1293889 九、發明說明： 【發明所屬之技術領域】 本案係指一種復健裝置，尤指一種下肢復健裝置。 【先前技術】 習用復健裝置主要係固定於復健專用機具上，組裝 後體積龐大，而一般使用復健裝置的人大多為臥病在床 或行動不便，故需要他人協助攙扶才可操作運動，使用 上極為不便，故復健效果科彡。3U議目前已知的醫療 設備或是已揭的新型翻，仍未能提供任何_於體關 節牽引復健的設計，故帛-具有髖關節牽引復健功能的 牽引復健機，以使髖關節方面的病患得到確實有效的治 療及復健。 /〇 目前復健工作多由醫院的復健師來擔任，惟在復健 過程中，施力的角度、大小皆不易控制，使得病患無法 獲知元整的復健。又目前所使用之機械式復健機僅能幫 助下肢之一關節作單純之彎曲、伸張動作，無法同時幫 助體、膝及踩關節作復健運動，其功能仍十分簡單，故 下肢關節未能充分運動到。 傳統的復健設備往往都僅局限於單一軸向的功能設 計，但是單一軸向的復健設備並不一定能適合病患以及 復健師，其除了缺少安全性以及實用性的考量之外，病 患在復健過程中亦缺乏舒適性，故仍亟待改進，以期望 能設計出真正適合人體復健的復健設備。 台灣專利321903中提出一下肢癱疾之功能復健機， 6 1293889 其係針對病患的髖關節部分，設計一可進行垂直轴方向 的運動機構，使病患的髖關節可進行垂直軸方向的復健 動作，且其可安裝於病床床台上，惟，病患本身不易安 裝該復健機構，且病患在腿部伸展時，其髖關節容易與 该復健機構干涉，造成病患在使用上的不便。 而在台灣專利246827中提出一動態關節復健機，其 係針對病患的髖關節、膝關節以及腰部之復健所設計的 復健機。其不僅可以針對病患的髖關節、膝關節以及腰 部進行復健，且可安裝至於病床床台上，惟，該復健機 無法同時對病患的髖關節與膝關節進行復健，且病患的 腿部在伸長時容易與該復健機構干涉，亦造成病患在使 用上的不便。 又在台灣專利555555中提出一腳踝關節復健機，其 係在病患的踝關節部分，增加一可進行左右方向運動的 機構設計，以方便病患對踝關節進行一復健動作，其更 可針對病患的左右方向進行復健，惟，該復健機在病患 的腿部伸長時容易與該復健機的一傳動馬達干涉，故有 改良之必要。 故鏜於習知方式之缺失，發明人乃經悉心試驗與研 究’並一本鍥而不捨之精神，終於研發出此一下肢復健 裝置。 【發明内容】 本案提出一種下肢復健裝置，其採用類似機械臂的 方式進行設計，由於考量使用者的安全㈣及不同使用 7 1293889 者的腿長，故設計-安全防護元件及—腿長調整元件， 以提高其安全鋪適祕。本案之下肢復健裝置可對使 用者的各祕進行錄動作，觀完成下紐健。 本案之主要構想為提供一種下肢復健裝置，其包 含·-第y機械臂以及-第二機械臂。其中該第一機械 臂的-端X-第-馬達驅動以作獅動作；以及該第二 麵臂的-端係連接於該第—馬達上，另—端則以一第 二馬達驅動’連同該第—機械伽作勘動作。 根據上述構想，其巾該第—馬達無第二馬達具有 一諧和式減速機構或-游心式減速機構，用以增加該第 一機械臂與該第二機械臂之一扭力。 一根據上述構想’其中該扭力係用以支撐—使用者之 一下肢的重量。 根據上述構想，其係利用連接於該第一馬達鱼 工周圍的一安全防護板在接觸到其所具有的二安全 = 該第—機械臂與該第二機械臂作擺動動 作使该擺動動作在一安全角度内進行。 別你ί據ΐ述構想，其係包含至少二腿長調整元件，分 4於该第一機械臂與該第二機械臂内。 螺桿ί據其㈣物長鮮轉具有-傳動 2據上賴想，其t料腿長輕元賴 i馬建驅動該傳動螺桿，_整該第 广亥微 機械臂的長度。 /弟機械臂與該第二 8 1293889 足部承靠元件，利用一 一侧，以達到一左右互 根據上述構想，其係包含一 拆卸式元件樞接於該第一馬達的 換功能。 根據上述構想，其係包含至少二腿縣靠元件，分 別利用-插銷樞接於該第—機械臂與該第二機械臂的一 侧，以達到該左右互換功能。 #根據上述構想，其中該第二機械臂連同該第一機械 ί作擺動動作以產生髖關節與膝關節復健動作。 人本案之另一構想為提供一種下肢復健裝置，其包 含·一第-機械臂以及-第二機械臂。其中該第一機械 臂的-端係連接於-第-馬達上，另—端受—第二馬達 ^以作擺動動作；以及該第二機械臂的_端係連接於 該第二馬達上，另—端則受—第三馬達购，連同該第 一機械臂以作擺動動作。 # 一根據上述構想，其中該第_馬達、該第二馬達與該 第二馬達具有一諧和式減速機構或一游心式減速機構， 用以增加該第一機械臂與該第二機械臂之_扭力。 根據上述構想，其中該扭力係用以支撐一使用者之 下肢的重量。 根據上述構想，其係包含至少三安全防護元件，分 別位於4第—馬達、該第二馬達與該第三馬達的周圍， 使該擺動動作在一安全角度内進行。 根據上述構想，其中遠等安全防護元件具有一安全 防護板與一安全插銷。 1293889 根據上賴想，其巾該第—馬達、該第 第三馬達帶動該等安全防敵。 馬達與該 根據上述構想’財辦安全喊板接觸丨， :銷時’該第-機械臂舆該第二機械臂即停止;;2 一根據上述構想，其係利用位於該第-機械臂歲 一機械臂内的—微型馬達驅動與其連接的—傳^=卓 以該[機械臂與該第二機械臂的長度。，、干， 辟从根據上述構想，其巾該第二賊臂連同該第-播兒 作= 產生髖關節、膝關節或踝關節復健動作: 中該第-機械臂的—端及一升降機構。其 H b 鳊係連接於一第一馬達上，另—端 車接二’、驅動以作擺動動作；該第二機械臂的—端 係連接於該第二馬達上，另 ^ ^ 於該第三馬達上，：==Γ及該升降機構係連接 驅動該第二機械^^^^之—馬達與―螺桿，以 連间該第一機械臂作升降動作。 第三構想，其中該第—馬達、該第二馬達與該 m^ 一堦和式減速機構或一游心式減速機構， 以曰加4第-機械臂與該第二機械臂之一扭力。 丁 ^上述構想’其中該扭力係用以支撐一使用者之 一下肢的重量。 根據上述構想，其係利用連接於該第一馬達、該第 1293889 馬達與該弟二馬達周圍的一安全防護板在接觸到其所 具有的一安全插稍時，即停止該第一機械臂與該第二機 械臂作擺動動作，使該擺動動作在一安全角度内進 根據上述構想，其係利用位於該第一機械臂與該第 二機械臂内的一微型馬達驅動與其連接的一傳動螺桿， 以調整該第一機械臂與該第二機械臂的長度。 根據上述構想，其中該第二機械臂連同該第一機械 臂作擺動動作以產生髖關節、膝關節或踝關節復健動作。 根據上述構想，其中該升降機構驅動該第二機械臂 連同该第一機械臂作升降動作，以使該第一機械臂及該 第二機械臂與一病床台同高。 人 【實施方式】 本案將可由以下的實施例說明而得到充分的瞭解， 使知熟習本方法之人士可以據以完成之，然本案之實施 並非可由下列實施例而被限制其實施型態。 一立請參閱第一圖，其係本案之下肢復健裝置之機械臂 不意圖。該下肢復健裝置100係包含：踏板im、第—馬 ，102、第一機械臂103、第二機械臂104、第二馬達1〇5\ 第二馬達106、安全防護元件107、108與109、腿長調 整兀件110與111、足部承靠元件m以及麟承靠元件 113^與114 °其中該第一機械臂103與第二機械臂104係 與第一馬達102、第二馬達105及第三馬達1〇6作—串接 式馬達運動方式，第一馬達102、第二馬達105與第三馬 達1〇6即為下肢復健裝置1〇〇的三個關節轴，意即第一 11 1293889 機械臂103以第一馬達102與踏板101樞接，對使用者 進行踝關節的復健動作；第二機械臂1〇4的一端以第二 馬達105與第一機械臂103樞接，而另一端與第三馬達 106樞接’以分別對使用者進行膝關節與髖關節的復健動 作。因第一馬達102、苐二馬達1〇5與第三馬達ι〇6係藉 由响和式與游心式的減速機構增加扭力，下肢復健裝置 100即是利用該扭力支撐使用者下肢的重量，以進行下肢 復健動作。又安全防護元件107、1〇8與1〇9係分別位於 第一馬達102、第二馬達1〇5與第三馬達1〇6的周圍，以 使下肢復健動作在一安全角度内進行。 為使本案下肢復健裝置100的長度能依使用者的下 肢長度作調整，以提高其適用性，於是分別在第一機械 臂103與第二機械臂104内裝設腿長調整元件11〇與 m，該腿長調整元件no與ln分別具有傳動螺桿115 與116以及微型馬達117與118。故若欲增加下肢復健裝 置100的長度時，只需啟動微型馬達117與118，以帶動 傳動螺桿115與116，使第一機械臂1〇3與第二機械臂 104進行直線運動；相反地，若欲縮短下肢復健裝置1〇〇 的長度時，只需反向啟動微型馬達117與118即可。 使用者的下肢與第一機械臂1〇3及第二機械臂1〇4 接觸係藉由足部承靠元件U2以及腿部承靠元件113與 114進行承靠，其中該足部承靠元件U2係利用拆卸式元 件119樞接於第一馬達1〇2的一侧；而腿部承靠元件113 與114係利用插銷12〇與12ι分別樞接於第一機械臂1〇3 12 1293889 與弟二機械臂104的一側。為使使用者的左右下肢比可 以進打復觸作’故可概帛相絲_料白 及插銷120與⑵進行拆卸與組裝，以使足部承 =及腿部承靠元件⑴與m達到左右互換的功能，提 咼本案下肢復健裝置100的適用性。 請參閱第二圖，其係本案之下肢復健震置之安全防 護元件示意圖。安全防護元件係包含安全防護板201鱼 安全插鎖202，其中該安全防護板2〇1係裝設於馬達挪 的周圍；安全插鎖2G2則位於安全防護板的環型溝 槽2〇4内。若在復健的運動過程中，機械臂挪超出所 設定的安全角度時，由馬達203所帶動的安全防護板避 即會接觸到安全插銷202，此時復健動作將會停止，而不 會對人體造成額外的傷害，進而提高使用時的安全性。 請參閱第三圖，其係本案之下肢復健裝置之升降機 構示意圖。升降機構301係樞接於下肢復健裝置3〇2的 一侧，用以使下肢復健裝置3〇2進行升降動作。該升降 機構301係包含驅動馬達303、螺桿3〇4、傳動元件3〇5 與線性執道306。當驅動馬達3〇3啟動時將帶動螺桿304 旋轉，由於下肢復健裝置3〇2係藉由傳動元件3〇5與螺 桿304連接，故螺桿304旋轉時，下肢復健裝置3〇2即 會依旋轉方向在線性執道306上進行直線升降的動作， 而達到調整下肢復健裝置302與病床等高的目的，提高 其適用性。 綜上所述，本案係提供一多功能的下肢復健裝置， 13 其以第一機械臂及第二機械臂與第一馬達、第二馬達及 ^馬達Φ接的三軸機械臂，對制者的下肢進行踩關 即復健動作、膝關節復健動作與髖關節復健動作，並可 對使用者的任意二關節同時進行復健。此外，配合安全 護元件、腿長調整元件與升降機構的設計，更大幅提 同下肢復健裝置的安全性與細性，域床無須其他裝 置即可對使用者直接進行復健。 縱使本發明已由上述之實關詳細敘述而可由熟悉 本技藝之人士任施匠思而為諸般修飾，然皆不脫如附申 請專利範圍所欲保護者。 【圖式簡單說明】 ^一圖：其係本案之下肢復健裝置之機械臂示意圖； 第二圖：其係本案之下肢復健裝置之安全防護元件 示意圖，·及 第三圖:其係本案之下肢復健裝置之升降機構示意 圖。 【主要元件符號說明】 100, 302:下肢復健裝置 101:踏板 102:第一馬達 103:第一機械臂 110，111:腿長調整元件 112:足部承靠元件 113，114··腿部承靠元件 104:第二機械臂 105··第二馬達 106:第三馬達 107,108,109:安全防護元件 203:馬達 204:環型溝槽 205:機械臂 1293889 115,116:傳動螺桿 117，118:微型馬達 119:拆卸式元件 120,121:插銷 201·.安全防護板 202:安全插銷 30l·升降機構 303:驅動馬達 304:螺桿 305:傳動元件 306:線性軌道 151293889 IX. Description of the invention: [Technical field to which the invention pertains] This case refers to a rehabilitation device, especially a lower limb rehabilitation device. [Prior Art] The conventional rehabilitation device is mainly fixed on the special equipment for rehabilitation. It is bulky after assembly, and most people who use the rehabilitation device are mostly sick or inconvenient, so they need to be assisted by others to operate. It is extremely inconvenient to use, so the rehabilitation effect is scientific. 3U is currently known medical equipment or a new type of reversal, still can not provide any design of body joint traction rehabilitation, so 帛 - traction rehabilitation machine with hip traction rehabilitation function to make the hip Patients with joints receive truly effective treatment and rehabilitation. /〇 At present, most of the rehabilitation work is carried out by the hospital's rehabilitation staff. However, in the process of rehabilitation, the angle and size of the force are not easy to control, making it impossible for the patient to know the rehabilitation. At present, the mechanical rehabilitation machine used can only help one of the lower limb joints to bend and stretch, and can not help the body, knee and step joints to perform rehabilitation exercises at the same time. Its function is still very simple, so the lower limb joints fail. Fully moved to. Traditional rehabilitation equipment is often limited to a single axial functional design, but a single axial rehabilitation device may not be suitable for patients and rehabilitation workers, in addition to lack of safety and practical considerations, the disease There is also a lack of comfort during the rehabilitation process, so it is still urgent to improve, in the hope of designing a rehabilitation device that is truly suitable for human rehabilitation. Taiwan Patent No. 321903 proposes a functional rehabilitation machine for limb dysentery, 6 1293889 which is designed to target the hip joint of a patient, and to design a motion mechanism in the vertical axis direction so that the hip joint of the patient can be in the vertical axis direction. Rehabilitation action, and it can be installed on the bed of the bed, but the patient itself is not easy to install the rehabilitation mechanism, and when the patient stretches the leg, the hip joint easily interferes with the rehabilitation mechanism, causing the patient to Inconvenience in use. In Taiwan Patent No. 246,827, a dynamic joint rehabilitation machine is proposed, which is a rehabilitation machine designed for rehabilitation of the hip, knee and waist of a patient. It can not only rehabilitate the hip, knee and waist of the patient, but can be installed on the bed of the bed. However, the rehabilitation machine can not rehabilitate the hip and knee joints of the patient at the same time, and the disease The affected leg is easy to interfere with the rehabilitation mechanism when it is stretched, which also causes inconvenience to the patient. In Taiwan Patent No. 555555, a foot ankle rehabilitation machine is proposed, which is attached to the ankle joint portion of the patient, and a mechanism for moving in the left and right direction is added to facilitate the patient to perform a rehabilitation action on the ankle joint. The rehabilitation can be performed in the left and right direction of the patient. However, the rehabilitation machine is likely to interfere with a transmission motor of the rehabilitation machine when the leg of the patient is extended, so that it is necessary to improve. Therefore, in the absence of the conventional method, the inventor has carefully developed the lower limb rehabilitation device through careful testing and research. SUMMARY OF THE INVENTION The present invention proposes a lower limb rehabilitation device which is designed in a manner similar to a mechanical arm. Since the safety of the user (4) and the leg length of the different 7 1293889 are considered, the design-safety protection element and the leg length adjustment are provided. Components to improve their safety and lay a secret. In this case, the lower limb rehabilitation device can record the secrets of the user and observe the completion of the next key. The main idea of the present invention is to provide a lower limb rehabilitation device comprising a -y-th robot arm and a second robot arm. Wherein the first end of the first arm is driven by the X-th motor to act as a lion; and the end of the second arm is connected to the first motor, and the other end is driven by a second motor. The first-mechanical gamma is used for surveying. According to the above concept, the second motor of the first motor has a harmonic reduction mechanism or a trajectory reduction mechanism for increasing the torque of the first mechanical arm and the second mechanical arm. According to the above concept, wherein the torque is used to support the weight of the lower limb of the user. According to the above concept, the utility model adopts a safety shield attached to the periphery of the first motor fisherman to contact the two safetys that the motorcycle has a second mechanical arm and the second mechanical arm to make the swinging motion Performed within a safe angle. In other words, the system includes at least two leg length adjustment elements, which are divided into the first robot arm and the second robot arm. According to its (four) material long fresh turn-drive 2 according to the idea, its t material leg length light yuan Lai Ma Ma drive the drive screw, _ the length of the first Guanghai micro-mechanical arm. The second arm member and the second 8 1293889 foot bearing member, utilizing one side to achieve a left and right mutual. According to the above concept, the detachable member is pivotally connected to the first motor. According to the above concept, the system includes at least two legs and a component, and the latch is pivotally connected to one side of the first arm and the second arm to achieve the left and right interchange function. #According to the above concept, wherein the second robot arm performs a swinging motion together with the first mechanical motion to generate hip joint and knee joint rehabilitation actions. Another concept of the present invention is to provide a lower limb rehabilitation device comprising a first-mechanical arm and a second mechanical arm. Wherein the first end of the first arm is connected to the -first motor, the other end is subjected to the swinging action of the second motor; and the end of the second arm is connected to the second motor. The other end is received by the third motor, together with the first robot arm for swinging action. #1 according to the above concept, wherein the first motor, the second motor and the second motor have a harmonic speed reduction mechanism or a center-of-heart speed reduction mechanism for increasing the first robot arm and the second robot arm _ Torque. According to the above concept, the torque is used to support the weight of a user's lower limb. According to the above concept, it comprises at least three safety protection elements, respectively located around the 4th motor, the second motor and the third motor, such that the oscillating motion is performed within a safe angle. According to the above concept, the remote safety protection element has a safety shield and a safety latch. 1293889 According to Shang Lai, the first motor and the third motor drive the safety and anti-enemy. The motor is in contact with the financial security board according to the above concept: when the pin is sold, the second arm is stopped; 2 according to the above concept, the system is located at the first arm The length of the [mechanical arm and the second arm] is driven by a micromotor in a robotic arm. According to the above concept, the second thief arm together with the first-playing child produces a hip, knee or ankle rehabilitation action: the end of the first-mechanical arm and a lifting mechanism. The H b 鳊 is connected to a first motor, and the other end is connected to the second motor, and is driven to swing; the end of the second mechanical arm is connected to the second motor, and the second On the three motors, :==Γ and the lifting mechanism are connected to drive the second mechanical motor and the screw to connect the first mechanical arm for lifting movement. A third concept, wherein the first motor, the second motor, and the m-type deceleration mechanism or a center-of-the-art speed reduction mechanism are configured to apply a torque of one of the four first-mechanical arms and the second mechanical arm. The above concept is that the torque is used to support the weight of a lower limb of a user. According to the above concept, when a safety plug that is connected to the first motor, the 1293889 motor and the second motor is contacted with a safety plug, the first arm is stopped. The second robot arm performs a swinging motion to advance the swinging motion at a safe angle. According to the above concept, a driving screw connected thereto is driven by a micro motor located in the first mechanical arm and the second mechanical arm. , to adjust the length of the first robot arm and the second robot arm. According to the above concept, the second mechanical arm is oscillated together with the first mechanical arm to generate a hip joint, knee joint or ankle rehabilitation action. According to the above concept, the lifting mechanism drives the second robot arm together with the first robot arm for raising and lowering to make the first robot arm and the second robot arm the same height as a hospital bed. [Embodiment] The present invention will be fully understood by the following examples, so that those skilled in the art can implement the present invention. However, the implementation of the present invention may not be limited by the following embodiments. Please refer to the first figure for the first time, which is not intended for the robotic arm of the lower limb rehabilitation device. The lower limb rehabilitation device 100 includes a pedal im, a first horse, 102, a first robot arm 103, a second robot arm 104, a second motor 1〇5, a second motor 106, and safety protection elements 107, 108 and 109. The leg length adjusting elements 110 and 111, the foot bearing member m, and the lining bearing members 113 and 114 °, wherein the first mechanical arm 103 and the second mechanical arm 104 are coupled to the first motor 102 and the second motor 105 And the third motor 1〇6 is a series-type motor movement mode, and the first motor 102, the second motor 105 and the third motor 1〇6 are three joint axes of the lower limb rehabilitation device 1,, that is, the first An 11 1293889 robot arm 103 is pivotally connected to the pedal 101 by the first motor 102 to perform a rehabilitation operation of the ankle joint to the user; one end of the second robot arm 1〇4 is pivotally connected to the first robot arm 103 by the second motor 105. The other end is pivotally coupled to the third motor 106 to perform a rehabilitation action on the knee joint and the hip joint, respectively. Since the first motor 102, the second motor 1〇5, and the third motor ι6 are increased in torque by the ringing type and the center-of-the-heart type speed reducing mechanism, the lower limb rehabilitation device 100 uses the torque to support the lower limb of the user. Weight for the lower limbs to rehabilitate. Further, the safety guard elements 107, 1〇8 and 1〇9 are located around the first motor 102, the second motor 1〇5 and the third motor 1〇6, respectively, so that the lower limb rehabilitation operation is performed within a safe angle. In order to adjust the length of the lower limb rehabilitation device 100 according to the length of the lower limb of the user to improve the applicability, the leg length adjusting member 11 and the second robot arm 104 are respectively disposed in the first robot arm 103 and the second robot arm 104 respectively. m, the leg length adjusting members no and ln have transmission screws 115 and 116 and micro motors 117 and 118, respectively. Therefore, if it is desired to increase the length of the lower limb rehabilitation device 100, it is only necessary to activate the micromotors 117 and 118 to drive the transmission screws 115 and 116 to linearly move the first robot arm 1〇3 and the second robot arm 104; If it is desired to shorten the length of the lower limb rehabilitation device, it is only necessary to reversely activate the micromotors 117 and 118. The lower limbs of the user are in contact with the first robot arm 1〇3 and the second robot arm 1〇4 by the foot bearing member U2 and the leg bearing members 113 and 114, wherein the foot bearing member The U2 is pivotally connected to one side of the first motor 1〇2 by the detachable member 119; and the leg bearing members 113 and 114 are respectively pivotally connected to the first arm 1〇3 12 1293889 by the pins 12〇 and 12ι, respectively. One side of the second robot arm 104. In order to make the user's left and right lower limbs more than can be re-touched, it can be disassembled and assembled to make the foot bearing and the leg bearing components (1) and m reach The function of right and left interchange improves the applicability of the lower limb rehabilitation device 100 of the present invention. Please refer to the second figure, which is a schematic diagram of the safety protection components of the lower limbs in this case. The safety protection component comprises a safety protection plate 201 fish safety mortise lock 202, wherein the safety protection plate 2〇1 is installed around the motor movement; the safety mortise lock 2G2 is located in the annular groove 2〇4 of the safety protection plate. . If the mechanical arm moves beyond the set safety angle during the movement of the rehabilitation, the safety shield driven by the motor 203 will contact the safety latch 202, and the rehabilitation action will stop without Inflicts additional damage to the human body, which in turn increases safety during use. Please refer to the third figure, which is a schematic diagram of the lifting mechanism of the lower limb rehabilitation device in this case. The lifting mechanism 301 is pivotally connected to one side of the lower limb rehabilitation device 3〇2 for raising and lowering the lower limb rehabilitation device 3〇2. The lifting mechanism 301 includes a drive motor 303, a screw 3〇4, a transmission element 3〇5, and a linear guide 306. When the driving motor 3〇3 is activated, the screw 304 is rotated, and since the lower limb rehabilitation device 3〇2 is connected to the screw 304 by the transmission element 3〇5, when the screw 304 rotates, the lower limb rehabilitation device 3〇2 will The linear lifting operation is performed on the linear road 306 according to the rotation direction, and the purpose of adjusting the lower limb rehabilitation device 302 and the hospital bed is adjusted to improve the applicability. In summary, the present invention provides a multifunctional lower limb rehabilitation device, 13 which is a three-axis robot arm with a first mechanical arm and a second mechanical arm connected to the first motor, the second motor, and the motor Φ. The lower limbs perform the stepping-up, that is, rehabilitation exercises, knee rehabilitation exercises, and hip rehabilitation exercises, and can simultaneously reinforce any two joints of the user. In addition, with the design of the safety protection component, the leg length adjustment component and the lifting mechanism, the safety and fineness of the lower limb rehabilitation device are greatly increased, and the domain bed can directly rehabilitate the user without other devices. Even though the invention has been described in detail by the above-described details, it can be modified by those skilled in the art, and the invention is intended to be protected by the scope of the appended claims. [Simple diagram of the figure] ^1: It is a schematic diagram of the mechanical arm of the lower limb rehabilitation device of this case; The second picture is the schematic diagram of the safety protection component of the lower limb rehabilitation device of this case, and the third picture: Schematic diagram of the lifting mechanism of the lower limb rehabilitation device. [Description of main component symbols] 100, 302: Lower limb rehabilitation device 101: Pedal 102: First motor 103: First robot arm 110, 111: Leg length adjusting member 112: Foot bearing member 113, 114·· Leg Bearing element 104: second robot arm 105··second motor 106: third motor 107, 108, 109: safety protection element 203: motor 204: ring groove 205: robot arm 1293889 115, 116: transmission screw 117, 118: micro motor 119 : detachable component 120, 121: latch 201 · safety shield 202: safety latch 30l · lifting mechanism 303: drive motor 304: screw 305: transmission component 306: linear track 15