Rehabilitation robot coupled with physiotherapy device

Abstract

The utility model discloses a rehabilitation robot coupled with a physical therapy device, and relates to the technical field of rehabilitation robots, the rehabilitation robot coupled with the physical therapy device comprises a thigh skeleton, a joint box fixedly arranged at the lower end of the thigh skeleton, a shank skeleton arranged below the joint box, a main shaft and a physical therapy assembly; wherein the upper end of the shank skeleton is rotationally assembled in the joint box through a main shaft, and a driving assembly used for driving the main shaft to rotate is arranged on the joint box, so that the included angle between the thigh skeleton and the shank skeleton can be changed; wherein the physiotherapy assembly comprises a physiotherapy shell, and the physiotherapy shell is arranged behind the joint box and extends to the position behind the knee of the human body; the physical therapy assembly is arranged, the massage head conducts continuous point type massage on the Weizhong point along with advancing of a patient, and therefore the effects of inducing resuscitation, soothing syncope and dredging meridians and collaterals are achieved, and the rehabilitation efficiency of the patient is improved.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation robot technology, specifically a rehabilitation robot coupled with a physiotherapy device. Background Technology

[0002] There are currently a large number of physiotherapy and sports rehabilitation equipment on the market, but they are generally just physiotherapy devices directly assembled onto rehabilitation robots.

[0003] This assembly method results in poor robot coupling, making it impossible to perform point massage on specific acupoints of the patient while the patient is moving. Utility Model Content

[0004] This invention provides a rehabilitation robot coupled with a physiotherapy device, which has the advantage of being able to perform point massage on specific acupoints of the patient, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a rehabilitation robot with coupled physiotherapy device, comprising a femoral bone, a joint box fixed to the lower end of the femoral bone, and a calf bone located below the joint box, further comprising a main shaft and a physiotherapy component; wherein, the upper end of the calf bone is rotatably assembled into the joint box via the main shaft, and the joint box is provided with a drive component for driving the main shaft to rotate, so that the angle between the femoral bone and the calf bone can be changed; wherein, the physiotherapy component comprises: a physiotherapy shell, the physiotherapy shell being located behind the joint box and extending to the back of the human knee; a reciprocating rod, the reciprocating rod being located inside the physiotherapy shell in the area opposite to the Weizhong acupoint, one end of the reciprocating rod being exposed outside the physiotherapy shell and fixed with a massage head; a rotating disk, the rotating disk being installed on the side of the main shaft near the human leg, and the rotating disk being provided with a pushing structure, the pushing structure applying force to the reciprocating rod through a linkage structure, so that the reciprocating rod can reciprocate to massage the Weizhong acupoint.

[0006] As a preferred technical solution of this utility model, the linkage structure includes a power block, a force-applying slope on one side of the power block near the reciprocating rod, and a force-receiving slope on the other side of the power block; the pushing structure is used to apply a pushing force to the force-receiving slope, so that the power block can push the reciprocating rod through the force-applying slope; a return spring is fixed between the power block and the physiotherapy shell along the pushing direction of the reciprocating rod, so that the power block can return to its original position after losing the pushing force of the pushing structure.

[0007] As a preferred technical solution of this utility model, the linkage structure includes a pull rod structure, the pull rod structure includes a rod body, one end of the rod body is assembled on the push structure, and the other end of the rod body is fixedly connected to the reciprocating rod. When the rod body moves back and forth with the push structure, it can drive the reciprocating rod to move back and forth.

[0008] As a preferred technical solution of this utility model, a sliding sleeve is fixed on the rod body, and a sliding rod is provided inside the physiotherapy shell along the reciprocating direction of the reciprocating rod, and the sliding rod guides the rod body through the sliding sleeve.

[0009] As a preferred technical solution of this utility model, the pushing structure includes: a hinge joint, an eccentric head fixedly provided on the side of the rotating disk near the human leg, the hinge joint being rotatably mounted on the eccentric head; a first connecting rod, one end of the first connecting rod being fixedly connected to the hinge joint, the other end of the first connecting rod being rotatably mounted with a second connecting rod, the second connecting rod being inserted into the physiotherapy shell and fixedly provided with a force-applying rod, one end of the force-applying rod cooperating with the linkage structure.

[0010] As a preferred embodiment of this utility model, the reciprocating rod includes: an internally threaded cylinder, one end of which near the massage head is threadedly connected to an internally threaded rod, and the massage head is fixed on the internally threaded rod; and a second reset spring, which is sleeved around the internally threaded cylinder. When the linkage structure pushes the internally threaded cylinder, the second reset spring is compressed, and when the internally threaded cylinder loses the thrust of the linkage structure, the second reset spring returns to its original position.

[0011] As a preferred technical solution of this utility model, the physiotherapy shell is provided with a guide cylinder for accommodating the internally threaded cylinder, and the physiotherapy shell is provided with a groove along the vertical direction for the guide cylinder to move up and down; the bottom of the physiotherapy shell is threadedly connected with a vertical adjustment bolt, and the upper end of the vertical adjustment bolt is rotatably connected to the guide cylinder through a bearing.

[0012] As a preferred embodiment of this utility model, one side of the physiotherapy shell is assembled to the joint box by a horizontal adjusting bolt, which can adjust the horizontal position of the physiotherapy shell; a hole is fixed on the side of the rotating disk near the main shaft, and a compensation part is provided at the end of the main shaft near the hole, with a compensation spring fixed between the compensation part and the bottom of the hole; a side shaft is fixed in the middle of the side of the rotating disk away from the main shaft, and a connecting plate is mounted on the side shaft by a bearing, with the other end of the connecting plate fixed to the physiotherapy shell; the rotating disk moves synchronously when the physiotherapy shell moves horizontally.

[0013] Compared with the prior art, this utility model provides a rehabilitation robot coupled with a physiotherapy device, which has the following beneficial effects:

[0014] This coupled physiotherapy device and rehabilitation robot are equipped with physiotherapy components and a push structure. Through the cooperation of the push structure and the linkage structure, the force of the main axis rotation during the patient's movement can be transmitted to the massage head. When the patient's thigh and calf are not bent, the massage head is in a state of massaging the Weizhong acupoint. Conversely, when the patient's thigh and calf are bent, the massage head is in a state of releasing pressure. As the patient moves, the massage head continuously massages the Weizhong acupoint, thereby having the effect of opening the orifices, reviving consciousness, and clearing the meridians, thus accelerating the patient's recovery efficiency. Attached Figure Description

[0015] Figure 1 This is an overall view of the present utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the joint box of this utility model;

[0017] Figure 3 This is a schematic diagram of the internal structure of the physiotherapy component in Embodiment 1 of this utility model;

[0018] Figure 4 This is a schematic diagram showing the position of the power block in Embodiment 1 of this utility model;

[0019] Figure 5 This utility model Figure 3 Exploded view;

[0020] Figure 6 This is a schematic diagram of the power block in Embodiment 1 of this utility model;

[0021] Figure 7 This is an assembly drawing of the reciprocating rod of this utility model;

[0022] Figure 8 This utility model Figure 7 A schematic diagram of the guide tube cut open by the lieutenant general;

[0023] Figure 9 This is a schematic diagram of the installation of the vertical adjustment bolt of the present invention;

[0024] Figure 10 This is an exploded view of the spindle and rotating disk of the present invention;

[0025] Figure 11 This is a schematic diagram of the tie rod structure in Embodiment 2 of the present invention.

[0026] In the diagram: 1. Femur; 2. Joint box; 3. Shinbone; 31. Bone connecting ring; 4. Physiotherapy component; 41. Physiotherapy shell; 42. Massage head; 43. Rotary disc; 431. Hole; 432. Side shaft; 433. Eccentric head; 44. Pushing structure; 441. Hinge joint; 442. First link; 443. Second link; 444. Force rod; 45. Power block; 451. Force-bearing slope; 452. Force-applying slope; 46. 47. Return spring 1; 48. Guide cylinder; 49. Reciprocating rod; 40. Internal threaded cylinder; 41. Internal threaded rod; 42. Return spring 2; 43. Tie rod structure; 44. Rod body; 45. Sliding sleeve; 46. Sliding rod; 57. Drive assembly; 58. Drive motor; 59. Worm gear; 50. Worm wheel; 60. Vertical adjusting bolt; 71. Horizontal adjusting bolt; 82. Connecting plate; 93. Main shaft; 10. Compensation part; 114. Compensating spring. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Example 1

[0029] This embodiment refers to Figure 1-10 .

[0030] like Figure 1 This utility model discloses a rehabilitation robot with a coupled physiotherapy device, including a thigh bone 1, a joint box 2 fixed at the lower end of the thigh bone 1, and a lower leg bone 3 located below the joint box 2. It should also be equipped with corresponding straps on the thigh bone 1 and the lower leg bone 3 so that the patient's thigh can be bound to the thigh bone 1 and the patient's lower leg can be bound to the lower leg bone 3.

[0031] like Figure 2 and Figure 3 As shown, in order to adapt to the walking pattern of the human body, that is, the angle between the thigh and the lower leg changes when walking, a main shaft 11 is also provided. The upper end of the lower leg bone 3 is rotatably assembled into the joint box 2 through the main shaft 11. The rotatable assembly here should be that both ends of the main shaft 11 are rotatably installed inside the joint box 2. The upper end of the lower leg bone 3 is provided with an integrated bone connecting ring 31, which is fixed on the main shaft 11, so that the lower leg bone 3 is in a state of changing its own angle when the main shaft 11 rotates.

[0032] like Figure 3The joint box 2 is equipped with a drive assembly 5 for driving the main shaft 11 to rotate, so that the angle between the thigh bone 1 and the lower leg bone 3 can be changed, thereby driving the change of the angle between the thigh and lower leg of the human body to adapt to the human walking pattern; the drive assembly 5 here includes a worm gear 54 fixed on the main shaft 11, a worm 53 meshing in front of the worm gear 54, and a drive motor 51 that can drive the worm 53 to rotate is assembled on the top of the joint box 2, so as to realize the active rotation of the main shaft 11.

[0033] like Figures 1-3 As shown, in order to enable the rehabilitation robot to provide massage therapy to the patient while the patient is walking, a therapy component 4 is also provided, including a therapy shell 41, a reciprocating rod 48, and a rotating disc 43.

[0034] The physiotherapy shell 41 is located behind the joint box 2 and extends to the back of the human knee. The reciprocating rod 48 is located inside the physiotherapy shell 41 in the area opposite to the Weizhong acupoint. One end of the reciprocating rod 48 is exposed outside the physiotherapy shell 41 and is fixed with a massage head 42. The reciprocating rod 48 can reciprocate along the front and back direction of the human body, so that the massage head 42 can massage the Weizhong acupoint of the patient. The rotating disk 43 is installed on the side of the main shaft 11 near the human leg, and the rotating disk 43 is provided with a pushing structure 44. The pushing structure 44 applies force to the reciprocating rod 48 through the linkage structure, so that the reciprocating rod 48 can reciprocate to massage the Weizhong acupoint.

[0035] Therefore, the rehabilitation robot of the coupled physiotherapy device provided in this embodiment of the utility model can use the massage head 42 to massage the Weizhong acupoint of the patient during the patient's walking process. Massaging the Weizhong acupoint has the effects of opening the orifices and reviving the patient, and clearing the meridians and collaterals, thereby accelerating the patient's rehabilitation efficiency.

[0036] Optionally, the massage head 42 may be a regular massage head, a heated massage head, or a magnetic massage head.

[0037] Combination Figure 4 and Figure 5 As shown, specifically, the aforementioned linkage structure includes a power block 45. The power block 45 has a force-applying slope 452 on one side near the reciprocating rod 48, and a force-receiving slope 451 on the other side. The pushing structure 44 is used to apply a pushing force to the force-receiving slope 451, so that the power block 45 can push the reciprocating rod 48 through the force-applying slope 452. A return spring 46 is fixed between the power block 45 and the physiotherapy shell 41 along the pushing direction of the reciprocating rod 48.

[0038] In this embodiment, after the stress-bearing slope 451 is subjected to the thrust of the pushing structure 44, Figure 4In the state shown, the power block 45 moves to the right, thereby pushing the reciprocating rod 48 through the force-bearing slope 451. At this time, the return spring 46 is in a compressed state. Conversely, when the force-bearing slope 451 is no longer pushed by the pushing structure 44, the return spring 46 can automatically rebound, thereby resetting the power block 45.

[0039] Combination Figures 3-5 As shown, specifically, the aforementioned pushing structure 44 includes a hinge joint 441 and a first connecting rod 442; an eccentric head 433 is fixedly provided on the eccentric side of the rotating disk 43 near the human leg, the hinge joint 441 is rotatably mounted on the eccentric head 433, one end of the first connecting rod 442 is fixedly connected to the hinge joint 441, and the other end of the first connecting rod 442 is rotatably mounted with a second connecting rod 443, the second connecting rod 443 is inserted into the physiotherapy shell 41 and a force-applying rod 444 is fixedly provided thereon, and one end of the force-applying rod 444 cooperates with the linkage structure.

[0040] In this embodiment, when the rotating disk 43 rotates, the angle of the first connecting rod 442 can be continuously changed, so that the first connecting rod 442 can be in a state of pulling or pushing the second connecting rod 443. Since the second connecting rod 443 is limited by the physiotherapy shell 41, it can only move along its own axis, thereby realizing the application of force by the force-applying rod 444 on the force-bearing slope 451 or not applying force; refer to Figure 4 and Figure 5 The diagram shows the state of the power block 45 and the actuating structure 44 when the femur 1 and tibia 3 are bent, with the tibia 3 and the main axis 11 rotating. Figure 4 and Figure 5 As shown, as the body moves, the femur (thigh bone 1) and tibia (lower leg bone 3) gradually approach a state with no angle between them. During this process, refer to... Figure 3 At this time, the eccentric head 433 pulls the hinge joint 441 to gradually move to area a. At this time, the first link 442 and the second link 443 are in a pulled state. Then, the force bar 444 gradually pushes the power block 45 along the force slope 451, so that the power block 45 can move to the right. Thus, the force slope 452 of the power block 45 can push the reciprocating rod 48 to realize the pressing action of the massage head 42. Conversely, when the thigh bone 1 and the lower leg bone 3 gradually tend to be bent, the return spring 46 can gradually rebound, and the power block 45 no longer pushes the reciprocating rod 48.

[0041] It should be noted that, since the entire lower leg bone 3 rotates slowly along the main axis 11 during the rehabilitation process, the pressing and releasing actions of the massage head 42 are also slow, which improves the patient's comfort.

[0042] Combination Figure 5 , Figure 7 and Figure 8As shown, specifically, in order to accommodate the different massage intensities required by different patients, the reciprocating rod 48 is designed with an adjustable length. The longer the rod, the greater the massage intensity of the massage head 42; the shorter the rod, the less the massage intensity of the massage head 42. The reciprocating rod 48 includes an internally threaded cylinder 481. An internally threaded rod 482 is threadedly connected to one end of the internally threaded cylinder 481 near the massage head 42. The massage head 42 is fixed to the internally threaded rod 482. By rotating the internally threaded rod 482, a threaded force is generated between it and the internally threaded cylinder 481, thereby adjusting the length of the entire reciprocating rod 48.

[0043] In addition, in order to ensure that the massage head 42 is in a released pressing state when the power block 45 no longer pushes the reciprocating rod 48 (i.e., the massage head 42 is gradually disengaging from the Weizhong acupoint), a second reset spring 483 is also provided. The second reset spring 483 is sleeved around the inner threaded cylinder 481. When the linkage structure pushes the inner threaded cylinder 481, the second reset spring 483 is compressed. When the inner threaded cylinder 481 loses the thrust of the power block 45, the second reset spring 483 resets, so that the massage head 42 is in a gradually released pressing state.

[0044] Combination Figure 3 , Figure 7 - Figure 9 As shown, since each patient's body shape is different, the location of their Weizhong acupoint is different. Therefore, in order to adjust the position of the massage head 42 so that it is aligned with the patient's Weizhong acupoint, a vertical adjustment bolt 7 and a horizontal adjustment bolt 8 are provided for the massage head 42.

[0045] Specifically, the physiotherapy housing 41 is provided with a guide cylinder 47 for accommodating the internal threaded cylinder 481. The physiotherapy housing 41 is provided with a groove along the vertical direction for the guide cylinder 47 to move up and down. The vertical adjustment bolt 7 is threadedly connected to the bottom of the physiotherapy housing 41. The upper end of the vertical adjustment bolt 7 is rotatably connected to the guide cylinder 47 through a bearing. By rotating the vertical adjustment bolt 7, it can generate a threaded force with the bottom of the physiotherapy housing 41, thereby changing its own height and then driving the height of the guide cylinder 47 to change, so as to achieve the purpose of adjusting the height of the massage head 42.

[0046] Specifically, one side of the physiotherapy shell 41 is assembled onto the joint box 2 via a horizontal adjustment bolt 8. The horizontal position of the physiotherapy shell 41 can be adjusted by the horizontal adjustment bolt 8. By adjusting the position of the horizontal adjustment bolt 8 on the joint box 2, the horizontal position of the physiotherapy shell 41 can be adjusted, thereby driving the entire physiotherapy component 4 to move horizontally until the massage head 42 reaches the Weizhong acupoint at the horizontal position.

[0047] It should be noted that when the horizontal position of the entire physiotherapy component 4 changes, the position of the rotating disk 43 relative to the main shaft 11 will also change. To accommodate this change, such as... Figure 10 A hole 431 is fixed on the side of the rotating disk 43 near the main shaft 11. A compensation part 111 is provided at the end of the main shaft 11 near the hole 431. A compensation spring 112 is fixed between the compensation part 111 and the bottom of the groove of the hole 431. A side shaft 432 is fixed in the middle of the side of the rotating disk 43 away from the main shaft 11. A connecting plate 10 is mounted on the side shaft 432 through a bearing. The other end of the connecting plate 10 is fixed to the physiotherapy shell 41. Thus, when the entire physiotherapy shell 41 moves in the horizontal direction, it can drive the rotating disk 43 to move synchronously through the connecting plate 10. The hole 431 on the rotating disk 43 can slide on the compensation part 111 to adapt to the displacement of the rotating disk 43. The side shaft 432 is mainly used to connect the connecting plate 10 and the rotating disk 43 into one unit.

[0048] Example 2

[0049] This embodiment refers to Figure 11 .

[0050] The difference between this embodiment and Embodiment 1 is that the linkage structure here includes a pull rod structure 49, which includes a rod body 491. One end of the rod body 491 is assembled on the push structure 44, and the other end of the rod body 491 is fixedly connected to the reciprocating rod 48. When the rod body 491 moves back and forth with the push structure 44, it can drive the reciprocating rod 48 to move back and forth.

[0051] Figure 11 The state shown is that the thigh bone 1 and the lower leg bone 3 are bent, and the massage head 42 is not pressed. As the body moves, the thigh bone 1 and the lower leg bone 3 gradually approach a state without angle. During this process, the first link 442 and the second link 443 are in a pulled state. Then the force bar 444 gradually pulls the bar 491, so the bar 491 pushes the reciprocating bar 48 to realize the pressing action of the massage head 42. Conversely, when the thigh bone 1 and the lower leg bone 3 gradually approach a bent state, the second link 443 is in a pushed state, and the bar 491 pushes the reciprocating bar 48 in the opposite direction. At this time, the massage head 42 is in a state of releasing pressure.

[0052] Preferably, a sliding sleeve 492 is fixed on the rod body 491, and a sliding rod 493 is provided inside the physiotherapy shell 41 along the reciprocating direction of the reciprocating rod 48. The sliding rod 493 guides the rod body 491 through the sliding sleeve 492 to improve the movement stability of the rod body 491.

[0053] It should be noted that, in this document, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] Although embodiments of the present 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 present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rehabilitation robot coupled with a physiotherapy device, comprising a thigh bone (1), a joint box (2) fixed to a lower end of the thigh bone (1), and a lower leg bone (3) provided below the joint box (2), characterized in that, It also includes a main shaft (11) and a physiotherapy component (4); The upper end of the lower leg bone (3) is rotatably assembled in the joint box (2) via the main shaft (11). The joint box (2) is provided with a drive assembly (5) for driving the main shaft (11) to rotate, so that the angle between the thigh bone (1) and the lower leg bone (3) can be changed. The physiotherapy component (4) includes: A physiotherapy shell (41) is located behind the joint box (2) and extends to the back of the knee. A reciprocating rod (48) is located inside the physiotherapy shell (41) in the area opposite to the Weizhong acupoint. One end of the reciprocating rod (48) is exposed outside the physiotherapy shell (41) and is fixed with a massage head (42). A rotating disk (43) is installed on the side of the main shaft (11) near the human leg, and a pushing structure (44) is provided on the rotating disk (43). The pushing structure (44) applies force to the reciprocating rod (48) through the linkage structure, so that the reciprocating rod (48) can massage the Weizhong acupoint back and forth.

2. The rehabilitation robot coupled with a physiotherapy device according to claim 1, wherein: The linkage structure includes a power block (45), and the power block (45) has a force-applying slope (452) on one side near the reciprocating rod (48), and a force-receiving slope (451) on the other side. The pushing structure (44) is used to apply a thrust to the force-bearing slope (451), so that the power block (45) can push the reciprocating rod (48) through the force-bearing slope (452); The power block (45) is fixed with a return spring (46) between it and the physiotherapy shell (41) along the pushing direction of the reciprocating rod (48), so that the power block (45) can be reset after losing the thrust of the pushing structure (44).

3. The rehabilitation robot coupled with a physiotherapy device as claimed in claim 1, wherein: The linkage structure includes a pull rod structure (49), which includes a rod body (491). One end of the rod body (491) is assembled on the push structure (44), and the other end of the rod body (491) is fixedly connected to the reciprocating rod (48). When the rod body (491) moves back and forth with the push structure (44), it can drive the reciprocating rod (48) to move back and forth.

4. The rehabilitation robot with a coupled physiotherapy device according to claim 3, characterized in that: A sliding sleeve (492) is fixed on the rod body (491), and a sliding rod (493) is provided inside the physiotherapy shell (41) along the reciprocating direction of the reciprocating rod (48). The sliding rod (493) guides the rod body (491) through the sliding sleeve (492).

5. The rehabilitation robot coupled with a physiotherapy device according to any one of claims 1-4, characterized in that: The actuation structure (44) includes: The hinge joint (441) has an eccentric head (433) fixedly provided on the eccentric side of the rotating disk (43) near the human leg, and the hinge joint (441) is rotatably mounted on the eccentric head (433). The first link (442) has one end fixedly connected to the hinge joint (441), and the other end of the first link (442) is rotatably mounted with a second link (443). The second link (443) is inserted into the physiotherapy shell (41) and is fixedly provided with a force-applying rod (444). One end of the force-applying rod (444) is engaged with the linkage structure.

6. The rehabilitation robot coupled with a physiotherapy device as claimed in claim 5, wherein: The reciprocating rod (48) includes: An internally threaded cylinder (481) has an internally threaded rod (482) threadedly connected to one end of the internally threaded cylinder (481) near the massage head (42), and the massage head (42) is fixed on the internally threaded rod (482). The second reset spring (483) is sleeved around the inner threaded cylinder (481). When the linkage structure pushes the inner threaded cylinder (481), the second reset spring (483) is compressed. When the inner threaded cylinder (481) loses the thrust of the linkage structure, the second reset spring (483) resets.

7. The rehabilitation robot coupled with a physiotherapy device as claimed in claim 6, wherein: The physiotherapy housing (41) is provided with a guide cylinder (47) for accommodating the internal threaded cylinder (481), and the physiotherapy housing (41) is provided with a groove in the vertical direction for the guide cylinder (47) to move up and down. The bottom of the physiotherapy shell (41) is threaded with a vertical adjustment bolt (7), and the upper end of the vertical adjustment bolt (7) is rotatably connected to the guide cylinder (47) through a bearing.

8. The rehabilitation robot coupled with a physiotherapy apparatus according to claim 6 or 7, characterized in that: One side of the physiotherapy shell (41) is assembled onto the joint box (2) by a horizontal adjustment bolt (8), and the horizontal position of the physiotherapy shell (41) can be adjusted by the horizontal adjustment bolt (8); The rotating disk (43) has a hole (431) fixed on one side near the main shaft (11), and the main shaft (11) has a compensation part (111) at one end near the hole (431). The compensation part (111) has a compensation spring (112) fixed between the bottom of the groove of the hole (431). A side shaft (432) is fixedly provided in the middle of the side of the rotating disk (43) away from the main shaft (11). A connecting plate (10) is mounted on the side shaft (432) through a bearing. The other end of the connecting plate (10) is fixed on the physiotherapy shell (41). When the physiotherapy shell (41) moves horizontally, the rotating disk (43) moves synchronously.

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