CN220938481U

CN220938481U - Four-degree-of-freedom hip joint passive movement rehabilitation device

Info

Publication number: CN220938481U
Application number: CN202322024142.9U
Authority: CN
Inventors: 严红成
Original assignee: HANGZHOU ZHENGDA MEDICAL CO Ltd
Current assignee: HANGZHOU ZHENGDA MEDICAL CO Ltd
Priority date: 2023-07-31
Filing date: 2023-07-31
Publication date: 2024-05-14
Anticipated expiration: 2033-07-31

Abstract

The utility model provides a four-degree-of-freedom hip joint passive movement rehabilitation device which comprises a machine body, a movement simulation assembly and a control assembly, wherein the movement simulation assembly comprises a Z-axis electric push rod, a Y-axis electric push rod, an X-axis electric push rod, a universal connector and a leg fixing part, the fixed end of the Z-axis electric push rod is connected with the top of the machine body, the telescopic end of the Z-axis electric push rod is fixedly connected with the fixed end of the Y-axis electric push rod, the telescopic end of the Y-axis electric push rod is fixedly connected with the fixed end of the X-axis electric push rod, and the telescopic end of the X-axis electric push rod is connected with the leg fixing part through the universal connector; the leg fixing member includes a leg fixing bracket, a rotary electric machine, a gear member, a tooth condition, and a leg band member. The utility model improves the simulation degree of the human hip joint movement, and better simulates the normal hip joint movement posture of the human body, thereby improving the passive movement rehabilitation effect of the hip joint of the postoperative patient.

Description

Four-degree-of-freedom hip joint passive movement rehabilitation device

Technical Field

The utility model relates to a sports rehabilitation device, in particular to a four-degree-of-freedom hip joint passive sports rehabilitation device, and belongs to the technical field of sports rehabilitation equipment.

Background

The number of patients suffering from hip replacement surgery in clinical orthopaedics is increasing, and the patients after surgery are very required to give hip motions in a short period of time, so that muscles and nerves are stimulated to move, and the blood and nutrient contents of the body are maintained to be delivered. However, the postoperative patient can not move independently in a short period, and needs to use a passive movement device to give auxiliary movement, and the passive movement device drives the lower limbs of the human body through a motor and other power sources so as to generate passive following movement.

In the prior art, the hip joint passive motion rehabilitation device generally only has 1 degree of freedom or 2 degrees of freedom, and the degrees of freedom in a mechanical system refer to the number of motion independent coordinates, namely the hip joint passive motion rehabilitation device in the prior art can only partially simulate the motion of a human hip joint, has limited motion direction and motion posture, can not realize complex human hip joint simulated motion, and influences the hip joint passive motion rehabilitation effect of a postoperative patient.

Disclosure of utility model

Based on the background, the utility model aims to provide the four-degree-of-freedom hip joint passive motion rehabilitation device, so that the simulation degree of human hip joint motion is improved, and the hip joint passive motion rehabilitation effect of a patient after operation is improved.

In order to achieve the above object, the present utility model provides the following technical solutions:

The four-degree-of-freedom hip joint passive movement rehabilitation device comprises a machine body, a movement simulation assembly and a control assembly, wherein the movement simulation assembly is arranged at the top of the machine body and comprises a Z-axis electric push rod, a Y-axis electric push rod, an X-axis electric push rod, a universal connector and a leg fixing part, the fixed end of the Z-axis electric push rod is connected with the top of the machine body, the telescopic end of the Z-axis electric push rod is fixedly connected with the fixed end of the Y-axis electric push rod, the telescopic end of the Y-axis electric push rod is fixedly connected with the fixed end of the X-axis electric push rod, and the telescopic end of the X-axis electric push rod is connected with the leg fixing part through the universal connector; the leg fixing component comprises a leg fixing support, a rotating motor, a gear piece, a tooth condition and a leg binding belt piece, wherein the leg fixing support is connected with the universal connector and can rotate relative to the X-axis electric push rod, the rotating motor is fixedly connected with the leg fixing support, the output end of the rotating motor is connected with the gear piece, the gear piece is meshed with the rack piece, the rack piece is in sliding fit with the leg fixing support, and the leg binding belt piece is fixedly connected with the rack piece; the control assembly is respectively and electrically connected with the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod and the rotating motor.

Preferably, a gyroscope attitude sensor is further arranged between the universal connector and the leg fixing component, the top of the gyroscope attitude sensor is fixedly connected with the universal connector, the bottom of the gyroscope attitude sensor is fixedly connected with the leg fixing support, and the gyroscope attitude sensor is electrically connected with the control component.

Preferably, the universal connector comprises a ball base, a swivel ball and a locking member; an inner cavity for accommodating the rotary ball is formed in the ball base, the side part of the inner cavity is open and is communicated with the outside of the ball base, and the ball base is fixedly connected with the top of the connecting leg fixing part; the rotating ball is embedded in the inner cavity and can rotate relative to the wall of the inner cavity, the rotating ball is fixedly connected with the telescopic end of the X-axis electric push rod, and the caliber of an opening at the side part of the inner cavity is larger than the diameter of the telescopic end of the X-axis electric push rod; the locking piece is in threaded connection with the part of the ball base adjacent to the side opening of the inner cavity.

Preferably, the part of the ball base adjacent to the side opening of the inner cavity is a conical body, the conical body extends towards the direction away from the inner cavity, threads are arranged on the outer surface of the conical body, a conical hole penetrating through the locking piece is formed in the middle of the locking piece, the shape of the inner wall of the conical hole is matched with that of the outer wall of the conical body, threads are arranged on the inner wall of the conical hole, and the minimum aperture of the conical hole is larger than the diameter of the telescopic end of the X-axis electric push rod.

Preferably, the leg fixing support comprises a motor shell and an arc-shaped base, the rotating motor and the gear piece are arranged in the motor shell, the bottom of the motor shell is fixedly connected with the top of the arc-shaped base, a first sliding groove for supporting the bottom of the rack piece is formed in the surface of the arc-shaped base, the shape of the tooth condition is matched with that of the arc-shaped base, the bottom of the tooth condition is connected with the first sliding groove and can slide relative to the first sliding groove, and a plurality of tooth-shaped portions for meshing and connecting the gear piece are arranged at the top of the tooth condition.

Preferably, the machine body is provided with a bed body connecting component for connecting the bed body and the relative position of the fixed bed body and the machine body.

Preferably, the bed body connecting assembly comprises a fixing clamp base, a bed body fixing clamp, a fixing belt and a fixing bolt, wherein the fixing clamp base is fixedly connected with the side part of the machine body, the fixing clamp base is provided with a second sliding groove, the bed body fixing clamp is slidably connected with the fixing clamp base through the second sliding groove, a space is reserved between part of the inner wall of the bed body fixing clamp and the outer wall of the fixing clamp base, the fixing belt is arranged on the bed body fixing clamp, the fixing bolt is arranged on the bed body fixing clamp, and the end part of the fixing bolt can be abutted to the fixing clamp base.

Preferably, the bottom of the machine body is provided with a castor, and the castor is provided with a locking component. The caster improves the mobile portability of the machine body.

Preferably, the control assembly comprises a microcomputer control processor, a man-machine interaction part and a display part which are electrically connected, wherein the microcomputer control processor is arranged in the machine body, the man-machine interaction part and the display part are arranged at the top of the machine body, and the microcomputer control processor is electrically connected with the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod and the rotating motor respectively.

Preferably, the control assembly further comprises an emergency switch, the emergency switch is electrically connected with the microcomputer control processor, and the emergency switch is arranged at the top of the machine body. In an emergency, the microcomputer control processor and the power supply of the microcomputer control processor to the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod and the rotating motor can be rapidly cut off by operating the emergency switch, so that emergency shutdown is realized.

Compared with the prior art, the utility model has the following advantages:

According to the four-degree-of-freedom hip joint passive motion rehabilitation device, the four-degree-of-freedom motion is applied to a patient through the cooperative cooperation of the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod, the universal connector and the leg fixing part, so that the simulation degree of the human hip joint motion is improved, the normal hip joint motion posture of the human body is better simulated, and the hip joint passive motion rehabilitation effect of the patient after operation is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a four degree of freedom hip joint passive motion rehabilitation device of the present utility model;

FIG. 2 is a schematic view of the internal structure of the universal connector of the present utility model;

FIG. 3 is a schematic perspective view of a leg fixing unit according to the present utility model;

FIG. 4 is a schematic view of an exploded view of the bed connector assembly of the present utility model;

FIG. 5 is a schematic view of the motion of the four degrees of freedom hip joint passive motion rehabilitation device of the present utility model in the Z, Y and G axes;

fig. 6 is a schematic diagram of the motion of the four degrees of freedom hip joint passive motion rehabilitation device in the Y axis, X axis and G axis.

In the figure: 1. a body; 2. z-axis electric push rod; 3. y-axis electric push rod; 4. an X-axis electric push rod; 5. a universal connector; 6. a leg fixing member; 7. a gyroscope attitude sensor; 8. a bed body connecting assembly; 9. casters; 10. a microcomputer control processor; 11. a man-machine interaction part; 12. a display section; 13. an emergency switch; 501. a ball base; 502. a spin ball; 503. a locking member; 504. a cone; 505. a tapered bore; 601. a motor housing; 602. an arc-shaped base; 603. a rotating electric machine; 604. a gear member; 605. tooth conditions; 606. leg strap members; 801. a fixing clamp base; 802. a bed body fixing clamp; 803. a fixing belt; 804. and (5) fixing bolts.

Detailed Description

The technical scheme of the utility model is further specifically described below through specific embodiments and with reference to the accompanying drawings. It should be understood that the practice of the utility model is not limited to the following examples, but is intended to be within the scope of the utility model in any form and/or modification thereof.

In the present utility model, unless otherwise specified, all parts and percentages are by weight, and the equipment, materials, etc. used are commercially available or are conventional in the art. The methods in the following examples are conventional in the art unless otherwise specified. The components and devices in the following examples are, unless otherwise indicated, all those components and devices known to those skilled in the art, and their structures and principles are known to those skilled in the art from technical manuals or by routine experimentation.

In the following detailed description of embodiments of the utility model, reference is made to the accompanying drawings, in which, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the utility model. However, one or more embodiments may be practiced by one of ordinary skill in the art without these specific details.

As shown in fig. 1, an embodiment of the present utility model discloses a four-degree-of-freedom hip joint passive motion rehabilitation device, which comprises a body 1, a motion simulation component and a control component.

The motion simulation assembly is arranged at the top of the machine body 1 and comprises a Z-axis electric push rod 2, a Y-axis electric push rod 3, an X-axis electric push rod 4, a universal connector 5 and a leg fixing part 6, and the Z-axis electric push rod 2, the Y-axis electric push rod 3 and the X-axis electric push rod 4 are respectively and electrically connected with the control assembly. The fixed end of Z axle electric putter 2 is connected organism 1 top, and the flexible end of Z axle electric putter 2 and the fixed end fixed connection of Y axle electric putter 3, the flexible end of Y axle electric putter 3 and the fixed end fixed connection of X axle electric putter 4, the flexible end of X axle electric putter 4 passes through universal connector 5 and connects leg fixed part 6.

And a gyroscope attitude sensor 7 is further arranged between the universal connector 5 and the leg fixing part 6, the top of the gyroscope attitude sensor 7 is fixedly connected with the universal connector 5, the bottom of the gyroscope attitude sensor 7 is fixedly connected with the leg fixing support, and the gyroscope attitude sensor 7 is electrically connected with the control assembly. The gyroscope attitude sensor 7 can adopt attitude sensors such as 9-axis AHRS, MEMS and the like, supports ROS1/ROS2, supports STM2 resolving codes and provides data protocols of C/C++, including ModBus protocol and Kalman filtering technology. The gyro attitude sensor 7 is used to transmit a motion attitude signal of the leg fixing unit 6 to the control unit, so that the control unit makes corresponding control on the Z-axis electric putter 2, the Y-axis electric putter 3, the X-axis electric putter 4, and a rotary motor 603 described later, based on the motion attitude signal.

As shown in fig. 2, the universal connector 5 includes a ball base 501, a swivel ball 502, and a locking member 503. The ball base 501 is provided with an inner cavity for accommodating the rotary ball 502, the side of the inner cavity is open and is communicated with the outside of the ball base 501, and the ball base 501 is fixedly connected with the top of the connecting leg fixing part 6. The rotating ball 502 is embedded in the inner cavity and can rotate relative to the cavity wall of the inner cavity, the rotating ball 502 is fixedly connected with the telescopic end of the X-axis electric push rod 4, and the caliber of the opening at the side part of the inner cavity is larger than the diameter of the telescopic end of the X-axis electric push rod 4. The locking member 503 is threadably coupled to the ball mount 501 adjacent the side opening of the cavity.

In order to adjust the contact friction force of the cavity wall of the inner cavity of the ball base 501 to the rotary ball 502 through the locking piece 503, so that the rotary ball 502 has a certain locking force when rotating relative to the ball base 501, the part of the ball base 501 adjacent to the side opening of the inner cavity is a conical body 504, the conical body 504 extends towards the direction away from the inner cavity, the outer surface of the conical body 504 is provided with threads, the middle part of the locking piece 503 is provided with a conical hole 505 penetrating through the locking piece 503, the shape of the inner wall of the conical hole 505 is matched with the shape of the outer wall of the conical body 504, the inner wall of the conical hole 505 is provided with threads, and the minimum aperture of the conical hole 505 is larger than the diameter of the telescopic end of the X-axis electric push rod 4. In this embodiment, the connection position of the locking member 503 and the tapered body 504 is set such that the rotation angle of the rotating ball 502 with respect to the ball base 501 reaches ±20° in each of the horizontal plane and the vertical plane.

As shown in fig. 3, the leg fixing member 6 includes a leg fixing bracket that is connected to the universal connector 5 and is capable of rotational movement with respect to the X-axis electric putter 4, a rotating motor 603 fixedly connected to the leg fixing bracket, a gear member 604, a rack member 605, and a leg strap member 606, and an output end of the rotating motor 603 is connected to the gear member 604. The gear member 604 is engaged with the rack member 605, the rack member 605 is in sliding fit with the leg fixing bracket, and the leg strap member 606 is fixedly connected with the rack member 605. The rotating motor 603 is electrically connected to the control assembly. The leg strap member 606 is made of a flexible textile material or leather material, and is provided with a hair button and a stab button capable of being adhered to each other on the surface thereof, thereby securing the lower limb of the patient after the operation.

Specifically, the leg fixing support comprises a motor shell 601 and an arc-shaped base 602, a rotating motor 603 and a gear piece 604 are arranged in the motor shell 601, the bottom of the motor shell 601 is fixedly connected with the top of the arc-shaped base 602, a first sliding groove for supporting the bottom of a tooth condition 605 is formed in the surface of the arc-shaped base 602, the shape of the rack piece 605 is matched with that of the arc-shaped base 602, the bottom of the rack piece 605 is connected with the first sliding groove and can slide relative to the first sliding groove, and a plurality of tooth-shaped portions for engaging and connecting the gear piece 604 are arranged at the top of the tooth condition 605.

In this embodiment, the machine body 1 is provided with a bed body connecting component 8 for connecting the bed body and the position of the fixed bed body opposite to the machine body 1.

Specifically, as shown in fig. 4, the bed body connecting assembly 8 includes a fixing clamp base 801, a bed body fixing clamp 802, a fixing strap 803 and a fixing bolt 804, the fixing clamp base 801 is fixedly connected with a side portion of the machine body 1, the fixing clamp base 801 is provided with a second sliding groove, the bed body fixing clamp 802 is slidably connected with the fixing clamp base 801 through the second sliding groove, a space is provided between a part of an inner wall of the bed body fixing clamp 802 and an outer wall of the fixing clamp base 801, the fixing strap 803 is arranged on the bed body fixing clamp 802, the fixing bolt 804 is arranged on the bed body fixing clamp 802, and an end portion of the fixing bolt 804 can be abutted against the fixing clamp base 801.

When the machine body 1 is fixed with the bed body of the postoperative patient, the fixing bolt 804 is unscrewed, the bed body fixing clamp 802 is slid, so that the height of the bed body fixing clamp 802 relative to the fixing clamp base 801 is adjusted, when the proper height of the matched bed body is achieved, the bed body fixing clamp 802 clamps a part of the bed body between the inner wall of the bed body fixing clamp 802 and the outer wall of the fixing clamp base 801, the fixing bolt 804 is screwed, the relative positions of the bed body fixing clamp 802 and the fixing clamp base 801 are locked, and the fixing belt 803 can be further fastened by bypassing the bed body fixing clamp base 801, so that the relative positions of the machine body 1 and the bed body are more stable.

In this embodiment, the bottom of the machine body 1 is provided with the caster 9, the caster 9 is provided with a locking component, the caster 9 improves the moving portability of the machine body 1, and the locking component is used for locking the caster 9 when the machine body 1 reaches a specified position, so that the machine body cannot roll. The castor 9 with locking members belongs to the prior art and the specific construction is not described in detail.

In this embodiment, the control assembly includes a microcomputer control processor 10, a man-machine interaction part 11 and a display part 12 that are electrically connected, the microcomputer control processor 10 is disposed inside the machine body 1, the man-machine interaction part 11 and the display part 12 are disposed at the top of the machine body 1, in this embodiment, the man-machine interaction part 11 is a keyboard, the display part 12 is a display, and the microcomputer control processor 10 is electrically connected to the Z-axis electric putter 2, the Y-axis electric putter 3, the X-axis electric putter 4 and the rotating motor 603, respectively. In order to improve the use safety, the control assembly further comprises an emergency switch 13, the emergency switch 13 is electrically connected with the microcomputer control processor 10, and the emergency switch 13 is arranged at the top of the machine body 1. In an emergency, the microcomputer control processor 10 and the power supply to the Z-axis electric push rod 2, the Y-axis electric push rod 3, the X-axis electric push rod 4 and the rotating motor 603 can be rapidly cut off by operating the emergency switch 13, so that emergency shutdown is realized.

The working principle of the four-degree-of-freedom hip joint passive motion rehabilitation device is that three degrees of freedom motions of a patient lower limb fixed by a leg fixing part 6 positioned at the telescopic end of an X-axis electric push rod 4 are respectively realized through linear telescopic motions of the Z-axis electric push rod 2, a Y-axis electric push rod 3 and an X-axis electric push rod 4, namely, the Z-axis motion, the Y-axis motion and the X-axis motion shown in fig. 6 shown in fig. 5, a tooth condition 605 is driven to move relative to a gear member 604 through rotation of a rotating motor 603, swinging motions of one degree of freedom of the patient lower limb are realized, namely, the G-axis motion shown in fig. 6, the universal connector 5 also supports rotary motions of the leg fixing part 6 relative to the telescopic end of the X-axis electric push rod 4, namely, the G-axis motion shown in fig. 5, finally, four degrees of freedom motions of the patient lower limb are realized, and in the motion process, a gyroscope posture sensor 7 transmits motion posture signals of the leg fixing part 6 to a control assembly, so that the control assembly correspondingly controls the Z-axis electric push rod 2, the Y-axis electric push rod 3, the X-axis electric push rod 4 and the rotating motor 603 according to the motion posture signals.

The four-degree-of-freedom hip joint passive motion rehabilitation device improves the simulation degree of human hip joint motion, and well simulates the normal hip joint motion posture of a human body, so that the hip joint passive motion rehabilitation effect of a postoperative patient is improved.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims

1. The utility model provides a four degrees of freedom hip joint passive motion rehabilitation device which characterized in that: the four-degree-of-freedom hip joint passive motion rehabilitation device comprises a machine body (1), a motion simulation assembly and a control assembly, wherein the motion simulation assembly is arranged at the top of the machine body (1), the motion simulation assembly comprises a Z-axis electric push rod (2), a Y-axis electric push rod (3), an X-axis electric push rod (4), a universal connector (5) and a leg fixing component (6), the fixed end of the Z-axis electric push rod (2) is connected with the top of the machine body (1), the telescopic end of the Z-axis electric push rod (2) is fixedly connected with the fixed end of the Y-axis electric push rod (3), the telescopic end of the Y-axis electric push rod (3) is fixedly connected with the fixed end of the X-axis electric push rod (4), and the telescopic end of the X-axis electric push rod (4) is connected with the leg fixing component (6) through the universal connector (5); the leg fixing part (6) comprises a leg fixing support, a rotating motor (603), a gear part (604), a rack part (605) and a leg binding belt part (606), wherein the leg fixing support is connected with the universal connector (5) and can rotate relative to the X-axis electric push rod (4), the rotating motor (603) is fixedly connected with the leg fixing support, the output end of the rotating motor (603) is connected with the gear part (604), the gear part (604) is meshed with the rack part (605), the rack part (605) is in sliding fit with the leg fixing support, and the leg binding belt part (606) is fixedly connected with the rack part (605); the control component is respectively and electrically connected with the Z-axis electric push rod (2), the Y-axis electric push rod (3), the X-axis electric push rod (4) and the rotating motor (603).

2. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: and a gyroscope attitude sensor (7) is further arranged between the universal connector (5) and the leg fixing part (6), the top of the gyroscope attitude sensor (7) is fixedly connected with the universal connector (5), the bottom of the gyroscope attitude sensor (7) is fixedly connected with the leg fixing support, and the gyroscope attitude sensor (7) is electrically connected with the control assembly.

3. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: the universal connector (5) comprises a ball base (501), a rotating ball (502) and a locking piece (503); an inner cavity for accommodating the rotary ball (502) is formed in the ball base (501), the side part of the inner cavity is open and is communicated with the outside of the ball base (501), and the ball base (501) is fixedly connected with the top of the connecting leg fixing part (6); the rotating ball (502) is embedded in the inner cavity and can rotate relative to the cavity wall of the inner cavity, the rotating ball (502) is fixedly connected with the telescopic end of the X-axis electric push rod (4), and the caliber of an opening at the side part of the inner cavity is larger than the diameter of the telescopic end of the X-axis electric push rod (4); the locking piece (503) is in threaded connection with the ball base (501) at a position adjacent to the side opening of the inner cavity.

4. A four degree of freedom hip joint passive motion rehabilitation device according to claim 3, wherein: the ball base (501) is adjacent to the side opening of the inner cavity and is provided with a conical body (504), the conical body (504) extends towards the direction far away from the inner cavity, the outer surface of the conical body (504) is provided with threads, the middle part of the locking piece (503) is provided with a conical hole (505) penetrating through the locking piece (503), the shape of the inner wall of the conical hole (505) is matched with the shape of the outer wall of the conical body (504), the inner wall of the conical hole (505) is provided with threads, and the minimum aperture of the conical hole (505) is larger than the diameter of the telescopic end of the X-axis electric push rod (4).

5. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: leg fixed bolster includes motor housing (601) and arc base (602), rotating electrical machines (603) with gear (604) are located in motor housing (601), motor housing (601) bottom and arc base (602) top fixed connection, arc base (602) surface is equipped with and is used for the bearing the first spout of rack spare (605) bottom, the shape of rack spare (605) match in arc base (602), the bottom of rack spare (605) meet with first spout and can slide for first spout, the top of tooth condition (605) is equipped with a plurality of tooth profile portion that are used for meshing connection gear (604).

6. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: the machine body (1) is provided with a bed body connecting component (8) which is used for connecting the bed body and is arranged at the opposite position of the fixed bed body and the machine body (1).

7. The four degree of freedom hip joint passive motion rehabilitation device according to claim 6, wherein: the bed body coupling assembling (8) include fixation clamp base (801), bed body fixation clamp (802), dead band (803) and fixing bolt (804), fixation clamp base (801) are equipped with the second spout with organism (1) lateral part fixed connection, bed body fixation clamp (802) have the interval through second spout and fixation clamp base (801) sliding connection between a part of inner wall and fixation clamp base (801) outer wall of bed body fixation clamp (802), on bed body fixation clamp (802) are located to dead band (803), on bed body fixation clamp (802) are located to fixing bolt (804), and the tip of fixing bolt (804) can butt fixation clamp base (801).

8. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: the bottom of the machine body (1) is provided with a castor (9), and the castor (9) is provided with a locking part.

9. The four degree of freedom hip joint passive motion rehabilitation device according to claim 1, wherein: the control assembly comprises a microcomputer control processor (10), a man-machine interaction part (11) and a display part (12) which are electrically connected, wherein the microcomputer control processor (10) is arranged inside the machine body (1), the man-machine interaction part (11) and the display part (12) are arranged at the top of the machine body (1), and the microcomputer control processor (10) is electrically connected with the Z-axis electric push rod (2), the Y-axis electric push rod (3), the X-axis electric push rod (4) and the rotating motor (603) respectively.

10. The four degree of freedom hip joint passive motion rehabilitation device according to claim 9, wherein: the control assembly further comprises an emergency switch (13), the emergency switch (13) is electrically connected with the microcomputer control processor (10), and the emergency switch (13) is arranged at the top of the machine body (1).