CN113350119A - Spinal cord injury lower limb rehabilitation device and working method thereof - Google Patents

Abstract

The invention discloses spinal cord injury lower limb rehabilitation equipment which comprises a seat structure, and a thigh massage mechanism, a shank massage mechanism and a movable driving mechanism which are arranged on the seat structure. The lower limb rehabilitation training device is reasonable in structure and diverse in function, thighs and shanks of a user can be massaged by the thigh massage mechanism and the shank massage mechanism respectively, lower limbs can be driven to swing through the movable driving mechanism, massage and swing movement are combined, blood circulation of the lower limbs can be promoted, muscles can be relaxed, and limb joints can be assisted to conduct movement training, so that lower limb rehabilitation can be accelerated, and the length of the swing connecting piece in the movable driving mechanism can be adjusted, so that the use requirements of different users can be met better.

Description

Spinal cord injury lower limb rehabilitation device and working method thereof

Technical Field

The invention belongs to the field of medical rehabilitation equipment, and particularly relates to spinal cord injury lower limb rehabilitation equipment and a working method thereof.

Background

Spinal cord injury refers to spinal cord injury caused by external direct or indirect factors, and corresponding changes of various motor, sensory and sphincter dysfunction, abnormal muscle tone, pathological reflex and the like appear at the corresponding damaged segment. When spinal cord injury appears in patient's lower limbs, need carry out the rehabilitation training to the lower limbs, at present, traditional lower limbs rehabilitation device only carries out single massage operation, and the recovered speed is slow, therefore needs to design a multi-functional lower limbs rehabilitation device.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provide the spinal cord injury lower limb rehabilitation device, the massage function and the swing activity function are combined, the blood circulation of the lower limb can be promoted, the muscle can be relaxed, the limb joint can be assisted to perform activity training, and the lower limb rehabilitation can be accelerated.

In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:

a spinal cord injury lower limb rehabilitation device comprises a seat structure, and a thigh massage mechanism, a shank massage mechanism and a movable driving mechanism which are arranged on the seat structure;

the seat structure comprises a fixed bottom plate, support columns are symmetrically arranged on the left side and the right side of the upper end of the fixed bottom plate, a connecting cross beam is fixed between the support columns on the two sides, a seat plate is fixed at the upper end of each support column, a back plate is arranged on the rear side of the seat plate, side baffles are symmetrically arranged on the left side and the right side of the seat plate, two massage grooves which are symmetrically distributed on the left side and the right side are vertically arranged on the seat plate in a penetrating mode, a first installing groove is arranged in the middle of the lower end of the seat plate;

the thigh massage mechanism comprises a first motor, the fixed end of the first motor is fixedly connected with a connecting cross beam, the output end of the first motor is connected with a rotating vertical rod, the upper end of the rotating vertical rod is connected with a first bevel gear, the upper end of the first bevel gear is connected with a second bevel gear in a meshing manner, the center of the second bevel gear is horizontally connected with a worm in a penetrating manner, worm gears are uniformly distributed at the upper end of the worm, the worm gears are positioned in a first accommodating groove, the center of the worm gears is horizontally connected with a rotating cross shaft in a penetrating manner, thigh massage rollers are symmetrically connected to the two ends of the rotating cross shaft, the thigh massage rollers are positioned in the massage groove, and the end parts of the two sides of the rotating cross shaft are rotatably connected with the side wall of the massage groove;

the shank massage mechanism comprises a mounting frame, the lower end of the mounting frame is connected with the upper end of a fixed base plate in a sliding manner, the rear end of the mounting frame is connected with horizontally distributed telescopic cylinders, a positioning vertical plate is arranged on the rear side of the upper end of the fixed base plate, the fixed end of each telescopic cylinder is fixedly connected with the positioning vertical plate, the left end and the right end of the front side of the mounting frame are symmetrically connected with guide vertical plates, vertical guide grooves are horizontally arranged on the guide vertical plates in a penetrating manner, lifting transverse shafts are connected into the two vertical guide grooves in a sliding manner, shank massage rollers are rotatably connected onto the lifting transverse shafts, and lifting driving mechanisms are connected to the rear ends of the lifting transverse shafts;

the movable driving mechanism comprises a driving cross rod, the driving cross rod is located inside the second mounting groove, the two ends of the driving cross rod sequentially slide through the seat plate, the side baffle plates and the swing connecting pieces are symmetrically and vertically connected, the lower end of the driving cross rod is connected with a driving assembly, the front ends of the two side swing connecting pieces are jointly connected with a movable rod, and the movable rod is rotatably connected with a contact roller.

Further, the mounting frame comprises a mounting base plate, a movable sliding strip is arranged at the lower end of the mounting base plate along the front-back direction, a movable sliding chute connected with the movable sliding strip is arranged at the upper end of the fixing base plate in a sliding manner, the mounting base plate is of a triangular structure with a wide front part and a narrow back part, extending connecting plates are symmetrically arranged at the left and right ends of the front side of the mounting base plate, a connecting vertical plate is vertically arranged at the upper end of the front side of each extending connecting plate, the lower end of each guiding vertical plate is fixedly connected with the connecting vertical plate, a movable connecting plate is arranged at the upper end of the rear side of the mounting base plate, the movable end of a telescopic cylinder is fixedly connected with the rear side of the movable connecting plate, a rotary positioning plate is vertically and upwards arranged at the front side of the movable connecting plate, the lifting driving mechanism comprises a second motor, the fixed end of the second motor is fixedly connected with the mounting base plate, the movable end of the second motor is connected with a driving threaded rod, the front end of the driving threaded rod is rotatably connected with a movable internal threaded ring, hinge rods are symmetrically arranged on the left side and the right side of the movable internal thread ring, the outer ends of the hinge rods are vertically hinged with driving connecting rods, and the front ends of the driving connecting rods are vertically hinged with the lifting cross shaft.

Furthermore, the inner side of the swing movable connecting piece is vertically and fixedly connected with a guide rod, the outer side of the side baffle is provided with an arc-shaped guide limiting groove, and the inner end of the guide rod is in sliding connection with the arc-shaped guide limiting groove.

Further, the swing connecting piece includes the connecting rod, the connecting rod rear end and the perpendicular fixed connection of drive horizontal pole, the connecting rod front end is equipped with the square pole of extension, square pole front end sliding connection has the sleeve pipe of extension, the sleeve pipe is interior side excircle structure, the sleeve pipe front end is equipped with the connecting block, movable rod tip and connecting block fixed connection, the sleeve pipe rear end outside is equipped with the locking screwed pipe, the intraductal locking bolt that has of locking screwed, the inner and the square pole in close contact with of extension of locking bolt, extension square pole front side lower extreme is equipped with the stopper, the sleeve pipe lower extreme is opened there is the axial spout that has with stopper sliding connection.

Further, drive assembly includes driven gear, driven gear and drive horizontal pole lateral wall fixed connection, and driven gear is located inside the second mounting groove, and the meshing of driven gear lower extreme is connected with the driving gear, and driving gear center department level through connection has the initiative cross axle, and second mounting groove lower extreme left and right sides symmetry is equipped with fixed riser, and the initiative cross axle rotates with fixed riser to be connected, and initiative cross axle one end is connected with the third motor.

A working method of spinal cord injury lower limb rehabilitation equipment comprises the following steps:

s1, a user sits on the upper end of a seat plate of the seat structure, the thigh massage mechanism is used for massaging and rehabilitating the thigh, when the thigh massage is performed, the first motor is started, the first motor drives the rotating vertical rod to rotate, the rotating vertical rod drives the second bevel gear to rotate through the first bevel gear, the second bevel gear drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the rotating cross shaft to rotate, and the rotating cross shaft drives the thigh massage roller to rotate, so that the lower side of the thigh is massaged;

s2, massaging and recovering the shank by using the shank massaging mechanism, keeping the shank in a vertical state when massaging the shank, extending the telescopic cylinder, the shank massage roller is moved forwards through the mounting frame to be in close contact with the rear side of the shank, then the second motor is started, the second motor drives the driving threaded rod to rotate, the driving threaded rod drives the movable internal thread ring to move backwards, the movable internal thread ring pulls the lower end of the driving connecting rod backwards through the hinge rod, the driving connecting rod drives the lifting transverse shaft to move downwards so as to drive the shank massage roller to roll downwards along the shank, and the lifting transverse shaft moves to the rear of the lowest end, the output end of the second motor rotates reversely to enable the shank massage roller to roll upwards along the shank, the shank massage roller circularly rolls up and down to achieve the purpose of massaging and recovering the shank, and after shank massage is finished, the telescopic cylinder is contracted to store the shank massage roller below the seat plate;

s3, the lower limbs are movably recovered by the movable driving mechanism, when the movable recovery is carried out, the contact roller is in contact with the inner side of the knee, the third motor is started, the third motor drives the driving gear to rotate through the driving transverse shaft, the driving gear drives the driving transverse rod to rotate through the driven gear, the driving transverse rod drives the movable rod to swing upwards through the swing connecting piece, the movable rod drives the thigh to swing upwards through the contact roller, when the movable rod swings to a certain height, the output end of the third motor rotates reversely to drive the thigh to swing downwards, the output end of the third motor rotates in a forward and reverse reciprocating mode to drive the movable rod to swing in an up and down reciprocating mode, and therefore the thigh is driven to swing in a reciprocating mode in an up and down circulating mode, the lower limbs are assisted to move, and the lower limbs are recovered.

The invention has the beneficial effects that:

the lower limb rehabilitation training device is reasonable in structure and diverse in function, thighs and shanks of a user can be massaged by the thigh massage mechanism and the shank massage mechanism respectively, lower limbs can be driven to swing through the movable driving mechanism, massage and swing movement are combined, blood circulation of the lower limbs can be promoted, muscles can be relaxed, and limb joints can be assisted to conduct movement training, so that lower limb rehabilitation can be accelerated, and the length of the swing connecting piece in the movable driving mechanism can be adjusted, so that the use requirements of different users can be met better.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a portion of the present invention;

FIG. 3 is a schematic view of a partial structure of the present invention;

FIG. 4 is a schematic view of a partial structure of the present invention;

FIG. 5 is a schematic view of a portion of the present invention;

FIG. 6 is an exploded view of a portion of the structure of the present invention;

FIG. 7 is a partial schematic view of the present invention;

FIG. 8 is a schematic view of a portion of the present invention;

FIG. 9 is a schematic view of a portion of the present invention;

fig. 10 is an exploded view of a partial structure of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

As shown in fig. 1, the spinal cord injury lower limb rehabilitation device comprises a seat structure 1, and a thigh massage mechanism 2, a shank massage mechanism 3 and a movable driving mechanism 4 which are arranged on the seat structure 1.

As shown in fig. 2 and 3, the seat structure 1 includes a fixed base plate 11, support columns 12 are symmetrically installed on the left and right sides of the upper end of the fixed base plate 11, a connecting beam 121 is fixed between the support columns 12 on the two sides, a seat 13 is fixed on the upper end of the support column 12, a back plate 14 is arranged on the rear side of the seat 13, side baffles 15 are symmetrically installed on the left and right sides of the seat 13, massage grooves 131 which are distributed in bilateral symmetry are vertically arranged on the seat 13 in a penetrating manner, a first installing groove 132 is arranged in the middle of the lower end of the seat 13, a second installing groove 133 is arranged on the rear side of the lower end of the seat 13, and a fixed vertical plate 134 is symmetrically arranged on the left and right sides of the lower end of the second installing groove 133.

As shown in fig. 4, the thigh massage mechanism 2 includes a first motor 21, a fixed end of the first motor 21 is fixedly connected with the connecting beam 121, an output end of the first motor 21 is connected with a rotating vertical rod 22, an upper end of the rotating vertical rod 22 is connected with a first bevel gear 23, an upper end of the first bevel gear 23 is engaged with a second bevel gear 24, a center of the second bevel gear 24 is horizontally connected with a worm 25 in a penetrating manner, the upper end of the worm 25 is uniformly provided with a worm wheel 26, the worm wheel 26 is located in a first accommodating groove 132, the center of the worm wheel 26 is horizontally connected with a rotating cross shaft 27 in a penetrating manner, two ends of the rotating cross shaft 27 are symmetrically connected with thigh massage rollers 28, the thigh massage rollers 28 are located inside the massage groove 131 and slightly higher than the massage groove 131, and two side ends of the rotating cross shaft 27 are rotatably connected with side walls of the massage groove 131.

As shown in fig. 5, the lower leg massage mechanism 3 includes an installation frame 31, the lower end of the installation frame 31 is slidably connected to the upper end of the fixed base plate 11, the rear end of the installation frame 31 is connected to the telescopic cylinders 32 which are horizontally distributed, the rear side of the upper end of the fixed base plate 11 is provided with the positioning vertical plate 111, the fixed end of the telescopic cylinders 32 is fixedly connected to the positioning vertical plate 111, the left and right ends of the front side of the installation frame 31 are symmetrically connected to the guiding vertical plate 33, the guiding vertical plate 33 is horizontally penetrated through by the vertical guide grooves 331, the two vertical guide grooves 331 are slidably connected to the lifting cross shaft 34 together, the lifting cross shaft 34 is rotatably connected to the lower leg massage roller 35, and the rear end of the lifting cross shaft 34 is connected to the lifting driving mechanism 36.

As shown in fig. 6, the mounting frame 31 includes a mounting base plate 311, a movable sliding bar 315 is disposed at a lower end of the mounting base plate 311 along a front-back direction, a movable sliding chute 112 slidably connected to the movable sliding bar 315 is formed at an upper end of the mounting base plate 11, the mounting base plate 311 is in a triangular structure with a wide front and a narrow back, extension connecting plates 312 are symmetrically disposed at left and right ends of a front side of the mounting base plate 311, a connecting upright plate 313 is vertically disposed at an upper end of a front side of the extension connecting plate 312, a lower end of the guiding upright plate 33 is fixedly connected to the connecting upright plate 313, a movable connecting plate 314 is disposed at an upper end of a rear side of the mounting base plate 311, a movable end of the telescopic cylinder 32 is fixedly connected to a rear side of the movable connecting plate 314, and a rotation positioning plate 316 is vertically disposed on a front side of the movable connecting plate 314.

As shown in fig. 7, the lifting driving mechanism 36 includes a second motor 361, a fixed end of the second motor 361 is fixedly connected to the mounting bottom plate 311, a movable end of the second motor 361 is connected to a driving threaded rod 362, a front end of the driving threaded rod 362 is rotatably connected to the rotating positioning plate 316, a movable internal threaded ring 363 is threadedly connected to the driving threaded rod 362, hinge rods 364 are symmetrically disposed on left and right sides of the movable internal threaded ring 363, an outer end of the hinge rod 364 is vertically hinged to a driving connecting rod 364, and a front end of the driving connecting rod 364 is vertically hinged to the lifting cross shaft 34.

As shown in fig. 8 and 9, the movable driving mechanism 4 includes a driving cross bar 41, the driving cross bar 41 is located inside the second mounting groove 133, two ends of the driving cross bar 41 sequentially slide through the seat 13 and the side barrier 15 and are symmetrically and vertically connected with swing connectors 42, the lower end of the driving cross bar 41 is connected with a driving assembly 43, the front ends of the swing connectors 42 at two sides are commonly connected with a movable rod 44, the movable rod 44 is rotatably connected with a contact roller 45, the inner side of the swing connector 42 is vertically and fixedly connected with a guide rod 44, the outer side of the side barrier 15 is provided with an arc-shaped guide limiting groove 151, the inner end of the guide rod 44 is slidably connected with the arc-shaped guide limiting groove 151, the driving assembly 43 includes a driven gear 431, the driven gear 431 is fixedly connected with the side wall of the driving cross bar 41, the lower end of the driven gear 431 is engaged with a driving gear 432, the center of the driving gear 432 is horizontally connected with a driving cross shaft 433 in a penetrating manner, the driving cross shaft 433 is rotatably connected with the fixed vertical plate 134, one end of the driving transverse shaft 433 is connected with a third motor 434.

As shown in fig. 10, the swing connecting member 42 includes a connecting rod 421, the rear end of the connecting rod 421 is vertically and fixedly connected to the driving cross bar 41, the front end of the connecting rod 421 is provided with an extending square rod 422, the front end of the extending square rod 422 is slidably connected to a sleeve 424, the sleeve 424 is in an inner-square outer circle structure, the front end of the sleeve 424 is provided with a connecting block 428, the end of the movable rod 44 is fixedly connected to the connecting block 428, the outer side of the rear end of the sleeve 424 is provided with a locking threaded tube 425, a locking bolt 426 is screwed in the locking threaded tube 425, the inner end of the locking bolt 426 is closely contacted with the extending square rod 422, the lower end of the front side of the extending square rod 422 is provided with a limiting block 423, and the lower end of the sleeve 424 is provided with an axial sliding groove 427 slidably connected to the limiting block 423.

A working method of spinal cord injury lower limb rehabilitation equipment comprises the following steps:

s1, the user sits on the upper end of the seat 13 of the seat structure 1, and massages and rehabilitates the thighs by the thigh massage mechanism 2, when massaging the thighs, the first motor 21 is started, the first motor 21 drives the rotating upright 22 to rotate, the rotating upright 22 drives the second bevel gear 24 to rotate through the first bevel gear 23, the second bevel gear 24 drives the worm 25 to rotate, the worm 25 drives the worm wheel 26 to rotate, the worm wheel 26 drives the rotating cross shaft 27 to rotate, and the rotating cross shaft 27 drives the thigh massage roller 28 to rotate, thereby massaging the lower sides of the thighs;

s2, using the shank massage mechanism 3 to massage and rehabilitate the shank, when massaging the shank, the shank keeps vertical, extending the telescopic cylinder 32, moving the shank massage roller 35 forward to closely contact with the rear side of the shank through the mounting frame 31, then starting the second motor 361, the second motor 361 drives the driving screw rod 362 to rotate, the driving screw rod 362 drives the moving internal thread ring 363 to move backward, the moving internal thread ring 363 pulls the lower end of the driving link 364 backward through the hinge link 364, the driving link 364 drives the lifting cross shaft 34 to move downward so as to drive the shank massage roller 35 to roll downward along the shank, after the lifting cross shaft 34 moves to the lowest end, the output end of the second motor 361 rotates reversely, so as to drive the shank massage roller 35 to roll upward along the shank, the shank massage roller 35 rolls up and down in a reciprocating way, thereby achieving the purpose of massaging and rehabilitating the shank, after the shank massage is finished, the telescopic cylinder 32 is contracted, and the shank massage roller 35 is collected below the seat plate 13;

s3, the lower limb is rehabilitated by the movable driving mechanism 4, when the rehabilitation is performed, the contact roller 45 contacts with the inner side of the knee, the third motor 434 is started, the third motor 434 drives the driving gear 432 to rotate through the driving transverse shaft 433, the driving gear 432 drives the driving cross rod 41 to rotate through the driven gear 431, the driving cross rod 41 drives the movable rod 44 to swing upwards through the swing connecting piece 42, the movable rod 44 drives the thigh to swing upwards through the contact roller 45, when the movable rod 44 swings to a certain height, the output end of the third motor 434 rotates reversely to drive the thigh to swing downwards, the output end of the third motor 434 rotates in a positive and negative circulating reciprocating mode to drive the movable rod 44 to swing in a vertical circulating mode, so that the thigh swings in a vertical circulating mode, the lower limb is assisted to move, the lower limb rehabilitation is assisted, and the length of the swing connecting piece 42 is adjustable, can be adjusted according to the length of the thigh, and better meets the use requirements of different users.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (6)

1. The utility model provides a spinal cord injury lower limbs rehabilitation equipment which characterized in that: comprises a seat structure (1), and a thigh massage mechanism (2), a shank massage mechanism (3) and a movable driving mechanism (4) which are arranged on the seat structure (1);

the seat structure (1) comprises a fixed bottom plate (11), supporting columns (12) are symmetrically arranged on the left side and the right side of the upper end of the fixed bottom plate (11), a connecting cross beam (121) is fixed between the supporting columns (12) on the two sides, a seat plate (13) is fixed on the upper end of the supporting columns (12), a back plate (14) is arranged on the rear side of the seat plate (13), side baffles (15) are symmetrically arranged on the left side and the right side of the seat plate (13), two massage grooves (131) which are symmetrically distributed on the left side and the right side vertically penetrate through the seat plate (13), a first installing groove (132) is formed in the middle of the lower end of the seat plate (13), and a second installing groove (133) is formed in the rear side of the lower end of the seat plate (13);

the thigh massage mechanism (2) comprises a first motor (21), the fixed end of the first motor (21) is fixedly connected with a connecting cross beam (121), the output end of the first motor (21) is connected with a rotating vertical rod (22), the upper end of the rotating vertical rod (22) is connected with a first bevel gear (23), the upper end of the first bevel gear (23) is meshed with a second bevel gear (24), the center of the second bevel gear (24) is horizontally connected with a worm (25) in a penetrating manner, worm wheels (26) are uniformly distributed at the upper end of the worm (25), the worm wheels (26) are positioned in a first accommodating groove (132), the center of the worm wheels (26) is horizontally connected with a rotating cross shaft (27) in a penetrating manner, two ends of the rotating cross shaft (27) are symmetrically connected with thigh massage rollers (28), the thigh massage rollers (28) are positioned in the massage groove (131), and two side ends of the rotating cross shaft (27) are rotatably connected with the side wall of the massage groove (131);

the lower leg massage mechanism (3) comprises a mounting frame (31), the lower end of the mounting frame (31) is connected with the upper end of a fixed base plate (11) in a sliding mode, the rear end of the mounting frame (31) is connected with telescopic cylinders (32) which are horizontally distributed, a positioning vertical plate (111) is arranged on the rear side of the upper end of the fixed base plate (11), the fixed end of each telescopic cylinder (32) is fixedly connected with the positioning vertical plate (111), the left end and the right end of the front side of the mounting frame (31) are symmetrically connected with guide vertical plates (33), vertical guide grooves (331) horizontally penetrate through the guide vertical plates (33), lifting transverse shafts (34) are jointly connected in a sliding mode in the two vertical guide grooves (331), lower leg massage rollers (35) are rotatably connected to the lifting transverse shafts (34), and lifting driving mechanisms (36) are connected to the rear ends of the lifting transverse shafts (34);

the movable driving mechanism (4) comprises a driving cross rod (41), the driving cross rod (41) is located inside a second mounting groove (133), two ends of the driving cross rod (41) sequentially slide to penetrate through the seat plate (13) and the side baffle (15) and are symmetrically and vertically connected with swing connecting pieces (42), the lower end of the driving cross rod (41) is connected with a driving assembly (43), the front ends of the swing connecting pieces (42) on the two sides are jointly connected with a movable rod (44), and the movable rod (44) is rotatably connected with a contact roller (45).

2. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein: the mounting frame (31) comprises a mounting base plate (311), a movable sliding strip (315) is arranged at the lower end of the mounting base plate (311) along the front-back direction, a movable sliding chute (112) connected with the movable sliding strip (315) in a sliding manner is formed in the upper end of the fixed base plate (11), the mounting base plate (311) is of a triangular structure with a wide front part and a narrow back part, extension connecting plates (312) are symmetrically arranged at the left end and the right end of the front side of the mounting base plate (311), a connecting vertical plate (313) is vertically arranged at the upper end of the front side of the extension connecting plate (312), the lower end of a guide vertical plate (33) is fixedly connected with the connecting vertical plate (313), a movable connecting plate (314) is arranged at the upper end of the rear side of the mounting base plate (311), the movable end of a telescopic cylinder (32) is fixedly connected with the rear side of the movable connecting plate (314), a rotary positioning plate (316) is vertically arranged on the front side of the movable connecting plate (314) in the vertical direction, and a lifting driving mechanism (36) comprises a second motor (361), second motor (361) stiff end and mounting plate (311) fixed connection, second motor (361) expansion end is connected with drive threaded rod (362), drive threaded rod (362) front end with rotate locating plate (316) and rotate and be connected, threaded connection has removal internal thread ring (363) on drive threaded rod (362), it is equipped with hinge rod (364) to remove internal thread ring (363) left and right sides symmetry, hinge rod (364) outer end is articulated perpendicularly and is linked with drive connecting rod (364), drive connecting rod (364) front end links to each other with lift cross axle (34) perpendicular hinge.

3. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein: the inner side of the swing movable connecting piece (42) is vertically and fixedly connected with a guide rod (44), the outer side of the side baffle (15) is provided with an arc-shaped guide limiting groove (151), and the inner end of the guide rod (44) is in sliding connection with the arc-shaped guide limiting groove (151).

4. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein: swing connecting piece (42) are including connecting rod (421), connecting rod (421) rear end and the perpendicular fixed connection of drive horizontal pole (41), connecting rod (421) front end is equipped with extension square pole (422), extension square pole (422) front end sliding connection has sleeve pipe (424), sleeve pipe (424) are interior square excircle structure, sleeve pipe (424) front end is equipped with connecting block (428), movable rod (44) tip and connecting block (428) fixed connection, sleeve pipe (424) rear end outside is equipped with locking screwed pipe (425), locking screwed pipe (425) internal rotation has locking bolt (426), locking bolt (426) inner and extension square pole (422) in close contact with, extension square pole (422) front side lower extreme is equipped with stopper (423), sleeve pipe (424) lower extreme is opened has axial spout (427) that have with stopper (423) sliding connection.

5. The spinal cord injury lower limb rehabilitation device according to claim 1, wherein: drive assembly (43) include driven gear (431), driven gear (431) and drive horizontal pole (41) lateral wall fixed connection, driven gear (431) are located inside second mounting groove (133), driven gear (431) lower extreme meshing is connected with driving gear (432), driving gear (432) center department level through connection has initiative cross axle (433), second mounting groove (133) lower extreme left and right sides symmetry is equipped with fixed riser (134), initiative cross axle (433) are rotated with fixed riser (134) and are connected, initiative cross axle (433) one end is connected with third motor (434).

6. A working method of spinal cord injury lower limb rehabilitation equipment is characterized by comprising the following steps:

s1, a user sits on the upper end of a seat plate of the seat structure, the thigh massage mechanism is used for massaging and rehabilitating the thigh, when the thigh massage is performed, the first motor is started, the first motor drives the rotating vertical rod to rotate, the rotating vertical rod drives the second bevel gear to rotate through the first bevel gear, the second bevel gear drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the rotating cross shaft to rotate, and the rotating cross shaft drives the thigh massage roller to rotate, so that the lower side of the thigh is massaged;

s2, massaging and recovering the shank by using the shank massaging mechanism, keeping the shank in a vertical state when massaging the shank, extending the telescopic cylinder, the shank massage roller is moved forwards through the mounting frame to be in close contact with the rear side of the shank, then the second motor is started, the second motor drives the driving threaded rod to rotate, the driving threaded rod drives the movable internal thread ring to move backwards, the movable internal thread ring pulls the lower end of the driving connecting rod backwards through the hinge rod, the driving connecting rod drives the lifting transverse shaft to move downwards so as to drive the shank massage roller to roll downwards along the shank, and the lifting transverse shaft moves to the rear of the lowest end, the output end of the second motor rotates reversely to enable the shank massage roller to roll upwards along the shank, the shank massage roller circularly rolls up and down to achieve the purpose of massaging and recovering the shank, and after shank massage is finished, the telescopic cylinder is contracted to store the shank massage roller below the seat plate;

s3, the lower limbs are movably recovered by the movable driving mechanism, when the movable recovery is carried out, the contact roller is in contact with the inner side of the knee, the third motor is started, the third motor drives the driving gear to rotate through the driving transverse shaft, the driving gear drives the driving transverse rod to rotate through the driven gear, the driving transverse rod drives the movable rod to swing upwards through the swing connecting piece, the movable rod drives the thigh to swing upwards through the contact roller, when the movable rod swings to a certain height, the output end of the third motor rotates reversely to drive the thigh to swing downwards, the output end of the third motor rotates in a forward and reverse reciprocating mode to drive the movable rod to swing in an up and down reciprocating mode, and therefore the thigh is driven to swing in a reciprocating mode in an up and down circulating mode, the lower limbs are assisted to move, and the lower limbs are recovered.

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