CN211797586U - Rehabilitation device - Google Patents

Abstract

The utility model discloses a rehabilitation device, which comprises a base, a lifting mechanism, a horizontal swinging and unfolding mechanism and a lower limb training mechanism, wherein the lifting mechanism is respectively arranged at two sides of the base, the horizontal swinging and unfolding mechanism drives the lower limb training mechanism to move in the vertical direction, the horizontal swinging and unfolding mechanism comprises an unfolding frame and a horizontal swinging arm, two ends of the horizontal swinging arm are respectively connected with the lower limb training mechanism and one end of the unfolding frame through a fulcrum shaft in a rotating way, the other end of the unfolding frame is connected with the lifting mechanism through an unfolding rotating shaft in a rotating way, the unfolding frame can rotate in the horizontal direction around the unfolding rotating shaft, the horizontal swinging arm can rotate in the horizontal direction around the fulcrum shaft, and further the lower limb training mechanism can be moved leftwards and rightwards so that the lower limb training mechanism can adapt to the twisting of the hip joint of a patient in the horizontal direction, the limit of the training equipment to the lower limbs of the human body is reduced, and further the wrong orthopedic training and secondary injury are prevented.

Description

Rehabilitation device

Technical Field

The utility model relates to a medical treatment auxiliary instrument field especially relates to a rehabilitation device.

Background

At present, a lot of patients with hemiplegia or short limb lameness exist in the society, the gait of the patients is greatly different from that of normal people when the patients walk, the gravity center of the patients tends to be deviated to one side of the body, and the patients are mainly treated by lower limb rehabilitation with the help of rehabilitation equipment at present. The existing rehabilitation equipment forcibly fixes the limbs of a patient in place by one step through an exoskeleton and then performs walking training by means of a running platform, so that the exoskeleton cannot move left and right, the hip joint of the patient cannot be twisted normally in the horizontal direction during walking, the patient is easy to perform wrong orthopedic training, and secondary injury is caused to the patient.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model discloses a rehabilitation device can make patient's hip joint normally wrench movement, avoids causing wrong orthopedic to the patient.

The utility model discloses a rehabilitation device, including base and low limbs training mechanism, be provided with the running platform on the base, the both sides of base are provided with elevating system respectively, elevating system drives low limbs training mechanism removes in vertical direction, still includes horizontal swing deployment mechanism, horizontal swing deployment mechanism is including expanding frame and horizontal swing arm, the both ends of horizontal swing arm respectively through the fulcrum axle with expand the one end of frame and low limbs training mechanism rotates and connects, expand the other end of frame through expand the pivot with elevating system rotates and connects, expand the frame and wind expand pivot horizontal rotation, horizontal swing arm winds fulcrum axle horizontal rotation.

Furthermore, the number of the transverse swing arms is two, the two transverse swing arms are arranged in parallel, the inner side walls of the two transverse swing arms are respectively provided with a limiting pad, the two transverse swing arms are respectively provided with an elastic piece, and the elastic piece on one transverse swing arm abuts against the limiting pad on the other transverse swing arm.

Furthermore, the lifting mechanism comprises a lifting shell, a lifting driving assembly, a stabilizing assembly and a lifting connecting plate, the lifting driving assembly and the stabilizing assembly are arranged inside the lifting shell, the stabilizing assembly is rotationally connected with the unfolding frame through the lifting connecting plate, and the lifting driving assembly drives the lifting connecting plate to move in the vertical direction through the stabilizing assembly; the stabilizing component comprises a stabilizing pulley which abuts against the inner wall of the lifting shell.

Furthermore, the lower limb training mechanism comprises a hip joint mechanism, a knee joint mechanism and a shank protector mechanism, the hip joint mechanism comprises a hip joint support, one end of the hip joint support is rotatably connected with the horizontal swinging assembly, and the other end of the hip joint support is rotatably connected with one end of the knee joint mechanism through a rotating shaft; the other end of the knee joint mechanism is rotatably connected with the shank protector mechanism through a rotating shaft.

Furthermore, a handrail is fixedly connected to the hip joint support.

Further, knee joint mechanism includes the flexible bone of thigh and goes up the shank, the flexible bone of thigh with hip joint support rotates to be connected, go up the shank with shank protective equipment mechanism rotates to be connected, go up the shank pass through the telescopic link with the flexible bone of thigh is connected, be provided with a plurality of locating holes on the telescopic link, be provided with on the flexible bone of thigh with locating hole matched with positioning pin axle.

Further, still be provided with the thigh protective equipment on the knee joint mechanism, the thigh protective equipment pass through the knee-pad connecting piece with the flexible bone of thigh rotates and connects, be provided with first locating piece on the thigh protective equipment, be provided with a plurality of first positioning grooves on the first locating piece, it is a plurality of first positioning groove is even distributes along the circular arc, be provided with first locating axle on the knee-pad connecting piece for support and hold one of them first positioning groove.

Further, shank protective equipment mechanism includes shank support, protective equipment support and shank protective equipment, the one end of shank support with go up the shank bone and rotate the connection, the other end pass through the regulating part with protective equipment leg joint, be fixed with the regulation pole on the protective equipment support, be fixed with the regulating wheel on the regulation pole, be provided with the second locating piece on the shank protective equipment, the second locating piece with it rotates the connection to adjust the pole, and be provided with the second location axle on the second locating piece, be used for supporting and hold second positioning groove on the regulating wheel.

Further, still include first drive assembly and second drive assembly, first drive assembly is used for the drive knee joint mechanism is relative hip joint mechanism rotates, second drive assembly is used for the drive shank protective equipment mechanism is relative the knee joint structure rotates, first drive assembly with second drive assembly includes driving motor, first gear and second gear respectively, first gear with second gear intermeshing, the second gear with pivot fixed connection, driving motor passes through first gear drives the second gear rotates, and then drives the pivot is rotated.

Furthermore, the top of the lifting mechanism is connected with a suspension beam, a weight compensation mechanism is arranged on the suspension beam and comprises a compensation shell, a compensation driving assembly, a connecting belt and a fixing piece, the compensation driving assembly is fixed on the suspension beam through the compensation shell, and the fixing piece is driven to move in the vertical direction through the connecting belt.

The technical scheme of the utility model, compared with the prior art, beneficial effect is:

the expansion frame winds the expansion rotating shaft horizontally rotates, the lower limb training mechanism can be expanded left and right, the two ends of the transverse swing arm are respectively connected with the lower limb training mechanism and the expansion frame in a rotating mode, the fulcrum shaft is parallel to the expansion rotating shaft, the lower limb training mechanism can move left and right through the transverse swing arm, the lower limb training mechanism can adapt to twisting of hip joints of patients in the horizontal direction, and limitation of training equipment to the lower limbs of the human body is reduced, so that wrong orthopedic training and secondary injury are prevented.

Drawings

FIG. 1 is a schematic diagram of a rehabilitation setting;

FIG. 2 is a schematic structural diagram of a base;

FIG. 3 is a schematic structural view of the lifting mechanism;

FIG. 4 is a schematic view of the structure of the weight compensation mechanism;

fig. 5 is a schematic structural view of a yaw deployment mechanism;

FIG. 6 is an exploded view of the yaw deployment mechanism;

figure 7 is a schematic structural view of the lower limb training mechanism;

FIG. 8 is a schematic structural view of a knee joint mechanism;

FIG. 9 is a schematic view of the mechanism of the thigh bone;

fig. 10 is a schematic view of the structure of a thigh brace and knee brace attachment;

FIG. 11 is a schematic structural diagram of a first driving assembly;

FIG. 12 is a schematic structural view of a lower leg shield mechanism;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it should be noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may exist. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1, the utility model discloses a rehabilitation device 100, including base 10, elevating system 20, weight compensation mechanism 30, horizontal swing deployment mechanism 40 and low limbs training mechanism 50, elevating system 20 respectively with the both sides limit fixed connection of base 10, and pass through horizontal swing deployment mechanism 40 drives low limbs training mechanism 50 removes in vertical direction, low limbs training mechanism 50 is corresponding with patient's low limbs, weight compensation mechanism 30 sets up directly over base 10 for supplementary patient is stabilized on base 10.

As shown in fig. 2, the bottom of the base 10 is provided with casters 11 to facilitate rehabilitation setting of a mobile position. The base 10 is provided with a running platform 12, the running platform 12 includes a running belt 121, a first rotating stick 122, a second rotating stick 123, a running driving motor 124 and a reduction gear set 125, the first rotating stick 122 and the second rotating stick 123 are respectively rotatably disposed on the base 10, the running belt 121 is respectively connected with the first rotating stick 122 and the second rotating stick 123, the running driving motor 124 is fixedly connected with the base 10, and drives the first rotating stick 122 to rotate through the reduction gear set 124, so as to drive the running belt 121 to move, thereby enabling the patient to form a walking posture on the running belt 121. The reduction gear set 125 is provided to reduce the moving speed of the running belt 121.

One end of the base 10 is provided with an inclined top frame 13, the top of the inclined top frame 13 corresponds to the upper surface of the base 10, the bottom of the inclined top frame 13 corresponds to the ground, and a patient with inconvenient actions can conveniently move to the running platform 12 through the wheelchair.

As shown in fig. 3, the two lifting mechanisms 20 are symmetrically arranged, the lifting mechanism 20 includes a lifting housing 21, a lifting driving assembly 22, a stabilizing assembly 23, and a lifting connecting plate 24, the bottom end of the lifting housing 21 is fixedly connected to the base 10, the lifting driving assembly 22 and the stabilizing assembly 23 are both located inside the lifting housing 21, the lifting driving assembly 22 can drive the stabilizing assembly 23 to move in the vertical direction, one end of the lifting connecting plate 24 is fixedly connected to the stabilizing assembly 23, and the other end passes through the lifting housing 21 and is rotatably connected to the yaw deployment mechanism 40. The lifting driving assembly 22 comprises a lifting driving motor 221 and a ball screw 222, the lifting driving motor 221 is fixedly connected with the lifting housing 21, the ball screw 222 is vertically arranged, a ball nut is connected to the ball screw 222, and the lifting driving motor 221 drives the ball screw 222 to rotate so as to drive the ball nut to move in the vertical direction; the stabilizing assembly 23 includes a stabilizing bracket 231, the stabilizing bracket 231 is fixedly connected to the ball nut, the lifting connecting plate 24 is fixedly connected to the stabilizing bracket 231, the lifting driving motor 221 drives the stabilizing bracket 231 to move in the vertical direction through the ball screw 222, and then the lifting connecting plate 24 drives the yaw deployment mechanism 40 to move in the vertical direction. The side of the stabilizing support 231 is rotatably provided with a stabilizing pulley 232, and the stabilizing pulley 232 abuts against the inner side wall of the lifting shell 21, so that the stabilizing support 232 can stably move. Elevating system 20's outside still is provided with the protecting crust, the protecting crust with base 10 fixed connection, the protecting crust can be firstly the pleasing to the eye that can lifting means, secondly can be right elevating system 20 protects.

As shown in fig. 4, a suspension beam 31 is connected to the top of the lifting housing 21, two ends of the suspension beam 31 are respectively and fixedly connected to the two lifting housings 21, the suspension beam 31 is provided with the weight compensation mechanism 30, and the weight compensation mechanism 30 is located right above the base 10. Weight compensation mechanism 30 is including compensating shell 32, compensation drive assembly 33, connecting band 34 and mounting (not seen in the figure), compensation shell 32 with hanging beam 31 fixed connection, compensation drive assembly 33 sets up inside compensation shell 32, connecting band 34 one end with compensation drive assembly 33 is connected, and the other end passes through connecting plate 35 and is connected with the mounting, compensation drive assembly 33 accessible connecting band 34 drive the mounting removes in vertical direction. The mounting is connected with the patient for stabilize the patient, prevent that patient's upper half body weight and mind are unstable, take place to empty. The fixing piece can be a waistband or a vest. The compensation driving component 33 comprises a mounting bracket 331, a compensation driving motor 332, a first belt pulley 333, a second belt pulley 334 and a winding shaft 335, the second belt pulley 334 is connected with the mounting bracket 331 through the winding shaft 335, the first belt pulley 333 is connected with the second belt pulley 334 through a belt, the compensation driving motor 332 is driven by driving the first belt pulley 333 to rotate to drive the second belt pulley 334 and the winding shaft to rotate 335, one end of the connecting belt 34 is fixedly connected with the winding shaft 335, and when the winding shaft 335 rotates, the connecting belt 34 can be folded and unfolded.

As shown in fig. 5, the yaw deployment mechanism 40 includes a deployment frame 41 and a transverse swing arm 42, one end of the deployment frame 41 is rotatably connected to the lifting connection plate 24 through a deployment rotation shaft 411, and the other end is connected to the lower limb training mechanism 50 through the transverse swing arm 42. The unfolding rotating shaft 411 is vertically arranged, and the unfolding frame 41 winds the unfolding rotating shaft 411 to rotate in the horizontal direction, so that the lower limb training mechanism 50 can be unfolded, and a patient can conveniently enter the base 10 or enter the base 10 through a wheelchair. And when only need carry out rehabilitation training to patient's unilateral limbs, can fix the sick low limbs of patient through one of them low limbs training mechanism 50, another low limbs training mechanism 50 abducts, prevents to cause the influence to patient's rehabilitation training.

The both ends of horizontal swing arm 42 respectively through fulcrum shaft 43 with lower limb training mechanism 50 and expand the frame 41 and rotate and be connected, fulcrum shaft 43 with expand pivot 411 parallel arrangement, can make horizontal swing arm 42 rotates on the horizontal direction, and then can make lower limb training mechanism 50 removes on the horizontal direction for equipment can adapt to the wrench movement of human hip joint horizontal direction under the natural gait, reduces the restriction of training equipment to human lower limbs, and then takes precautions against wrong orthopedic training and secondary injury.

As shown in fig. 6, the both ends of horizontal swing arm 42 are provided with rotation through-hole 421 respectively, horizontal swing arm 42 passes through rotation through-hole 421 cover is established on fulcrum axle 43 to through plane bearing 431 with fulcrum axle 43 rotates and connects, the cover is equipped with axle sleeve 432 on the fulcrum axle 43, be provided with screw hole 422 on the lateral wall of rotation through-hole 421, be provided with adjusting screw in the screw hole 422, adjusting screw supports and holds axle sleeve 432, through rotating adjusting screw can increase or reduce axle sleeve 432 with frictional force between the fulcrum axle 43.

In this embodiment, there are two transverse swing arms 42, two transverse swing arms 42 are disposed in parallel, and two inner side walls of the two transverse swing arms 42 close to each other are respectively provided with a limiting pad 44, where the limiting pad 44 may be made of a soft elastic material or a plastic material. The limiting pads 44 are used for limiting the rotation angle of the transverse swing arm 42, when the transverse swing arm 42 rotates, the distance between the limiting pads 44 can be changed, and when the transverse swing arm 42 rotates to a certain position, the limiting pads 44 are in contact with each other, so that the transverse swing arm 42 cannot continue to rotate along the original direction. The two transverse swing arms 42 are respectively provided with an elastic piece 45, the elastic piece 45 on one transverse swing arm 42 can abut against the limiting pad 44 on the other transverse swing arm 42, and the two elastic pieces 45 play a centering role and are used for keeping the two transverse swing arms 42 parallel all the time. In this embodiment, the elastic member 42 is a spring pin.

As shown in fig. 7, the lower limb training mechanism 50 includes a hip joint mechanism 51, a knee joint mechanism 52, and a lower leg brace mechanism 53, wherein one end of the hip joint mechanism 51 is pivotally connected to the swing arm 42, the other end thereof is pivotally connected to one end of the knee joint mechanism 52, and the other end of the knee joint mechanism 52 is pivotally connected to the lower leg brace mechanism 53. The hip joint mechanism 51 corresponds to the hip joint position of the patient, the knee joint mechanism 52 corresponds to the thigh position of the patient, and the lower leg supporter mechanism 53 corresponds to the lower leg position of the patient.

The hip joint mechanism 51 comprises a hip joint support 511, one end of the hip joint support 511 is rotatably connected with the transverse swing arm 42, and the other end of the hip joint support 511 is rotatably connected with the knee joint mechanism 52 through a rotating shaft 54. The hip joint support 511 is rotatable in the horizontal direction around the fulcrum shaft 43, and the knee joint mechanism 52 is rotatable in the vertical direction with respect to the hip joint mechanism 51, that is, the rotation plane of the hip joint mechanism 51 is perpendicular to the rotation plane of the knee joint mechanism 52. The hip joint support 511 is provided with a first driving component 55, and the first driving component 55 can drive the knee joint mechanism 52 to rotate relative to the hip joint mechanism 51 through a rotating shaft 54. When the patient cannot walk automatically, the first driving assembly 55 can perform a compensation function, and drives the knee joint mechanism 52 to rotate, so as to drive the thigh of the patient to move.

In this embodiment, a handrail 512 is disposed on the hip joint support 511, and one end of the handrail 512 is fixedly connected to the hip joint support 511. The handrail 512 is arranged, so that the body gravity center of a patient can be conveniently stabilized, and the patient can be prevented from falling down.

As shown in fig. 8 and 9, the knee joint mechanism 52 includes a thigh extension rib 521 and an upper leg rib 522, the thigh extension rib 521 is located above the upper leg rib 522, a top end of the thigh extension rib 521 is rotatably connected to the hip joint support 511 via a rotating shaft 54, a bottom end of the thigh extension rib 521 is provided with an extension hole 5211, a bottom end of the upper leg rib 522 is rotatably connected to the lower leg supporter mechanism 53 via the rotating shaft 54, a top end of the upper leg rib 522 is provided with an extension rod 523, and the extension rod 523 passes through the extension hole 5211, so that the thigh extension rib 521 is connected to the upper leg rib 522. The telescopic rod 523 is provided with a plurality of positioning holes 5231, the thigh telescopic bone 521 is provided with a through hole 5212 communicated with the telescopic hole 5211, the through hole 5212 is provided with a positioning pin 5213, and the positioning pin 5213 penetrates through the through hole 5212 and extends into the positioning holes 5231, so that the telescopic rod 523 is fixed on the thigh telescopic bone 521. The positioning pin shafts 5213 are matched through the different positioning holes 5231, so as to adjust the distance between the thigh telescopic bone 521 and the upper leg bone 522, thereby adapting to different people.

As shown in fig. 10, the knee joint mechanism 52 is further provided with a thigh supporter 524, the thigh supporter 524 is connected to the thigh link 521 via a knee joint connector 525, and the thigh supporter 524 has an arc shape corresponding to a thigh contour. Be provided with first locating block 5241 on the thigh protective equipment 524, and pass through first locating block 5241 with knee-pad connector 525 rotates to be connected, be provided with a plurality of first positioning grooves 5242 on the first locating block 5241, it is a plurality of first positioning grooves 5242 are convex distribution, be provided with first location axle 5251 on the knee-pad connector 525, first location axle 5251 is supported and is held one of them first positioning grooves 5242, it is right thigh protective equipment 524 carries out preliminary location, and is right when thigh protective equipment 524 applys certain power, thigh protective equipment 524 can be relative knee-pad connector 525 rotates. The thigh protector 524 is provided with a strap for fastening the thigh and the thigh protector 524 together.

The upper leg bone 522 is provided with a second driving assembly 56, and the second driving assembly 56 drives the lower leg protector mechanism 53 to rotate relative to the knee joint mechanism 52 through a rotating shaft 54, so that the force compensation effect is achieved, and the lower leg movement of the patient is facilitated.

As shown in fig. 11, each of the first driving assembly 55 and the second driving assembly 56 includes a driving motor 551, a first gear 552, and a second gear 553, the second gear 553 is fixedly connected to the rotating shaft 54, the first gear 552 is engaged with the second gear 553, and the driving motor 551 can drive the second gear 553 to rotate through the first gear 552, and further drive the rotating shaft 54 to rotate. In this embodiment, the first gear 552 and the second gear 553 may be bevel gears.

As shown in fig. 12, the lower leg supporter mechanism 53 includes a lower leg support 531, an adjustment member 532, a supporter support 533, and a lower leg supporter 534, wherein the upper leg bone 522 is pivotally connected to the upper end of the lower leg support 531 via a pivot 54, the supporter support 533 is connected to the lower end of the lower leg support 531 via the adjustment member 532, and the lower leg supporter 534 is provided on the supporter support 533. The adjusting piece 532 is provided with a plurality of adjusting holes 5321, the adjusting holes 5321 are connected with the shank support 531 through screws, and the distance between the protector support 533 and the shank support 531 can be adjusted by connecting different adjusting holes 5321, so that the protector support is suitable for different people. An adjusting rod 5331 is fixed on the protector support 533, an adjusting wheel 5332 is fixed on the adjusting rod 5331, a plurality of second positioning grooves 5333 are uniformly formed in the outer surface of the adjusting wheel 5332, a second positioning block 5341 is arranged on the shank protector 534, the second positioning block 5341 is rotatably connected with the adjusting rod 5331, a second positioning shaft 5432 is arranged on the second positioning block 5341, and the second positioning shaft 5342 abuts against one of the second positioning grooves 5333 on the adjusting wheel 5332, so that the shank protector 534 is positioned. When a certain force is applied to the lower leg supporter 534, the lower leg supporter 534 can rotate relative to the supporter support 533. The shank protector 534 is arc-shaped and corresponds to the leg shape of the shank, and the shank protector 534 is provided with a bandage for fixing the shank of the patient on the shank protector.

The patient can join in marriage and take VR glasses when carrying out rehabilitation, sets up corresponding motion scene, and then makes or has authenticity and interest when rehabilitation.

The present invention can be designed in various embodiments and modifications without departing from the spirit and scope of the present invention in its broadest sense, and the above-described embodiments are intended to illustrate the present invention, but not to limit the scope of the present invention.

Claims (10)

1. The utility model provides a rehabilitation device, includes base and low limbs training mechanism, be provided with the platform of running on the base, the both sides of base are provided with elevating system respectively, elevating system drives low limbs training mechanism removes in vertical direction, and its characterized in that still includes horizontal swing deployment mechanism, horizontal swing deployment mechanism is including expanding frame and horizontal swing arm, the both ends of horizontal swing arm respectively through the fulcrum axle with expand the one end of frame and low limbs training mechanism rotates and connects, expand the other end of frame through expand the pivot with elevating system rotates and connects, expand the frame around expand pivot horizontal rotation, horizontal swing arm winds fulcrum axle horizontal rotation.

2. The rehabilitation device according to claim 1, wherein there are two of said transverse swing arms, two of said transverse swing arms are disposed in parallel, the inner side walls of two of said transverse swing arms are respectively provided with a position-limiting pad, and two of said transverse swing arms are respectively provided with an elastic member, wherein said elastic member of one of said transverse swing arms abuts against said position-limiting pad of the other of said transverse swing arms.

3. The rehabilitation device according to claim 1, wherein the lifting mechanism comprises a lifting housing, a lifting driving assembly, a stabilizing assembly and a lifting connecting plate, the lifting driving assembly and the stabilizing assembly are arranged inside the lifting housing, the stabilizing assembly is rotatably connected with the expansion frame through the lifting connecting plate, and the lifting driving assembly drives the lifting connecting plate to move in a vertical direction through the stabilizing assembly; the stabilizing component comprises a stabilizing pulley which abuts against the inner wall of the lifting shell.

4. The rehabilitation apparatus of claim 1, wherein the lower limb training mechanism comprises a hip joint mechanism, a knee joint mechanism, and a lower leg protector mechanism, the hip joint mechanism comprising a hip joint support, one end of the hip joint support being rotatably connected to the yaw assembly, the other end of the hip joint support being rotatably connected to one end of the knee joint mechanism through a rotating shaft; the other end of the knee joint mechanism is rotatably connected with the shank protector mechanism through a rotating shaft.

5. The rehabilitation apparatus of claim 4, wherein a handrail is fixedly connected to the hip joint support.

6. The rehabilitation apparatus according to claim 4, wherein the knee joint mechanism comprises a thigh expansion bone and an upper leg bone, the thigh expansion bone is rotatably connected to the hip joint support, the upper leg bone is rotatably connected to the shank protector mechanism, the upper leg bone is connected to the thigh expansion bone through a telescopic rod, the telescopic rod is provided with a plurality of positioning holes, and the thigh expansion bone is provided with positioning pins matched with the positioning holes.

7. The rehabilitation device according to claim 6, wherein the knee joint mechanism further comprises a thigh protector rotatably connected to the thigh extension bar through a knee joint connector, the thigh protector is provided with a first positioning block, the first positioning block is provided with a plurality of first positioning grooves, the first positioning grooves are uniformly distributed along an arc, and the knee joint connector is provided with a first positioning shaft for supporting one of the first positioning grooves.

8. The rehabilitation device according to claim 7, wherein the lower leg protection device mechanism comprises a lower leg support, a protection device support and a lower leg protection device, one end of the lower leg support is rotatably connected with the upper leg bone, the other end of the lower leg support is connected with the protection device support through an adjusting piece, an adjusting rod is fixed on the protection device support, an adjusting wheel is fixed on the adjusting rod, a second positioning block is arranged on the lower leg protection device, the second positioning block is rotatably connected with the adjusting rod, and a second positioning shaft is arranged on the second positioning block and used for abutting against a second positioning groove on the adjusting wheel.

9. The rehabilitation apparatus according to any one of claims 4-8, further comprising a first driving assembly and a second driving assembly, wherein the first driving assembly is configured to drive the knee joint mechanism to rotate relative to the hip joint mechanism, the second driving assembly is configured to drive the lower leg shield mechanism to rotate relative to the knee joint mechanism, the first driving assembly and the second driving assembly respectively comprise a driving motor, a first gear and a second gear, the first gear and the second gear are engaged with each other, the second gear is fixedly connected to the rotation shaft, and the driving motor drives the second gear to rotate through the first gear, thereby driving the rotation shaft to rotate.

10. The rehabilitation apparatus according to claim 1, wherein a suspension beam is connected to a top portion of the lifting mechanism, a weight compensation mechanism is disposed on the suspension beam, the weight compensation mechanism includes a compensation housing, a compensation driving assembly, a connecting band, and a fixing member, the compensation driving assembly is fixed to the suspension beam through the compensation housing, and the fixing member is driven to move in a vertical direction through the connecting band.

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