Limb rehabilitation equipment
By designing adaptive leg stretching and foot stimulation components, the problem of poor applicability of existing devices has been solved, enabling automatic rehabilitation training and active strength exercises for patients with lower limb paralysis, thereby improving rehabilitation effects and adaptability.
Patent Information
- Application Number
- CN202610227348.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-26
- Publication Date
- 2026-05-19
AI Technical Summary
Existing limb rehabilitation devices are not suitable for patients who cannot move their lower limbs independently or have difficulty moving them, resulting in poor applicability. Furthermore, the intensity and effectiveness of training are difficult to quantify.
A limb rehabilitation device was designed, comprising a leg stretching component and a foot stimulation component. The device uses a ring-shaped airbag to adaptively fix the leg, and combines an electric push rod and an adjusting spring system to achieve automatic knee flexion stretching and active strength training. The foot stimulation component simulates human hand massage to promote blood circulation and muscle relaxation.
It enables personalized rehabilitation training for patients of different body types, integrates passive assistance and active resistance training functions, improves rehabilitation effects, adapts to muscle strength needs at different rehabilitation stages, and promotes lower limb blood circulation and sensory input.
Smart Images
Figure CN122057211A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of limb rehabilitation technology, and in particular relates to a limb rehabilitation device. Background Technology
[0002] In the current field of medical rehabilitation, traditional methods for rehabilitation treatment of limb dysfunction in patients with stroke, spinal cord injury, musculoskeletal diseases or postoperative conditions mainly rely on one-on-one manual assistance training by therapists. The effectiveness of these methods is severely limited by the therapist's personal experience and physical strength. Furthermore, the intensity of training, data monitoring and evaluation largely depend on subjective judgment, making it difficult to quantify and standardize. There is an urgent need to develop a limb rehabilitation device that can reduce the burden on therapists and improve rehabilitation efficiency.
[0003] According to Chinese Patent Publication No. CN117959142A, a critical care rehabilitation training device is disclosed, comprising: a device body for supporting and protecting the components required for critical care rehabilitation training; an ankle pump motion component located on one side of the top of the device body; and a stretching component located on top of the ankle pump motion component and on top of the device body. This invention allows for leg strength training by moving the seat back and forth, and for ankle pump exercises by moving the support plate back and forth via a hydraulic rod. Simultaneously, a motor rotates, causing the base to rotate left and right to complete the ankle pump exercise. When arm training is required, the height is adjusted via an electric push rod, and then the weight blocks are installed by gripping the handles with both hands. Repeatedly pulling the handles up and down rotates the trainer to perform arm strength training.
[0004] However, the above-mentioned approach has the following drawbacks because the patients actively participate in limb rehabilitation training: some patients cannot move their lower limbs voluntarily or have difficulty moving them, making it difficult to apply this type of device to the limb rehabilitation of such patients, resulting in poor applicability. Therefore, improvements are needed. Summary of the Invention
[0005] The purpose of this invention is to address the problem that commonly used rehabilitation devices are difficult to apply to the limb rehabilitation of some patients who are unable to move their lower limbs voluntarily or have difficulty moving them. Therefore, this invention proposes a limb rehabilitation device.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: A limb rehabilitation device includes a lifting plate, and a leg stretching component is provided on the top of the lifting plate; The leg stretching assembly includes two symmetrically arranged leg limiting cylinders. The top of the lifting plate is connected to two symmetrically arranged vertical fixing plates. A travel groove is opened on one side of the vertical fixing plate. A travel block is connected to the side of the leg limiting cylinder near the vertical fixing plate. The travel block is slidably connected in the travel groove. One end of the leg limiting cylinder is provided with a foot support box for supporting and conforming to the patient's foot.
[0007] As a further description of the above technical solution: The leg stretching assembly also includes: Two annular airbags are connected to the leg restraint cylinder; Two air pumps are located at the top of the leg limiting cylinder. The air pumps are connected to the annular airbag through connecting pipes and are used to inflate the annular airbag.
[0008] As a further description of the above technical solution: The leg stretching assembly also includes: A push plate connects the two foot support boxes; Two sets of connecting frames, each set consisting of two connecting frames, which are connected between the leg limiting sleeve and the foot support box; An electric push rod is connected to the top of the lifting plate via a mounting base. The output end of the electric push rod is connected to a push wheel, and one side of the push wheel is in contact with one side of the push plate.
[0009] As a further description of the above technical solution: The leg stretching assembly also includes: A connecting plate is attached between the two leg limiting cylinders; Two telescopic rods are symmetrically connected to the bottom of the connecting plate; A sliding block is provided, the top of which is connected to the bottom of two telescopic rods. A sliding groove is provided on the top of the lifting plate, and the sliding block is slidably connected in the sliding groove. Two symmetrically arranged sliding holes are provided on the sliding block.
[0010] As a further description of the above technical solution: The leg stretching assembly also includes: Two fixed sliding rods are symmetrically connected in the sliding groove, and the fixed sliding rods are slidably connected to the sliding block through sliding holes; The adjusting plate is slidably connected to two fixed sliding rods; Two adjusting springs are sleeved on the outer surface of the fixed slide rod, and the two ends of the adjusting springs are respectively connected to the adjusting plate and one side of the sliding block; An adjusting bolt is threadedly connected to the lifting plate. One end of the adjusting bolt extends into the sliding groove, and the end of the adjusting bolt located inside the sliding groove is rotatably connected to one side of the adjusting plate.
[0011] As a further description of the above technical solution: The foot support box is equipped with a foot stimulation component, which includes: The flexible fit pad has a through groove on the side of the foot support box near the leg limiting cylinder, and the flexible fit pad is placed in the through groove; Multiple stimulation bumps are connected to one side of the flexible adhesive pad, and the multiple stimulation bumps are evenly distributed; Two sets of drive cams are symmetrically arranged in the foot support box. Each set of drive cams consists of multiple drive cams arranged in a vertical linear array, and two adjacent drive cams in the same set are centrally symmetrically distributed to drive the flexible bonding pad to extend and retract.
[0012] As a further description of the above technical solution: The plantar stimulation component also includes: A rotating shaft is rotatably connected inside the foot support box, with one end of the rotating shaft extending to the outside of the foot support box; Multiple second bevel gears are connected to the outer surface of the rotating shaft, and the multiple second bevel gears are distributed in a linear array. Both sides of the second bevel gears are meshed with first bevel gears. The first bevel gears are rotatably connected to the foot support box through a rotating shaft, and the rotating shaft is connected to the drive cam.
[0013] As a further description of the above technical solution: The plantar stimulation component also includes: A rotating rod is connected to one end of the rotating shaft located outside the foot support box; A rotating sleeve is slidably connected to the outer surface of a rotating rod. The inner wall of the rotating sleeve and the cross-sectional shape of the rotating rod are both regular hexagonal. A transmission gear is connected to the bottom of a rotating sleeve, and a fixed rack is meshed on one side of the transmission gear. The fixed rack is connected to the top of the lifting plate.
[0014] As a further description of the above technical solution: The plantar stimulation component also includes: A sliding sleeve is rotatably connected to a rotating sleeve, and the bottom of the sliding sleeve is in contact with the top of the fixed rack; A limiting slide rod is connected to the top of a fixed rack, and the sliding sleeve is slidably connected to the limiting slide rod.
[0015] As a further description of the above technical solution: Also includes: Two lifting push rods are symmetrically connected to the top of the lifting plate; The mobile frame includes a top plate, the bottom of which is connected to the other end of two lifting push rods. Side supports are connected to both sides of the bottom of the top plate, and the bottom of the side supports is connected to casters.
[0016] Compared with existing technologies, a limb rehabilitation device employing the above-mentioned technical solution has the following beneficial effects: 1. In this invention, by setting up a leg stretching component, the inflatable annular airbag can adaptively wrap and fix the patient's leg, thus making it suitable for patients of different body types. Combined with the electric push rod driving the push wheel and the reset system of the adjusting spring, it can realize automatic knee flexion and stretching rehabilitation training for the lower limbs of paralyzed patients. At the same time, this component allows patients with voluntary movement ability to actively flex their knees to overcome the resistance of the adjustable spring for strength training. The spring force can be precisely adjusted according to the progress of rehabilitation by adjusting the bolt, thereby adapting to the muscle strength needs of different rehabilitation stages. On the one hand, it realizes the auxiliary rehabilitation training of the lower limbs of paralyzed patients and promotes blood circulation in the lower limbs. On the other hand, it meets the needs of patients who actively train to gradually improve their muscle strength. It effectively integrates passive assistance and active resistance training functions, improves the adaptability and individualization of lower limb rehabilitation training, and improves rehabilitation effect.
[0017] 2. In this invention, by setting up a foot stimulation component, with the cooperation of transmission gears, fixed racks, rotating rods, rotating sleeves, bevel gear sets, drive cams, flexible fitting pads, and stimulation protrusions, synchronous automatic massage stimulation of the soles of the feet is achieved during the patient's knee flexion and stretching movements. The periodic expansion and rebound of the flexible fitting pads and stimulation protrusions simulate the rhythm and intensity of human hand massage, which can effectively promote blood circulation in the soles of the feet, relieve muscle tension, and enhance sensory input, thereby improving the patient's rehabilitation effect. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged structural diagram of section A; Figure 3 This is a three-dimensional structural schematic diagram from another perspective of the present invention; Figure 4 This is a three-dimensional structural diagram of the leg stretching component and the foot stimulation component in this invention; Figure 5 This is a three-dimensional structural diagram of the leg stretching component in this invention; Figure 6 This is a three-dimensional structural diagram of the plantar stimulation component in this invention; Figure 7 For the present invention Figure 6 Enlarged structural diagram of section B; Figure 8 This is a three-dimensional cross-sectional view of the plantar stimulation component in this invention; Figure 9 For the present invention Figure 8Enlarged structural diagram of section C.
[0019] Legend: 1. Movable frame; 2. Lifting push rod; 3. Lifting plate; 4. Leg extension assembly; 401. Foot support box; 402. Vertical fixing plate; 403. Adjusting bolt; 404. Leg limiting cylinder; 405. Electric push rod; 406. Push wheel; 407. Push plate; 408. Air pump; 409. Stroke groove; 410. Connecting plate; 411. Annular airbag; 412. Fixed slide rod; 413. Telescopic rod; 4 14. Sliding block; 415. Adjusting spring; 416. Adjusting plate; 417. Stroke block; 5. Foot stimulation component; 501. Limiting slide rod; 502. Sliding sleeve; 503. Fixed rack; 504. Transmission gear; 505. Flexible fitting pad; 506. Stimulating protrusion; 507. Rotating sleeve; 508. Rotating rod; 509. Drive cam; 510. First bevel gear; 511. Second bevel gear; 512. Rotating shaft. Detailed Implementation
[0020] 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.
[0021] Please see Figures 1-9 The present invention provides a technical solution: A limb rehabilitation device includes a lifting plate 3, a leg stretching component 4 disposed on the top of the lifting plate 3, and further includes; Two lifting push rods 2 are symmetrically connected to the top of the lifting plate 3; The mobile frame 1 includes a top plate, the bottom of which is connected to the other end of two lifting push rods 2. Side supports are connected to both sides of the bottom of the top plate, and the bottom of the side supports is connected to the moving wheels. Among them, the casters are omnidirectional casters with self-locking function; The leg stretching assembly 4 includes two symmetrically arranged leg limiting cylinders 404. The top of the lifting plate 3 is connected to two symmetrically arranged vertical fixing plates 402. A travel groove 409 is provided on one side of the vertical fixing plate 402. The travel groove 409 is composed of a horizontal section and an upwardly curved section. A travel block 417 is connected to the side of the leg limiting cylinder 404 near the vertical fixing plate 402. The travel block 417 has a circular cross-sectional shape and is slidably connected in the travel groove 409. One end of the leg limiting cylinder 404 is provided with a foot support box 401 for supporting and conforming to the patient's foot. The leg stretching component 4 also includes: Two annular airbags 411 are connected inside the leg limiting cylinder 404; Two air pumps 408 are installed on the top of the leg limiting cylinder 404. The air pumps 408 are connected to the annular airbag 411 through a connecting pipe and are used to inflate the annular airbag 411. The push plate 407 is connected between the two foot support boxes 401; Two sets of connecting frames, each set consisting of two connecting frames, which are connected between the leg limiting sleeve 404 and the foot support box 401; An electric push rod 405 is connected to the top of the lifting plate 3 via a mounting base. The output end of the electric push rod 405 is connected to a push wheel 406, and one side of the push wheel 406 is in contact with one side of the push plate 407. The connecting plate 410 is connected between the two leg limiting cylinders 404; Two telescopic rods 413 are symmetrically connected to the bottom of the connecting plate 410; The top of the sliding block 414 is connected to the bottom of the two telescopic rods 413. The top of the lifting plate 3 is provided with a sliding groove, and the sliding block 414 is slidably connected in the sliding groove. The sliding block 414 has two symmetrically arranged sliding holes. Two fixed slide rods 412 are symmetrically connected in the sliding groove, and the fixed slide rods 412 are slidably connected to the sliding block 414 through sliding holes; The fixed slide bar 412 limits and guides the sliding block 414, on the one hand, to prevent the sliding block 414 from dislodging from the sliding groove, and on the other hand, to ensure the stability of the sliding block 414 when sliding. Adjustment plate 416 is slidably connected to two fixed slide rods 412; Two adjusting springs 415 are sleeved on the outer surface of the fixed slide rod 412, and the two ends of the adjusting springs 415 are respectively connected to the adjusting plate 416 and one side of the sliding block 414. Adjusting bolt 403 is threadedly connected to lifting plate 3. One end of adjusting bolt 403 extends into sliding groove, and the end of adjusting bolt 403 located inside sliding groove is rotatably connected to one side of adjusting plate 416.
[0022] The specific usage method and working principle are as follows: Medical staff move the mobile frame 1 to the front of the intensive care patient's bed and place the mobile frame 1 at the end of the bed. Then, the medical staff lock the mobile wheels. After that, the medical staff control the lifting plate 3 to move downward through the lifting push rod 2. Before that, the medical staff first lifts the patient's legs to prevent the lifting plate 3 from pressing on the patient's legs. The lifting plate 3 drives the leg limiting cylinder 404 to move downward to a suitable position. Then, the medical staff puts the patient's feet and legs through the leg limiting cylinder 404 and makes the patient's soles fit against the flexible fitting pad 505. Then, the air pump 408 inflates the annular airbag 411, causing the annular airbag 411 to expand and wrap around and limit the patient's legs.
[0023] If the patient is unable to move their lower limbs independently, such as in cases of lower limb paralysis, medical staff will activate the electric push rod 405 to move the push wheel 406. Figure 1 As shown, the push wheel 406 drives the push plate 407 to move to the right, and the push plate 407 drives the foot support box 401 and the leg limiting cylinder 404 to move to the right. During this process, the leg limiting cylinder 404 drives the stroke block 417 to move within the stroke groove 409, so that the leg limiting cylinder 404 and the foot support box 401 first move obliquely upward and then horizontally. The leg limiting cylinder 404 drives the patient's leg to complete the knee flexion movement along this trajectory. During this process, the push plate 407 will move in the vertical direction, but with the rotation of the push wheel 406 itself, there will be no movement interference. After that, as Figure 1 As shown, the electric push rod 405 drives the push wheel 406 to move to the left, thereby releasing the limit on the push plate 407. At this time, the adjusting spring 415 drives the sliding block 414 to move to the left through its own elastic force. The sliding block 414 drives the leg limiting cylinder 404 to move to the left and reset through the telescopic rod 413. That is, it moves horizontally first and then diagonally downward, thereby completing the patient's leg extension and stretching. By repeating the above steps multiple times, the automatic assisted knee flexion and stretching of the patient's leg is achieved. If the patient's lower limbs are able to perform certain voluntary movements, the patient can forcefully perform knee flexion and stretching exercises, thereby driving the travel block 417 to move within the travel groove 409 through the leg limiting cylinder 404. During this process, the patient needs to overcome the elasticity of the adjustment spring 415, thereby enhancing the rehabilitation exercise effect of the lower limbs. Meanwhile, as patients continue to recover, the force they can adapt to from adjusting the spring 415 also changes. Based on the patient's recovery progress, medical staff gradually adjust the elastic force of the spring 415 on the sliding block 414. Medical staff tighten the adjusting bolt 403, which gradually screws into the sliding groove. Figure 3As shown, the adjusting bolt 403 drives the adjusting plate 416 to move to the left, causing the adjusting spring 415 to contract and compress, increasing the force on the sliding block 414, thereby increasing the force that the patient overcomes when bending his knee, and adapting to the patient's rehabilitation situation.
[0024] Please see Figures 1-3 and Figures 6-9 The foot support box 401 is equipped with a foot stimulation component 5, which includes: The flexible fitting pad 505 is provided in the foot support box 401 with a through groove on the side near the leg limiting cylinder 404. Multiple stimulation bumps 506 are connected to one side of the flexible adhesive pad 505, and the multiple stimulation bumps 506 are evenly distributed. Two sets of drive cams 509 are symmetrically arranged in the foot support box 401. Each set of drive cams 509 consists of multiple drive cams 509 arranged in a vertical linear array, and two adjacent drive cams 509 in the same set are centrally symmetrically distributed, which are used to drive the flexible bonding pad 505 to extend and retract. The rotating shaft 512 is rotatably connected inside the foot support box 401, and one end of the rotating shaft 512 extends to the outside of the foot support box 401. Multiple second bevel gears 511 are connected to the outer surface of the rotating shaft 512, and the multiple second bevel gears 511 are arranged in a linear array. Both sides of the second bevel gears 511 are meshed with first bevel gears 510. The first bevel gears 510 are rotatably connected to the foot support box 401 through a rotating shaft, and the rotating shaft is connected to the drive cam 509. The rotating rod 508 is connected to one end of the rotating shaft 512 located outside the foot support box 401; Rotary sleeve 507 is slidably connected to the outer surface of rotating rod 508. The inner wall of rotating sleeve 507 and the cross-sectional shape of rotating rod 508 are both regular hexagonal. A transmission gear 504 is connected to the bottom of a rotating sleeve 507. A fixed rack 503 is meshed with one side of the transmission gear 504. The fixed rack 503 is connected to the top of the lifting plate 3. The sliding sleeve 502 is rotatably connected to the rotating sleeve 507, and the bottom of the sliding sleeve 502 is in contact with the top of the fixed rack 503; The limiting slide bar 501 is connected to the top of the fixed rack 503, and the sliding sleeve 502 is slidably connected to the limiting slide bar 501.
[0025] The specific usage method and working principle are as follows: When the patient actively or passively performs knee flexion and stretching exercises, the foot support box 401 always fits in contact with the patient's foot. The foot support box 401 drives the rotating shaft 512 to move. The rotating shaft 512 drives the rotating sleeve 507 to move through the rotating rod 508. The rotating sleeve 507 drives the transmission gear 504 to move on the fixed rack 503. The transmission gear 504 rotates under the transmission of the fixed rack 503. The transmission gear 504 drives the rotating sleeve 507, the rotating rod 508 and the rotating shaft 512 to rotate. The rotating shaft 512 drives the second bevel gear 511 to rotate. The second bevel gear 511 drives the first bevel gears 510 on both sides to rotate. The first bevel gears 510 drive the drive cam 509 to rotate. The drive cam 509 periodically drives the flexible pad 505 to expand outward. The flexible pad 505 itself is elastic and can automatically return to its original shape. Thus, the flexible pad drives the stimulation protrusion 506 to periodically stimulate and massage the patient's sole, simulating the rhythm and intensity of human hand massage. This can effectively promote blood circulation in the sole, relieve muscle tension and enhance sensory input, thereby improving the patient's rehabilitation effect. During this process, as the foot support box 401 moves vertically, the rotating rod 508 can slide vertically relative to the rotating sleeve 507, ensuring that the power system composed of the transmission gear 504 and the fixed rack 503 can stably transmit power to the rotating shaft 512. Furthermore, during the movement of the transmission gear 504, the sliding sleeve 502 maintains its vertical position under the limitation of the limiting sliding rod 501, thereby ensuring that the vertical height of the rotating sleeve 507 remains unchanged. This allows the transmission gear 504 to always mesh with the fixed rack 503, ensuring the stability of the transmission.
[0026] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A limb rehabilitation device, comprising a lifting plate (3), characterized in that, The top of the lifting plate (3) is provided with a leg stretching component (4); The leg stretching assembly (4) includes two symmetrically arranged leg limiting cylinders (404). The top of the lifting plate (3) is connected to two symmetrically arranged vertical fixing plates (402). A stroke groove (409) is provided on one side of the vertical fixing plate (402). A stroke block (417) is connected to the side of the leg limiting cylinder (404) near the vertical fixing plate (402). The stroke block (417) is slidably connected in the stroke groove (409). A foot support box (401) for supporting and conforming to the patient's foot is provided at one end of the leg limiting cylinder (404).
2. The limb rehabilitation device according to claim 1, characterized in that, The leg stretching assembly (4) also includes: Two annular airbags (411) are connected to the leg limiting cylinder (404); Two air pumps (408) are located on the top of the leg limiting cylinder (404). The air pumps (408) are connected to the annular airbag (411) through connecting pipes and are used to inflate the annular airbag (411).
3. The limb rehabilitation device according to claim 1, characterized in that, The leg stretching assembly (4) also includes: A push plate (407) is connected between two foot support boxes (401); Two sets of connecting frames, each set of connecting frames consists of two connecting frames, which are connected between the leg limiting sleeve (404) and the foot support box (401); An electric push rod (405) is connected to the top of the lifting plate (3) via a mounting base. The output end of the electric push rod (405) is connected to a push wheel (406), and one side of the push wheel (406) is in contact with one side of the push plate (407).
4. The limb rehabilitation device according to claim 1, characterized in that, The leg stretching assembly (4) also includes: A connecting plate (410) is connected between two leg limiting cylinders (404); Two telescopic rods (413) are symmetrically connected to the bottom of the connecting plate (410); The top of the sliding block (414) is connected to the bottom of the two telescopic rods (413). The top of the lifting plate (3) is provided with a sliding groove. The sliding block (414) is slidably connected in the sliding groove. The sliding block (414) has two symmetrically arranged sliding holes.
5. A limb rehabilitation device according to claim 4, characterized in that, The leg stretching assembly (4) also includes: Two fixed slide rods (412) are symmetrically connected in the sliding groove, and the fixed slide rods (412) are slidably connected to the sliding block (414) through the sliding hole; The adjusting plate (416) is slidably connected to two fixed sliding rods (412); Two adjusting springs (415) are sleeved on the outer surface of the fixed slide rod (412), and the two ends of the adjusting springs (415) are respectively connected to one side of the adjusting plate (416) and the sliding block (414); Adjusting bolt (403) is threadedly connected to lifting plate (3). One end of adjusting bolt (403) extends into sliding groove, and the end of adjusting bolt (403) located inside sliding groove is rotatably connected to one side of adjusting plate (416).
6. A limb rehabilitation device according to claim 1, characterized in that, The foot support box (401) is equipped with a foot stimulation component (5), which includes: The flexible fitting pad (505) is provided in the foot support box (401) near the leg limiting cylinder (404) with a through groove. Multiple stimulation bumps (506) are connected to one side of the flexible adhesive pad (505), and the multiple stimulation bumps (506) are evenly distributed; Two sets of drive cams (509) are symmetrically arranged in the foot support box (401). Each set of drive cams (509) consists of multiple drive cams (509) arranged in a vertical linear array. The two adjacent drive cams (509) in the same set are centrally symmetrically distributed and are used to drive the flexible bonding pad (505) to extend and retract.
7. A limb rehabilitation device according to claim 6, characterized in that, The foot stimulation component (5) also includes: A rotating shaft (512) is rotatably connected inside the foot support box (401), and one end of the rotating shaft (512) extends to the outside of the foot support box (401); Multiple second bevel gears (511) are connected to the outer surface of the rotating shaft (512), and the multiple second bevel gears (511) are arranged in a linear array. Both sides of the second bevel gears (511) are meshed with first bevel gears (510). The first bevel gears (510) are rotatably connected to the foot support box (401) through a rotating shaft, and the rotating shaft is connected to the drive cam (509).
8. A limb rehabilitation device according to claim 7, characterized in that, The foot stimulation component (5) also includes: The rotating rod (508) is connected to one end of the rotating shaft (512) located outside the foot support box (401); The rotating sleeve (507) is slidably connected to the outer surface of the rotating rod (508). The inner wall of the rotating sleeve (507) and the cross-sectional shape of the rotating rod (508) are both regular hexagonal. A transmission gear (504) is connected to the bottom of a rotating sleeve (507). A fixed rack (503) is meshed on one side of the transmission gear (504), and the fixed rack (503) is connected to the top of the lifting plate (3).
9. A limb rehabilitation device according to claim 8, characterized in that, The foot stimulation component (5) also includes: The sliding sleeve (502) is rotatably connected to the rotating sleeve (507), and the bottom of the sliding sleeve (502) is in contact with the top of the fixed rack (503); The limiting slide rod (501) is connected to the top of the fixed rack (503), and the sliding sleeve (502) is slidably connected to the limiting slide rod (501).
10. A limb rehabilitation device according to claim 1, characterized in that, Also includes: Two lifting push rods (2) are symmetrically connected to the top of the lifting plate (3); The mobile frame (1) includes a top plate, the bottom of which is connected to the other end of two lifting push rods (2), and side supports are connected to both sides of the bottom of the top plate, with moving wheels connected to the bottom of the side supports.