阅读说明：本技术 一种四肢同步步态运动康复训练器 (Four-limb synchronous gait exercise rehabilitation training device ) 是由 吴贵军 尚峰 王峥 国秀丽 于 2021-09-02 设计创作，主要内容包括：本申请公开一种四肢同步步态运动康复训练器,包括左侧机构、右侧机构,右侧机构与左侧机构关左右对称设置,所述的右侧机构包括右后立柱、右导轨,底座的右侧从中部到前端依次固定右后、右中、右前立柱,右中立柱转动安装右摆轴,右摆轴固定右带轮和右手柄连接杆,右导轨固定右导轨板,右导轨板前端的高度可调节,右导轨上安装右滑块,右滑块固定右连接板,右连接板上端固定右脚托板,右连杆后端通过右球铰链连接右连接板,右连杆前端与右摆杆的右端铰接,右摆杆的左端固定在摆动带轮上,底座上设置有摆动带轮的转动支撑结构,圆带从右带轮与摆动带轮和左带轮形成带传动,实现下肢脚托板倾斜角度可调节的四肢同步的步态康复训练。(The application discloses a four-limb synchronous gait motion rehabilitation trainer, which comprises a left mechanism and a right mechanism, wherein the right mechanism and the left mechanism are arranged in a bilateral symmetry manner, the right mechanism comprises a right rear upright post and a right guide rail, the right rear upright post, the right middle upright post and the right front upright post are sequentially fixed on the right side of a base from the middle part to the front end, a right swing shaft is rotatably arranged on the right middle upright post, a right belt wheel and a right handle connecting rod are fixed on the right swing shaft, a right guide rail plate is fixed on the right guide rail, the height of the front end of the right guide rail plate can be adjusted, a right slide block is arranged on the right guide rail, a right connecting plate is fixed on the right slide block, a right foot supporting plate is fixed at the upper end of the right connecting plate, the rear end of the right connecting rod is connected with the right connecting plate through a right ball hinge, the front end of the right connecting rod is hinged with the right end of the right swing rod, the left end of the right swing rod is fixed on a swing belt wheel, a rotary supporting structure of the swing belt wheel is arranged on the base, a circular belt forms belt transmission with the swing belt wheel and the left belt wheel, the four-limb synchronous gait rehabilitation training with the adjustable lower limb foot supporting plate inclination angle is realized.)

1. The utility model provides a synchronous gait motion rehabilitation training device of four limbs which characterized in that: comprises a base (1), a seat (2), a right side mechanism (3), a left side mechanism (4), a tensioning mechanism (5) and a circular belt (7), wherein the seat (2) is arranged at the rear end of the base (1), the base (1) is of a bilateral symmetry structure, the right side mechanism (3) and the left side mechanism (4) are bilaterally symmetrical about a bilateral symmetry plane of the base (1), the right side mechanism (3) comprises a right rear upright post (301), a right foot supporting plate (302), a right belt wheel (303), a right middle upright post (304), a right guide rail (309), a right front upright post (314) and a right ball hinge (320), the lower end of the right rear upright post (301), the lower end of the right middle upright post (304) and the lower end of the right front upright post (314) are sequentially fixed from the middle part to the front end of the right side of the base (1), and a right swing shaft (316) is rotatably installed on the upper part of the right middle upright post (304), the right swing shaft (316) is fixed at the lower ends of the right belt wheel (303) and the right handle connecting rod (305), and the upper end of the right handle connecting rod (305) is fixed with the right handle (306);

a right guide rail plate (308) is fixed on the right side of the right guide rail (309), a right guide rail (309) is fixed on the left side of the right guide rail plate (308), the right guide rail (309) and the right guide rail plate (308) are arranged along the front-back direction, a pin groove (3081) along the length direction is formed in the rear side of the right guide rail plate (308), a right rear pin shaft (307) slides in the pin groove (3081), the right rear pin shaft (307) is fixed at the upper end of a right rear upright post (301), and a height adjusting device at the front end of the right guide rail plate (308) is arranged on the right front upright post (314);

a right sliding block (315) is mounted on the right guide rail (309), a right connecting plate (321) is fixed by the right sliding block (315), a right foot supporting plate (302) is fixed at the upper end of the right connecting plate (321), the right connecting plate (321) is fixed at the rear end of a right ball hinge (320), the rear end of a right connecting rod (323) is fixed at the front end of the right ball hinge (320), the front end of the right connecting rod (323) is hinged with the right end of a right oscillating bar (324), the left end of the right oscillating bar (324) is fixed on an oscillating belt wheel (601), and a rotating supporting structure of the oscillating belt wheel (601) is arranged on the base (1);

the upper portion of right front pillar (314), lower part rotate respectively and install upper right support band pulley (311), lower right support band pulley (313), the central axis of upper right support band pulley (311) and lower right support band pulley (313) sets up along vertical direction, circle area (7) from right band pulley (303) upside round-off, then walk around upper right support band pulley (311), walk around from swing band pulley (601) rear side, walk around the upper left support band pulley of left side mechanism (4), walk around the left band pulley of left side mechanism (4), walk around the lower left band pulley of left side mechanism (4), walk around lower right band pulley (313), from the downside of right band pulley (303) around into right band pulley (303).

2. The limb synchronous gait motor rehabilitation trainer according to claim 1, characterized in that: the structure of the height adjusting device arranged at the front end of the right guide rail plate (308) on the right front upright post (314) is as follows: the right mechanism (3) further comprises a right lifting mechanism (310), the right lifting mechanism (310) comprises a right front pin shaft (3101), a right lead screw (3102), a right lifting slider (3103), a right buckle cover (3104) and a right hand wheel (3105), the right front upright post (314) is of a hollow structure, a right front upright post groove (3141) along the vertical direction is formed in the left side of the right front upright post (314), the right lifting slider (3103) slides in the right front upright post (314), the right end of the right front pin shaft (3101) is fixed on the left side of the right lifting slider (3103), the right side of the right front pin shaft (3101) extends outwards through the right front upright post groove (3141) and is rotatably installed with a cylindrical hole formed in the front end of the right guide rail plate (308), the right buckle cover (3104) is fixed at the upper end of the right front upright post (314), the right buckle cover (3104) is rotatably connected with the upper part of the right lead screw (3102), and the right hand wheel (3105) is fixed at the upper end of the right lead screw (3102), the right lead screw (3102) is arranged along the vertical direction, and the right lifting slide block (3103) is screwed on the right lead screw (3102) through a screw pair which penetrates up and down.

3. The limb synchronous gait motor rehabilitation trainer according to claim 1, characterized in that: the structure of the rotation supporting structure of the swing belt wheel (601) is as follows: the front end of the middle of the base (1) is fixedly provided with the lower end of a vertical beam (604), the upper end of the vertical beam (604) is fixedly provided with the rear end of an upper front extension beam (602), the front end of the upper front extension beam (602) is fixedly provided with the lower end of a swinging pulley shaft (603), and the upper end of the swinging pulley shaft (603) is rotatably provided with a swinging pulley (601).

4. The limb synchronous gait motor rehabilitation trainer according to claim 3, characterized in that: the tensioning device is characterized in that a tensioning mechanism of a circular belt (7) is arranged on the base (1), the tensioning mechanism (5) comprises a lower front extension beam (501), a front buckle cover (502), a tensioning hand wheel (503), a tensioning lead screw (504), a tensioning belt wheel (505), a tensioning wheel shaft (506) and a tensioning sliding block (507), the middle part of the vertical beam (604) is fixed at the rear end of the lower front extension beam (501), the lower front extension beam (501) is of a hollow structure, a lower front extension beam groove (5011) along the front-back direction is formed in the lower side of the lower front extension beam (501), the tensioning sliding block (507) is in sliding connection in the hollow structure of the lower front extension beam (501), the lower front extension beam (501) is horizontally arranged along the front-back direction, the front buckle cover (502) is fixed at the front end of the lower front extension beam (501), the front part of the tensioning lead screw (504) is rotatably connected with the front buckle cover (502), the tensioning lead screw (504) is arranged along the front-back direction, the tensioning lead screw (504) is screwed with a screw pair which is arranged on the tensioning sliding block (507) and penetrates through along the front-back direction, the upper end of a tensioning wheel shaft (506) is fixed on the lower side of a tensioning sliding block (507), after the tensioning wheel shaft (506) extends downwards to a lower front beam groove (5011), a tensioning belt wheel (505) is rotatably installed at the lower end of the tensioning wheel shaft, and a tensioning hand wheel (503) is fixed at the front end of a tensioning lead screw (504).

5. The limb synchronous gait motor rehabilitation trainer according to claim 1, characterized in that: the upper part and the lower part of the right front upright post (314) are respectively provided with a right upper supporting belt wheel (311) and a right lower supporting belt wheel (313) in a rotating way, and the structure is as follows: the upper portion of right front pillar (314) fixed right upper pulley frame (318), the lower extreme of right upper pulley axle (317) is fixed in right upper pulley frame (318), the upper end of right upper pulley axle (317) rotates installation right upper support band pulley (311), right lower pulley frame (312) is fixed in the lower part of right front pillar (314), the upper end of right lower pulley axle (319) is fixed in right lower pulley frame (312), the lower extreme of right lower pulley axle (319) rotates installation right lower support band pulley (313), right upper pulley axle (317), right lower pulley axle (319) all along the vertical setting of upper and lower direction.

6. The limb synchronous gait motor rehabilitation trainer according to any one of claims 1 to 5, characterized in that: the diameters of the upper right supporting belt wheel (311), the upper left supporting belt wheel, the lower left belt wheel and the lower right belt wheel (313) are equal, and the diameter of the right belt wheel (303) is larger than that of the swinging belt wheel (601).

7. The limb synchronous gait motor rehabilitation trainer according to any one of claims 1 to 5, characterized in that: a right foot strap (322) is fixed on the right foot supporting plate (302).

Technical Field

The invention relates to a limb synchronous gait movement rehabilitation training device, belonging to the technical field of rehabilitation medical appliances.

Background

At present, the rehabilitation training is the most safe and effective treatment mode for patients with hemiplegia or cerebral trauma, in the existing rehabilitation training devices, a single limb or a single joint training product is mainly used, a motor is mainly used for driving a rehabilitation training instrument to move, a plurality of driving motors and a complex control program are needed for the rehabilitation training device with multiple degrees of freedom, the cost is high, high medical expenses need to be paid for the rehabilitation training of patients, the home rehabilitation therapy cannot be realized, in some four-limb movement rehabilitation training devices, the lower limb movement is the swinging of a foot support, the rehabilitation training device with the front and back sliding of the lower limb is not provided, the requirements of the rehabilitation training of different patients cannot be met, and the safety of the movement of the lower limb of the patient which cannot move independently at all is poor.

The upper limbs or the lower limbs on one side move independently or simultaneously, and the upper limbs and the lower limbs on the other side are driven to move by a round belt which bypasses a supporting pulley, so that the gait movement of the four limbs is realized; the middle of the front end of the base is fixedly connected with a swing rod hinged connecting rod through a swing belt wheel, and the connecting rod is hinged with a foot supporting plate through a ball hinge to realize the backward and forward movement of the upper limbs and the lower limbs on the same side; the foot supporting plate is arranged on a guide rail through a sliding block, the guide rail is fixed on the guide rail plate, a long groove is formed in the rear side of the guide rail plate, a rear pin fixed on the rear side of the base 1 slides in the long groove, meanwhile, the front side of the guide rail plate is rotatably connected with a front pin, the height of the front pin can be adjusted, the adjustment of the inclination angle of the foot supporting plate is realized, and the inclination angle is kept in the motion process; the connecting rod is hinged with the foot supporting plate through the ball hinge, so that the two connecting ends of the ball hinge automatically adapt to deflection in the process of adjusting the inclination angle of the foot supporting plate and driving the foot supporting plate to move back and forth, and the structure is ingenious.

Disclosure of Invention

The invention aims to: the utility model provides a one side upper limbs handle drive band pulley rotates, drives the swing band pulley swing through supporting band pulley, and the swing band pulley passes through its fixed pendulum rod articulated connecting rod, and the connecting rod passes through ball hinge joint pin bracket, and the foot bracket is installed on guide rail slider mechanism, and the synchronous gait rehabilitation training ware of four limbs of guide rail front end height-adjustable.

The technical scheme of the invention is realized as follows: a four-limb synchronous gait exercise rehabilitation trainer, which comprises a base 1, a seat 2, a right side mechanism 3, a left side mechanism 4, a tensioning mechanism 5 and a circular belt 7, the back end of the base 1 is provided with a seat 2, the base 1 is in a bilateral symmetry structure, the right side mechanism 3 and the left side mechanism 4 are in bilateral symmetry about the bilateral symmetry plane of the base 1, the right side mechanism 3 comprises a right rear upright column 301, a right foot supporting plate 302, a right belt wheel 303, a right middle upright column 304, a right guide rail 309, a right front upright column 314 and a right ball hinge 320, the lower end of the right rear upright column 301, the lower end of the right middle upright column 304 and the lower end of the right front upright column 314 are fixed on the right side of the base 1 from the middle part to the front end in sequence, the upper part of the right middle upright post 304 is rotatably provided with a right swing shaft 316, the right swing shaft 316 is fixed at the lower ends of the right belt wheel 303 and the right handle connecting rod 305, and the upper end of the right handle connecting rod 305 is fixed with a right handle 306;

a right guide rail plate 308 is fixed on the right side of the right guide rail 309, a right guide rail 309 is fixed on the left side of the right guide rail plate 308, the right guide rail 309 and the right guide rail plate 308 are arranged along the front-back direction, a pin groove 3081 along the length direction is arranged on the rear side of the right guide rail plate 308, a right rear pin shaft 307 slides in the pin groove 3081, the right rear pin shaft 307 is fixed at the upper end of the right rear upright column 301, and a height adjusting device at the front end of the right guide rail plate 308 is arranged on the right front upright column 314;

the right guide rail 309 is provided with a right sliding block 315, the right sliding block 315 is fixed with a right connecting plate 321, the upper end of the right connecting plate 321 is fixed with a right foot supporting plate 302, the rear end of a right ball hinge 320 is fixed with the right connecting plate 321, the front end of the right ball hinge 320 is fixed with the rear end of a right connecting rod 323, the front end of the right connecting rod 323 is hinged with the right end of a right swing rod 324, the left end of the right swing rod 324 is fixed on a swing belt wheel 601, and a base 1 is provided with a rotary supporting structure of the swing belt wheel 601;

the upper portion, the lower part of right front pillar 314 rotate respectively and install upper right supporting pulley 311, right lower supporting pulley 313, the central axis of upper right supporting pulley 311 and right lower supporting pulley 313 sets up along vertical direction, circle area 7 from right pulley 303 upside take-off, then walk around upper right supporting pulley 311, walk around from swing pulley 601 rear side, walk around the upper left supporting pulley of left side mechanism 4, walk around the left lower pulley of left side mechanism 4, walk around right lower pulley 313, from the downside of right pulley 303 around into right pulley 303.

Preferably, the structure of the height adjusting device arranged at the front end of the right guide rail plate 308 on the right front upright 314 is as follows: the right mechanism 3 further comprises a right lifting mechanism 310, the right lifting mechanism 310 comprises a right front pin shaft 3101, a right lead screw 3102, a right lifting slider 3103, a right cover 3104 and a right hand wheel 3105, the right front upright post 314 is of a hollow structure, a right front upright post groove 3141 along the vertical direction is formed in the left side of the right front upright post 314, the right lifting slider 3103 slides in the right front upright post 314, the right end of the right front pin shaft 3101 is fixed on the left side of the right lifting slider 3103, the right side of the right front pin shaft 3101 extends outwards through a right front upright post groove 3141 and is rotatably provided with a cylindrical hole arranged at the front end of the right guide rail plate 308, the right cover 3104 is fixed on the upper end of the right front upright post 314, the right cover 3104 is rotatably connected with the upper part of the right lead screw 3102, the right hand wheel 3105 is fixed on the upper end of the right lead screw 3102, the right lead screw 3103 is rotatably arranged along the vertical direction, and the right lifting slider 3103 is screwed on the right lead screw 3102 through a screw pair which penetrates up and down.

Preferably, the structure of the rotation supporting structure of the oscillating pulley 601 is as follows: the front end of the middle part of the base 1 is fixed with the lower end of a vertical beam 604, the upper end of the vertical beam 604 is fixed with the rear end of an upper front extension beam 602, the front end of the upper front extension beam 602 is fixed with the lower end of a swinging pulley shaft 603, and the upper end of the swinging pulley shaft 603 is rotatably provided with a swinging pulley 601.

Preferably, the base 1 is provided with a tensioning mechanism of the circular belt 7, the tensioning mechanism 5 includes a lower front extension beam 501, a front buckle cover 502, a tensioning handwheel 503, a tensioning screw 504, a tensioning pulley 505, a tensioning wheel shaft 506 and a tensioning slider 507, the middle part of the vertical beam 604 fixes the rear end of the lower front extension beam 501, the lower front extension beam 501 is of a hollow structure, the lower side of the lower front extension beam 501 is provided with a lower front extension beam slot 5011 along the front-back direction, the tensioning slider 507 is connected in the hollow structure of the lower front extension beam 501 in a sliding manner, the lower front extension beam 501 is horizontally arranged along the front-back direction, the front buckle cover 502 is fixed at the front end of the lower front extension beam 501, the front part of the tensioning screw 504 is rotatably connected with the front buckle cover 502, the tensioning screw 504 is arranged along the front-back direction, the tensioning screw 504 is screwed with a screw pair penetrating through the tensioning slider 507 in the front-back direction, the lower side of the tensioning slider 507 fixes the upper end of the tensioning wheel shaft 506, after the tensioning wheel shaft 506 extends downwards out of the lower forward extending beam slot 5011, the lower end of the tensioning wheel shaft is rotatably provided with a tensioning belt wheel 505, and the front end of the tensioning screw rod 504 is fixedly provided with a tensioning hand wheel 503.

Preferably, the upper and lower portions of the right front pillar 314 are rotatably mounted with the right upper support pulley 311 and the right lower support pulley 313, respectively, in a structure that: the upper portion of the right front upright 314 is fixed with a right upper pulley frame 318, the right upper pulley frame 318 is fixed with the lower end of a right upper pulley shaft 317, the upper end of the right upper pulley shaft 317 is rotatably provided with a right upper supporting pulley 311, the lower portion of the right front upright 314 is fixed with a right lower pulley frame 312, the right lower pulley frame 312 is fixed with the upper end of a right lower pulley shaft 319, the lower end of the right lower pulley shaft 319 is rotatably provided with a right lower supporting pulley 313, and the right upper pulley shaft 317 and the right lower pulley shaft 319 are both vertically arranged along the up-down direction.

Preferably, the diameters of the right upper supporting pulley 311, the left upper supporting pulley, the left lower pulley and the right lower pulley 313 are equal.

Preferably, the diameter of the right pulley 303 is larger than that of the oscillating pulley 601.

Preferably, a right foot strap 322 is secured to the right foot plate 302.

Compared with the prior art, the invention has the following advantages:

the upper limbs or the lower limbs on one side move independently or simultaneously, and the upper limbs and the lower limbs on the other side are driven to move by a round belt which bypasses a supporting pulley, so that the gait movement of the four limbs is realized; the middle of the front end of the base is fixedly connected with a swing rod hinged connecting rod through a swing belt wheel, and the connecting rod is hinged with a foot supporting plate through a ball hinge to realize the backward and forward movement of the upper limbs and the lower limbs on the same side; the foot supporting plate is arranged on a guide rail through a sliding block, the guide rail is fixed on the guide rail plate, a long groove is formed in the rear side of the guide rail plate, a rear pin fixed on the rear side of the base 1 slides in the long groove, meanwhile, the front side of the guide rail plate is rotatably connected with a front pin, the height of the front pin can be adjusted, the adjustment of the inclination angle of the foot supporting plate is realized, and the inclination angle is kept in the motion process; the connecting rod is hinged with the foot supporting plate through the ball hinge, so that the two connecting ends of the ball hinge automatically adapt to deflection in the process of adjusting the inclination angle of the foot supporting plate and in the process of driving the foot supporting plate to move back and forth, and the structure is ingenious; the inclination angle of both sides foot layer board is adjusted alone, adapts to the different inclination's of both feet needs, improves low limbs rehabilitation training's comfort level.

Drawings

Fig. 1 is a schematic diagram showing the general structure of a limb synchronous gait motor rehabilitation training device.

Fig. 2 is a schematic diagram of the general structure of the limb synchronous gait motor rehabilitation training device.

Fig. 3 is a schematic structural view of the right-side mechanism.

FIG. 4 is a first schematic diagram of the right side rail and right slider mounting and belt drive right side structure of the right side mechanism.

FIG. 5 is a second schematic diagram of the right side rail and right slider mounting and belt drive right side structure of the right side mechanism.

Fig. 6 is a schematic structural view of the right-side elevating mechanism.

FIG. 7 is a first schematic view of the connection structure of the right foot rest and the swing pulley.

Fig. 8 is a second schematic structural view of the connection of the right foot rest and the swing pulley.

Fig. 9 is a schematic view of the structure of the oscillating pulley and the tensioning mechanism.

Fig. 10 is a schematic structural diagram of a tensioning mechanism for mounting a tensioning slider.

Description of reference numerals: 1-base, 2-seat, 3-right side mechanism, 4-left side mechanism, 5-tensioning mechanism, 6-lower limb driving device, 7-circular belt, 301-right rear upright post, 302-right foot supporting plate, 303-right belt pulley, 304-right middle upright post, 305-right handle connecting rod, 306-right handle, 307-right rear pin shaft, 308-right guide rail plate, 3081-pin groove, 309-right guide rail, 310-right lifting mechanism, 3101-right front pin shaft, 3102-right screw, 3103-right lifting slide block, 3104-right buckle cover, 3105-right hand wheel, 311-right upper supporting belt pulley, 312-right lower belt wheel carrier, 313-right lower belt pulley, 314-right front upright post, 3141-right front upright post groove, 315-right slide block, 3105-right slide block, 316-right swing shaft, 317-right upper pulley shaft, 318-right upper pulley frame, 319-right lower pulley shaft, 320-right ball hinge, 321-right connecting plate, 322-right foot strap, 323-right connecting rod, 324-right swing rod, 325-right articulated shaft, 501-lower front extending beam, 5011-lower front extending beam groove, 502-front buckle cover, 503-tensioning hand wheel, 504-tensioning screw rod, 505-tensioning pulley, 506-tensioning pulley shaft, 507-tensioning slider, 601-swinging pulley, 602-upper front extending beam, 603-swinging pulley shaft and 604-vertical beam.

Detailed Description

With reference to fig. 1-10, the rehabilitation training device for four-limb synchronous gait movement of the invention comprises a base 1, a seat 2, a right mechanism 3, a left mechanism 4, a tensioning mechanism 5, a lower limb driving device 6 and a circular belt 7, wherein the directions of the present application are defined by the up-down, front-back and left-right directions of a patient so as to describe the present application, the base 1 is in a bilateral symmetry structure, the right mechanism 3 and the left mechanism 4 are bilaterally symmetric about the bilateral symmetry plane of the base 1, the seat 2 is arranged at the rear end of the base 1, the right mechanism 3 comprises a right rear upright post 301, a right foot supporting plate 302, a right belt wheel 303, a right middle upright post 304, a right handle connecting rod 305, a right handle 306, a right rear pin shaft 307, a right guide rail plate 308, a right guide rail, a right lifting mechanism 310, a right upper supporting belt wheel 311, a right lower belt wheel frame 312, a right lower belt wheel 313 and a right front upright post 314, A right slider 315, a right swing shaft 316, a right upper pulley shaft 317, a right upper pulley frame 318, a right lower pulley shaft 319, a right ball hinge 320, a right connecting plate 321, a right foot strap 322, a right connecting rod 323, a right swing rod 324 and a right hinge shaft 325, wherein the lower end of a right rear upright 301 is fixed on the right side of the middle part of the base 1, the lower end of a right middle upright 304 is fixed on the right side of the front part of the base 1, the lower end of a right front upright 314 is fixed on the right side of the front end of the base 1, the right rear upright 301, the right middle upright 304 and the right front upright 314 are all arranged along the vertical direction, the left end of the right swing shaft 316 is rotatably arranged on the upper part of the right middle upright 304, the right pulley 303 is fixed on the middle part of the right swing shaft 316, the right end of the right handle connecting rod 305 is fixed on the right handle 306, the right guide rail plate 308 is fixed on the right side of the right handle connecting rod 305, the right guide rail plate 308 is fixed on the left side of the right handle connecting rod 305, the right guide rail 309 is fixed on the right guide rail plate 309, the right guide rail plate 309 is fixed right guide rail 309, right guide 309 is fixed 309, right guide rail plate 309 is arranged along the front-back direction, a pin groove 3081 along the length direction is formed in the rear side of the right guide rail plate 308, the left side of the right rear pin shaft 307 slides in the pin groove 3081, the right side of the right rear pin shaft 307 is fixed at the upper end of the right rear upright column 301, a right lifting mechanism 310 is arranged on the right front upright column 314, the height of the right lifting mechanism 310 along the vertical position of the right front upright column 314 can be adjusted, a right front pin shaft 3101 of the right lifting mechanism 310 is rotatably connected with a cylindrical hole formed in the front end of the right guide rail plate 308, and a right sliding block 315 is slidably mounted on the right guide rail 309.

The right lifting mechanism 310 comprises a right front pin 3101, a right lead screw 3102, a right lifting slider 3103, a right buckle cover 3104 and a right hand wheel 3105, the right front upright post 314 is of a hollow structure, a right front upright post groove 3141 along the vertical direction is formed in the left side of the right front upright post 314, the right lifting slider 3103 slides in the right front upright post 314, the right end of the right front pin 3101 is fixed on the left side of the right lifting slider 3103, the right side of the right front pin 3101 extends outwards through the right front upright post groove 3141 and is rotatably installed with a cylindrical hole arranged at the front end of the right guide rail plate 308, the right buckle cover 3104 is fixed at the upper end of the right front upright post 314, the right buckle cover 3104 is rotatably connected with the upper part of the right lead screw 3102, the right hand wheel 3105 is fixed at the upper end of the right lead screw 3102, the right lead screw 3102 is arranged along the vertical direction, and the right lifting slider 3103 is screwed on the right lead screw 3102 through a screw pair penetrating up and down.

The upper portion of the right front upright 314 is fixed with a right upper pulley frame 318, the right upper pulley frame 318 is fixed with the lower end of a right upper pulley shaft 317, the upper end of the right upper pulley shaft 317 is rotatably provided with a right upper supporting pulley 311, the lower portion of the right front upright 314 is fixed with a right lower pulley frame 312, the right lower pulley frame 312 is fixed with the upper end of a right lower pulley shaft 319, the lower end of the right lower pulley shaft 319 is rotatably provided with a right lower supporting pulley 313, and the right upper pulley shaft 317 and the right lower pulley shaft 319 are both vertically arranged along the up-down direction.

The right slider 315 fixes the right connecting plate 321, the right foot supporting plate 302 is fixed at the upper end of the right connecting plate 321, the right foot binding band 322 is fixed on the right foot supporting plate 302, the right connecting plate 321 is fixed at the rear end of the right ball hinge 320, the rear end of the right connecting rod 323 is fixed at the front end of the right ball hinge 320, the front end of the right connecting rod 323 is hinged with the right end of the right swing rod 324 through a right hinge shaft 325, the right hinge shaft 325 is arranged along the vertical direction, and the left end of the right swing rod 324 is fixed at the lower end of the right side of the swing belt pulley 601.

The lower limb driving device 6 comprises a swing belt wheel 601, an upper forward extending beam 602, a swing belt wheel shaft 603 and a vertical beam 604, wherein the lower end of the vertical beam 604 is fixed at the front end of the middle part of the base 1, the rear end of the upper forward extending beam 602 is fixed at the upper end of the vertical beam 604, the lower end of the swing belt wheel shaft 603 is fixed at the front end of the upper forward extending beam 602, and the swing belt wheel 601 is rotatably installed at the upper end of the swing belt wheel shaft 603.

The tensioning mechanism 5 comprises a lower front extension beam 501, a front buckle cover 502, a tensioning hand wheel 503, a tensioning lead screw 504, a tensioning belt pulley 505, a tensioning wheel shaft 506 and a tensioning slider 507, wherein the middle part of the vertical beam 604 is fixed at the rear end of the lower front extension beam 501, the lower front extension beam 501 is of a hollow structure, the lower side of the lower front extension beam 501 is provided with a lower front extension beam groove 5011 along the front-back direction, the tensioning slider 507 is in sliding connection in the hollow structure of the lower front extension beam 501, the lower front extension beam 501 is horizontally arranged along the front-back direction, the front buckle cover 502 is fixed at the front end of the lower front extension beam 501, the front part of the tensioning lead screw 504 is rotatably connected with the front buckle cover 502, the tensioning lead screw 504 is arranged along the front-back direction, the tensioning lead screw 504 is screwed with a screw pair penetrating through the front-back direction and arranged on the tensioning slider 507, the upper end of the tensioning wheel shaft 506 is fixed at the lower side of the tensioning slider 507, the tensioning wheel shaft 506 extends out of the lower front extension beam groove 5011 downwards, the lower end is rotatably provided with the tensioning belt pulley 505, the front end of the tension screw 504 is fixed with a tension handwheel 503.

The circular belt 7 is wound out from the upper side of the right belt wheel 303, then bypasses the upper right supporting belt wheel 311, bypasses the rear side of the swinging belt wheel 601, bypasses the upper left supporting belt wheel of the left mechanism 4, bypasses the left belt wheel of the left mechanism 4, bypasses the lower right belt wheel 313, and finally is wound in from the lower side of the right belt wheel 303, and the circular belt 7 is a closed belt, namely a driving belt connected end to end.

The diameter of the right belt wheel 303 is equal to that of the left belt wheel of the left mechanism 4, the diameters of the upper right supporting belt wheel 311, the upper left supporting belt wheel, the lower left belt wheel and the lower right belt wheel 313 are equal, and the diameter of the right belt wheel 303 is larger than that of the swinging belt wheel 601.

If the patient moves the upper limb and the lower limb on one side independently to drive the upper limb and the lower limb on the other side to do gait motion, the patient sits on the chair 2, the right hand holds the right handle 306, the left hand holds the left handle of the left mechanism 4, if the upper limb on one side of the patient can not move independently at all, a palm bandage is additionally arranged on the handle on the side which can not move independently, for example, the left upper limb can not move independently, the palm bandage is fixed on the left handle, the left palm of the patient is bound, the right foot of the patient is placed on the right foot supporting plate 302, the right foot bandage 322 is bound tightly, the left foot of the patient is placed on the left foot supporting plate of the left mechanism 4, the left foot bandage is bound tightly, according to the disease condition of the patient and the comfort level of the foot rehabilitation training, the right hand wheel 3105 is rotated, the height of the right lifting slide block 3103 is adjusted, the height of the right front pin 3101 is adjusted, because the cylindrical hole arranged at the front end of the right guide rail plate 308 is installed by the rotation of the right front pin 3101, and the back side of the right guide rail plate 308 is provided with a pin groove 3081 along the length direction, the left side of the right back pin shaft 307 slides in the pin groove 3081, so as to realize the adjustment of the height of the front end of the right guide rail plate 308, the adjustment of the inclination angle of the right guide rail 309 and the adjustment of the inclination angle of the right foot supporting plate 302, because the right connecting rod 323 is connected with the right connecting plate 321 through the right ball hinge 320 by a ball hinge, the change of the inclination angle of the right guide rail 309 drives the change of the inclination angle of the right connecting plate 321, the two ends of the right ball hinge 320 move relatively to adapt to the change of the inclination angle, then the left hand wheel of the left mechanism 4 is rotated to adjust the inclination angle of the left foot supporting plate of the left mechanism 4, the inclination angles of the right foot supporting plate 302 and the left foot supporting plate can be the same, or can be adjusted to different inclination angles according to the comfort degree or disease condition of a patient, the right upper limb of the patient pushes forwards, the right belt wheel 303 rotates, the circular belt 7 drives the swinging belt wheel 601 to rotate, the right swing link 324 swings, the right connecting rod 323 moves backwards, the right foot supporting plate 302 moves backwards, meanwhile, the left swing link of the left mechanism 4 swings, the left connecting rod of the left mechanism 4 moves forwards, the left foot supporting plate moves forwards, the left belt wheel of the left mechanism rotates, the left handle moves backwards, gait rehabilitation training exercises with four limbs synchronous are achieved, the right hand of a patient is pulled backwards, the right foot supporting plate 302 moves forwards, the left foot supporting plate moves backwards, and the left handle moves forwards.