Rehabilitation training robot for lower limb fracture patient

Abstract

The invention relates to the technical field of rehabilitation training devices, in particular to a lower limb fracture patient rehabilitation training robot which comprises a back supporting frame, a hip supporting frame and a leg supporting frame, one end of the back supporting frame is rotationally connected with the hip supporting frame, and the end, away from the back supporting frame, of the hip supporting frame is rotationally connected with the leg supporting frame. The back supporting frame comprises two sliding sleeves, the lower ends of the two sliding sleeves are slidably connected with sliding rods, the lower ends of the two sliding rods are rotatably connected with supporting foot bases making contact with the supporting face through ball heads, a back plate is fixedly connected between the two sliding sleeves, and the lower end of the back plate is fixedly connected with a protective cover. A limiting assembly is arranged in the protective cover and used for limiting the position of the sliding rod in the sliding sleeve. Compared with the prior art, the problems that in the prior art, a walking rehabilitation training robot does not have the function that a patient can sit down at any time, so that the use convenience degree is low, and certain danger exists are solved.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation training devices, and in particular to a rehabilitation training robot for patients with lower limb fractures. Background Art

[0002] Fractures, especially fractures of the lower limbs, are common bone injuries in clinical practice, which seriously affect patients' daily activities and quality of life. Fractures are usually caused by a variety of reasons, including direct violence, indirect violence, and fatigue fractures. Direct violence refers to fractures caused by direct external force to the calf or thigh, such as traffic accidents, falls, etc. Indirect violence refers to fractures caused by force transmitted from other parts of the body. For example, when falling from a high altitude, the foot lands first, and the force is transmitted upward to the leg, causing a fracture. Fatigue fractures are more common in people who engage in repetitive high-load exercise for a long time, such as athletes and soldiers. Because the bones are subjected to pressure that exceeds their normal tolerance for a long time, fractures are eventually caused.

[0003] The treatment of lower limb fractures usually involves surgery, and long-term rehabilitation training is required after surgery to promote fracture healing and restore lower limb function. Rehabilitation training is carried out in stages. The early stage mainly includes muscle contraction and ankle joint activity to promote blood circulation and prevent muscle atrophy. In the middle stage, joint range of motion and straight leg raising exercises are carried out to enhance joint flexibility and muscle strength. In the later stage, weight-bearing, balance coordination and functional training are carried out to restore the patient's walking ability.

[0004] In the prior art, a Chinese patent document with publication number CN113332677A proposes a lower limb rehabilitation workstation, comprising a base, wherein the base is divided into a wearing area, a lower limb exercise area, a walking training area and a climbing training area, wherein the wearing area corresponds to the lower limb exercise area, and the walking training area corresponds to the climbing training area; a lower limb mechanical arm, wherein the lower limb mechanical arm is arranged at the lower limb exercise area; a treadmill trainer, wherein the treadmill trainer is arranged at the walking training area; and a staircase, wherein the staircase is arranged at the climbing training area. Although this technology has the advantages of more types of rehabilitation training, self-adjustment according to usage habits and needs, high operational flexibility, and the ability to reduce physical energy consumption and extend training time, it is different from the conventional technology. The traditional methods are consistent in that: during the rehabilitation process of lower limb fractures, especially when they first start walking training, patients will soon feel tired and need to stop and rest frequently. Although the existing walking rehabilitation training robots can provide certain assistance to help patients with walking training, most of them do not have the function of allowing patients to sit down at any time. This results in patients having to rely on the assistance of others once they are physically exhausted during training. Someone needs to follow closely behind them, holding a bench for the patient to sit down at any time, which undoubtedly greatly increases the inconvenience of the rehabilitation process. If there is no one to accompany them, once the patient cannot continue to stand due to exhaustion, it is very easy to fall, which may not only interrupt the rehabilitation process, but also may cause reinjury to the original fracture site, causing the condition to worsen.

[0005] Furthermore, we disclose a rehabilitation training robot for patients with lower limb fractures to meet the actual needs of the existing walking rehabilitation training robots, which do not have the function of allowing patients to sit down at any time, resulting in low convenience of use and certain risks. Summary of the invention

[0006] In view of this, the purpose of the present invention is to propose a rehabilitation training robot for patients with lower limb fractures, so as to solve the problem that the walking rehabilitation training robot in the prior art does not have the function of allowing patients to sit down at any time, resulting in low convenience of use and certain dangers.

[0007] The support frame is connected with the support rod at one end and the other end of the support frame is connected with the support rod at the other end, and the support rod is connected with the support rod at the other end.

[0008] Preferably, both sides of the middle part of the lower end surface of the hip support frame are fixedly connected with a rotating seat, and a seat plate is rotatably connected to the two rotating seats.

[0009] Preferably, the limiting assembly includes two rotating rods respectively arranged at the rotating connection between the hip support frame and the back support frame, the rotating rod is fixedly connected to the hip support frame, the rotating rod is engaged and rotatably connected to the back support frame, one end of the two rotating rods is fixedly connected to a driving gear, and one side of the two driving gears is meshedly connected to a passive gear.

[0010] Preferably, one end of the two passive gears close to the sliding sleeve is engaged and rotatably connected with the sliding sleeve, a winding roller is fixedly connected between the two passive gears, and the winding roller is coaxial with the passive gears on both sides.

[0011] Preferably, a steel wire rope is wound around both sides of the outer wall of the winding roller, one end of the steel wire rope away from the winding roller passes through the back plate and extends into the interior of the sliding sleeve and is fixedly connected to the sliding rod, and one end of the steel wire rope located on the winding roller is fixedly connected to the winding roller.

[0012] Preferably, one side of the upper ends of the two sliding sleeves is fixedly connected to a roller seat, the steel wire rope is in contact with the roller on the roller seat, and the middle part and both ends of the outer wall of the winding roller are fixedly connected to a limiting plate.

[0013] Preferably, both ends of the inner top surface of the sliding sleeve are fixedly connected with telescopic spring seats, and the lower ends of the two telescopic spring seats are fixedly connected to the sliding rod.

[0014] Preferably, the limit assembly also includes a limit block, a rectangular groove is provided at the lower middle end of one end surface of the sliding sleeve, a limit groove is provided at the middle of one end surface of the upper end of the sliding rod close to the limit block, the middle part of the limit block is slidably connected in the rectangular groove and one end is located inside the limit groove.

[0015] Preferably, one end surface of the sliding sleeve is located on both sides of the rectangular groove and is fixedly connected with fixed blocks, the two ends of the limit block on the side away from the limit groove are respectively slidably connected to the inside of the two fixed blocks, an extrusion plate is slidably connected between the two fixed blocks on the side away from the limit block, and return spring seats are fixedly connected on both sides between the extrusion plate and the limit block.

[0016] Preferably, an extrusion wheel is fixedly connected to the middle outer wall of the rotating rod, the axis of the extrusion wheel is located on one side of the axis of the rotating rod, and the outer wall of the extrusion wheel is in contact with the extrusion plate.

[0017] Beneficial effects of the present invention: The rehabilitation training robot can allow patients to sit down and rest immediately according to their physical condition during training. When the patient feels tired, he / she will bend over, which will adjust the angles of the back support frame and the hip support frame. This action not only intuitively expresses the need for rest, but also triggers the built-in limit component, which then locks the position of the slide bar in the slide sleeve, so that the two slide bars are firmly supported at the rear end of the robot, and together with the back support frame, the hip support frame and the leg support frame, they form a stable chair shape, so that the patient can sit easily on the seat board and enjoy immediate rest and relaxation. When the patient recovers his / her physical strength and is ready to continue rehabilitation training, he / she returns to the standing state, and the angles of the hip support frame and the leg support frame change again. The limit component will be unlocked, and the slide bar will be automatically retracted, ensuring that the robot returns to the standard rehabilitation training mode without affecting its normal rehabilitation training function. This design greatly improves the patient's user experience and rehabilitation efficiency, increases the ease of use of the rehabilitation training robot, and reduces the danger of patients during rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of a partial three-dimensional structure of the present invention; Figure 3It is a schematic diagram of the three-dimensional structure of the back support frame of the present invention; Figure 4 This is a schematic diagram of the internal three-dimensional structure of the back support frame of the present invention; Figure 5 for Figure 4 The enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the three-dimensional explosion structure of the limiting component of the present invention; Figure 7 for Figure 6 Enlarged view of point B in the middle.

[0020] The markings in the figure are: 1. Back support frame; 2. Hip support frame; 3. Leg support frame; 4. Seat board; 5. Rotating seat; 6. Roller seat; 7. Back board; 8. Winding roller; 9. Limiting plate; 10. Sliding rod; 11. Steel wire rope; 12. Telescopic spring seat; 13. Sliding sleeve; 14. Turning rod; 15. Ball head; 16. Support foot seat; 17. Driving gear; 18. Passive gear; 19. Extrusion wheel; 20. Limiting block; 21. Limiting groove; 22. Fixed block; 23. Extrusion plate; 24. Reset spring seat; 25. Rectangular groove; 26. Block; 27. Protective cover. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figures 1 to 7As shown, a rehabilitation training robot for patients with lower limb fractures comprises a back support frame 1, a hip support frame 2 and a leg support frame 3, one end of the back support frame 1 is rotatably connected to the hip support frame 2, and the end of the hip support frame 2 away from the back support frame 1 is rotatably connected to the leg support frame 3, the back support frame 1 comprises two sliding sleeves 13, the lower ends of the two sliding sleeves 13 are slidably connected to sliding rods 10, the lower ends of the two sliding rods 10 are rotatably connected to supporting feet 16 in contact with the supporting surface through ball heads 15, a back plate 7 is fixedly connected between the two sliding sleeves 13, a protective cover 27 is fixedly connected to the lower end of the back plate 7, a limiting component is arranged inside the protective cover 27, the limiting component is used to limit the position of the sliding rod 10 inside the sliding sleeve 13, the limiting component is driven by the relative rotation of the back support frame 1 and the hip support frame 2, and both ends of the side of the hip support frame 2 close to the leg support frame 3 are fixedly connected with stoppers 26, and the stoppers 26 are used to prevent the bending angle of the leg support frame 3 and the hip support frame 2 from being too large; The rehabilitation training robot can allow patients to sit down and rest immediately according to their physical condition during training. When the patient feels tired, he / she will bend over, which will adjust the angles of the back support frame 1 and the hip support frame 2. This action not only intuitively expresses the need for rest, but also triggers the built-in limit component, which then locks the position of the slide bar 10 in the slide sleeve 13, so that the two slide bars 10 are firmly supported at the rear end of the robot, and together with the back support frame 1, the hip support frame 2 and the leg support frame 3, they form a stable chair shape, so that the patient can sit easily on the seat board 4 and enjoy immediate rest and relaxation. When the patient recovers his / her physical strength and is ready to continue rehabilitation training, he / she returns to the standing state, and the angles of the hip support frame 2 and the leg support frame 3 change again, and the limit component will be unlocked, and the slide bar 10 will be automatically retracted, ensuring that the robot returns to the standard rehabilitation training mode without affecting its normal rehabilitation training function. This design greatly improves the patient's use experience and rehabilitation efficiency, increases the ease of use of the rehabilitation training robot, and reduces the danger of the patient during rehabilitation training.

[0024] Further, such as Figure 2 As shown, both sides of the middle part of the lower end surface of the hip support frame 2 are fixedly connected with a rotating seat 5, and a seat plate 4 is rotatably connected between the two rotating seats 5; When the rehabilitation training robot is in use, it is installed on the patient through the fixing belts on the back support frame 1, the hip support frame 2, and the leg support frame 3. After installation, the patient's hips are tightly against the seat board 4. The snap-fitting rotating connection between the rotating seat 5 and the seat 4 ensures the stability and safety of the seat board 4. This design allows the seat board to be maintained at any set angle position without being disturbed by external forces, providing stable support for the patient. At the same time, the snap-fitting rotating connection also facilitates the seat board 4 to be quickly and conveniently adjusted when needed to adapt to the height and sitting habits of different patients, thereby alleviating the fatigue caused by patients during training to the greatest extent.

[0025] Further, such as Figures 1 to 4 As shown, the limit assembly includes two rotating rods 14 respectively arranged at the rotation connection between the hip support frame 2 and the back support frame 1, the rotating rod 14 is fixedly connected to the hip support frame 2, the rotating rod 14 is engaged and rotatably connected to the back support frame 1, one end of the two rotating rods 14 is fixedly connected to a driving gear 17, one side of the two driving gears 17 is meshed and connected to a passive gear 18, one end of the two passive gears 18 close to the sliding sleeve 13 is engaged and rotatably connected to the sliding sleeve 13, a winding roller 8 is fixedly connected between the two passive gears 18, the winding roller 8 is coaxial with the passive gears 18 on both sides, and the winding roller 8 is fixedly connected to the two passive gears 18. A steel wire rope 11 is wound around both sides of the outer wall, and one end of the steel wire rope 11 away from the winding roller 8 passes through the back plate 7 and extends into the interior of the sliding sleeve 13 and is fixedly connected to the sliding rod 10. One end of the steel wire rope 11 located on the winding roller 8 is fixedly connected to the winding roller 8, and one side of the upper ends of the two sliding sleeves 13 is fixedly connected to the roller seat 6. The steel wire rope 11 contacts the rollers on the roller seat 6. The middle part and both ends of the outer wall of the winding roller 8 are fixedly connected to the limiting plate 9, and both ends of the inner top surface of the sliding sleeve 13 are fixedly connected to the telescopic spring seat 12, and the lower ends of the two telescopic spring seats 12 are fixedly connected to the sliding rod 10; When the patient is exhausted and bends over during training, the angle between the hip support frame 2 and the back support frame 1 will change, and the rotating rod 14 fixedly connected to the hip support frame 2 will rotate accordingly, and the active gear 17 fixedly connected to one end of the rotating rod 14 will also rotate accordingly, and then the passive gear 18 meshing with the active gear 17 starts to rotate, and the winding roller 8 coaxially fixedly connected between the two passive gears 18 also rotates accordingly. A steel wire rope 11 is wound on both sides of the outer wall of the winding roller 8, one end of the steel wire rope 11 is fixedly connected to the winding roller 8, and the other end passes through the back plate 7 and extends into the interior of the sliding sleeve 13, and is fixedly connected to the sliding rod 10. As the winding roller 8 rotates, the steel wire rope 11 is released on the winding roller 8, and the sliding rod 10 is squeezed by the telescopic spring seat 12. The slide bar 10 is driven to slide up and down inside the slide sleeve 13. To ensure the smoothness of the steel wire rope 11 during movement, it contacts the roller on the roller seat 6. The design of the roller reduces the friction between the steel wire rope 11 and the slide sleeve 13, and improves the operation efficiency of the entire system. At the same time, the middle and both ends of the outer wall of the winding roller 8 are fixedly connected with the limit plate 9. These limit plates 9 are used to prevent the steel wire rope 11 from slipping or misaligning during the winding process. In summary, when the angle between the back support frame 1 and the hip support frame 2 changes, through a series of gears, winding rollers 8 and steel wire ropes 11, the limit assembly can automatically adjust the position of the slide bar 10 inside the slide sleeve 13, thereby providing additional support for the robot when the patient sits down to rest, so that it forms a stable chair shape. When the patient is ready to continue training, he returns to the standing state, and the angle between the hip support frame 2 and the leg support frame 3 changes again. The limit assembly will automatically release the limit on the slide bar 10, so that it can be retracted to the initial position, ensuring that the robot can perform rehabilitation training normally.

[0026] Further, such as Figures 5 to 7 As shown, the limit assembly also includes a limit block 20, a rectangular groove 25 is provided at the lower end of the middle part of one end surface of the sliding sleeve 13, a limit groove 21 is provided at the middle part of one end surface of the sliding rod 10 near the limit block 20, the middle part of the limit block 20 is slidably connected in the rectangular groove 25 and one end is located inside the limit groove 21, one end surface of the sliding sleeve 13 is located on both sides of the rectangular groove 25 and is fixedly connected with fixed blocks 22, the two ends of the side of the limit block 20 away from the limit groove 21 are respectively slidably connected to the inside of the two fixed blocks 22, an extrusion plate 23 is slidably connected on the side away from the limit block 20 between the two fixed blocks 22, and reset spring seats 24 are fixedly connected on both sides between the extrusion plate 23 and the limit block 20, and an extrusion wheel 19 is fixedly connected to the outer wall of the middle part of the rotating rod 14, the axis of the extrusion wheel 19 is located on one side of the axis of the rotating rod 14, and the outer wall of the extrusion wheel 19 contacts the extrusion plate 23; When the hip support frame 2 rotates relative to the back support frame 1, the rotating rod 14 fixedly connected to the hip support frame 2 rotates accordingly. The extrusion wheel 19 fixedly connected to the outer wall of the middle part of the rotating rod 14 has its axis deviated from the axis of the rotating rod 14. Therefore, as the rotating rod 14 rotates, the extrusion wheel 19 will move along a circular path. A rectangular groove 25 is provided on one side of the sliding sleeve 13, and a limiting groove 21 is provided on the side of the upper end of the sliding rod 10 close to the limit block 20. The middle part of the limit block 20 is slidably connected to the rectangular groove 25, and one end of the limit block 20 can extend into the limit groove 21, so that To limit the slide bar 10, in order to ensure the stable movement of the limit block 20, the sliding sleeve 13 is fixedly connected to the fixed blocks 22 on both sides of the rectangular groove 25, and the two ends of the side of the limit block 20 away from the limit groove 21 are respectively slidably connected to the inside of the two fixed blocks 22. In addition, a squeeze plate 23 is slidably connected between the two fixed blocks 22 on the side away from the limit block 20. The squeeze plate 23 is connected to the limit block 20 through a reset spring seat 24. When the squeeze wheel 19 moves to contact the squeeze plate 23 with the rotation of the rotating rod 14, it will push the squeeze plate 23 toward the limit block 2 0, due to the presence of the return spring seat 24, the movement of the extrusion plate 23 will drive the limit block 20 to slide in the rectangular groove 25, and insert one end of it into the limit groove 21, completing the limit of the slide bar 10, so that it forms a stable chair shape and provides higher stability. When the patient stands up, the hip support frame 2 rotates again relative to the back support frame 1, and rotates in the opposite direction relative to the previous rotation. As the rotating rod 14 continues to rotate, the extrusion wheel 19 will gradually move away from the extrusion plate 23. At this time, the pulling force of the return spring seat 24 will pull the limit block 20 to reset, so that One end of the limit block 20 is detached from the limit groove 21, thereby releasing the limit on the slide bar 10. The slide bar 10 uses the winding work of the winding roller 8 to drive the slide bar 10 to complete the rise, thereby realizing the retraction of the slide bar 10, ensuring that the robot returns to the standard rehabilitation training mode without affecting its normal rehabilitation training function. In summary, the limit assembly drives the movement of the extrusion wheel 19 through the rotation of the rotating rod 14, and then through the cooperation of the extrusion plate 23 and the reset spring seat 24, realizes the limitation and release of the slide bar 10, providing a strong guarantee for the stable operation of the training robot.

[0027] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0028] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rehabilitation training robot for patients with lower limb fractures, comprising a back support frame (1), a hip support frame (2) and a leg support frame (3), wherein one end of the back support frame (1) is rotatably connected to the hip support frame (2), and one end of the hip support frame (2) away from the back support frame (1) is rotatably connected to the leg support frame (3), characterized in that: The back support frame (1) comprises two sliding sleeves (13), the lower ends of the two sliding sleeves (13) are slidably connected to the sliding rods (10), the lower ends of the two sliding rods (10) are rotatably connected to the supporting feet (16) in contact with the supporting surface through the ball heads (15), a back plate (7) is fixedly connected between the two sliding sleeves (13), the lower end of the back plate (7) is fixedly connected to the protective cover (27), a limiting component is arranged inside the protective cover (27), the limiting component is used to limit the position of the sliding rod (10) inside the sliding sleeves (13), the limiting component is driven by the relative rotation of the back support frame (1) and the hip support frame (2), and the hip support frame (2) is fixedly connected to the two ends of the side close to the leg support frame (3), and the stopper (26) is used to prevent the leg support frame (3) and the hip support frame (2) from bending at an excessively large angle.

2. A rehabilitation training robot for patients with lower limb fractures according to claim 1, characterized in that: Rotating seats (5) are fixedly connected to both sides of the middle part of the lower end surface of the hip support frame (2), and a seat plate (4) is rotatably connected between the two rotating seats (5).

3. A rehabilitation training robot for patients with lower limb fractures according to claim 2, characterized in that: The limit assembly comprises two rotating rods (14) respectively arranged at the rotational connection between the hip support frame (2) and the back support frame (1); the rotating rod (14) is fixedly connected to the hip support frame (2); the rotating rod (14) is engaged and rotationally connected to the back support frame (1); one end of the two rotating rods (14) is fixedly connected to a driving gear (17); one side of the two driving gears (17) is meshedly connected to a driven gear (18).

4. A rehabilitation training robot for patients with lower limb fractures according to claim 3, characterized in that: One end of the two passive gears (18) close to the sliding sleeve (13) is engaged and rotatably connected to the sliding sleeve (13), a winding roller (8) is fixedly connected between the two passive gears (18), and the winding roller (8) is coaxial with the passive gears (18) on both sides.

5. A rehabilitation training robot for patients with lower limb fractures according to claim 4, characterized in that: Steel wire ropes (11) are wound around both sides of the outer wall of the winding roller (8); one end of the steel wire rope (11) away from the winding roller (8) passes through the back plate (7) and extends into the interior of the sliding sleeve (13) and is fixedly connected to the sliding rod (10); and one end of the steel wire rope (11) located on the winding roller (8) is fixedly connected to the winding roller (8).

6. A rehabilitation training robot for patients with lower limb fractures according to claim 5, characterized in that: One side of the upper ends of the two sliding sleeves (13) is fixedly connected to a roller seat (6), the steel wire rope (11) contacts the roller on the roller seat (6), and the middle part and both ends of the outer wall of the winding roller (8) are fixedly connected to a limit plate (9).

7. A rehabilitation training robot for patients with lower limb fractures according to claim 6, characterized in that: Both ends of the inner top surface of the sliding sleeve (13) are fixedly connected to telescopic spring seats (12), and the lower ends of the two telescopic spring seats (12) are fixedly connected to the sliding rod (10).

8. A rehabilitation training robot for patients with lower limb fractures according to claim 7, characterized in that: The limit assembly further comprises a limit block (20), a rectangular groove (25) is provided at the lower middle end of one end surface of the sliding sleeve (13), a limit groove (21) is provided at the middle of one end surface of the upper end of the sliding rod (10) close to the limit block (20), the middle of the limit block (20) is slidably connected in the rectangular groove (25) and one end is located inside the limit groove (21).

9. A rehabilitation training robot for patients with lower limb fractures according to claim 8, characterized in that: One end surface of the sliding sleeve (13) is located at both sides of the rectangular groove (25) and is fixedly connected to fixed blocks (22); two ends of the side of the limit block (20) away from the limit groove (21) are respectively slidably connected to the inside of the two fixed blocks (22); a pressing plate (23) is slidably connected between the two fixed blocks (22) on the side away from the limit block (20); and return spring seats (24) are fixedly connected to both sides between the pressing plate (23) and the limit block (20).

10. A rehabilitation training robot for patients with lower limb fractures according to claim 9, characterized in that: An extrusion wheel (19) is fixedly connected to the middle outer wall of the rotating rod (14), the axis of the extrusion wheel (19) is located on one side of the axis of the rotating rod (14), and the outer wall of the extrusion wheel (19) is in contact with the extrusion plate (23).

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