CN112870021A

CN112870021A - Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism

Info

Publication number: CN112870021A
Application number: CN202110066420.XA
Authority: CN
Inventors: 朱爱斌; 黄虎; 许�鹏; 侯卫坤; 宋纪元; 王英旭; 姚丹丹; 段琛
Original assignee: Xian Jiaotong University; Xian Honghui Hospital
Current assignee: Xian Jiaotong University; Xian Honghui Hospital
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-06-01

Abstract

A hip and knee ankle active and passive training rehabilitation device based on a four-bar linkage mechanism comprises a hip joint driving module, a knee joint driving module, an ankle joint driving module and a base; the hip joint driving module is installed on the base, the knee joint driving module is connected with the hip joint driving module, the ankle joint driving module is installed on the knee joint driving module, the three driving modules respectively conduct independent training on hip and knee ankle joints, and the hip joint driving module and the ankle joint driving module are composed of four-bar mechanisms. The four-bar mechanism can independently train hip, knee and ankle joints, can train leg muscle strength of a patient better by actively training by identifying electromyographic signals of lower limbs of a human body, and has quicker response and smaller volume compared with a traditional motor screw driving mode.

Description

Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism

Technical Field

The invention relates to the technical field of medical instruments, in particular to a hip and knee ankle active and passive training rehabilitation device based on a four-bar linkage mechanism.

Background

With the improvement of science and technology and the improvement of living standard of people, the average life of human beings is gradually prolonged, the aged population is gradually increased, bones and joints of people are worn due to degeneration or long-term use along with the increase of age, and the degeneration and the wear of the joints cause inconvenient movement and joint pain of people. After joint injury, joint adhesion, cartilage degeneration, joint dysfunction and even joint stiffness can be caused. Medical theory and clinical medicine prove that correct and scientific rehabilitation training plays an important role in recovering and improving limb movement functions of patients except for early surgical treatment and drug treatment. Through scientific training, the decline of human muscles can be slowed down, the ability of the human body for resisting joint injury is enhanced, and the rehabilitation and improvement of the limb movement function are of great significance.

The rehabilitation device in the market carries out rehabilitation training mainly aiming at the knee joint, the training mode is passive training basically, namely the muscle of a patient does not need to be stressed, but a certain passive training mode is realized completely under the driving of a mechanism, the training mode is single, and the passive training is suitable for the initial training of the joint but not beneficial to the muscle strength training when the joint is recovered to a certain degree. And most of the rehabilitation devices adopt lead screw transmission, and the lead screw is long, so that the size and the weight of the rehabilitation device are large, and the rehabilitation device is inconvenient to carry and transport.

Disclosure of Invention

In order to overcome the technical problems, the invention aims to provide a hip and knee ankle active and passive training rehabilitation device based on a four-bar linkage mechanism, which solves the problem that the traditional rehabilitation device can only perform rehabilitation on knee joints, can independently perform training on the hip and knee ankle joints, performs active training by identifying electromyographic signals of lower limbs of a human body, and can better perform training on the muscle strength of the legs of a patient.

In order to achieve the purpose, the invention adopts the technical scheme that:

a hip and knee ankle active and passive training rehabilitation device based on a four-bar linkage mechanism comprises a hip joint driving module 1, a knee joint driving module 2, an ankle joint driving module 3 and a base 4; the hip joint driving module 1 is installed on the base 4, the knee joint driving module 2 is connected with the hip joint driving module 1, the ankle joint driving module 3 is installed on the knee joint driving module 2, the three driving modules respectively conduct independent training on hip, knee and ankle joints, and the hip joint driving module 1 and the ankle joint driving module 3 are composed of four-bar mechanisms.

The hip joint driving module 1 comprises a hip joint module, a thigh rod module and a power module;

the hip joint module comprises two hip joint seats 102 which are symmetrically arranged, four through holes with the diameter of 4mm are arranged below each hip joint seat 102, the screw holes corresponding to the positions of the base 4 are fixedly connected through bolts, the hip joint seat 102 is coaxially connected with a hip joint hinging block 104 through a hip joint bearing 103, an angle sensor 105 is arranged on the outer side of the hip joint hinging block 104 through a bolt, a rotating shaft of the angle sensor 105 sequentially passes through the hip joint hinging block 104, the hip joint bearing 103 and the hip joint seat 102, and extends out from one side of the central hole of the hip joint seat 102, the other side of the hip joint seat 102 is fixed with a hip joint coupler 101, and the rotating shaft of the angle sensor 105 is fixed by a bolt, so that the rotating shaft of the angle sensor 105 is kept fixed, the body of the angle sensor 105 is fixed to the hip joint articulation block 104 and remains stationary relative to the hip joint articulation block 104.

The thigh rod module comprises a hip joint adjusting sleeve 106, the hip joint adjusting sleeve 106 is fixed on the side face of the hip joint hinging block 104 through bolts, the hip joint adjusting sleeve 106 is coaxially connected with a thigh rod 107, penetrates through a through hole in the thigh rod 107 and a thread on the hip joint adjusting sleeve 106 through a plum blossom handle screw 108 and is used for adjusting the extending length of the hip joint adjusting sleeve 106, thigh rod lifting lugs 109 are fixed on the thigh rod 107 through plum blossom handle screws 108, two thigh rod lifting lugs 109 are arranged on each thigh rod 107, and four thigh rod lifting lugs 109 symmetrically arranged left and right are connected and fixed with a thigh supporting plate 110 through bolts.

The power module comprises a thigh supporting seat 114, the thigh supporting seat 114 is fixed on the corresponding position of the base 4 through a bolt, the rear side of the thigh supporting seat 114 is fixed with the body of a thigh supporting motor 115 through a bolt, the front side of the thigh supporting seat 114 is sequentially connected with a thigh supporting seat bearing 113, a thigh supporting seat hinging block 112 and a thigh supporting seat coupling 111, a central hole is arranged on the thigh supporting seat hinging block 112, the rotating shaft of the thigh supporting motor 115 extends out of the central hole of the thigh supporting seat hinging block 112 and is fixed with the thigh supporting seat coupling 111, a thigh rod 107 on the thigh rod module is connected with supporting lugs 116, the supporting lugs 116 are arranged in bilateral symmetry, two supporting lugs 116 are fixedly provided with a fixed plate 117, a hinge seat below the fixed plate 117 is connected with a connecting rod hinge block 118, the connecting rod hinge block 118 is connected with a connecting rod adjusting sleeve 119, the adjusting sleeve 119, then the other end of the connecting rod 120 is also connected with the adjusting sleeve 119 and the connecting rod hinge block 118 in sequence, the connecting rod hinge block 118 is connected with the connecting rod hinge seat 121, the connecting rod hinge seat 121 is connected with the connecting rod adjusting sleeve 119, the crank 122 and the connecting rod adjusting sleeve 119 in sequence, and finally the connecting rod hinge seat is fixed in a side hole of the thigh supporting seat hinge block 112.

The knee joint driving module 2 comprises a knee joint module and a lower leg rod module;

the knee joint module includes knee joint motor 201, the fuselage of knee joint motor 201 passes through the bolt fastening at the articulated seat 202 rear side of knee joint, and the articulated seat 202 side of knee joint is connected with knee joint adjusting sleeve 203, and knee joint adjusting sleeve 203 inserts the upper end of thigh pole 107 and fixes with the plum blossom handle screw, and articulated seat 202 front side of knee joint connects gradually knee joint bearing 204, the articulated piece 205 of knee joint and knee joint shaft coupling 206, be provided with the centre bore on the articulated piece 205 of knee joint, the pivot of knee joint motor 201 stretches out from the articulated piece 205 centre bore of knee joint, is connected fixedly with knee joint shaft coupling 206 again.

The shank rod module comprises a shank rod 208, the shank rod 208 is connected with a knee joint adjusting sleeve 203 at the left end through a plum blossom handle screw 207, the knee joint adjusting sleeve 203 is connected with the side face of a knee joint hinging block 205, the extension length of the knee joint adjusting sleeve 203 is adjusted through the plum blossom handle screw 207, a shank rod lifting lug 209 is installed at the middle position of the shank rod 208 through the plum blossom handle screw 207, the shank rod lifting lugs 209 are stacked left and right to be arranged, and two shank rod lifting lugs 209 are connected with a shank supporting plate 210.

The ankle joint driving module 3 comprises a foot module and a power module;

the foot module comprises foot supporting lugs 310, the foot supporting lugs 310 are fixed at the tail ends of the shank 208 through bolts, the foot supporting lugs 310 are arranged in a left-right symmetry mode, and the two foot supporting lugs 310 are connected with foot supporting seats 309;

the power module comprises an ankle joint driving motor base 302, the ankle joint driving motor base 302 is fixed to the corresponding position of the shank supporting plate 210 through bolts, the ankle joint driving motor base 302 is fixedly provided with an ankle joint driving motor 301 body, an output shaft of the ankle joint driving motor 301 is connected with a motor shaft fixing block 303 and fastened through bolts, the motor shaft fixing block 303 is connected with an ankle joint crank 304, the ankle joint crank 304 is connected with a crank hinging block 305, the crank hinging block 305 is connected with another crank hinging block 305 through a small section of sleeve 306, the crank hinging block 305 is connected with an ankle joint connecting rod 307, the ankle joint connecting rod 307 is connected with a connecting rod hinging block 308, and the connecting rod hinging block 308 is connected to a hinge at the heel position of the foot supporting seat 309.

The base 4 is a plate made of 6061 aluminum alloy and used for supporting the weight of the whole hip joint driving module 1, the weight of the whole knee joint driving module 2 and the weight of the whole ankle joint driving module 3, M4 threaded holes are drilled in the corresponding positions of the base 4 and used for installation and position adjustment of the hip joint seat 102 and the thigh supporting seat 114, and 8M 10 threaded holes are formed in the four corners of the base and used for fixing the whole base 4.

The invention has the beneficial effects that:

the invention has simple structure, quick response and small volume. The passive training is that when the lower limbs of the human body do not do active movement, the rehabilitation device helps the hip, knee, ankle joints of the lower limbs of the human body to do passive training. The active training is that when the lower limbs of a human body do active movement, the myoelectric signals of main muscle groups of the legs are detected through the surface myoelectric sheet, the movement intention of the legs is identified, and then the rehabilitation device helps the lower limbs, the hip, the knee and the ankle to do active training, which is more beneficial to training the muscle strength of the legs of a patient. In the passive training and active training processes, the hip-knee-ankle rehabilitative apparatus transmits the numerical values of the encoder and the angle sensor of the motor back to the upper computer in real time, calculates the motion angle of the hip-knee-ankle joint of the human body through a corresponding formula, and carries out real-time monitoring.

The hip joint driving module is a four-bar linkage, human thighs are fixed on the thigh rod module through binding bands, when the thigh supporting motor 115 rotates, the thigh supporting seat hinging block 112 can be driven to rotate, the crank 122 is further driven to rotate, the crank 122 drives the connecting rod 120 to move, the connecting rod 120 can push the whole thigh rod module to rotate and return rotating angle data in real time through the angle sensor 105, in order to prevent the crank 122 from colliding with the base 4 when rotating, reciprocating rotation can only be performed within 100 degrees when the thigh supporting motor 115 rotates, and the human hip joint can be driven to perform reciprocating motion on a sagittal plane.

Knee joint drive module simple structure, human shank passes through the bandage to be fixed on shank pole module, when knee joint motor 201's pivot begins to rotate, can drive the articulated piece 205 of knee joint through knee joint shaft coupling 206 and rotate, lead to the articulated relative rotation between seat 202 and the articulated piece 205 of knee joint, and then help the human bending motion that carries out the knee joint, whole knee joint module simple structure, knee joint motor 201 adopts high reduction ratio, can provide great moment of torsion for the human knee joint, knee joint motor 201 has the encoder simultaneously, can return knee joint pivoted angle data in real time.

Ankle joint drive module is a crank rocker mechanism, human foot passes through the bandage to be fixed on foot supporting seat 309, it is rotatory to drive ankle joint crank 304 through ankle joint driving motor 301's rotation, it removes to drive ankle joint connecting rod 307 again, ankle joint connecting rod 307 promotes foot supporting seat 309 again and carries out reciprocating swing motion, moreover, the steam generator is simple in structure, the response is fast, length design through crank and connecting rod, this crank rocker mechanism does not have the dead point, ankle joint driving motor 301 only needs slowly to carry out clockwise rotation, just can drive human ankle joint and carry out reciprocating motion at the sagittal plane, ankle joint driving motor 301 adopts high reduction ratio, can provide great moment of torsion for human ankle joint, simultaneously ankle joint driving motor 301 has the encoder, can return ankle joint pivoted angle data in real time through the computational formula.

The invention can solve the problem that the traditional rehabilitation device can only carry out rehabilitation on knee joints, can independently train hip, knee and ankle joints, and can better train leg muscle strength of a patient by carrying out active training by identifying the electromyographic signals of the lower limbs of a human body.

Drawings

Fig. 1 is an overall isometric view of a hip and knee ankle active and passive training rehabilitation device.

Fig. 2 is an overall front view of the hip and knee ankle active and passive training rehabilitation device.

Fig. 3 is a schematic view of the hip joint module and thigh bar module configuration.

Fig. 4 is a schematic structural view of a hip joint power module.

Figure 5 is a schematic view of a hip joint power module link configuration.

Fig. 6 is a schematic structural diagram of a knee joint driving module.

Fig. 7 is a schematic structural view of an ankle joint driving module.

Fig. 8 is a schematic view of the base structure.

The reference numbers are as follows: 101 hip joint coupling, 102 hip joint seat, 103 hip joint bearing, 104 hip joint hinge block, 105 angle sensor, 106 hip joint adjusting sleeve, 107 thigh rod, 108 tulip handle screw, 109 thigh rod lifting lug, 110 thigh supporting plate, 111 thigh supporting seat coupling, 112 thigh supporting seat hinge block, 113 thigh supporting seat bearing, 114 thigh supporting seat, 115 thigh supporting motor, 116 supporting lifting lug, 117 fixing plate, 118 connecting rod hinge block, 119 connecting rod adjusting sleeve, 120 connecting rod, 121 connecting rod hinge seat and 122 crank.

201 knee joint motor, 202 knee joint hinge seat, 203 knee joint adjusting sleeve, 204 knee joint bearing, 205 knee joint hinge block, 206 knee joint coupler, 207 plum blossom handle screw, 208 shank, 209 shank lifting lug, 210 shank supporting plate.

301 ankle joint driving motor, 302 ankle joint driving motor seat, 303 motor shaft fixed block, 304 ankle joint crank, 305 crank articulated piece, 306 sleeve, 307 ankle joint connecting rod, 308 connecting rod articulated piece, 309 foot supporting seat, 310 foot support lug.

401 to a base.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, the invention is directed to a hip and knee ankle active and passive training rehabilitation device design based on a four-bar linkage, which comprises a hip joint driving module 1, a knee joint driving module 2, an ankle joint driving module 3 and a base 4; the hip joint driving module 1 is installed on the base 4, the knee joint driving module 2 is connected with the hip joint driving module 1, the ankle joint driving module 3 is installed on the knee joint driving module 2, and the three drives can respectively carry out independent training on hip, knee and ankle joints. And the hip joint driving module 1 and the ankle joint driving module 3 are composed of four-bar mechanisms, so that the structure is simple, the response is fast, and the size is small.

Referring to fig. 3, the hip joint block 102 of the hip joint module has four through holes with a diameter of 4mm below, the through holes corresponding to the positions of the base 4 are all fixed by bolts, the hip joint block 102 is coaxially connected with the hip joint hinge block 104 by the hip joint bearing 103, the body of the angle sensor 105 is installed outside the hip joint hinge block 104 by bolts, the rotating shaft of the angle sensor 105 sequentially passes through the hip joint hinge block 104, the hip joint bearing 103 and the hip joint block 102 and extends out from the central hole of the hip joint block 102, the hip joint coupler 101 is fixed on the other side of the hip joint block 102 and the rotating shaft of the angle sensor 105 is fixed by bolts, so that the rotating shaft of the angle sensor 105 is kept stationary, while the body of the angle sensor 105 is fixed on the hip joint hinge block 104 and kept stationary relative to the hip joint hinge block 104, so that when the hip joint block 104 and the hip joint block 102 rotate relative to each other by the hip joint bearing 103, the angle of rotation of the hip joint articulation block 104 can be read by the angle sensor 105. The entire hip module is free to rotate and returns the angle data of the rotation in real time via the angle sensor 105.

The hip joint adjusting sleeve 106 of the thigh rod module is fixed on the side surface of the hip joint hinging block 104 through a bolt, the hip joint adjusting sleeve 106 is coaxially connected with a thigh rod 107, and the extension length of the hip joint adjusting sleeve 106 is adjusted through a plum blossom handle screw 108 passing through a through hole on the thigh rod 107 and a thread on the hip joint adjusting sleeve 106. The thigh rod lifting lugs 109 are fixed on the thigh rods 107 through plum blossom handle screws 108, the positions of the thigh rod lifting lugs are adjustable through the plum blossom handle screws 108, and then the thigh supporting plate 110 is fixedly connected with the four thigh rod lifting lugs 109 through bolts. The whole thigh rod module is adjustable in length and used for placing thighs and supporting the weight of thighs of a human body.

Referring to fig. 4, the thigh support seat 114 of the hip joint power module is fixed at a corresponding position of the base 4 by bolts, the rear side of the thigh support seat 114 is fixed with the body of the thigh support motor 115 by bolts, the front side of the thigh support seat 114 is sequentially connected with a thigh support seat bearing 113, a thigh support seat hinge block 112 and a thigh support seat coupler 111, and the rotating shaft of the thigh support motor 115 extends out of the central hole of the thigh support seat hinge block 112 and is fixed with the thigh support seat coupler 111, so that when the thigh support motor 115 rotates, the thigh support seat coupler 111 fixed on the rotating shaft can be driven to rotate, and the thigh support seat coupler 111 is fixed with the thigh support seat hinge block 112, so that the thigh support motor 115 can drive the thigh support seat hinge block 112 to rotate. The supporting lugs 116 are connected to the thigh rod 107 by bolts, and the fixing plate 117 is connected to and fixed to the two supporting lugs 116.

Referring to fig. 5, the hinge seat below the fixing plate 117 of the link portion of the hip joint power module is connected to a link hinge block 118, the link hinge block 118 is further connected to a link adjusting sleeve 119, the adjusting sleeve 119 passes through a hole of a link 120, then the other end of the link 120 is also sequentially connected to the adjusting sleeve 119 and the link hinge block 118, the link hinge block 118 is further connected to a link hinge seat 121, and the link hinge seat 121 is further sequentially connected to the link adjusting sleeve 119, a crank 122, and the link adjusting sleeve 119, and finally is further fixed to a side hole of the thigh support seat hinge block 112. Thus, when the thigh supporting motor 115 rotates, the thigh supporting seat hinge block 112 can be driven to rotate, the crank 122 is driven to rotate, the crank 122 drives the connecting rod 120 to move, the connecting rod 120 can push the whole thigh rod module to rotate, and the rotating angle data is returned in real time through the angle sensor 105, and the connecting rod hinge seat 121 is bent to prevent interference collision between the crank 122 and the connecting rod 120. The whole hip joint driving module 1 is actually a four-bar linkage, the rotation of the supporting motor 115 drives the hip joint to rotate, and the hip joint driving module is simple in structure and quick in response.

Referring to fig. 6, the knee joint driving module 2 includes a knee joint module and a lower leg rod module, a body of a knee joint motor 201 of the knee joint module is fixed at the rear side of a knee joint hinge seat 202 through bolts, a knee joint adjusting sleeve 203 is connected to the side of the knee joint hinge seat 202, the knee joint adjusting sleeve 203 is inserted into the upper end of a upper leg rod 107 and fixed by a plum blossom handle screw, a knee joint bearing 204, a knee joint hinge block 205 and a knee joint coupler 206 are sequentially connected at the front side of the knee joint hinge seat 202, and a rotating shaft of the knee joint motor 201 extends out from a center hole of the knee joint hinge block 205 and is connected and fixed with the knee joint coupler 206, since the knee joint coupler 206 is fixed with the knee joint hinge block 205 through the bolts 205, when the rotating shaft of the knee joint motor 201 starts to rotate, the knee joint hinge block 205 is driven to rotate by the knee, thereby helping the human body to perform the bending motion of the knee joint. The whole knee joint module is simple in structure, and the knee joint motor 201 adopts a high reduction ratio, so that a large torque can be provided for the human knee joint.

The shank 208 of the shank module is connected with the knee joint adjusting sleeve 203 at the left end through a plum blossom handle screw 207, the knee joint adjusting sleeve 203 is connected with the side surface of the knee joint hinge block 205, the extension length of the knee joint adjusting sleeve 203 can be adjusted through the plum blossom handle screw 207, and the length of the shank module can be adjusted according to the shank length of different people. Shank link ears 209 are also mounted at the middle of shank 208 by plum handle screws 207, and shank support plates 210 are connected to the two shank link ears 209. The whole shank rod module is adjustable in length and used for placing shanks and supporting the weight of the shanks of a human body.

Referring to fig. 7, the ankle driving module 3 includes a foot module, a foot supporting lug 310 of which is fixed to the end of the shank 208 by bolts, and a power module, a foot supporting base 309 connected to the two foot supporting lugs 310, the whole foot module being used for placing the foot and supporting the weight of the human foot. An ankle joint driving motor base 302 of the power module is fixed on the corresponding position of a shank supporting plate 210 through a bolt, then a machine body of an ankle joint driving motor 301 is fixed on the ankle joint driving motor base 302, an output shaft of the ankle joint driving motor 301 is connected with a motor shaft fixing block 303 and fastened through a bolt, the motor shaft fixing block 303 is connected with an ankle joint crank 304, the ankle joint crank 304 is connected with a crank hinging block 305, the crank hinging block 305 is connected with another crank hinging block 305 through a small section of sleeve 306, then the crank hinging block 305 is connected with an ankle joint connecting rod 307, the ankle joint connecting rod 307 is connected with a connecting rod hinging block 308, and the connecting rod hinging block 308 is connected to a hinge at the heel position of a foot supporting seat 309. Whole ankle joint drive module 3 is a crank rocker mechanism in fact, and the rotation through ankle joint driving motor 301 drives ankle joint crank 304 rotatory, drives ankle joint connecting rod 307 again and removes, and ankle joint connecting rod 307 promotes foot supporting seat 309 again and carries out reciprocating swing motion, simple structure, and the response is fast.

Referring to fig. 8, the base 4 is a plate made of 6061 aluminum alloy, and has high strength and light weight, and is used for supporting the weight of the whole hip joint driving module 1, knee joint driving module 2 and ankle joint driving module 3, while M4 threaded holes are drilled at corresponding positions of the base for the installation and position adjustment of the hip joint seat 102 and thigh support seat 114, and 8M 10 threaded holes are drilled at four corners of the base for the fixation of the whole base.

Claims

1. A hip and knee ankle active and passive training rehabilitation device based on a four-bar linkage mechanism is characterized by comprising a hip joint driving module (1), a knee joint driving module (2), an ankle joint driving module (3) and a base (4); the hip joint driving module (1) is installed on the base (4), the knee joint driving module (2) is connected with the hip joint driving module (1), the ankle joint driving module (3) is installed on the knee joint driving module (2), the three driving modules respectively conduct independent training on hip and knee ankle joints, and the hip joint driving module (1) and the ankle joint driving module (3) are composed of four-bar mechanisms.

2. The rehabilitation device for active and passive training of hip and knee ankles based on four-bar linkage as claimed in claim 1, characterized in that the hip joint driving module (1) comprises a hip joint module, a thigh bar module and a power module;

the hip joint module comprises two hip joint seats (102) which are symmetrically arranged, four through holes with the diameter of 4mm are arranged below each hip joint seat (102), a central hole is arranged above each hip joint seat, the four through holes are fixedly connected with the threaded holes at the corresponding positions of the base (4) through bolts, the hip joint seats (102) are coaxially connected with a hip joint hinging block (104) through hip joint bearings (103), an angle sensor (105) is arranged on the outer side of the hip joint hinging block (104) through bolts, a rotating shaft of the angle sensor (105) sequentially penetrates through the hip joint hinging block (104), the hip joint bearings (103) and the hip joint seats (102) and extends out of one surface of the central hole of the hip joint seat (102), a hip joint coupler (101) is fixed on the other surface of the hip joint seat (102), the rotating shaft of the angle sensor (105) is fixed through the bolts, and the rotating shaft of the angle sensor (105) is ensured to be fixed, the body of the angle sensor (105) is fixed on the hip joint articulation block (104) and is kept static relative to the hip joint articulation block (104).

3. The rehabilitation device for active and passive training of hip and knee ankles based on the four-bar linkage as claimed in claim 2, characterized in that the thigh rod module comprises a hip joint adjusting sleeve (106), the hip joint adjusting sleeve (106) is fixed on the side of the hip joint hinge block (104) through bolts, the hip joint adjusting sleeve (106) is coaxially connected with the thigh rod (107), and passes through a through hole on the thigh rod (107) and a thread on the hip joint adjusting sleeve (106) through a plum blossom handle screw (108) for adjusting the extension length of the hip joint adjusting sleeve (106), the thigh rod (107) is fixed with thigh rod lifting lugs (109) through the plum blossom handle screw (108), two thigh rod lifting lugs (109) are arranged on each thigh rod (107), and the four thigh rod lifting lugs (109) symmetrically arranged on the left and right are connected with the thigh supporting plate (110) through bolts.

4. The rehabilitation device for active and passive training of hip and knee ankles based on four-bar linkage as claimed in claim 2, wherein the power module comprises a thigh support base (114), the thigh support base (114) is fixed on the corresponding position of the base (4) through bolts, the rear side of the thigh support base (114) is fixed with the body of a thigh support motor (115) through bolts, the front side of the thigh support base (114) is connected with a thigh support base bearing (113), a thigh support base hinge block (112) and a thigh support base coupler (111) in sequence, the thigh support base hinge block (112) is provided with a central hole, the rotating shaft of the thigh support motor (115) extends out from the central hole of the thigh support base hinge block (112) and is fixed with the thigh support base coupler (111), and a thigh rod (107) on the thigh rod module is connected with a support lifting lug (116), support lug (116) bilateral symmetry sets up, fixed plate (117) are gone up in two support lugs (116), the hinge seat of fixed plate (117) below is connected with connecting rod hinge piece (118), connecting rod hinge piece (118) are connected with connecting rod adjusting collar (119) again, adjusting collar (119) pass in the hole of connecting rod (120), then connecting rod (120) other end also connects gradually adjusting collar (119) and connecting rod hinge piece (118), connecting rod hinge piece (118) reconnection connecting rod hinge seat (121), connecting rod hinge seat (121) connect gradually connecting rod adjusting collar (119), crank (122), connecting rod adjusting collar (119) again, fix again in the side hole of thigh supporting seat articulated piece (112) at last.

5. The four-bar linkage based hip and knee ankle active and passive training rehabilitation device according to claim 1, characterized in that the knee joint driving module (2) comprises a knee joint module and a calf shank module;

the knee joint module includes knee joint motor (201), the fuselage of knee joint motor (201) passes through the bolt fastening at the articulated seat of knee joint (202) rear side, and articulated seat of knee joint (202) side is connected with knee joint adjusting sleeve (203), and knee joint adjusting sleeve (203) inserts the upper end of thigh pole (107) and fixes with the plum blossom handle screw, and articulated seat of knee joint (202) front side connects gradually knee joint bearing (204), articulated piece of knee joint (205) and knee joint shaft coupling (206), be provided with the centre bore on the articulated piece of knee joint (205), the pivot of knee joint motor (201) stretches out from articulated piece of knee joint 205 centre bore, is connected fixedly with knee joint shaft coupling (206) again.

6. The hip and knee ankle active and passive training rehabilitation device based on the four-bar linkage mechanism as claimed in claim 5, wherein the shank module comprises a shank (208), the shank (208) is connected with a knee joint adjusting sleeve (203) at the left end through a plum blossom handle screw (207), the knee joint adjusting sleeve (203) is connected with the side surface of a knee joint hinging block (205), the extension length of the knee joint adjusting sleeve (203) is adjusted through the plum blossom handle screw (207), a shank lifting lug (209) is installed at the middle position of the shank (208) through the plum blossom handle screw (207), the shank lifting lugs (209) are stacked left and right, and a shank supporting plate (210) is connected to the two shank lifting lugs (209).

7. The rehabilitation device for active and passive training of hip and knee ankles based on four-bar linkage as claimed in claim 1, characterized in that the ankle joint driving module (3) comprises a foot module and a power module;

the foot module comprises foot supporting lifting lugs (310), the foot supporting lifting lugs (310) are fixed at the tail ends of the shank rods (208) through bolts, the foot supporting lifting lugs (310) are arranged in a bilateral symmetry mode, and the two foot supporting lifting lugs (310) are connected with foot supporting seats (309).

8. The hip and knee ankle active and passive training rehabilitation device based on the four-bar linkage mechanism as claimed in claim 7, wherein the power module comprises an ankle joint driving motor base (302), the ankle joint driving motor base (302) is fixed on the corresponding position of the lower leg support plate (210) through a bolt, the ankle joint driving motor base (302) is fixed with the body of the ankle joint driving motor (301), the output shaft of the ankle joint driving motor (301) is connected with a motor shaft fixing block (303) and fastened through a bolt, the motor shaft fixing block (303) is connected with an ankle joint crank (304), the ankle joint crank (304) is connected with a crank hinge block (305), the crank hinge block (305) is connected with another crank hinge block (305) through a small section of sleeve (306), the crank hinge block (305) is connected with an ankle joint connecting rod (307), and the ankle joint connecting rod (307) is connected with a connecting rod hinge block (308), the link hinge block (308) is connected to a hinge at the heel position of the foot support base (309).

9. The rehabilitation device for active and passive training of hip and knee ankles based on four-bar linkage as claimed in claim 1, wherein the base (4) is a plate made of 6061 aluminum alloy and used for supporting the weight of the whole hip joint driving module (1), knee joint driving module (2) and ankle joint driving module (3), M4 threaded holes are drilled at the corresponding positions of the base (4) for installation and position adjustment of the hip joint seat (102) and thigh supporting seat (114), and 8M 10 threaded holes are drilled at the four corners of the base for fixation of the whole base (4).