A four-degree-of-freedom hip joint passive motion rehabilitation device

Abstract

The present invention provides a four-degree-of-freedom hip joint passive motion rehabilitation device, comprising a body, a motion simulation component, and a control component. The motion simulation component 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 component. The fixed end of the Z-axis electric push rod is connected to the top of the body, the telescopic end of the Z-axis electric push rod is fixedly connected to the fixed end of the Y-axis electric push rod, the telescopic end of the Y-axis electric push rod is fixedly connected to the fixed end of the X-axis electric push rod, and the telescopic end of the X-axis electric push rod is connected to the leg fixing component via the universal connector. The leg fixing component comprises a leg fixing bracket, a rotating motor, a gear, a gear condition, and a leg strap. The present invention improves the degree of simulation of human hip joint motion, better simulates normal human hip joint motion posture, and thus improves the hip joint passive motion rehabilitation effect of postoperative patients.

Description

Technical Field

[0001] The present invention relates to a sports rehabilitation device, in particular to a four-degree-of-freedom hip joint passive sports rehabilitation device, belonging to the technical field of sports rehabilitation equipment. Background Art

[0002] The number of patients undergoing hip replacement surgery in clinical orthopedic surgery is increasing. Postoperatively, patients urgently need short-term hip joint exercise to stimulate muscles and nerves, thereby maintaining blood and nutrient flow. However, postoperative patients cannot move independently in the short term and require the use of passive motion devices to assist with movement. Passive motion devices use a power source such as a motor to drive the lower limbs, causing them to passively follow the movement.

[0003] In the existing technology, the passive motion rehabilitation device for the hip joint usually has only 1 degree of freedom or 2 degrees of freedom. The degree of freedom in a mechanical system refers to the number of independent coordinates of motion. That is, the passive motion rehabilitation device for the hip joint in the existing technology can only partially simulate the movement of the human hip joint. Its movement direction and movement posture are limited, and it cannot realize complex simulated human hip joint movement, which affects the passive motion rehabilitation effect of the hip joint of postoperative patients. Summary of the Invention

[0004] Based on the above background, the purpose of the present invention is to provide a four-degree-of-freedom hip joint passive motion rehabilitation device to improve the simulation degree of human hip joint motion and improve the hip joint passive motion rehabilitation effect of postoperative patients.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A four-degree-of-freedom hip joint passive motion rehabilitation device includes a body, a motion simulation component and a control component. The motion simulation component is arranged on the top of the body. The motion simulation component includes 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 component. The fixed end of the Z-axis electric push rod is connected to the top of the body, the telescopic end of the Z-axis electric push rod is fixedly connected to the fixed end of the Y-axis electric push rod, the telescopic end of the Y-axis electric push rod is fixedly connected to the fixed end of the X-axis electric push rod, and the telescopic end of the X-axis electric push rod is connected via a universal connector. The device is connected to the leg fixing component; the leg fixing component includes a leg fixing bracket, a rotating motor, a gear part, a gear condition and a leg strap part. The leg fixing bracket is connected to the universal connector and can rotate relative to the X-axis electric push rod. The rotating motor is fixedly connected to the leg fixing bracket. The output end of the rotating motor is connected to the gear part. The gear part is meshed with the gear condition. The gear condition slides with the leg fixing bracket, and the leg strap part is fixedly connected to the gear condition. The control component is electrically connected to the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod and the rotating motor respectively.

[0007] Preferably, a gyroscope attitude sensor is further provided between the universal connector and the leg fixing component, the top of the gyroscope attitude sensor is fixedly connected to the universal connector, the bottom of the gyroscope attitude sensor is fixedly connected to the leg fixing bracket, and the gyroscope attitude sensor is electrically connected to the control component.

[0008] Preferably, the universal connector includes a ball base, a rotating ball and a locking piece; the ball base is provided with an inner cavity for accommodating the rotating ball, the inner cavity side is open and connected to the outside of the ball base, and the ball base is fixedly connected to the top of the connecting leg fixing component; the rotating ball is embedded in the inner cavity and can rotate relative to the cavity wall of the inner cavity, the rotating ball is fixedly connected to the telescopic end of the X-axis electric push rod, and the diameter of the inner cavity side opening is larger than the diameter of the telescopic end of the X-axis electric push rod; the locking piece is threadedly connected to the part of the ball base adjacent to the inner cavity side opening.

[0009] Preferably, the portion of the ball base adjacent to the side opening of the inner cavity is a cone, which extends in a direction away from the inner cavity, and a thread is provided on the outer surface of the cone. A cone-shaped hole passing through the locking piece is provided in the middle of the locking piece, and the inner wall shape of the cone-shaped hole matches the outer wall shape of the cone, and the inner wall of the cone-shaped hole is provided with a thread, and the minimum aperture of the cone-shaped hole is larger than the diameter of the telescopic end of the X-axis electric push rod.

[0010] Preferably, the leg fixing bracket includes a motor housing and an arc-shaped base, the rotating motor and the gear member are arranged in the motor housing, the bottom of the motor housing is fixedly connected to the top of the arc-shaped base, the surface of the arc-shaped base is provided with a first slide groove for supporting the bottom of the gear condition, the shape of the gear condition matches the arc-shaped base, the bottom of the gear condition is connected to the first slide groove and can slide relative to the first slide groove, and the top of the gear condition is provided with a plurality of tooth-shaped portions for meshing and connecting the gear member.

[0011] Preferably, the machine body is provided with a bed connecting assembly for connecting the bed and fixing the relative position of the bed and the machine body.

[0012] Preferably, the bed connection assembly includes a fixing clamp base, a bed fixing clamp, a fixing belt and a fixing bolt. The fixing clamp base is fixedly connected to the side of the machine body. The fixing clamp base is provided with a second slide groove. The bed fixing clamp is slidingly connected to the fixing clamp base through the second slide groove. There is a distance between a part of the inner wall of the bed fixing clamp and the outer wall of the fixing clamp base. The fixing belt is provided on the bed fixing clamp. The fixing bolt is provided on the bed fixing clamp, and the end of the fixing bolt can abut against the fixing clamp base.

[0013] Preferably, casters are provided at the bottom of the machine body, and the casters are provided with locking components, so as to improve the portability of the machine body.

[0014] Preferably, the control component includes an electrically connected microcomputer control processor, a human-computer interaction component and a display component. The microcomputer control processor is arranged inside the body, and the human-computer interaction component and the display component are arranged on the top of the body. The microcomputer control processor is electrically connected to the Z-axis electric push rod, the Y-axis electric push rod, the X-axis electric push rod and the rotating motor respectively.

[0015] Preferably, the control assembly further includes an emergency switch electrically connected to the microcomputer control processor and located on the top of the machine body. In an emergency, the emergency switch can be operated to quickly shut off the microcomputer control processor and its power supply to the Z-axis electric linear actuator, the Y-axis electric linear actuator, the X-axis electric linear actuator, and the rotary motor, thereby achieving an emergency shutdown.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] A four-degree-of-freedom hip joint passive motion rehabilitation device of the present invention applies four-degree-of-freedom motion to the patient through the coordinated cooperation of 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 component, thereby improving the degree of simulation of human hip joint motion and better simulating the normal hip joint motion posture of the human body, thereby improving the passive motion rehabilitation effect of the hip joint of postoperative patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a four-degree-of-freedom hip joint passive motion rehabilitation device of the present invention;

[0020] Figure 2 It is a schematic diagram of the internal structure of the universal connector of the present invention;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the leg fixing component in the present invention;

[0022] Figure 4 It is a schematic diagram of the exploded structure of the bed connection assembly in the present invention;

[0023] Figure 5 This is a schematic diagram of the Z-axis, Y-axis and G-axis motions of a four-degree-of-freedom hip joint passive motion rehabilitation device of the present invention;

[0024] Figure 6It is a schematic diagram of the Y-axis, X-axis and G-axis motions of a four-degree-of-freedom hip joint passive motion rehabilitation device of the present invention.

[0025] In the figure: 1. Machine body; 2. Z-axis electric linear actuator; 3. Y-axis electric linear actuator; 4. X-axis electric linear actuator; 5. Universal connector; 6. Leg fixing component; 7. Gyroscope attitude sensor; 8. Bed connection component; 9. Casters; 10. Microcomputer control processor; 11. Human-computer interaction component; 12. Display component; 13. Emergency switch; 501. Ball base; 502. Rotating ball; 503. Locking part; 504. Conical body; 505. Conical hole; 601. Motor housing; 602. Arc base; 603. Rotating motor; 604. Gear part; 605. Gear condition; 606. Leg strap part; 801. Fixing clamp base; 802. Bed fixing clamp; 803. Fixing belt; 804. Fixing bolt. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any form of modification and / or change made to the present invention will fall within the scope of protection of the present invention.

[0027] In the present invention, unless otherwise specified, all parts and percentages are by weight. The equipment and raw materials used are commercially available or commonly used in the art. The methods in the following embodiments, unless otherwise specified, are conventional methods in the art. The components or equipment in the following embodiments, unless otherwise specified, are all universal standard parts or components known to those skilled in the art. Their structures and principles are known to those skilled in the art through technical manuals or routine experimental methods.

[0028] The following detailed description of the embodiments of the present invention is made in conjunction with the accompanying drawings. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, one or more embodiments may be implemented by those skilled in the art without these specific details.

[0029] like Figure 1 As shown, an embodiment of the present invention discloses a four-degree-of-freedom hip joint passive motion rehabilitation device, including a body 1, a motion simulation component and a control component.

[0030] The motion simulation assembly is located at the top of the machine body 1 and includes a Z-axis linear actuator 2, a Y-axis linear actuator 3, an X-axis linear actuator 4, a universal connector 5, and a leg fixing component 6. The Z-axis linear actuator 2, the Y-axis linear actuator 3, and the X-axis linear actuator 4 are each electrically connected to the control assembly. The fixed end of the Z-axis linear actuator 2 is connected to the top of the machine body 1, the telescopic end of the Z-axis linear actuator 2 is fixedly connected to the fixed end of the Y-axis linear actuator 3, the telescopic end of the Y-axis linear actuator 3 is fixedly connected to the fixed end of the X-axis linear actuator 4, and the telescopic end of the X-axis linear actuator 4 is connected to the leg fixing component 6 via the universal connector 5.

[0031] A gyroscopic attitude sensor 7 is also provided between the universal connector 5 and the leg fixing component 6. The top of the gyroscopic attitude sensor 7 is fixedly connected to the universal connector 5, and the bottom of the gyroscopic attitude sensor 7 is fixedly connected to the leg fixing bracket. The gyroscopic attitude sensor 7 is electrically connected to the control component. The gyroscopic attitude sensor 7 can adopt a 9-axis AHRS, MEMS or other attitude sensor, which supports ROS1 / ROS2 and STM2 solution code, and provides C / C++ data protocols, including ModBus protocol and Kalman filtering technology. The gyroscopic attitude sensor 7 is used to transmit the motion attitude signal of the leg fixing component 6 to the control component, so that the control component can make corresponding controls on the Z-axis electric push rod 2, the Y-axis electric push rod 3, the X-axis electric push rod 4 and the rotary motor 603 described later according to the motion attitude signal.

[0032] like Figure 2 As shown, the universal connector 5 includes a ball base 501, a rotating ball 502, and a locking member 503. The ball base 501 has an internal cavity for accommodating the rotating ball 502. The internal cavity is open on the side and communicates with the exterior of the ball base 501. The ball base 501 is fixedly connected to the top of the connecting leg fixing component 6. The rotating ball 502 is embedded in the internal cavity and can rotate relative to the cavity wall. The rotating ball 502 is fixedly connected to the telescopic end of the X-axis electric linear actuator 4. The diameter of the internal cavity opening is larger than the diameter of the telescopic end of the X-axis electric linear actuator 4. The locking member 503 is threadedly connected to the ball base 501 near the internal cavity opening.

[0033] To facilitate adjustment of the contact friction between the inner wall of the ball base 501 and the rotating ball 502 via the locking member 503, thereby providing a certain locking force when the rotating ball 502 rotates relative to the ball base 501, a portion of the ball base 501 adjacent to the side opening of the inner cavity is provided with a tapered body 504. The tapered body 504 extends away from the inner cavity and has threads on its outer surface. A tapered hole 505 is provided in the middle of the locking member 503, extending through the locking member 503. The inner wall of the tapered hole 505 matches the outer wall of the tapered body 504 and is threaded. The minimum diameter of the tapered hole 505 is larger than the diameter of the telescopic end of the X-axis electric linear actuator 4. In this embodiment, the connection between the locking member 503 and the tapered body 504 is configured such that the rotating ball 502 can rotate relative to the ball base 501 within ±20° in both the horizontal and vertical planes.

[0034] like Figure 3 As shown, the leg fixation component 6 includes a leg fixation bracket, a rotary motor 603, a gear 604, a gear 605, and a leg strap 606. The leg fixation bracket is connected to the universal connector 5 and can rotate relative to the X-axis electric push rod 4. The rotary motor 603 is fixedly connected to the leg fixation bracket, and the output end of the rotary motor 603 is connected to the gear 604. The gear 604 is meshed with the gear 605, which slides with the leg fixation bracket. The leg strap 606 is fixedly connected to the gear 605. The rotary motor 603 is electrically connected to the control assembly. The leg strap 606 is made of a flexible textile or leather material and has a surface provided with mutually adhesive hair buckles and spike buckles to secure the patient's lower limb after surgery.

[0035] Specifically, the leg fixing bracket includes a motor housing 601 and an arc-shaped base 602. The rotating motor 603 and the gear member 604 are arranged in the motor housing 601. The bottom of the motor housing 601 is fixedly connected to the top of the arc-shaped base 602. The surface of the arc-shaped base 602 is provided with a first slide groove for supporting the bottom of the gear condition 605. The shape of the gear condition 605 matches the arc-shaped base 602. The bottom of the gear condition 605 is connected to the first slide groove and can slide relative to the first slide groove. The top of the gear condition 605 is provided with a plurality of tooth-shaped portions for meshing and connecting the gear member 604.

[0036] In this embodiment, the machine body 1 is provided with a bed connecting assembly 8 for connecting to the bed and fixing the relative position of the bed and the machine body 1 .

[0037] Specifically, if Figure 4As shown, the bed connection assembly 8 includes a fixing clamp base 801, a bed fixing clamp 802, a fixing belt 803 and a fixing bolt 804. The fixing clamp base 801 is fixedly connected to the side of the machine body 1. The fixing clamp base 801 is provided with a second slide groove. The bed fixing clamp 802 is slidingly connected to the fixing clamp base 801 through the second slide groove. There is a gap between a part of the inner wall of the bed fixing clamp 802 and the outer wall of the fixing clamp base 801. The fixing belt 803 is provided on the bed fixing clamp 802. The fixing bolt 804 is provided on the bed fixing clamp 802, and the end of the fixing bolt 804 can abut against the fixing clamp base 801.

[0038] When fixing the machine body 1 to the bed on which the postoperative patient rests, loosen the fixing bolts 804 and slide the bed fixing clamps 802 to adjust the height of the bed fixing clamps 802 relative to the fixing clamp base 801. When the appropriate height matching the bed is reached, the bed fixing clamps 802 clamp a portion of the bed between the inner wall of the bed fixing clamps 802 and the outer wall of the fixing clamp base 801. Tighten the fixing bolts 804 to lock the relative position of the bed fixing clamps 802 and the fixing clamp base 801. To further ensure the fixation, the fixing belt 803 can also be passed around the base 801 of the bed fixing clamps 802 and tightened to make the relative position of the machine body 1 and the bed more stable.

[0039] In this embodiment, casters 9 are provided at the bottom of the machine body 1. Casters 9 are equipped with locking components. Casters 9 improve the portability of the machine body 1. The locking components lock casters 9 when the machine body 1 reaches a specified position, preventing them from rolling. Casters 9 with locking components are conventional, and their specific structure is not described in detail here.

[0040] In this embodiment, the control assembly includes an electrically connected microcomputer control processor 10, a human-computer interaction component 11, and a display component 12. The microcomputer control processor 10 is located inside the body 1, and the human-computer interaction component 11 and the display component 12 are located on the top of the body 1. In this embodiment, the human-computer interaction component 11 is a keyboard, and the display component 12 is a display. The microcomputer control processor 10 is electrically connected to the Z-axis electric push rod 2, the Y-axis electric push rod 3, the X-axis electric push rod 4, and the rotary motor 603, respectively. To improve safety in use, the control assembly also includes an emergency switch 13, which is electrically connected to the microcomputer control processor 10 and is located on the top of the body 1. In an emergency, by operating the emergency switch 13, the microcomputer control processor 10 and its 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 rotary motor 603 can be quickly cut off, achieving an emergency stop.

[0041] The working principle of the four-degree-of-freedom hip joint passive motion rehabilitation device is that the three-degree-of-freedom motion of the patient's lower limb fixed by the leg fixing component 6 at the telescopic end of the X-axis electric push rod 4 is realized through the linear telescopic motion of the Z-axis electric push rod 2, the Y-axis electric push rod 3 and the X-axis electric push rod 4, respectively. Figure 5 The z-axis, y-axis, and Figure 6 The x-axis motion shown is driven by the rotation of the motor 603 to drive the gear member 605 to move relative to the gear member 604, thereby achieving a swinging motion of the patient's lower limb with one degree of freedom, that is, Figure 6 The G-axis motion shown, the universal connector 5 also supports the rotational motion of the leg fixing component 6 relative to the telescopic end of the X-axis electric push rod 4, that is, Figure 5 The G-axis movement shown ultimately realizes the four-degree-of-freedom movement of the patient's lower limbs. During the movement, the gyroscope attitude sensor 7 transmits the movement attitude signal of the leg fixing component 6 to the control component, so that the control component makes corresponding control of 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 movement attitude signal.

[0042] The four-degree-of-freedom hip joint passive motion rehabilitation device improves the degree of simulation of human hip joint motion, better simulates the normal hip joint motion posture of the human body, and thus improves the hip joint passive motion rehabilitation effect of postoperative patients.

[0043] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A four-degree-of-freedom hip joint passive motion rehabilitation device, characterized by: The four-degree-of-freedom hip joint passive motion rehabilitation device comprises a body (1), a motion simulation component and a control component. The motion simulation component is arranged on the top of the body (1). The motion simulation component 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 to the top of the body (1), the telescopic end of the Z-axis electric push rod (2) is fixedly connected to 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 to 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 to the leg fixing component (6) via the universal connector (5); the leg fixing component (6) comprises A leg fixing bracket, a rotating motor (603), a gear member (604), a gear condition (605) and a leg strap member (606); the leg fixing bracket is connected to the universal connector (5) and can rotate relative to the X-axis electric push rod (4); the rotating motor (603) is fixedly connected to the leg fixing bracket; the output end of the rotating motor (603) is connected to the gear member (604); the gear member (604) is meshedly connected to the gear condition (605); the gear condition (605) is slidably matched with the leg fixing bracket; the leg strap member (606) is fixedly connected to the gear condition (605); and the control component is electrically connected 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). A gyroscope attitude sensor (7) is further provided between the universal connector (5) and the leg fixing component (6); the top of the gyroscope attitude sensor (7) is fixedly connected to the universal connector (5); the bottom of the gyroscope attitude sensor (7) is fixedly connected to the leg fixing bracket; and the gyroscope attitude sensor (7) is electrically connected to the control component; The universal connector (5) comprises a ball base (501), a rotating ball (502) and a locking member (503); an inner cavity for accommodating the rotating ball (502) is provided inside the ball base (501), the inner cavity is open on the side and communicates with the outside of the ball base (501), and the ball base (501) is fixedly connected to the top of the connecting leg fixing component (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 to the telescopic end of the X-axis electric push rod (4), and the diameter of the inner cavity side opening is larger than the diameter of the telescopic end of the X-axis electric push rod (4); the locking member (503) is threadedly connected to the portion of the ball base (501) adjacent to the inner cavity side opening.

2. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 1, characterized in that: The portion of the ball base (501) adjacent to the side opening of the inner cavity is a conical body (504), the conical body (504) extends in a direction away from the inner cavity, the outer surface of the conical body (504) is provided with a thread, the middle of the locking member (503) is provided with a conical hole (505) passing through the locking member (503), the inner wall shape of the conical hole (505) matches the outer wall shape of the conical body (504), the inner wall of the conical hole (505) is provided with a thread, and the minimum aperture of the conical hole (505) is larger than the telescopic end diameter of the X-axis electric push rod (4).

3. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 1, characterized in that: The leg fixing bracket includes a motor housing (601) and an arc-shaped base (602), the rotating motor (603) and the gear member (604) are arranged in the motor housing (601), the bottom of the motor housing (601) is fixedly connected to the top of the arc-shaped base (602), the surface of the arc-shaped base (602) is provided with a first sliding groove for supporting the bottom of the gear condition (605), the shape of the gear condition (605) matches the shape of the arc-shaped base (602), the bottom of the gear condition (605) is connected to the first sliding groove and can slide relative to the first sliding groove, and the top of the gear condition (605) is provided with a plurality of tooth-shaped portions for meshing with the gear member (604).

4. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 1, characterized in that: The machine body (1) is provided with a bed connecting assembly (8) for connecting the bed and fixing the relative position of the bed and the machine body (1).

5. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 4, characterized in that: The bed connection assembly (8) comprises a fixing clamp base (801), a bed fixing clamp (802), a fixing belt (803) and a fixing bolt (804); the fixing clamp base (801) is fixedly connected to the side of the machine body (1); the fixing clamp base (801) is provided with a second slide groove; the bed fixing clamp (802) is slidably connected to the fixing clamp base (801) via the second slide groove; a portion of the inner wall of the bed fixing clamp (802) is spaced from the outer wall of the fixing clamp base (801); the fixing belt (803) is provided on the bed fixing clamp (802); the fixing bolt (804) is provided on the bed fixing clamp (802), and the end of the fixing bolt (804) is capable of abutting against the fixing clamp base (801).

6. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 1, characterized in that: The bottom of the machine body (1) is provided with a caster (9), and the caster (9) is provided with a locking component.

7. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 1, characterized in that: The control component includes an electrically connected microcomputer control processor (10), a human-computer interaction component (11) and a display component (12), wherein the microcomputer control processor (10) is arranged inside the body (1), the human-computer interaction component (11) and the display component (12) are arranged on the top of the body (1), and the microcomputer control processor (10) is electrically connected 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).

8. The four-degree-of-freedom hip joint passive motion rehabilitation device according to claim 7, characterized in that: The control assembly further includes an emergency switch (13), the emergency switch (13) being electrically connected to the microcomputer control processor (10), and the emergency switch (13) being located on the top of the machine body (1).

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