阅读说明：本技术 一种踏板式步态康复训练装置 (A kind of pedal gait rehabilitation training device ) 是由 李军强 赵亮 崔梦雅 郭士杰 于 2019-09-05 设计创作，主要内容包括：本发明为一种踏板式步态康复训练装置,包括底盘、踏板运动系统、人体重心调节系统和控制箱,踏板运动系统和人体重心调节系统均安装在底盘上,踏板运动系统包括带有导向装置的平面六连杆机构和同步带直线模组,带有导向装置的平面六连杆机构安装于同步带直线模组之上,同步带直线模组安装于底盘之上；带有导向装置的平面六连杆机构提供两个自由度,同步带直线模组提供一个自由度,每个自由度均使用电机驱动,三个自由度配合运动,使踏板模拟人体足部的运动轨迹；所述的人体重心调节系统包括沿人体高度方向设置的丝杠直线模组,丝杠直线模组的滑块上通过连接板连接有腋下支撑板和肘部支撑部件。整体结构体积小,避免穿戴背心,增强使用舒适感与方便性。(The present invention is a kind of pedal gait rehabilitation training device, including chassis, pedal travel system, gravity center of human body's regulating system and control cabinet, pedal travel system and gravity center of human body's regulating system are installed on chassis, pedal travel system includes planar six-bar linkage and synchronous belt straight line mould group with guiding device, planar six-bar linkage with guiding device is installed on synchronous belt straight line mould group, and synchronous belt straight line mould group is installed on chassis；Planar six-bar linkage with guiding device provides two freedom degrees, and synchronous belt straight line mould group provides one degree of freedom, and each freedom degree uses motor driven, and three degree of freedom cooperative movement makes the motion profile of pedal simulation human foot；Gravity center of human body's regulating system includes the lead screw straight line mould group along body height direction setting, is connected with oxter support plate and elbow rest component by connecting plate on the sliding block of lead screw straight line mould group.Overall structure is small in size, avoids wearing vest, and enhancing uses comfort and convenience.)

1. a kind of pedal gait rehabilitation training device, including chassis, pedal travel system and gravity center of human body's regulating system, pedal Kinematic system and gravity center of human body's regulating system are installed on chassis, which is characterized in that pedal travel system includes with guiding The planar six-bar linkage and synchronous belt straight line mould group, the planar six-bar linkage with guiding device of device are installed on synchronous belt On straight line mould group, synchronous belt straight line mould group is installed on chassis；Planar six-bar linkage with guiding device provides two A freedom degree, synchronous belt straight line mould group provide one degree of freedom, and each freedom degree uses motor driven, three degree of freedom cooperation Movement makes the motion profile of pedal simulation human foot；

Gravity center of human body's regulating system includes the lead screw straight line mould group along body height direction setting, lead screw straight line mould group Oxter support plate and elbow rest component are connected with by connecting plate on sliding block.

2. pedal gait rehabilitation training device according to claim 1, which is characterized in that the plane with guiding device Six bar mechanism is that the additional linear guiding mechanism of a set of six bar mechanism limits one degree of freedom, makes it have two freedom Degree；The synchronous belt straight line mould group includes one group of guide rail of the first synchronous belt, one group of synchronous pulley and offer sliding.

3. training device according to claim 2, which is characterized in that the planar six-bar linkage installation with guiding device On bottom plate, the bottom plate is fixed in positioning support by first level guide rail and the second horizontal guide rail, and bottom plate and first Synchronous belt is fixed, and bottom plate can slide on two horizontal guide rails；On the chassis of first level guide rail and the second horizontal guide rail both ends It is upper to be fixedly mounted one group for installing two synchronous pulleys of the first synchronous belt；

Two motors of the planar six-bar linkage with guiding device pass through one group of heel drive bevel gear and front foot respectively Palm drive bevel gear transfers power to the first crank and the second crank, and a heel drive bevel gear is bent by axis connection first One end of handle, the other end of the first crank connect one end of first connecting rod by preceding short axle, and the lower end of first connecting rod connects guide rail Connecting rod connecting plate, first connecting rod are connect with one end of preceding long axis with guide rail link connecting plate together again, and preceding long axis passes through simultaneously The support of two axis is connect with the heel portions bottom of pedal, and preceding long axis is located at the back side of pedal；

The first sliding block, upright guide rail and the first sliding block are fixed by L-type connecting plate on the bottom edge being located in front of preceding short axle It matches, upright guide rail slides on the first sliding block vertical direction, and lower end and the guide rail link connecting plate of upright guide rail are fixed；

One forefoot drive bevel gear passes through one end of the second crank of axis connection, and the other end of the second crank is connected by rear short axle Connect one end of second connecting rod, long axis after the other end connection of second connecting rod, the front foot that rear long axis passes through first axle support and pedal Section bottom connection is slapped, and rear long axis is fixed on the bottom of pedal.

4. training device according to claim 3, which is characterized in that flexibility is nearby arranged in the pedal upper surface forefoot Band.

5. training device according to claim 3, which is characterized in that height of the pedal apart from ground is not more than 50mm.

6. training device according to claim 1, which is characterized in that gravity center of human body's regulating system further includes L-type Connecting plate, the first connecting plate, transverse slat, riser, the second sliding block, lead screw, the second connecting plate, horizontal fixed link, the 4th shaft coupling, Four motor reducers, the 4th motor, oxter support, elbow rest component, handle；

First connecting plate is fixed on chassis by L-type connecting plate, and transverse slat connects riser and the first connecting plate；4th motor Retarder is mounted on the 4th motor, and the 4th motor reducer projecting shaft is connected by the 4th shaft coupling with lead screw, solid on lead screw Dingan County fills the second sliding block, and the second sliding block can move up and down under the driving of lead screw, and second connecting plate is connected to the second sliding block On, above-mentioned second sliding block, lead screw, the 4th shaft coupling, the 4th motor reducer, the 4th motor constitute lead screw straight line mould group, entirely Lead screw straight line mould group is fixed on riser；Oxter is installed on the second connecting plate top to support, the lower horizontal of the second connecting plate Horizontal fixed link is installed, the both ends of horizontal fixed link are symmetrically installed elbow rest component, are additionally provided with hand on elbow rest component Handle.

7. training device according to claim 1, which is characterized in that a height of 1200mm* of length and width of entire training device 1100mm*1400mm。

Technical field

The present invention relates to robotic technology fields, more particularly to a kind of pedal gait rehabilitation training device.

Background technique

China enters the aging epoch as majority state, and a large amount of the elderly suffers from cranial vascular disease, it is Chinese in The a little higher than world average level of wind disease incidence, belongs to one of apoplexy hotspot, and rejuvenation trend is presented in years.Institute With for cerebral apoplexy disease, either treatment or prevention is all significant.The nervous system diseases such as apoplexy, hemiplegia And lower limb disability will lead to human body lower limbs proper motion function it is impaired, gently then will lead to inconvenient walking, gait deformation, it is heavy then It is unable to leave the bed, completely loses viability.Neural medical science of recovery therapy theory is proved with clinical trial: the plastic sexual centre with height Nervous system can regain rehabilitation and locomitivity in the patients with cerebral apoplexy of early rehabilitation training.Lower limb rehabilitation robot category In the Medical Devices that just grow up in recent years, it is a kind of typical electromechanical integrated product.Active foot plate formula rehabilitation trainer Device people is a kind of typical gait rehabilitation training robot.

Mainly there is a two major classes type in existing pedal ambulation training robot, one kind be by multiple degrees of freedom footrest mechanism or The ambulation training robot that platform is constituted, another kind of is ellipse using the class of simple link mechanism and pedal attitude coutrol mechanism composition The ambulation training robot of circular knitting machine formula.

The Hesse researcher of such as Berlin, Germany Free University develops the body weight support treadmill training robot Haptic of the second generation Walker.Its principal organ is two programmable pedal structures, and each pedal structure has three degree of freedom, it can be mentioned For various possible foot movement tracks.Pedal is made of two full symmetric but mutually independent mechanical arms, and pedal is mounted on At the top of mechanical arm.The cooperation of pedal each section can drive the foot of patient to realize different gait motion tracks, but the machine Structure overall structure volume is big, needs to dress loss of weight vest in terms of loss of weight, loss of weight is played in training process, use is uncomfortable, body It is bad to test sense.

Summary of the invention

In view of the deficiencies of the prior art, the technical issues of present invention intends to solve has been to provide a kind of pedal gait rehabilitation Training device, the device pedal travel system use the planar six-bar linkage with guiding device, oxter and forearm using branch Fagging form supports weight, and overall structure is small in size, avoids wearing vest, and enhancing uses comfort and convenience.

The present invention solve the technical problem the technical solution adopted is that:

A kind of pedal gait rehabilitation training device, including chassis, pedal travel system and gravity center of human body's regulating system, are stepped on Plate kinematic system and gravity center of human body's regulating system are installed on chassis, which is characterized in that pedal travel system includes having to lead Synchronization is installed on to the planar six-bar linkage and synchronous belt straight line mould group, the planar six-bar linkage with guiding device of device On band straight line mould group, synchronous belt straight line mould group is installed on chassis；Planar six-bar linkage with guiding device provides Two freedom degrees, synchronous belt straight line mould group provide one degree of freedom, and each freedom degree uses motor driven, and three degree of freedom is matched Resultant motion makes the motion profile of pedal simulation human foot；

Gravity center of human body's regulating system includes the lead screw straight line mould group along body height direction setting, lead screw straight line mould Oxter support plate and elbow rest component are connected with by connecting plate on the sliding block of group.

The planar six-bar linkage with guiding device is that (the first crank 210, first connects a set of six bar mechanism The virtual bar that bar, pedal, second connecting rod, the second crank 221 and two crank rotation centers are linked to be) an additional straight line leads One degree of freedom is limited to mechanism (upright guide rail 203 is moved along the first sliding block 208), makes it have two freedom degrees.It is described same Walking with straight line mould group includes 223, one groups of synchronous pulleys of the first synchronous belt and one group of guide rail (first level guide rail that offer is slided 206 and second horizontal guide rail 209).

Planar six-bar linkage with guiding device is mounted on bottom plate, and the bottom plate passes through first level guide rail and the Two horizontal guide rails are fixed in positioning support, and bottom plate is fixed with the first synchronous belt, and bottom plate can slide on two horizontal guide rails； One group is fixedly mounted on the chassis at first level guide rail and the second horizontal guide rail both ends for installing two of the first synchronous belt Synchronous pulley；

Two motors of the planar six-bar linkage with guiding device pass through respectively one group of heel drive bevel gear and Forefoot drive bevel gear transfers power to the first crank and the second crank, and a heel drive bevel gear passes through axis connection the One end of one crank, the other end of the first crank connect one end of first connecting rod, the lower end connection of first connecting rod by preceding short axle Guide rail link connecting plate, first connecting rod are connect with one end of preceding long axis with guide rail link connecting plate together again, and preceding long axis leads to simultaneously It crosses the support of the second axis to connect with the heel portions bottom of pedal, preceding long axis is located at the back side of pedal；

The first sliding block, upright guide rail and first are fixed by L-type connecting plate on the bottom edge being located in front of preceding short axle Sliding block matches, and upright guide rail slides on the first sliding block vertical direction, the lower end of upright guide rail and guide rail link connecting plate It is fixed；

One forefoot drive bevel gear passes through one end of the second crank of axis connection, and the other end of the second crank passes through rear short One end of axis connection second connecting rod, long axis after the other end connection of second connecting rod, rear long axis pass through first axle support and pedal The connection of forefoot section bottom, and rear long axis is fixed on the bottom of pedal.

Flexible-belt is nearby arranged in the pedal upper surface forefoot.

Height of the pedal apart from ground is not more than 50mm.

Gravity center of human body's regulating system further include L-type connecting plate, the first connecting plate, transverse slat, riser, the second sliding block, Lead screw, the second connecting plate, horizontal fixed link, the 4th shaft coupling, the 4th motor reducer, the 4th motor, oxter support, ancon branch Support part part, handle；

First connecting plate is fixed on chassis by L-type connecting plate, and transverse slat connects riser and the first connecting plate；4th Motor reducer is mounted on the 4th motor, and the 4th motor reducer projecting shaft is connected by the 4th shaft coupling with lead screw, lead screw The second sliding block of upper fixed installation, the second sliding block can move up and down under the driving of lead screw, and second connecting plate is connected to second On sliding block, above-mentioned second sliding block, lead screw, the 4th shaft coupling, the 4th motor reducer, the 4th motor constitute lead screw straight line mould group, Entire lead screw straight line mould group is fixed on riser；Oxter is installed on the second connecting plate top to support, the lower part of the second connecting plate It is horizontally mounted horizontal fixed link, the both ends of horizontal fixed link are symmetrically installed elbow rest component, also set on elbow rest component There is handle.

The a height of 1200mm*1100mm*1400mm of length and width of entire training device.

Compared with prior art, the beneficial effects of the present invention are:

1. pedal gait rehabilitation training device of the present invention, pedal travel system and gravity center of human body's regulating system are integrated to Together, two systems co-ordination can effectively simulate body gait movement.

2. the pedal travel system in pedal gait rehabilitation training device of the present invention uses the plane with guiding device Six bar mechanism, when human body lower limbs are in support phase and dual-gripper phase, six bar mechanism is in extreme position, and human body acts on The active force of pedal is undertaken by six bar mechanism, effectively reduces the power of driving motor.

3. gravity center of human body's regulating system in pedal gait rehabilitation training device of the present invention has oxter and two, forearm Support member reduces the stress of human body, improves the stability in rehabilitation training, and gravity center of human body's regulating system can drive human body It moves up and down, not only plays the role of loss of weight, but also make that gait is trained to be more nearly normal gait.

4. the present invention is compared with existing Haptic Walker gait rehabilitation training device, volume is smaller, and structure is simpler Singly in the case where realizing identical function, required driving motor is small, and simplest oxter support is used to support with plate, Not only stable but also reach effect and chainless, so that more effectively reaching normal gait in patient's training process, avoid using existing Have and plays trained vest, it is easy to use.

5. pedal present position is low in the application, patient is walked on it as on the ground, without as existing station The same in plateau, the application uses the planar six-bar linkage with guiding device that can reach fair speed and effectively reduce The power of driving motor, speed requires faster when meeting normal person's walking.

6. the planar six-bar linkage with guiding device is by four-bar mechanism and song from structure and actual effect Handle slide block mechanism composition, Liang Ge mechanism are driven by servo motor, are connected respectively with the forefoot of vola pedal and rear heel, mention For two freedom degrees；Synchronous belt straight line mould group is driven by servo motor, and motor is converted to the displacement of horizontal direction, simulation Horizontal direction when people's walking is mobile, provides one degree of freedom.

Detailed description of the invention

Fig. 1 is the overall structure diagram of apparatus of the present invention.

Fig. 2 is that pedal travel system is mounted on the structural schematic diagram on chassis in apparatus of the present invention.

Fig. 3 is that pedal travel system is mounted on the bottom substance schematic diagram on chassis in apparatus of the present invention.

Fig. 4 is gravity center of human body's regulating system structural schematic diagram in apparatus of the present invention.

Fig. 5 is the use state diagram of apparatus of the present invention.

In figure, chassis 1, pedal travel system 2, gravity center of human body's regulating system 3, control cabinet 4, pedal 201, guide rail link connect Fishplate bar 202, upright guide rail 203, first connecting rod 204, positioning support 205, first level guide rail 206, preceding short axle 207, first are sliding Block 208, the second horizontal guide rail 209, the first crank 210, L-type connecting plate 211, bottom plate 212, heel drive bevel gear 213, One shaft coupling 214, forefoot drive bevel gear 215, first motor retarder 216, first motor 217, second shaft coupling 218, Second motor 219, the second motor right-angle reduction device 220, the second crank 221, rear short axle 222, the first synchronous belt 223, second are same Walk band 224, third shaft coupling 225, third motor 226, third motor right-angle reduction device 227, second connecting rod 228, first axle branch Support 229, rear long axis 230, the second axis support 231, preceding long axis 232, flexible-belt 233；

L-type connecting plate 301, the first connecting plate 302, transverse slat 303, riser 304, the second sliding block 305, lead screw 306, second connect Fishplate bar 307, horizontal fixed link 308, the 4th shaft coupling 309, the 4th motor reducer 310, the 4th motor 311, oxter support 312, elbow rest component 313, handle 314.

Specific embodiment

The present invention is explained further below with reference to examples and drawings, but not in this, as to the application protection scope It limits.

It include pedal travel system 2, human body the present invention provides a kind of pedal gait rehabilitation training device (referring to Fig. 1) Center of gravity regulating system 3, the control cabinet 4 for placing associated motor driver and controller and be fixedly mounted pedal travel system 2 with The chassis 1 of gravity center of human body's regulating system 3, control cabinet are fixed on the back side of gravity center of human body's regulating system, and chassis 1 is supported by lower margin It is fixed on installation ground；Pedal travel system is fixedly mounted in chassis upper surface, gravity center of human body's regulating system lower part is fixed on On chassis, pedal travel system includes identical two group parts of tiled configuration, the axis of symmetry of two group parts location arrangements rearward Gravity center of human body's regulating system.When being trained in the application with user, after the direction of user's direction is.

The symmetrical two group parts structure of pedal travel system 2 (referring to fig. 2, Fig. 3) is identical, with wherein one For group, including pedal 201, guide rail link connecting plate 202, upright guide rail 203, first connecting rod 204, positioning support 205, first Horizontal guide rail 206, preceding short axle 207, the first sliding block 208, the second horizontal guide rail 209, the first crank 210, L-type connecting plate 211, bottom Plate 212, heel drive bevel gear 213, first shaft coupling 214, forefoot drive bevel gear 215, first motor retarder 216, first motor 217, second shaft coupling 218, the second motor 219, the second motor right-angle reduction device 220, the second crank 221, Short axle 222, the first synchronous belt 223, the second synchronous belt 224, third shaft coupling 225, third motor 226, third motor right angle afterwards Retarder 227, second connecting rod 228, first axle support 229, rear long axis 230, the second axis support 231, preceding long axis 232；

The first level guide rail 206 is fixed on chassis 1 one by the way that positioning support 205 is parallel with the second horizontal guide rail 209 On side, positioning support 205 plays fixed supporting role, is able to satisfy installation requirement；It is led in first level guide rail 206 and the second level One group is fixedly mounted on the chassis at 209 both ends of rail for installing two synchronous pulleys of the first synchronous belt 223, the bottom plate 212 Lower surface and the first synchronous belt 223 are fixed, and bottom plate 212 can be under the drive of the first synchronous belt 223 along first level guide rail 206 and second horizontal guide rail 209 be moved forward and backward；

The output end of the first motor installs first motor retarder 216, and first motor 217 is fixed on bottom plate 212, 216 projecting shaft of first motor retarder connects one group of heel drive bevel gear by first shaft coupling 214, and two heels pass The transmission ratio of dynamic bevel gear is 1:1, and a heel drive bevel gear passes through one end of the first crank of axis connection 210, and first is bent The other end of handle 210 connects one end of first connecting rod 204 by preceding short axle 207, and the lower end of first connecting rod 204 connects guide rail link Connecting plate 202, first connecting rod 204 are connect with one end of preceding long axis 232 with guide rail link connecting plate 202 together again, preceding long axis 232 It is connect simultaneously by the second axis support 231 with the heel portions bottom of pedal 201, preceding long axis 232 is located at the back of pedal 201 Face；

The first sliding block 208, upright guide rail are fixed by L-type connecting plate 211 on the bottom edge being located in front of preceding short axle 203 match with the first sliding block 208, and upright guide rail 203 slides on 208 vertical direction of the first sliding block, upright guide rail 203 Lower end and guide rail link connecting plate 202 are fixed；

Movement driving is passed into heel drive bevel gear 213 by first motor, heel drive bevel gear 213 is driven The first crank 210 is passed to, the rotation of the first crank 210 is driven, drives pedal 201 to move up and down by first connecting rod 204 later； First crank 210 is connect with first connecting rod 204 by preceding short axle 207, and first connecting rod 204 and guide rail link connecting plate pass through preceding length Axis 232, the second axis support 231 are fixed with pedal；203 lower end of upright guide rail and guide rail link connecting plate 202 are connected；Upright guide rail 203 slide in the first sliding block 208, limit one degree of freedom, thus constitute a slider-crank mechanism (from structure and reality It is slider-crank mechanism from the point of view of in the effect of border, the rotation of the first crank is moved along fixed link by first connecting rod band movable slider, stepped on Plate 201 is equivalent to the sliding block in slider-crank mechanism, and upright guide rail 203 is equivalent to fixed link), simulate the elevating movement of foot；

Second motor 219, the output end installation second of the second motor 219 are installed on the bottom plate at 217 rear of first motor Motor right-angle reduction device 220,220 projecting shaft of the second motor right-angle reduction device connect one group of forefoot by second shaft coupling 218 Drive bevel gear 215, the transmission ratio of two forefoot drive bevel gears 215 are 1:1, and a forefoot drive bevel gear 215 is logical One end of the second crank of axis connection 221 is crossed, the other end of the second crank 221 connects the one of second connecting rod 228 by rear short axle 222 End, long axis 230 after the other end connection of second connecting rod 228, the forefoot that rear long axis 230 passes through first axle support 229 and pedal Section bottom connection, and rear long axis 230 is fixed on the bottom of pedal；

It is driven by the second motor 219, passes motion to forefoot drive bevel gear 215, forefoot drive bevel gear 215 Transmission passes to the second crank 221, drives the rotation of the second crank 221, and the second crank 221 passes through rear short axle with second connecting rod 228 222 connections, second connecting rod 228 drive pedal 201 to move；Four-bar mechanism is thus constituted (from structure and actual effect From the point of view of be four-bar mechanism, the second crank 221, second connecting rod 228, pedal 201 and with 221 rotation center of the second crank with before 232 center of long axis connects formed bar), simulate the rotary motion of foot；

The slider-crank mechanism of heel and the four-bar mechanism of sole have collectively constituted the company of the plane six with guiding device Linkage simulates two freedom degree coordinated movements of various economic factors of step lifting rotation of people；

The third motor 226 is fixed on the chassis at 223 rear of the first synchronous belt, and the output end of third motor 226 connects Third motor right-angle reduction device 227 is connect, the projecting shaft of third motor right-angle reduction device 227 is used by the connection of third shaft coupling 225 In a synchronous pulley of connection the second synchronous belt 224 of installation, for connecting another synchronous pulley of the second synchronous belt of installation It is coaxially fixed with a synchronous pulley for connecting the first synchronous belt of installation；

Planar six-bar linkage with guiding device is fixed on bottom plate 212, and bottom plate 212 descends and the first synchronous belt 223 Fixed, third motor driven, 227 projecting shaft of third motor right-angle reduction device passes motion to the by third shaft coupling 225 Two synchronous belts 224, one end of the second synchronous belt 224 with one end of the first synchronous belt 223 be it is coaxial, it is synchronous by first later Band 223 drives six bar mechanism to be converted into horizontal motion, horizontal freedom degree when simulation people walks.

Nearby flexible-belt 233 (referring to Fig. 5) is arranged in the pedal upper surface forefoot, for by the foot and pedal of user It is fixed together.

Gravity center of human body's regulating system 3 (referring to fig. 4, Fig. 5) includes L-type connecting plate 301, the first connecting plate 302, cross Plate 303, riser 304, the second sliding block 305, lead screw 306, the second connecting plate 307, horizontal fixed link 308, the 4th shaft coupling 309, 4th motor reducer 310, the 4th motor 311, oxter support 312, elbow rest component 313, handle 314；

First connecting plate 302 is fixed on chassis 1 (referring to Fig. 1) by L-type connecting plate 301, and the connection of transverse slat 303 is perpendicular Plate 304 and the first connecting plate 302；4th motor reducer 310 is mounted on the 4th motor 311, and the 4th motor reducer 310 is stretched Shaft is connected by the 4th shaft coupling 309 with lead screw 306, is fixedly mounted the second sliding block 305 on lead screw, and the second sliding block 305 can be It is moved up and down under the driving of lead screw, second connecting plate 307 is connected on the second sliding block 305, drives it by the rotation of lead screw 306 It moves up and down, above-mentioned second sliding block 305, lead screw 306, the 4th shaft coupling 309, the 4th motor reducer 310, the 4th motor 311 Lead screw straight line mould group is constituted, entire lead screw straight line mould group is fixed on riser 304；Armpit is installed on 307 top of the second connecting plate The lower horizontal of lower support 312, the second connecting plate 307 installs horizontal fixed link 308, and the both ends of horizontal fixed link are symmetrically installed elbow Portion's support member 313 is additionally provided with handle 314 on elbow rest component, and people's elbow rest, can be with hand in elbow rest component Handle is held, oxter support is located exactly at user oxter.

The a height of 1200mm*1100mm*1400mm of length and width of entire training device, overall volume is smaller, and space occupied is small.

Fig. 5 is device use state diagram, and in gait rehabilitation training process, human hands are grasped in handle 314, oxter Support member 312 is supported in human body oxter, and human body elbow rest is on elbow rest component 313, and flexible-belt 233 is by human foot It is fixed on pedal 201 (referring to Fig. 3).

Pedal travel system in the present invention has three degree of freedom, and by a set of tool, there are two freedom degrees with guiding dress The planar six-bar linkage set and a set of synchronous belt straight line mould group with one degree of freedom are (the first synchronous belt, corresponding synchronous Belt wheel and transmission parts are driven by third motor 226, convert six companies by the first synchronous belt 223 for the rotary motion of motor Linear motion of the linkage on horizontal guide rail 206 and 209) it constitutes.

Gravity center of human body's regulating system has two support members in oxter and forearm, is driven by servo motor (the 4th motor 311) It is dynamic, realize the linear motion of vertical direction, in gait rehabilitation motion process, gravity center of human body's regulating system and pedal travel system are assisted Work is adjusted, center of gravity moving up and down in sagittal plane when realizing people's walking.

Pedal travel system bilateral symmetry in training device of the present invention is all the plane six-bar linkage machine by having guiding device The three degree of freedom that structure and synchronous belt straight line mould group motion mimics people foot are moved in sagittal plane；In entire pedal travel system structure Transmission parts be each attached on chassis 1 (referring to Fig. 1), chassis 1 is supported by lower margin, and height of the pedal apart from ground is not more than 50mm, user conveniently step down on pedal, have pedal activity space among chassis, flexible and convenient to use.

The course of work of the invention is:

Pedal gait rehabilitation training device of the present invention, pedal travel system 1 and gravity center of human body's regulating system 2 are integrated to Together, two systems co-ordination can effectively simulate body gait movement.Before carrying out rehabilitation training, by normal gait People's lower limb wear attitude transducer and detect its kinematic parameter, are advised offline according to gait of the kinematic parameter of lower limb to movement It draws；When carrying out gait rehabilitation training, device is in the posture that initial position, that is, people stands, and device receives the gait planned The series of parameters such as kinematic parameter, including motor starting time, dwell time, the speed of service, rotation angle, first by initial bit Set beginning, gait is in the dual-gripper phase stage, and left leg keeps support phase, right leg setting in motion, and the work of first motor 217 drives the The rotation of one crank 210, so that 201 heel position of pedal is risen, the second motor 219 rotation later drives 221 turns of the second crank It is dynamic so that 201 forefoot position of pedal is lifted, rotated around rear long axis 230, rear right-leg enter gait cycle swing phase, put The right rotation of leg side third motor 226 drives right leg to move horizontally forward when dynamic phase, is now in the left leg of support phase in left leg side Third motor drive under move backward；When gait cycle is again introduced into dual-gripper phase, right the second motor of leg side 219 rotates band Dynamic second crank 221 rotation returns to elemental height so that 201 forefoot position of pedal declines, forefoot when being similar to people's walking It lands, the rotation of first motor 217 later drives the rotation of the first crank 210, so that 201 heel position of pedal declines, returns to just Begin height, be similar to people's walking when the rear foot heelstrike；During right steps return to initial level, Vehicular left pedal starts to transport It is dynamic, process such as right crus of diaphragm is lifted, left leg enters swing phase, and right leg enters support phase, loops back and forth like this；In entire gait cycle mistake Cheng Zhong, the 4th motor 311 are the change in displacement according to gravity center of human body in motion process in sagittal plane and coordinate pedal travel system 2 work of system, gravity center of human body track be it is pre-set, the step of people is judged according to the gait motion parameter that attitude transducer acquires The state period is in which, which in stage at moment, so which position of corresponding gravity center of human body track, determines the 4th motor 311 Working condition, the 4th motor 311 drives lead screw 306 to rotate, and the rotation of lead screw 306 drives the second sliding block mobile, to drive armpit The components such as lower support 312, elbow rest component 313 move up and down, so that body is supported patient in the training process, more It is comfortable, but also training gait closer to normal gait.

In the use of the present invention, the initial position of straight line mould group sliding block can be adjusted according to the height of user, and then make It is adapted to user's use, does not need generally to adjust on width, the wider width of elbow rest component is arranged in setting, about For 10-15cm or so, the distance between two elbow rest components can accommodate normal adult use.The application device can also be with Multiple mounting holes are set in horizontal fixed link, can be manually adjusted between two elbow rest components according to user is fat or thin Distance.

Pedal gait rehabilitation training device of the invention, passes through the association of pedal travel system and gravity center of human body's regulating system Allocation and transportation are dynamic, and the movement of gait and center of gravity when simulation people walks can be realized active-passive rehabilitation training.Pedal travel system is by having The planar six-bar linkage and synchronous belt straight line mould group of guiding device form, and this design method can make user in gait training When, foot is under support phase state and is all applied to the gravity of user itself on link mechanism, restarts under this state Corresponding motor needs motor to provide when driving passive exercise driving force is smaller than two conventional connecting rod forms, and training device loads It is smaller, it is only necessary to which that the power that human body lower limbs can be made to swing is provided.Pedal travel system is symmetrical structure, there are three every side respectively has Freedom degree.Gravity center of human body's regulating system is mounted on chassis, and center of gravity is in sagittal plane when being walked by lead screw straight line mould group simulation people Move up and down, driven by servo motor, with pedal travel system coordination cooperate, by control the 4th motor revolving speed being capable of mould People's center of gravity moves up and down when personification walking, to reach correct gait when people's walking；Oxter and forearm have support, play and subtract The effect supported again, and stability is increased, improve trained comfort.

Control algolithm involved in the present invention, gait planning method can be implemented by using the prior art, controller, motor Driver can directly buy acquisition.

The present invention does not address place and is suitable for the prior art.