thigh support rod sleeve 9, a thigh support rod 11, a knee joint assembly, a shank support rod sleeve 15, a shank support rod 16, a sole support plate 19, a sole pulley 17, a sole pulley folding mechanism 24, and a strap at each part;

the waist supporting plate 1 is designed according with human engineering, and the shape of the back plate is beneficial to reducing the back pressure of a user and improving the fatigue feeling of the user generated during long-time rehabilitation.

The waist support plate 1 is provided with a waistband 5 and a brace 2 structure, so that the fixed connection relation between a user and the system is enhanced, the human body is more attached to the waist support plate, and the waist support plate is more beneficial to rehabilitation; the arrangement of the front handrail 4 helps the user to keep balance; the placement frame 20 is convenient for placing medical supplies, and the back handrail 3 is arranged behind the waist backboard and is helpful for medical staff to support;

the hip joint assembly comprises a first driving motor 7, a first flange plate 6 and a first speed reducer 8; the first flange 6 is connected with the lower ends of two sides of the waist support plate 1; the first flange 6 is fixedly connected with the waist support plate 1; the first speed reducer 8 is fixed in the first flange 6, the first driving motor 7 is fixedly connected with the outer end face of the first flange 6, and the first driving motor 7 is connected with the first speed reducer 8; the upper end of the thigh supporting rod sleeve 9 is fixedly connected with a first rotary table 2, and a first rotary table 21 is connected with a first speed reducer 8; the first driving motor 7 drives the thigh support rod sleeve 9 to swing through the first speed reducer 8; the thigh support rod sleeve 9 drives the thigh support rod 11 in the sleeve to swing when swinging;

the knee joint component comprises a second driving motor 13, a second flange plate 22 and a second speed reducer 14; the lower end of the thigh support rod 11 is fixedly connected with a second flange plate 22, and a second driving motor 13 is fixedly connected with the outer end face of the second flange plate 22; the second driving motor 13 is connected with a second speed reducer 14, and the second speed reducer 14 is fixed in a second flange plate 22; the upper end of the shank support rod sleeve 15 is fixedly connected with a second rotary table 23, the second rotary table 23 is connected with a second speed reducer 14, and a second driving motor 13 drives the shank support rod sleeve 15 to swing through the second speed reducer 14; the shank support bar sleeve 15 drives the shank support bar 16 in the sleeve to swing when swinging.

Leg straps 10 are arranged on the thigh support bar sleeve 9 and the shank support bar sleeve 15; the lower end of the lower leg support rod 16 is connected with the sole support plate 19 through a first rotating shaft 19-1, and the lower leg support rod 16 swings to drive the sole support plate 19 to swing.

The tightness adjusting device arranged on the leg bandage 10 can adjust the tightness according to the body state of the patient.

The leg strap 10 and foot strap 18 use flexible materials such as: high grade latex, etc. to make the skin surface comfortable when used by a user.

With reference to fig. 5 and 6, the lower extremity exoskeleton rehabilitation system is connected by arranging a folding mechanism between the thigh support rod 11 and the second flange plate 22, wherein the folding mechanism comprises a first support plate 12-3, a second support plate 12-1 and a second rotating shaft 12-2; the lower end of the thigh supporting rod 11 is fixedly connected with a first supporting plate 12-3, and the first supporting plate 12-3 is connected with a second supporting plate 12-1 through a second rotating shaft 12-2; the lower end of the second supporting plate 12-1 is fixedly connected with a second flange plate 22, and the first supporting plate 12-3 and the second supporting plate 12-1 are both provided with fixing holes 12-4 which are connected; the first supporting plate 12-3 and the second supporting plate 12-1 are used for fixing the lower limb exoskeleton rehabilitation system through bolts; when the bolt between the first supporting plate 12-3 and the second supporting plate 12-1 is removed, the second supporting plate 12-1 can be folded by upward rotation of the second rotating shaft 12-2, so that the folding chair is further convenient to carry and store.

Thigh, shank position set up to be scalable pole, the length of accessible adjustment bracing piece is applicable to the patient of different statures and uses.

Referring to fig. 7, the thigh support bar 11 is nested inside the thigh support bar sleeve 9, and a plurality of thigh support bar sleeve positioning holes 9-1 and thigh support bars 11-1 are transversely arranged on the thigh support bar sleeve 9 and the thigh support bar 11 for positioning; the shank support bar 16 is nested in the shank support bar sleeve 15, and a plurality of positioning holes similar to the positioning holes are arranged in the shank support bar sleeve 15 and the shank support bar 16 in the transverse direction for positioning.

Referring to fig. 8, an arc-shaped groove is formed in the upper end of the fixing part, the rotating base 16-1 is connected in an arc shape through the first rotating shaft 19-1, and the arc-shaped groove limits the rotating angle of the rotating base 16-1, so that the phenomenon that the rotating angle is too large and secondary damage is caused to the ankle joint of a human body is avoided.

The front and back relative angles of the rotating seat 16-1 and the sole supporting plate 19 are not more than 60 degrees.

The sole support plate 19 is further provided with foot binding bands 18 for fixing the human steps with the sole support plate 19 through the foot binding bands 18, and anti-skid patterns are arranged at the bottom of the sole support plate 19 to properly increase resistance and improve anti-skid performance.

With reference to fig. 9, 10 and 11, the sole pulley folding mechanism 24 is provided with a spring bolt 24-5, wherein the spring bolt 24-5 can be matched with a clamping groove 24-6 provided on the sole support plate 19 to achieve the purpose of limiting the position of the sole pulley 17, and the position of the sole pulley is when the user is recovering; when the patient moves in the product at a long distance, the spring bolt 24-5 can be pulled out, and the folding sheet 24-4 rotates to open the sole pulley 17 to move. The structure design is convenient for a user to fold and unfold the sole pulley according to different use scenes.

The working process of the invention is as follows:

before using, the user judges the recovered mode of self through doctor's suggestion, sets up the recovered mode of this low limbs ectoskeleton rehabilitation system to adjust thigh, shank position length through the locating hole according to user's own posture, shank bandage 10 sets up adjustable take-up unit and carries out comfortable and necessary fixed to the shank. When the exoskeleton robot is worn, the whole exoskeleton robot structure is bound to the waist of a user through the waistband 5 and the braces 2 on the waist supporting plate 1, thighs and calves are respectively fixed with the supporting rods through the leg binding bands 10, and the thighs and the calves are bound to the feet of the user through the foot binding bands 18 on the sole supporting plate 19. The hip joint component and the knee joint component are driven by controlling the driving motor to work, so that the aim of rehabilitation training and rehabilitation of a user is fulfilled.

After the portable folding mechanism is used, a user can take down the fixing bolts on the first supporting plate 12-3 and the second supporting plate 12-1 and fold the whole mechanism to achieve the purpose of portability; when the patient is transferred from a remote place, the spring bolt 24-5 can be pulled out to unfold the hinge 24-4 to use the sole pulley 17, so that the patient can move conveniently, and when rehabilitation is performed, the purpose of limiting the position of the sole pulley 17 in a folding way can be achieved by upwards rotating the hinge 24-4 and adopting the spring bolt 24-5 and the clamping groove 24-6 mechanism. Wherein the spring bolt consists of a spring 24-5-1, a spring bolt shell 24-5-3 and a shifting ring 24-5-2 with a gasket, and the resilience effect of the spring 24-5-1 effectively acts as an elastic switch.

Claims

1. A close-fit type movable lower limb exoskeleton rehabilitation system is characterized by comprising a waist support plate (1), straps (2), a rear handrail (3), a front handrail (4), a waistband (5), a hip joint assembly, a thigh assembly with adjustable length, a first folding mechanism (12), a knee joint assembly, a shank assembly with adjustable length, a sole support plate (19) and a sole pulley (17);

the lower part of the waist supporting plate (1) is arranged in an arc-shaped bulge towards the waist, so that the waist supporting plate (1) is attached to the back of a rehabilitee, braces (2) for wearing are respectively arranged on two sides of the waist supporting plate (1), a waistband (5) for wearing is arranged on the lower part of the waist supporting plate, a front handrail (4) is respectively arranged on two sides of the front part of the waist supporting plate (1), and a rear handrail (3) is respectively arranged on two sides of the rear part of the waist supporting plate (1);

the thigh component is connected with the knee joint component through a first folding mechanism (12), so that the exoskeleton rehabilitation system is folded;

sole backup pad (19) bottom is equipped with sole pulley (17), sole pulley (17) realize folding and opening through sole pulley folding mechanism (24), and sole pulley (17) are in sole backup pad (19) bottom when opening, realize removing through sole pulley (17), when need not remove through sole pulley (17), fold the upper portion that is located sole backup pad (19) with sole pulley (17).

2. The system according to claim 1, characterized in that said thigh assembly comprises a thigh support bar sleeve (9) and a thigh support bar (11);

the thigh supporting rod (11) is nested inside the thigh supporting rod sleeve (9), a plurality of thigh supporting rod sleeve positioning holes (9-1) are formed in the thigh supporting rod sleeve (9), and a plurality of thigh supporting rod positioning holes (11-1) are formed in the thigh supporting rod; the thigh supporting rod sleeve (9) and the thigh supporting rod (11) are connected through different thigh supporting rod sleeve positioning holes (9-1) and different thigh supporting rod positioning holes (11-1), and the length of the thigh assembly is adjustable.

3. The system of claim 2, wherein the lower leg assembly comprises a lower leg strut sleeve (15) and a lower leg strut (16);

the shank support rod (16) is nested in the shank support rod sleeve (15), a plurality of shank support rod sleeve positioning holes are formed in the shank support rod sleeve (15), and a plurality of shank support rod positioning holes are formed in the shank support rod (16); the shank support rod sleeve (15) and the shank support rod (16) are connected through different shank support rod sleeve positioning holes and different shank support rod positioning holes, so that the shank component is adjustable in length.

4. System according to claim 3, characterized in that the thigh support bar sleeve (9) and the lower leg support bar sleeve (15) are each provided with a leg strap (10);

the front handrail (4) is provided with a storage rack (20).

5. System according to claim 4, characterized in that the material of the leg strap (10) is a flexible material with adjustable tightness, preferably latex.

6. A system according to claim 3, wherein the hip joint assembly comprises a first drive motor (7), a first flange (6) and a first reduction gear (8);

the first flange plate (6) is connected to the lower ends of the two sides of the waist support plate (1) and is fixedly connected with the waist support plate (1); the first speed reducer (8) is fixed in the first flange plate (6), the first driving motor (7) is fixedly connected with the outer end face of the first flange plate (6), and the first driving motor (7) is connected with the first speed reducer (8);

thigh bracing piece sleeve (9) upper end has linked firmly first carousel (21), and first carousel (21) link to each other with first reduction gear (8), first driving motor (7) drive thigh bracing piece sleeve (9) swing through first reduction gear (8), thigh bracing piece sleeve (9) drive in the sleeve when the swing thigh bracing piece sleeve (11) swing.

7. The system according to claim 6, wherein the knee joint assembly comprises a second drive motor (13), a second flange (22) and a second reducer (14);

the lower end of the thigh supporting rod (11) is fixedly connected with a second flange plate (22) through a first folding mechanism (12), and a second driving motor (13) is fixedly connected with the outer end face of the second flange plate (22); the second driving motor (13) is connected with a second speed reducer (14), and the second speed reducer (14) is fixed in the second flange plate (22);

the upper end of the shank support rod sleeve (15) is fixedly connected with a second rotary table (23), the second rotary table (23) is connected with a second speed reducer (14), and a second driving motor (13) drives the shank support rod sleeve (15) to swing through the second speed reducer (14); the shank support rod sleeve (15) drives the shank support rod (16) in the sleeve to swing when swinging.

8. The system of claim 7, wherein the first folding mechanism (12) comprises a first support plate (12-3), a second support plate (12-1), a second shaft (12-2);

the lower end of the thigh supporting rod (11) is fixedly connected with a first supporting plate (12-3), and the first supporting plate (12-3) is connected with a second supporting plate (12-1) through a second rotating shaft (12-2);

the lower end of the second supporting plate (12-1) is fixedly connected with a second flange plate (22), and fixing holes (12-4) are formed in the first supporting plate (12-3) and the second supporting plate (12-1); the fixing holes on the first supporting plate (12-3) and the second supporting plate (12-1) are penetrated through by bolts, so that the using form of the rehabilitation system is fixed; when the bolt between the first supporting plate (12-3) and the second supporting plate (12-1) is removed, the second supporting plate (12-1) can be folded by upward rotation of the second rotating shaft (12-2).

9. The system according to claim 8, characterized in that the lower end of the shank support bar (16) is fixed with a circular arc rotating base (16-1), the upper end of the sole support plate (19) is fixed with a fixed base (19-2), the upper end of the fixed base (19-2) is provided with an arc groove, the rotating base (16-1) is connected in the arc groove of the fixed base (19-2) through a first rotating shaft (19-1), and the arc groove limits the rotating angle of the rotating base (16-1); preferably, the front and back relative angles of the rotating seat (16-1) and the sole supporting plate (19) are not more than 60 degrees;

preferably, a foot strap (18) is arranged on the sole supporting plate (19) and used for fixing the foot of the human body; the bottom of the sole supporting plate (19) is provided with anti-skid patterns.

10. The system according to claim 9, characterized in that the sole pulley (17) is fixedly connected to a sole pulley bearing seat (24-1) on a sole pulley support plate (24-3) through a sole pulley shaft (24-2), a hinge (24-4) is arranged at the rear end of the foot support plate (19), and the other side of the hinge (24-4) is connected with the sole pulley support plate (24-3) to realize the rotation of the sole pulley (17);

preferably, a spring bolt (24-5) is arranged on the sole pulley support plate (24-3), a clamping groove (24-6) is arranged on the foot support plate (19), and the sole pulley (17) is limited by the relative fixation of the spring bolt (24-5) and the clamping groove (24-6);

preferably, the spring bolt (24-5) comprises a spring (24-5-1), a spring bolt shell (24-5-3) and a shifting ring (24-5-2) with a gasket.