Horizontal limb joint rehabilitation physiotherapy device

Abstract

The invention provides a horizontal limb joint rehabilitation physiotherapy device, and relates to the field of limb joint rehabilitation physiotherapy. A horizontal limb joint rehabilitation physical therapy device comprises a fixing plate which serves as a supporting structure for horizontal limb joint rehabilitation physical therapy, supporting seats which are evenly distributed are installed at the bottom of the fixing plate, and first ball cage type universal joints used for driving an upper limb assembly and a lower limb assembly to rotate are installed on the two sides of the fixing plate and the two sides of one end of the fixing plate; the two driving assemblies are arranged at the two ends of the top of the base correspondingly and used for driving the upper limb assembly and the lower limb assembly; and the ankle joint assembly is mounted at one end of the lower limb assembly and drives the ankle back to stretch and the plantar flexion through a servo motor. The upper limbs and the lower limbs can be driven to conduct rehabilitation training through the driving assembly, and meanwhile rehabilitation training can be conveniently conducted on one sides of the upper limbs and one sides of the lower limbs through cooperation of a first electromagnet, a first magnet, a second electromagnet and a second magnet.

Description

Technical Field

[0001] The invention relates to the field of limb joint rehabilitation therapy, and in particular to a horizontal limb joint rehabilitation therapy device. Background Art

[0002] CPM limb intelligent motion training treatment nursing device is referred to as CPM machine. According to the range of motion and characteristics of human limbs, its main function is to meet the needs of bedridden patients to perform full range passive motions such as extension, flexion, and abduction of upper and lower limbs before and after surgery. It is a physical exercise therapy. Usually, power transformer, stepping reduction motor, control panel, driver, limit switch, and housing are used as the main power components, and linear slide or reducer is used to simulate the human body to perform reciprocating extension and abduction and other movements. Patients can adjust the speed appropriately according to their personal needs. It is mainly aimed at bedridden patients with joint stiffness, extension and pain, muscle atrophy, tendon and ligament adhesion, and early joint function rehabilitation intervention to prevent limited activity or promote joint function recovery. It has the characteristics of convenient speed regulation, safety and reliability, simple operation, accurate timing reading, adjustable angle, easy to carry, and display of exercise mileage, which is helpful for the recovery of local function of injured and diseased joints. The host consists of an operation panel, screen, dedicated power supply (transformer), deceleration stepper motor, control board (single-chip CPU, adjustable potentiometer, inverter, electrolytic capacitor, integrated circuit chip, chip resistor, chip capacitor, diode, connecting wire terminal, circuit board, wiring harness, plug spring, sensor, boat switch, light-emitting diode), supplemented by transmission mechanism, machined parts, brace, aluminum tooth surface fixing seat, fixing bolt, handshake seat, scale, safety strap buckle, power cord, manual switch, which can prevent or reduce complications such as local joint adhesion. It can be used in orthopedics, neurosurgery pre- and postoperative stabilization period, rehabilitation wards, treatment rooms, rehabilitation institutions, homes and other places.

[0003] Medical theory and clinical medicine have proven that in addition to early surgical treatment and necessary drug treatment, later rehabilitation training also plays a very important role in the recovery of limb motor function. Due to the lack of professional caregivers or medical expenses, most patients choose to do self-rehabilitation training at home. However, due to unscientific training methods and insufficient training volume, many patients miss the best recovery time. Many people gradually lose their limb movement function due to lack of effective rehabilitation training, which not only brings a lot of pain to patients, but also creates a great burden on their families and society.

[0004] At present, users can use these physical therapy equipment to complete limb rehabilitation training at home with the assistance of doctors, saving rehabilitation costs while ensuring a certain rehabilitation training intensity. However, many existing rehabilitation training devices have disadvantages such as complex structure, large size, and high price, and cannot use one device to achieve comprehensive rehabilitation training of upper and lower limbs. In fact, many patients need rehabilitation training for both upper and lower limbs. On the other hand, most of the rehabilitation physical therapy equipment in the prior art is passive rehabilitation training, and patients cannot train themselves according to their actual conditions. In addition, existing rehabilitation training equipment only performs rehabilitation training for the limbs, and there is less rehabilitation training for the shoulder joint, hip joint, and ankle joint. Although the patient's limb muscles are trained, the patient's joints are stiff and the flexion and extension activities are limited. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a recumbent limb joint rehabilitation physiotherapy device, which solves the problems of inability to perform comprehensive rehabilitation training of upper and lower limbs simultaneously, inability to train according to one's own conditions, and joint stiffness.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a horizontal limb joint rehabilitation physiotherapy device, comprising:

[0007] A fixing plate, which serves as a supporting structure for horizontal limb joint rehabilitation therapy, is provided with evenly distributed supporting seats at its bottom, and first ball cage type universal joints for driving the upper limb assembly and the lower limb assembly to rotate are provided on both sides and both sides of one end of the fixing plate;

[0008] Two driving components, which are respectively arranged at two ends of the top of the base and are used to drive the upper limb component and the lower limb component;

[0009] An ankle joint assembly, which is mounted at one end of the lower limb assembly and drives ankle dorsiflexion and plantar flexion through a servo motor;

[0010] The inflation and deflation assembly is installed in the middle of the top of the base and is used to inflate the inflatable airbag.

[0011] Preferably, the driving assembly includes a gearbox, a brushless motor, a rotating rod, a first electromagnet, a first magnet, a fifth pulley, a second electromagnet, a second magnet and a sixth pulley, the gearbox being fixedly connected to the top end of the base, the output end of the brushless motor being fixedly connected to the input end of the gearbox, the outer ring bottom of the rotating rod being fixedly connected to the output end of the gearbox, the first electromagnet being fixedly connected to the middle top and bottom of the outer ring of the rotating rod, the first magnet being installed on the outer wall of the rotating rod, the inner wall of the fifth pulley being fixedly connected to the outer wall of the first magnet, the second electromagnet being fixedly connected to the outer ring top and middle bottom of the rotating rod, the second magnet being installed on the outer wall of the second electromagnet, and the inner wall of the sixth pulley being fixedly connected to the outer wall of the second magnet.

[0012] Preferably, the upper limb assembly includes a first movable plate, a second movable plate, a second ball cage universal joint, a fixed rod, a first pulley and a first belt, the first movable plate is fixedly connected to one side of the first ball cage universal joint, one end of the second ball cage universal joint is fixedly connected to one end of the first movable plate, one end of the second movable plate is fixedly connected to one end of the second ball cage universal joint, the top of the fixed rod is fixedly connected to the bottom of the second movable plate, the inner wall of the first pulley is rotatably connected to the outer ring of the fixed rod, the first belt is installed between the first pulley and the sixth pulley, and torsion spring cover plates are provided on both sides of the outer walls of the first movable plate and the second movable plate.

[0013] Preferably, a second connecting plate is provided at the top of the sixth pulley at the top and the bottom of the sixth pulley at the bottom, one end of the second connecting plate is fixedly connected to a torsion spring hinge, the other end of the torsion spring hinge is fixedly connected to the first connecting plate, and the bottom of the first connecting plate at the top and the top of the first connecting plate at the bottom are both rotatably connected to the fixed rod.

[0014] Preferably, the bottom of the first movable plate is fixedly connected to a mounting frame, the inner wall of the mounting frame is rotatably connected to a third pulley, a fourth pulley is installed on the outer wall of one end of the first ball cage universal joint, a second belt is installed between the fourth pulley and the fifth pulley, and the second belt is in contact with the outer wall of the third pulley.

[0015] Preferably, the output end of the inflation and deflation assembly is equipped with evenly distributed air pipes, the other ends of the air pipes respectively penetrate the first movable plate, the second movable plate and the third movable plate and are fixedly connected to the inflatable airbag, and one end of the inflatable airbag is provided with a buckle.

[0016] Preferably, the lower limb assembly includes a third movable plate, a fourth movable plate, a fixed block and an electric roller, one end of the third movable plate is fixedly connected to one end of the first ball cage universal joint, one end of the fixed block is fixedly connected to one side of the other end of the third movable plate, the electric roller is installed between the fixed blocks on the same side, one end of the fourth movable plate is fixedly connected to the outer wall of the electric roller, and torsion spring cover plates are provided on both sides of the third movable plate.

[0017] Preferably, the ankle joint assembly includes a footplate, an L-shaped plate, a slider, a strap, a first servo motor, a limit rod, a slide cylinder, a limit wheel, a second servo motor and a clamp, the slider being slidably connected to the other end of the fourth movable plate, the L-shaped plate being fixedly connected to one side of the bottom of the slider, the first servo motor being fixedly connected to the bottom of the L-shaped plate, the outer wall of the limit rod passing through the L-shaped plate and being fixedly connected to the output end of the first servo motor, the inner wall of the slide cylinder being slidably connected to the outer ring of the limit rod, the limit wheel being fixedly connected to the outer wall of the slide cylinder, the second servo motor being fixedly connected to one side of the inner wall of the L-shaped plate, one side of the clamp being fixedly connected to the output end of the second servo motor, the inner wall of the clamp being rotatably connected to the limit wheel, the bottom of the footplate being rotatably connected to the outer wall of the slide cylinder, and the footplate being connected to the slider via a first ball cage universal joint.

[0018] The present invention provides a horizontal limb joint rehabilitation physiotherapy device, which has the following beneficial effects:

[0019] 1. The present invention can drive the upper limbs and lower limbs to perform rehabilitation training through the driving component, and at the same time, the cooperation between the first electromagnet, the first magnet, the second electromagnet and the second magnet can facilitate rehabilitation training for one side of the upper limb and one side of the lower limb.

[0020] 2. The present invention cooperates with the gear box and the transmission rod in the driving assembly. When the patient needs to train on his own, the gear ratio of the gear box is adjusted according to the patient's condition, so that the training resistance can be adjusted to adapt to different patients. In addition, by adjusting the gear ratio, the speed of rehabilitation exercises can be adjusted during passive rehabilitation training.

[0021] 3. The present invention drives the third movable plate, the fourth movable plate, the fixed block and the electric roller to rotate left and right or up and down through the upper limb assembly and the lower limb assembly, so as to perform rehabilitation training on the hip joint, and then turns on the first electromagnet and the second electromagnet as needed, so that rehabilitation training can be performed on the shoulder joint as needed, and rehabilitation training can also be performed on one side of the shoulder joint as needed.

[0022] 4. The present invention performs rehabilitation training on the ankle joint through the first servo motor, the limiting rod, the slide cylinder, the limiting wheel, the foot plate, the second servo motor and the clamp of the ankle joint assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A perspective view of the present invention;

[0024] Figure 2 A top view of the present invention;

[0025] Figure 3 is a side view of the present invention;

[0026] Figure 4 It is a schematic diagram of a movable plate of the present invention;

[0027] Figure 5 is a schematic diagram of a first belt of the present invention;

[0028] Figure 6 An exploded view of the drive assembly of the present invention;

[0029] Figure 7 is a cross-sectional view of a rotating rod of the present invention;

[0030] Figure 8 It is a schematic diagram of an L-shaped plate of the present invention.

[0031] Among them, 1. fixed plate; 2. support seat; 3. base; 4. first movable plate; 5. second movable plate; 6. torsion spring cover plate; 7. third movable plate; 8. fourth movable plate; 9. foot plate; 10. fixed block; 11. electric roller; 12. first ball cage universal joint; 13. second ball cage universal joint; 14. L-shaped plate; 15. inflation and deflation assembly; 16. air pipe; 17. gear box; 18. brushless motor; 19. buckle; 20. inflatable airbag; 21. fixed rod; 22. first pulley; 23. first connecting rod Plate; 24, first belt; 25, second connecting plate; 26, torsion spring hinge; 27, binding belt; 28, slider; 29, mounting frame; 30, third pulley; 31, second belt; 32, fourth pulley; 33, rotating rod; 34, first electromagnet; 35, first magnet; 36, fifth pulley; 37, second electromagnet; 38, second magnet; 39, sixth pulley; 40, first servo motor; 41, limit rod; 42, slide; 43, limit wheel; 44, second servo motor; 45, clamp. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example:

[0034] like Figure 1-8 As shown, an embodiment of the present invention provides a horizontal limb joint rehabilitation therapy device, comprising:

[0035] The fixing plate 1, which serves as a supporting structure for horizontal limb joint rehabilitation therapy, has evenly distributed supporting seats 2 installed at its bottom, and first ball cage universal joints 12 for driving the upper limb assembly and the lower limb assembly to rotate are installed on both sides and both sides of one end of the fixing plate 1.

[0036] The patient lies on the fixing plate 1, and can conveniently exercise the limbs through the first ball cage type universal joint 12 and the second ball cage type universal joint 13;

[0037] Two driving components, which are respectively arranged at two ends of the top of the base 3, and are used to drive the upper limb component and the lower limb component;

[0038] By means of the gear box 17 in the driving assembly, when the patient needs to train on his own, the gear ratio of the gear box 17 is adjusted according to the patient's condition, so that the training resistance can be adjusted to suit different patients;

[0039] An ankle joint assembly, which is mounted at one end of the lower limb assembly and drives ankle dorsiflexion and plantar flexion through a servo motor;

[0040] The inflation and deflation assembly 15 is installed in the middle of the top of the base 3 and is used to inflate the inflatable airbag 20.

[0041] Preferably, the driving assembly includes a gearbox 17, a brushless motor 18, a rotating rod 33, a first electromagnet 34, a first magnet 35, a fifth pulley 36, a second electromagnet 37, a second magnet 38 and a sixth pulley 39, the gearbox 17 is fixedly connected to one end of the top of the base 3, the output end of the brushless motor 18 is fixedly connected to the input end of the gearbox 17, the outer ring bottom of the rotating rod 33 is fixedly connected to the output end of the gearbox 17, the first electromagnet 34 is fixedly connected to the middle top and bottom of the outer ring of the rotating rod 33, the first magnet 35 is installed on the outer wall of the rotating rod 33, the inner wall of the fifth pulley 36 is fixedly connected to the outer wall of the first magnet 35, the second electromagnet 37 is fixedly connected to the outer ring top and middle bottom of the rotating rod 33, the second magnet 38 is installed on the outer wall of the second electromagnet 37 The inner wall of the sixth pulley 39 is fixedly connected to the outer wall of the second magnet 38. The upper limb assembly includes a first movable plate 4, a second movable plate 5, a second ball cage type universal joint 13, a fixed rod 21, a first pulley 22 and a first belt 24. The first movable plate 4 is fixedly connected to one side of the first ball cage type universal joint 12, one end of the second ball cage type universal joint 13 is fixedly connected to one end of the first movable plate 4, one end of the second movable plate 5 is fixedly connected to one end of the second ball cage type universal joint 13, the top of the fixed rod 21 is fixedly connected to the bottom of the second movable plate 5, the inner wall of the first pulley 22 is rotatably connected to the outer ring of the fixed rod 21, the first belt 24 is installed between the first pulley 22 and the sixth pulley 39, and the outer walls of the first movable plate 4 and the second movable plate 5 are both provided with torsion spring cover plates 6;

[0042] By turning on the brushless motor 18, the output end of the brushless motor 4 rotates to drive the gears in the gear box 17 to rotate, and the transmission between the gears drives the rotating rod 33 to rotate, and then the first electromagnet 34 and the second electromagnet 37 are turned on as needed, so that rehabilitation training can be performed on the shoulder joint as needed, and rehabilitation training can also be performed on one side of the shoulder joint as needed. The patient's elbow joint can be exercised through the second ball cage universal joint 13, the first connecting plate 23, the second connecting plate 25 and the torsion spring hinge 26, and the left and right rotation of the first movable plate 5 and the second movable plate 5 will not be affected by the torsion spring hinge 26.

[0043] Preferably, the top of the sixth pulley 39 and the bottom of the sixth pulley 39 are both provided with a second connecting plate 25, one end of the second connecting plate 25 is fixedly connected to a torsion spring hinge 26, the other end of the torsion spring hinge 26 is fixedly connected to the first connecting plate 23, and the bottom of the top first connecting plate 23 and the top of the bottom first connecting plate 23 are both rotatably connected to the fixing rod 21;

[0044] When both second electromagnets 37 are turned on, the second electromagnets 37 drive the second magnet 38 and the sixth pulley 39 to rotate, thereby driving the first pulley 22, the first connecting plate 23, the second connecting plate 25 and the torsion spring hinge 26 to rotate through the first belt 24, thereby driving the first movable plate 4 and the second movable plate 5 to rotate left and right.

[0045] Preferably, a mounting frame 29 is fixedly connected to the bottom of the first movable plate 4, a third pulley 30 is rotatably connected to the inner wall of the mounting frame 29, a fourth pulley 32 is installed on the outer wall of one end of the first ball cage universal joint 12, a second belt 31 is installed between the fourth pulley 32 and the fifth pulley 36, and the second belt 31 is in contact with the outer wall of the third pulley 30;

[0046] When both first electromagnets 34 are turned on, the first electromagnet 34 drives the first magnet 35 and the fifth pulley 36 to rotate, thereby driving the third pulley 30 and the fourth pulley 32 to rotate through the second belt 31, thereby driving the first movable plate 4 and the second movable plate 5 to rotate up and down.

[0047] Preferably, the output end of the inflation and deflation assembly 15 is equipped with an evenly distributed air pipe 16, the other end of the air pipe 16 respectively passes through the first movable plate 4, the second movable plate 5 and the third movable plate 7 and is fixedly connected to the inflatable airbag 20, and one end of the inflatable airbag 20 is provided with a buckle 19;

[0048] After the rehabilitation training is finished or before the rehabilitation training begins, the inflation and deflation assembly 15 is opened, the inflatable airbag 20 in the movable plate is inflated through the trachea 16, the torsion spring cover plate 6 is pushed open by the inflatable airbag 20, and the inflatable airbag 20 is fixed by the buckle 19. The patient's limbs are massaged by the inflatable airbag 20. Massage before rehabilitation training can promote local blood circulation, increase muscle temperature, make soft tissues such as muscles, tendons, and ligaments more flexible, and improve their elasticity and extensibility. Massage after rehabilitation training can accelerate the discharge of metabolic wastes such as lactic acid in muscles. Massage can promote local blood circulation, transport lactic acid to organs such as the liver for metabolism more quickly, reduce muscle soreness, and shorten muscle recovery time.

[0049] Preferably, the lower limb assembly includes a third movable plate 7, a fourth movable plate 8, a fixed block 10 and an electric roller 11, one end of the third movable plate 7 is fixedly connected to one end of the first ball cage universal joint 12, one end of the fixed block 10 is fixedly connected to one side of the other end of the third movable plate 7, the electric roller 11 is installed between the fixed blocks 10 on the same side, one end of the fourth movable plate 8 is fixedly connected to the outer wall of the electric roller 11, and torsion spring cover plates 6 are provided on both sides of the third movable plate 7;

[0050] The third movable plate 7, the fourth movable plate 8, the fixed block 10 and the electric roller 11 are driven by the driving assembly to rotate left and right or up and down, so as to perform rehabilitation training on the hip joint. By opening the electric roller 11, the knee joint can be rehabilitated.

[0051] Preferably, the ankle joint assembly includes a foot plate 9, an L-shaped plate 14, a slider 28, a strap 27, a first servo motor 40, a limit rod 41, a slide 42, a limit wheel 43, a second servo motor 44 and a clamp 45, the slider 28 is slidably connected to the other end of the fourth movable plate 8, the L-shaped plate 14 is fixedly connected to one side of the bottom of the slider 28, the first servo motor 40 is fixedly connected to the bottom of the L-shaped plate 14, the outer wall of the limit rod 41 passes through the L-shaped plate 14 and is fixedly connected to the output end of the first servo motor 40, the inner wall of the slide 42 is slidably connected to the outer ring of the limit rod 41, the limit wheel 43 is fixedly connected to the outer wall of the slide 42, the second servo motor 44 is fixedly connected to one side of the inner wall of the L-shaped plate 14, one side of the clamp 45 is fixedly connected to the output end of the second servo motor 44, the inner wall of the clamp 45 is rotatably connected to the limit wheel 43, the bottom of the foot plate 9 is rotatably connected to the outer wall of the slide 42, and the foot plate 9 is connected to the slider 28 through the first ball cage universal joint 12;

[0052] Turn on the first servo motor 40, and the output end of the first servo motor 40 rotates to drive the limit rod 41, the slide cylinder 42, and the limit wheel 43 to rotate, thereby driving the foot plate 9 to rotate, turn on the second servo motor 44, and the output end of the second servo motor 44 rotates to drive the clamp 45 to rotate, thereby driving the slide cylinder 42 to slide on the limit rod 41, thereby driving the foot plate 9 to tilt, thereby performing rehabilitation training on the ankle joint.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A horizontal limb joint rehabilitation physiotherapy device, characterized in that: include: A fixing plate (1) is used as a supporting structure for horizontal limb joint rehabilitation therapy, and a uniformly distributed supporting seat (2) is installed at the bottom thereof, and first ball cage type universal joints (12) for driving the upper limb component and the lower limb component to rotate are installed on both sides and both sides of one end of the fixing plate (1); Two driving components, which are respectively arranged at two ends of the top of the base (3) and are used to drive the upper limb component and the lower limb component; Ankle joint assembly, which is installed at one end of the lower limb assembly and drives ankle dorsiflexion and plantar flexion through a servo motor; The inflation and deflation assembly (15) is installed in the middle of the top of the base (3) and is used to inflate the inflatable airbag (20).

2. A horizontal limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The driving assembly comprises a gear box (17), a brushless motor (18), a rotating rod (33), a first electromagnet (34), a first magnet (35), a fifth pulley (36), a second electromagnet (37), a second magnet (38) and a sixth pulley (39), wherein the gear box (17) is fixedly connected to one end of the top of the base (3), the output end of the brushless motor (18) is fixedly connected to the input end of the gear box (17), the outer ring bottom of the rotating rod (33) is fixedly connected to the output end of the gear box (17), and the The first electromagnet (34) is fixedly connected to the middle top and bottom of the outer ring of the rotating rod (33), the first magnet (35) is installed on the outer wall of the rotating rod (33), the inner wall of the fifth pulley (36) is fixedly connected to the outer wall of the first magnet (35), the second electromagnet (37) is fixedly connected to the outer top and middle bottom of the outer ring of the rotating rod (33), the second magnet (38) is installed on the outer wall of the second electromagnet (37), and the inner wall of the sixth pulley (39) is fixedly connected to the outer wall of the second magnet (38).

3. A horizontal limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The upper limb assembly comprises a first movable plate (4), a second movable plate (5), a second ball cage type universal joint (13), a fixed rod (21), a first pulley (22) and a first belt (24), wherein the first movable plate (4) is fixedly connected to one side of the first ball cage type universal joint (12), one end of the second ball cage type universal joint (13) is fixedly connected to one end of the first movable plate (4), one end of the second movable plate (5) is fixedly connected to one end of the second ball cage type universal joint (13), the top of the fixed rod (21) is fixedly connected to the bottom of the second movable plate (5), the inner wall of the first pulley (22) is rotatably connected to the outer ring of the fixed rod (21), the first belt (24) is installed between the first pulley (22) and the sixth pulley (39), and torsion spring cover plates (6) are provided on both sides of the outer walls of the first movable plate (4) and the second movable plate (5).

4. A horizontal limb joint rehabilitation physiotherapy device according to claim 2, characterized in that: A second connecting plate (25) is provided at the top of the sixth pulley (39) and the bottom of the sixth pulley (39), one end of the second connecting plate (25) is fixedly connected to a torsion spring hinge (26), the other end of the torsion spring hinge (26) is fixedly connected to a first connecting plate (23), and the bottom of the first connecting plate (23) at the top and the top of the first connecting plate (23) at the bottom are both rotatably connected to a fixed rod (21).

5. A horizontal limb joint rehabilitation physiotherapy device according to claim 3, characterized in that: The bottom of the first movable plate (4) is fixedly connected to a mounting frame (29), the inner wall of the mounting frame (29) is rotatably connected to a third pulley (30), a fourth pulley (32) is installed on the outer wall of one end of the first ball cage universal joint (12), a second belt (31) is installed between the fourth pulley (32) and the fifth pulley (36), and the second belt (31) is in contact with the outer wall of the third pulley (30).

6. A horizontal limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The output end of the inflation and deflation assembly (15) is provided with an evenly distributed air pipe (16), the other end of the air pipe (16) respectively passes through the first movable plate (4), the second movable plate (5) and the third movable plate (7) and is fixedly connected to the inflatable airbag (20), and one end of the inflatable airbag (20) is provided with a buckle (19).

7. A horizontal limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The lower limb assembly comprises a third movable plate (7), a fourth movable plate (8), a fixed block (10) and an electric roller (11); one end of the third movable plate (7) is fixedly connected to one end of a first ball cage universal joint (12); one end of the fixed block (10) is fixedly connected to one side of the other end of the third movable plate (7); the electric roller (11) is installed between the fixed blocks (10) on the same side; one end of the fourth movable plate (8) is fixedly connected to the outer wall of the electric roller (11); and torsion spring cover plates (6) are provided on both sides of the third movable plate (7).

8. A horizontal limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The ankle joint assembly comprises a foot plate (9), an L-shaped plate (14), a slider (28), a binding belt (27), a first servo motor (40), a limiting rod (41), a slide cylinder (42), a limiting wheel (43), a second servo motor (44) and a clamp (45), wherein the slider (28) is slidably connected to the other end of the fourth movable plate (8), the L-shaped plate (14) is fixedly connected to one side of the bottom of the slider (28), the first servo motor (40) is fixedly connected to the bottom of the L-shaped plate (14), the outer wall of the limiting rod (41) passes through the L-shaped plate (14) and is fixedly connected to the first servo motor (44). The output end of the machine (40), the inner wall of the slide (42) is slidably connected to the outer ring of the limit rod (41), the limit wheel (43) is fixedly connected to the outer wall of the slide (42), the second servo motor (44) is fixedly connected to one side of the inner wall of the L-shaped plate (14), one side of the clamp (45) is fixedly connected to the output end of the second servo motor (44), the inner wall of the clamp (45) is rotatably connected to the limit wheel (43), the bottom of the foot plate (9) is rotatably connected to the outer wall of the slide (42), and the foot plate (9) is connected to the slider (28) through the first ball cage universal joint (12).

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