Horizontal four-limb joint rehabilitation physiotherapy device

Abstract

The application provides a horizontal four-limb joint rehabilitation physiotherapy device, and relates to the field of four-limb joint rehabilitation physiotherapy. The horizontal four-limb joint rehabilitation physiotherapy device comprises a fixed plate which is used as a support structure of the horizontal four-limb joint rehabilitation physiotherapy, the bottom of the fixed plate is provided with uniformly distributed support seats, and the two sides and one end of the fixed plate are provided with first ball cage universal joints which are used for driving the rotation of upper limb assemblies and lower limb assemblies; two driving assemblies are arranged at the two ends of the top of the base and are used for driving the upper limb assemblies and the lower limb assemblies; an ankle joint assembly is arranged at one end of the lower limb assembly and is driven by a servo motor to perform ankle dorsiflexion and plantar flexion. The driving assemblies can drive the upper limbs and the lower limbs to perform rehabilitation training, and the cooperation between the first electromagnet, the first magnet, the second electromagnet and the second magnet can facilitate the rehabilitation training of one side of the upper limbs and one side of the lower limbs.

Description

Technical Field

[0001] This invention relates to the field of limb joint rehabilitation therapy, specifically a horizontal limb joint rehabilitation therapy device. Background Technology

[0002] The CPM (Continuous Motion Monitoring) device, or CPM machine for short, is designed based on the range of motion and characteristics of the human limbs. Its main function is to provide bedridden patients with the opportunity to perform passive movements of the entire range of motion, including extension, flexion, and abduction, before and after surgery. It is a form of physical therapy. It typically uses a power transformer, stepper motor, control board, driver, limit switches, and housing as the main power components, simulating reciprocating extension and abduction movements using a linear slide or reducer. Patients can adjust the speed according to their individual needs. It is primarily designed for bedridden patients experiencing joint stiffness and pain upon extension, muscle atrophy, tendon and ligament adhesions, and early joint function rehabilitation intervention to prevent limited mobility or promote joint function recovery. It features convenient speed adjustment, safety and reliability, simple operation, accurate timing readings, adjustable angle, portability, and display of exercise mileage, which helps restore local function of injured or diseased joints. The main unit consists of an operation panel, screen, dedicated power supply (transformer), geared stepper motor, and control board (including a microcontroller CPU, adjustable potentiometer, frequency converter, electrolytic capacitors, integrated circuit chips, surface mount resistors, surface mount capacitors, diodes, connecting terminals, circuit board, wiring harness, spring clips, sensors, rocker switches, and LEDs). It is further equipped with a transmission mechanism, machined parts, braces, aluminum toothed mounting base, fixing bolts, grip, scale, safety strap hooks and loops, power cord, and manual switch. It is designed to prevent or reduce complications such as local joint adhesions. It can be used in orthopedic and neurosurgical procedures during pre- and post-operative stabilization periods, in rehabilitation wards, treatment rooms, rehabilitation facilities, and homes.

[0003] Medical theory and clinical practice have proven that, in addition to early surgical treatment and necessary medication, rehabilitation training plays a crucial role in the recovery of limb motor function for these patients. Due to a lack of professional caregivers or insufficient medical funds, many patients choose to perform rehabilitation training at home. However, due to unscientific training methods and insufficient training volume, many patients miss the optimal recovery time. Many gradually lose limb mobility due to the lack of effective rehabilitation training, causing significant suffering for the patients and placing a heavy burden on their families and society.

[0004] Currently, users can perform limb rehabilitation training at home with the assistance of physicians using these physiotherapy devices, saving on rehabilitation costs while ensuring a certain level of rehabilitation intensity. However, many existing rehabilitation training devices have drawbacks such as complex structure, large size, and high price. Furthermore, they cannot achieve comprehensive rehabilitation training for both the upper and lower limbs using a single device, even though many patients require rehabilitation training for both. On the other hand, most existing rehabilitation physiotherapy devices provide passive rehabilitation training, preventing patients from training according to their own specific conditions. Moreover, existing rehabilitation training devices only target the limbs, with less focus on the shoulder, hip, and ankle joints. Although the patient's limb muscles are trained, their joints remain stiff, and their flexion and extension movements are limited. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a horizontal limb joint rehabilitation therapy device that solves the problems of the inability to conduct comprehensive rehabilitation training for the upper and lower limbs simultaneously, the inability to train according to individual conditions, and joint stiffness.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a supine limb joint rehabilitation therapy device, comprising:

[0007] The fixation plate, which serves as a support structure for horizontal limb joint rehabilitation therapy, has evenly distributed support seats installed at its bottom. On both sides and one end of the fixation plate, there are first ball cage universal joints for driving the upper limb components and lower limb components to rotate.

[0008] Two drive components are respectively located at the top ends of the base and are used to drive the upper limb component and the lower limb component;

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

[0010] The inflation / deflation assembly, which is installed at the top center of the base, is used to inflate the airbag.

[0011] Preferably, the drive 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 is fixedly connected to one top end of the base. The output end of the brushless motor is fixedly connected to the input end of the gearbox. The bottom of the outer ring of the rotating rod is fixedly connected to the output end of the gearbox. The first electromagnet is fixedly connected to the top and bottom of the middle of the outer ring of the rotating rod. The first magnet is mounted on the outer wall of the rotating rod. The inner wall of the fifth pulley is fixedly connected to the outer wall of the first magnet. The second electromagnet is fixedly connected to the top and bottom of the middle of the outer ring of the rotating rod. The second magnet is mounted on the outer wall of the second electromagnet. The inner wall of the sixth pulley is 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 and second movable plates.

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

[0014] Preferably, a mounting frame is fixedly connected to the bottom of the first movable plate, a third pulley is rotatably connected to the inner wall of the mounting frame, 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 / deflation assembly is equipped with evenly distributed air pipes, the other end of which passes through the first movable plate, the second movable plate and the third movable plate respectively and is fixedly connected to the inflatable airbag, and one end of each inflatable airbag is provided with a buckle.

[0016] Preferably, the lower limb assembly includes a third movable plate, a fourth movable plate, a fixing 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 fixing block is fixedly connected to one side of the other end of the third movable plate. The electric roller is installed between the fixing blocks on the same side. One end of the fourth movable plate is fixedly connected to the outer wall of the electric roller. Torsion spring cover plates are provided on both sides of the third movable plate.

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

[0018] This invention provides a horizontal limb joint rehabilitation therapy device. It has the following beneficial effects:

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

[0020] 2. This invention, through the cooperation of the gearbox and transmission rod in the drive assembly, allows the gear ratio of the gearbox to be adjusted according to the patient's condition when the patient needs to train independently. This adjusts the resistance of the training to suit different patients. Furthermore, by adjusting the gear ratio, the speed of the rehabilitation exercise can be adjusted during passive rehabilitation training.

[0021] 3. The present invention uses the upper limb assembly and the lower limb assembly to drive the third movable plate, the fourth movable plate, the fixed block and the electric roller to rotate left and right or up and down, thereby performing rehabilitation training on the hip joint. Then, the first electromagnet and the second electromagnet are turned on as needed, so that rehabilitation training can be performed on the shoulder joint as needed, or on one side of the shoulder joint as needed.

[0022] 4. The present invention utilizes a first servo motor, a limiting rod, a slide, a limiting wheel, a foot plate, a second servo motor, and a clamp in an ankle joint assembly to perform rehabilitation training on the ankle joint. Attached Figure Description

[0023] Figure 1 This is a perspective view of the present invention;

[0024] Figure 2 This is a top view of the present invention;

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

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

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

[0028] Figure 6 This is an exploded view of the drive component of the present invention;

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

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

[0031] The components include: 1. Fixed plate; 2. Support base; 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 / deflation assembly; 16. Air pipe; 17. Gearbox; 18. Brushless motor; 19. Buckle; 20. Inflatable airbag; 21. Fixed rod; 22. First pulley; 23. First connection. 24. Plate; 25. First belt; 26. Second connecting plate; 27. Torsion spring hinge; 28. Binding strap; 29. ​​Slider; 30. Mounting frame; 31. Third pulley; 32. Second belt; 33. Fourth pulley; 34. Rotating rod; 35. First electromagnet; 36. First magnet; 37. Fifth pulley; 38. Second electromagnet; 39. Second magnet; 40. Sixth pulley; 41. First servo motor; 42. Limiting rod; 43. Slide cylinder; 44. Limiting wheel; 45. Second servo motor; 46. Fixture. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 supine limb joint rehabilitation physiotherapy device, comprising:

[0035] The fixing plate 1 serves as a support structure for horizontal limb joint rehabilitation therapy. Evenly distributed support seats 2 are installed at its bottom. First ball-cage universal joints 12 are installed on both sides and one end of the fixing plate 1 to drive the rotation of the upper and lower limb components.

[0036] The patient lies on the fixation plate 1, and the first ball-cage universal joint 12 and the second ball-cage universal joint 13 can be used to exercise the limbs.

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

[0038] By using the gearbox 17 in the drive assembly, the gear ratio of the gearbox 17 can be adjusted according to the patient's condition when the patient needs to train on their own, thereby adjusting the resistance of the training to suit different patients.

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

[0040] The inflation / deflation assembly 15, which is installed at the top center of the base 3, is used to inflate the airbag 20.

[0041] Preferably, the drive 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 top end of the base 3. The output end of the brushless motor 18 is fixedly connected to the input end of the gearbox 17. The bottom of the outer ring 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 top and bottom of the middle of the outer ring of the rotating rod 33. The first magnet 35 is mounted 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 top and bottom of the middle of the outer ring of the rotating rod 33. The second magnet 38 is mounted 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 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 universal joint 12. One end of the second ball cage 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 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. 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.

[0042] By turning on the brushless motor 18, the output of the brushless motor 18 rotates, driving the gears in the gearbox 17 to rotate. Through the transmission between the gears, the rotating rod 33 rotates. 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, or 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. The left and right rotation of the first movable plate 4 and the second movable plate 5 is not affected by the torsion spring hinge 26.

[0043] Preferably, a second connecting plate 25 is provided at the top of the top sixth pulley 39 and the bottom of the bottom sixth pulley 39. A torsion spring hinge 26 is fixedly connected to one end of the second connecting plate 25, and a first connecting plate 23 is fixedly connected to the other end of the torsion spring hinge 26. The bottom of the top first connecting plate 23 and the top of the bottom first connecting plate 23 are 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 via the first belt 24, thereby driving the first movable plate 4 and the second movable plate 5 to rotate left and right.

[0045] Preferably, the bottom of the first movable plate 4 is fixedly connected to the mounting frame 29, the inner wall of the mounting frame 29 is rotatably connected to the third pulley 30, the outer wall of one end of the first ball cage universal joint 12 is installed with the fourth pulley 32, the 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 electromagnets 34 drive the first magnet 35 and the fifth pulley 36 to rotate, which in turn drives the third pulley 30 and the fourth pulley 32 to rotate via the second belt 31, thereby causing the first movable plate 4 and the second movable plate 5 to rotate up and down.

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

[0048] After rehabilitation training is completed or before it begins, open the inflation / deflation assembly 15 and inflate the airbag 20 inside the active plate through the trachea 16. The inflated airbag 20 pushes open the torsion spring cover 6 and secures the airbag 20 with the buckle 19. Massage the patient's limbs with the inflated airbag 20. Massage before rehabilitation training can promote local blood circulation, raise muscle temperature, and make soft tissues such as muscles, tendons, and ligaments more flexible, improving their elasticity and extensibility. Massage after rehabilitation training can accelerate the excretion of metabolic waste such as lactic acid in the 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 fixing 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 fixing 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 fixing 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 drive assembly drives the third movable plate 7, the fourth movable plate 8, the fixed block 10, and the electric roller 11 to rotate left and right or up and down, thereby performing rehabilitation training on the hip joint. By turning on the electric roller 11, rehabilitation training on the knee joint can be performed.

[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 limiting rod 41, a sliding cylinder 42, a limiting 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 limiting 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 sliding cylinder 42 is slidably connected to the outer ring of the limiting rod 41. The limiting wheel 43 is fixedly connected to the outer wall of the sliding cylinder 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 limiting wheel 43. The bottom of the foot plate 9 is rotatably connected to the outer wall of the sliding cylinder 42. The foot plate 9 is connected to the slider 28 through a first ball-cage universal joint 12.

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

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

Claims

1. A supine limb joint rehabilitation and physiotherapy device, characterized in that, include: The fixed plate (1) serves as a support structure for the horizontal limb joint rehabilitation therapy. A support seat (2) with even distribution is installed at its bottom. First ball cage universal joints (12) for driving the upper limb components to rotate are installed on the left and right sides of the fixed plate (1). Two first ball cage universal joints (12) for driving the lower limb components to rotate are installed at the lower end of the fixed plate. Two drive components are respectively located at the top ends of the base (3) and are used to drive the upper limb component and the lower limb component respectively; An ankle joint assembly, which is installed at one end of the lower limb assembly, drives ankle dorsiflexion and plantar flexion via a servo motor; An inflation / deflation assembly (15), which is installed at the top center of the base (3), is used to inflate the airbag (20); The drive 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 bottom of the outer ring of the rotating rod (33) is fixedly connected to the output end of the gearbox (17). There are two first electromagnets (34), which are fixedly connected to the gearbox (17) respectively. The outer ring of the rotating rod (33) has two first magnets (35) installed on the outer wall of the rotating rod (33), two fifth pulleys (36) with their inner walls fixedly connected to the outer wall of the first magnets (35), two second electromagnets (37) fixedly connected to the top and bottom of the outer ring of the rotating rod (33), two second magnets (38) installed on the outer wall of the second electromagnets (37), and two sixth pulleys (39) with their inner walls fixedly connected to the outer wall of the second magnets (38). The upper limb assembly consists of two parts, including a first movable plate (4), a second movable plate (5), a second ball cage 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 universal joint (12). One end of the second ball cage 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 the other end of the second ball cage 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). 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). 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), and the other end of the torsion spring hinge (26) is fixedly connected to a first connecting plate (23). The bottom of the top first connecting plate (23) and the top of the bottom first connecting plate (23) are respectively rotatably connected to the fixing rod (21). 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) contacts the outer wall of the third pulley (30). When both second electromagnets (37) are open, the second electromagnets (37) drive the second magnet (38) and the sixth pulley. (39) Rotate, and drive 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; when both first electromagnets (34) are open, the first electromagnet (34) drives the first magnet (35) and the fifth pulley (36) to rotate, and drive 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.

2. The supine limb joint rehabilitation physiotherapy device according to claim 1, characterized in that: The number of lower limb components is two, including a third movable plate (7), a fourth movable plate (8), a fixing 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 fixing 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 fixing 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). Torsion spring cover plates (6) are provided on both sides of the third movable plate (7).

3. The supine limb joint rehabilitation physiotherapy device according to claim 2, characterized in that: Inflatable airbags (20) are respectively installed on the first movable plate (4), the second movable plate (5) and the third movable plate (7); The output end of the inflation / deflation assembly (15) is equipped with evenly distributed air pipes (16). The other end of the air pipes (16) passes through the first movable plate (4), the second movable plate (5), and the third movable plate (7) respectively and is fixedly connected to the inflatable airbag (20). One end of the inflatable airbag (20) is provided with a buckle (19).

4. The supine limb joint rehabilitation physiotherapy device according to claim 3, characterized in that: The ankle joint assembly includes a footplate (9), an L-shaped plate (14), a slider (28), a strap (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). 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) penetrates the L-shaped plate (14) and is fixedly connected to the first servo motor. At the output end of the machine (40), the inner wall of the slide cylinder (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 cylinder (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 cylinder (42), and the foot plate (9) is connected to the slider (28) through the first ball cage universal joint (12).

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