CN113856148A

CN113856148A - Wearable waist rehabilitation robot

Info

Publication number: CN113856148A
Application number: CN202111184642.8A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Wei Hongxia
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2021-12-31
Anticipated expiration: 2041-10-12
Also published as: CN113856148B

Abstract

The invention belongs to the field of waist rehabilitation, and particularly relates to a wearable waist rehabilitation robot which comprises side body boxes, wherein an upper fixing block is arranged at the top between the side body boxes on two sides, a lower fixing block is arranged at the bottom between the side body boxes on two sides, a supporting rod cylinder is arranged at the center inside the side body boxes on two sides, a side bending protection component is arranged inside the supporting rod cylinder and penetrates to the side, away from the ground, outside the supporting rod cylinder, an air pressure power generation component is arranged inside the side body boxes on one side of the side bending protection component, an inflation component is arranged on the side, close to the ground, outside the side body boxes on the two sides, and a heating massage component is arranged between the side body boxes on the two sides and close to the air pressure power generation component.

Description

Wearable waist rehabilitation robot

Technical Field

The invention belongs to the field of waist rehabilitation, and particularly relates to a wearable waist rehabilitation robot.

Background

The waist is a very important part of our human body, and along with the acceleration of life rhythm, people's work is also more and more busy, especially the staff who often sits the office work, because the needs of work, most of the time all sits and carries out work, appears psoatic strain, lumbar disc herniation isosceles part problem very easily over time, brings great puzzlement for people.

At present, only a device for massaging the waist is available in the market, but the device is only suitable for relieving light waist diseases, and patients with serious waist symptoms need to be treated through waist rehabilitation training.

At present traditional waist rehabilitation training mode is for lying on the ground for the tie usually, and the lower half is motionless, and the front half is upwards lifted up, then is putting down, makes the waist carry out the crooked straight activity that relapses and carries out the rehabilitation training, and this kind of self with no help of external force carries out the rehabilitation training, and fatigue appears very easily, and the process of rehabilitation training is slower simultaneously, and the effect is not good, consequently needs one kind now and can carry out waist cold-proof and relax to the recovered person of waist, takes exercise waist muscle and prevent the injured wearing formula waist rehabilitation robot.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides a wearable waist rehabilitation robot which can keep and relax the waist of a waist rehabilitee, exercise the waist muscles and prevent the waist from being injured.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a wearable waist rehabilitation robot, includes the side body box, both sides the top is equipped with the fixed block respectively between the side body box, both sides the bottom is equipped with down the fixed block respectively between the side body box, both sides the inside center of side body box is equipped with the die-pin cylinder respectively, the inside lateral bending protection part that is equipped with of die-pin cylinder runs through to ground one side is kept away from to the die-pin cylinder outside, the inside lateral bending protection part that is located of side body box one side is equipped with pneumatic power generation part, the side body box outside is close to ground one side and is equipped with gas filled parts, both sides be close to between the side body box pneumatic power generation part one side is equipped with the heating massage part.

Preferably, the side body boxes on two sides are respectively positioned on two sides of the upper body of a rehabilitee, the heating massage part is positioned on the back of the rehabilitee, and the inflation part is rotatably connected with the side body boxes.

Preferably, the lateral bending protection component comprises a supporting rod spring seat, the supporting rod spring seat is fixedly arranged inside the supporting rod cylinder, a piston clamping rod is arranged at the center of the inside of the supporting rod spring seat in a sliding mode, the supporting rod spring seat is located on two sides of the piston clamping rod, small holes are formed in the two sides of the piston clamping rod, a plurality of clamping grooves are formed in the outer surface, close to the ground, of the piston clamping rod, a clamping pin sliding block is arranged inside the supporting rod cylinder and located at the corresponding position of the piston clamping rod clamping groove in a sliding mode, the clamping pin sliding block is connected with the supporting rod cylinder through a clamping pin sliding block spring, a clamping pin connecting rod is arranged in a rotating mode and is arranged at one end of the clamping pin sliding block, a clamping pin is arranged inside the supporting rod cylinder and located at the clamping pin sliding block spring position, an air vent is communicated to the far ground surface side of the supporting rod spring seat.

Preferably, the piston kelly is kept away from ground one end and is set firmly the die-pin piston, the die-pin piston with pass through die-pin spring coupling between the die-pin spring holder, the die-pin piston is kept away from piston kelly one side has set firmly the die-pin sleeve, the inside slip of die-pin sleeve is equipped with the die-pin, the die-pin sleeve is kept away from die-pin piston one end is rotated the cover and is equipped with adjusting nut, adjusting nut with die-pin threaded connection, the die-pin is kept away from die-pin one end has set firmly armpit and holds in the palm.

Preferably, the inflation part comprises four bottom cylinders, each side of the side body box body is provided with two bottom cylinders in a rotating mode, bottom cylinder hoses are arranged at the tops of the outer sides of the bottom cylinders and lead to the inside of the side body box body, bottom rods are arranged inside the bottom cylinders in a sliding mode, the bottoms of the bottom rods are connected with the thigh fixing rings in a rotating mode, one side of the bottom cylinder top side wall is provided with bottom cylinder hose balls, the bottom cylinder hose balls are connected with the bottom cylinders through bottom cylinder hose ball springs, bottom rod spring seats are fixedly arranged on the bottom rod inner bottom sides, close to one sides of the bottom cylinder hose balls, of the bottom rod spring seats, bottom rod balls are arranged close to the ground direction, and the bottom rod balls are connected with the bottom rod spring seats through bottom rod springs.

Preferably, atmospheric pressure power generation component includes piston sleeve, piston sleeve is located the die-pin cylinder is close to heating massage component one side, piston sleeve with side body box sliding connection, piston sleeve is far away from ground one end and has set firmly the electricity generation nut, electricity generation nut thread bush is equipped with the electricity generation screw rod, the electricity generation screw rod is far away from ground end rotation cover and is equipped with the electricity generation screw rod fixed block, the electricity generation screw rod fixed block with the electricity generation screw rod can only circumferential direction not axial motion, side body box inside is located the electricity generation screw rod is kept away from ground direction and has been set firmly the generator, the generator output pass through the gear train with electricity generation screw rod top meshing transmission.

Preferably, the heating massage part comprises a back box body, the back box body is rotatably connected with the upper fixing block and the lower fixing block, a heating coil is fixedly arranged at the bottom side of the center in the back box body, a heating chamber is arranged in the back box body in the direction that the heating coil is far away from the ground, and a circulating water tank communicated with the heating chamber is arranged in the back box body in the direction that the heating chamber is far away from the ground.

Preferably, massage pistons are respectively arranged in the back box body at two sides of the heating chamber in a sliding manner, massage rods are respectively and fixedly arranged on the upper end surface and the lower end surface of each massage piston, a massage plate is fixedly arranged at one end, far away from the massage piston, of each massage rod, a plurality of massage heads are rotatably arranged on the surface of one side, far away from the massage piston, of each massage plate, the massage heads are uniformly distributed along the surface of each massage plate, a plugging head push rod is slidably arranged at one side, far away from the ground, of the back box body, an upper plugging head is fixedly arranged at the end, far away from the ground, of each plugging head push rod, an upper pushing head is slidably arranged in the back box body and close to the direction of the upper plugging head, a hook plate is rotatably arranged at one end, far away from the upper pushing head, of the hook plate and in contact with the plugging head push rod, and a lower plugging head is fixedly arranged at the end, close to the ground, of each plugging head push rod, the back box is close to the lower plug head and is provided with a lower push head in a sliding mode, push head ball springs are arranged at the positions, located inside the back box, of the lower push head and the upper push head respectively, and the push head ball springs are connected with the push head balls through push head balls.

Advantageous effects

The invention provides a wearable waist rehabilitation robot through improvement, compared with the prior art, the wearable waist rehabilitation robot has the following improvements and advantages:

1. through setting up back heating massage part, can keep warm and relax the back to the recovered person, effectively improve recovered quality.

2. Through setting up the lateral bending protection part, can prevent its waist from losing power and be injured when taking exercise recovered person, improve recovered security.

3. Through setting up inflatable components and pneumatic power generation component, can utilize the strength of shank to aerify for the device when walking, make the device need not extra energy and can operate.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken at B-B of FIG. 2;

FIG. 5 is a cross-sectional view taken at C-C of FIG. 2;

FIG. 6 is a cross-sectional view taken at E-E of FIG. 5;

FIG. 7 is an enlarged view of a portion of FIG. 3 at F;

FIG. 8 is an enlarged view of a portion of FIG. 4 at G;

fig. 9 is a partial enlarged view of fig. 4 at H.

In the figure: 10. an armpit support; 11. a support rod; 12. adjusting the nut; 13. a support rod sleeve; 14. a support rod cylinder; 15. an upper fixed block; 16. a side body box body; 17. a strut piston; 18. a strut spring; 19. a piston clamping rod; 20. a strut spring seat; 21. a lower fixed block; 22. a bottom cylinder hose; 23. bottom cylinder hose ball bearings; 24. a bottom cylinder hose ball spring; 25. a bottom cylinder; 26. a bottom bar; 27. a bottom bar spring seat; 28. a bottom bar spring; 29. a bottom bar ball; 30. a thigh securing ring; 31. (ii) a 32. A piston sleeve; 33. a power generating screw; 34. a power generating nut; 35. a power generation screw rod fixing block; 36. a generator; 37. a back box body; 38. a plug head push rod; 39. a massage rod; 40. a massage piston; 41. an upper plug head; 42. a massage head; 43. a massage plate; 44. a bayonet lock slider; 45. a bayonet slider spring; 46. a bayonet lock; 47. a bayonet connecting rod; 48. (ii) a 49. (ii) a 50. A lower pushing head; 51. a lower plug head; 52. a push head ball bearing; 53. a pusher ball spring; 54. pushing the head upwards; 55. a hook plate; 56. a circulating water tank; 57. a heating chamber; 58. a heating coil; 59. an anti-twist spring; 60. an anti-twist slider; 81. a lateral bending protection member; 82. an inflation member; 83. a pneumatic power generation component; 84. the massage member is heated.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

With reference to fig. 1-9, a wearable waist rehabilitation robot comprises side body boxes 16, wherein upper fixing blocks 15 are respectively arranged at the tops of the side body boxes 16 on two sides, lower fixing blocks 21 are respectively arranged at the bottoms of the side body boxes 16 on two sides, supporting rod cylinders 14 are respectively arranged at the centers of the insides of the side body boxes 16 on two sides, side bending protection components 81 are arranged inside the supporting rod cylinders 14 and penetrate through to the outside of the supporting rod cylinders 14 to be away from one side of the ground, pneumatic power generation components 83 are arranged on one sides, located on the sides, of the side bending protection components 81, inside the side body boxes 16, inflatable components 82 are arranged on one sides, located on the sides, close to the ground, of the outside of the side body boxes 16, and heating massage components 84 are arranged on one sides, close to the pneumatic power generation components 83, between the side body boxes 16 on two sides.

Further, the side body boxes 16 on both sides are respectively positioned on both sides of the upper body of the rehabilitee, the heating massage part 84 is positioned on the back of the rehabilitee, and the inflating part 82 is rotatably connected with the side body boxes 16.

Further, the lateral bending protection component 81 includes a supporting rod spring seat 20, the supporting rod spring seat 20 is fixedly arranged inside the supporting rod cylinder 14, a piston clamping rod 19 is arranged at the center inside the supporting rod spring seat 20 in a sliding mode, small holes are formed in the supporting rod spring seat 20 and located on two sides of the piston clamping rod 19, a plurality of clamping grooves are formed in the outer surface, close to the ground direction, of the piston clamping rod 19, a clamping pin sliding block 44 is arranged inside the supporting rod cylinder 14 and located at the corresponding position of the clamping grooves of the piston clamping rod 19 in a sliding mode, the clamping pin sliding block 44 is connected with the supporting rod cylinder 14 through a clamping pin sliding block spring 45, a clamping pin connecting rod 47 is arranged in a rotating mode, one end, far away from the clamping pin sliding block 44, of the clamping pin connecting rod 47 is provided with a clamping pin 46 in a rotating mode, and located inside the clamping pin sliding block spring 45 in the supporting rod cylinder 14, a vent hole is communicated with the far surface side of the supporting rod spring seat 20.

Further, a supporting rod piston 17 is fixedly arranged at one end, far away from the ground, of the piston clamping rod 19, the supporting rod piston 17 is connected with a supporting rod spring seat 20 through a supporting rod spring 18, a supporting rod sleeve 13 is fixedly arranged at one side, far away from the piston clamping rod 19, of the supporting rod piston 17, a supporting rod 11 is arranged in the supporting rod sleeve 13 in a sliding mode, an adjusting nut 12 is rotatably sleeved at one end, far away from the supporting rod piston 17, of the supporting rod sleeve 13, the adjusting nut 12 is in threaded connection with the supporting rod 11, and an armpit support 10 is fixedly arranged at one end, far away from the supporting rod 11, of the supporting rod 11.

Further, the inflation part 82 comprises four bottom cylinders 25, two bottom cylinders 25 are rotatably arranged at the bottom of the side body box 16 on each side, bottom cylinder hoses 22 are arranged at the top of the outer sides of the bottom cylinders 25 and lead to the inside of the side body box 16, bottom rods 26 are slidably arranged in the bottom cylinders 25, the bottoms of the bottom rods 26 are rotatably connected with thigh fixing rings 30, bottom cylinder hose balls 23 are arranged on the side walls of the tops of the bottom cylinders 25 on one sides, the bottom cylinder hose balls 23 are connected with the bottom cylinders 25 through bottom cylinder hose ball springs 24, bottom rod spring seats 27 are fixedly arranged at the bottom sides of the bottoms of the bottom rods 26 close to one sides of the bottom cylinder hose balls 23, bottom rod balls 29 are arranged on the bottom rod spring seats 27 close to the ground, and the bottom rod balls 29 are connected with the bottom rod spring seats 27 through the bottom rod springs 28.

Further, the pneumatic power generation component 83 includes a piston sleeve 32, the piston sleeve 32 is located on one side of the supporting rod cylinder 14 close to the heating massage component 84, the piston sleeve 32 is connected with the side box 16 in a sliding mode, one end of the piston sleeve 32 far away from the ground is fixedly provided with a power generation nut 34, the power generation nut 34 is sleeved with a power generation screw 33 in a threaded mode, the power generation screw 33 is far away from the ground end and is rotatably sleeved with a power generation screw fixing block 35, the power generation screw fixing block 35 and the power generation screw 33 can only rotate in the circumferential direction and cannot move in the axial direction, a power generator 36 is fixedly arranged in the side box 16 and is located in the direction of the power generation screw 33 far away from the ground, and the output end of the power generator 36 is in meshing transmission with the top of the power generation screw 33 through a gear set.

Further, the heating massage part 84 comprises a back box 37, the back box 37 is rotatably connected with the upper fixing block 15 and the lower fixing block 21, a heating coil 58 is fixedly arranged at the bottom side of the center inside the back box 37, a heating chamber 57 is arranged inside the back box 37 in the direction that the heating coil 58 is far away from the ground, and a circulating water tank 56 is arranged inside the back box 37 in the direction that the heating chamber 57 is far away from the ground and communicated with the heating chamber 57.

Furthermore, massage pistons 40 are respectively arranged inside the back box 37 at two sides of the heating chamber 57 in a sliding manner, massage rods 39 are respectively and fixedly arranged on the upper end face and the lower end face of each massage piston 40, a massage plate 43 is fixedly arranged at one end of each massage rod 39, which is far away from the massage piston 40, a plurality of massage heads 42 are rotatably arranged on the surface of one side of each massage plate 43, which is far away from the massage piston 40, the plurality of massage heads 42 are uniformly distributed along the surface of each massage plate 43, a plug head push rod 38 is slidably arranged inside the back box 37, an upper plug head 41 is fixedly arranged at the end, which is far away from the ground, of each plug head push rod 38, an upper push head 54 is slidably arranged inside the back box 37, a hook plate 55 is rotatably arranged at one end, which is close to the plug head push rod 38, of each hook plate 55, one end, which is far away from the upper push head 54, is in contact with the plug head push rod 38, a lower plug head 51 is fixedly arranged at the end, which is close to the ground, and a lower push head 50 is slidably arranged inside the back box 37, which is close to the lower plug head 51, push ball springs 53 are respectively arranged in the back box 37 at the lower push head 50 and the upper push head 54, and the push ball springs 53 and the push ball 52 are connected through the push ball 52.

Principle of operation

When the wearable waist rehabilitation robot starts to be started from a static state, the upper fixing block 15 and the lower fixing block 21 are fixed on the upper body of the rehabilitee, and the thigh fixing ring 30 is fixed on the thigh of the rehabilitee. When a rehabilitee walks, the bottom rod 26 moves up and down to send external air into the side box 16, the piston sleeve 32 moves up and down along with the change of air pressure, the power generation screw 33 rotates back and forth to drive the power generator 36 to generate power, the power is transmitted to the heating coil 58, the heating coil 58 heats the heating chamber 57, cold and hot water circulates in the circulating water tank 56, and the waist and the back of the rehabilitee are kept warm.

Meanwhile, the air in the cavity of the side case 16 far away from the air pressure generating component 83 is communicated to the air grooves where the upper plug 41 and the lower plug 51 are located through the air pipe, the massage piston 40 sequentially and circularly pushes the upper push head 54 and the lower push head 50, the massage piston 40 realizes reciprocating motion, and the massage heads 42 on the surface of the massage plate 43 massage and relax the waist and the back of the rehabilitative person.

When the upper body of the rehabilitee is bent laterally during walking, the gas at the supporting rod spring 18 and the external gas slowly enter and exit through the small hole at the supporting rod spring seat 20, so that the buffering and damping effects are achieved. When a rehabilitee walks because the waist strength is relatively weak and the lumbar is suddenly inclined, the air pressure at the position of the support rod spring 18 cannot flow out of the small hole of the support rod spring seat 20 in time to enable the air pressure at the position of the support rod spring 18 to be quickly raised, the air pushes the clamp pin sliding block 44 to move towards the direction of the piston clamp rod 19, the clamp pin 46 is clamped in the clamp groove of the piston clamp rod 19, the armpit support 10 stops moving downwards, and the lumbar of the rehabilitee is prevented from being sprained.

When the upper body of a rehabilitee twists around, the upper fixing block 15 drives the side body box body 16 to twist, the side body box body 16 drives the anti-twisting slide block 60 and the lower fixing block 21 to generate relative displacement, and after being buffered by the anti-twisting spring 59, the waist muscle of the rehabilitee is effectively exercised, and the rehabilitee is protected from being injured in the twisting process.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A wearable waist rehabilitation robot comprises side body boxes (16), and is characterized in that an upper fixing block (15) is arranged at the top between the side body boxes (16) at two sides respectively, a lower fixing block (21) is arranged at the bottom between the side body boxes (16) at two sides respectively, a supporting rod cylinder (14) is arranged at the center inside the side body boxes (16) at two sides respectively, a side bending protection component (81) is arranged in the supporting rod cylinder (14) and penetrates to one side of the outside of the supporting rod cylinder (14) far away from the ground, an air pressure generating component (83) is arranged at one side of the lateral bending protective component (81) in the lateral box body (16), an inflation component (82) is arranged on one side, close to the ground, of the outer side of the side body box body (16), and a heating massage component (84) is arranged on one side, close to the pneumatic power generation component (83), between the side body box bodies (16) on the two sides.

2. The wearable waist rehabilitation robot according to claim 1, wherein the side body boxes (16) are respectively located on both sides of the upper body of the rehabilitee, the heating massage part (84) is located on the back of the rehabilitee, and the inflating part (82) is rotatably connected with the side body boxes (16).

3. The wearable waist rehabilitation robot according to claim 1, wherein the lateral bending protection part (81) comprises a supporting rod spring seat (20), the supporting rod spring seat (20) is fixedly arranged inside the supporting rod cylinder (14), a piston clamping rod (19) is arranged at the center inside the supporting rod spring seat (20) in a sliding manner, small holes are formed in the two sides of the supporting rod spring seat (20) on the piston clamping rod (19), a plurality of clamping grooves are formed in the outer surface of the piston clamping rod (19) close to the ground, a clamping pin sliding block (44) is arranged inside the supporting rod cylinder (14) at the position corresponding to the clamping grooves of the piston clamping rod (19) in a sliding manner, the clamping pin sliding block (44) is connected with the supporting rod cylinder (14) through a clamping pin sliding block spring (45), a clamping pin connecting rod (47) is rotatably arranged on the clamping pin sliding block (44), and a clamping pin (46) is rotatably arranged at one end, far away from the clamping pin sliding block (44), of the clamping pin connecting rod (47), the inside of the supporting rod cylinder (14) is provided with a vent hole at the position of the clamping pin sliding block spring (45) and communicated with the far ground surface side of the supporting rod spring seat (20).

4. The wearable waist rehabilitation robot according to claim 3, wherein a supporting rod piston (17) is fixedly arranged at one end, away from the ground, of the piston clamping rod (19), the supporting rod piston (17) is connected with the supporting rod spring seat (20) through a supporting rod spring (18), a supporting rod sleeve (13) is fixedly arranged at one side, away from the piston clamping rod (19), of the supporting rod piston (17), a supporting rod (11) is arranged inside the supporting rod sleeve (13) in a sliding mode, an adjusting nut (12) is rotatably sleeved at one end, away from the supporting rod piston (17), of the supporting rod sleeve (13), the adjusting nut (12) is in threaded connection with the supporting rod (11), and an armpit support (10) is fixedly arranged at one end, away from the supporting rod (11), of the supporting rod (11).

5. The wearable waist rehabilitation robot according to claim 1, wherein the inflatable component (82) comprises four bottom cylinders (25), two bottom cylinders (25) are rotatably arranged at the bottom of the side body box (16) at each side, a bottom cylinder hose (22) is arranged at the top of the outer side of each bottom cylinder (25) and leads to the inside of the side body box (16), a bottom rod (26) is slidably arranged inside the bottom cylinders (25), the bottom of each bottom rod (26) is rotatably connected with the thigh fixing ring (30), a bottom cylinder hose ball (23) is arranged on the side wall of the top of each bottom cylinder (25), the bottom cylinder hose ball (23) is connected with the bottom cylinders (25) through the bottom cylinder hose ball spring (24), a bottom rod spring seat (27) is fixedly arranged at the bottom side of the bottom rod (26) close to the bottom cylinder hose ball (23), the bottom rod spring seat (27) is provided with a bottom rod ball (29) in the direction close to the ground, and the bottom rod ball (29) is connected with the bottom rod spring seat (27) through a bottom rod spring (28).

6. The wearable waist rehabilitation robot according to claim 1, wherein the pneumatic power generation component (83) comprises a piston sleeve (32), the piston sleeve (32) is located on one side of the supporting rod cylinder (14) close to the heating massage component (84), the piston sleeve (32) is in sliding connection with the side body box body (16), a power generation nut (34) is fixedly arranged at one end, far away from the ground, of the piston sleeve (32), a power generation screw (33) is sleeved on the power generation nut (34) in a threaded manner, a power generation screw fixing block (35) is rotatably sleeved at one end, far away from the ground, of the power generation screw (33), the power generation screw fixing block (35) and the power generation screw (33) can only rotate in the circumferential direction and cannot move in the axial direction, a power generator (36) is fixedly arranged inside the side body box body (16) and located in the direction, far away from the ground, of the power generation screw (33), the output end of the generator (36) is in meshing transmission with the top of the power generation screw rod (33) through a gear set.

7. The wearable waist rehabilitation robot according to claim 1, wherein the heating massage part (84) comprises a back box body (37), the back box body (37) is rotatably connected with the upper fixing block (15) and the lower fixing block (21), a heating coil (58) is fixedly arranged at the bottom side of the center of the inside of the back box body (37), a heating chamber (57) is arranged in the back box body (37) in the direction that the heating coil (58) is far away from the ground, and a circulating water tank (56) is arranged in the back box body (37) in the direction that the heating chamber (57) is far away from the ground and communicated with the heating chamber (57).

8. The wearable waist rehabilitation robot according to claim 7, wherein massage pistons (40) are respectively arranged inside the back box body (37) and positioned on two sides of the heating chamber (57) in a sliding manner, massage rods (39) are respectively and fixedly arranged on the upper end surface and the lower end surface of each massage piston (40), one end, far away from each massage piston (40), of each massage rod (39) is fixedly provided with a massage plate (43), one side surface, far away from each massage piston (40), of each massage plate (43) is rotatably provided with a plurality of massage heads (42), the plurality of massage heads (42) are uniformly distributed on the surface of each massage plate (43), one side, far away from each massage plate (43), of the back box body (37) is provided with a plug push rod (38) in a sliding manner, one end, far away from the ground, of each plug push rod (38) is fixedly provided with an upper plug (41), and the other side, close to each upper plug (41), of the back box body (37) is provided with an upper push head (54) in a sliding manner, the inside push head (54) that is located of back box (37) is close to stopper head push rod (38) one end is rotated and is equipped with hook plate (55), hook plate (55) are kept away from go up push head (54) one end with stopper head push rod (38) contact, stopper head push rod (38) are close to ground end and are equipped with stopper head (51) down admittedly, back box (37) are close to stopper head (51) direction slides and are equipped with down push head (50) down, inside being located of back box (37) push head (50) down with go up push head (54) punishment do not is equipped with push head ball spring (53), push head ball spring (53) with push head ball (52) are connected through push head ball (52).