CN110876671A - A walking simulation device for rehabilitation of stroke patients - Google Patents

Abstract

A walking simulation device for rehabilitation of stroke patients. A walking simulation system is arranged on a frame. The walking simulation system is composed of a horizontal reciprocating motion mechanism and an arc-shaped lifting mechanism. Two pedals for the patient to step on are provided on both sides of the turntable through pin shafts; the horizontal reciprocating mechanism includes two groups of motion units with the same structure located on both sides of the turntable, each motion unit includes a telescopic oil cylinder to drive it to work A moving base plate whose surface reciprocates, and a movable plate is set up in the cavity in the middle of the moving base plate. The invention simulates the alternating walking action of human legs through the combination of two motion mechanisms, so that when the patient uses it, the legs can be driven to simulate the walking action, which not only exercises the coordination of the legs and nerves and the flexibility of each joint, It also exercises the leg muscles, which improves the recovery effect and shortens the recovery time.

Description

A walking simulation device for rehabilitation of stroke patients

technical field

The invention relates to the field of stroke treatment and rehabilitation, in particular to a walking simulation device for stroke patient rehabilitation.

Background technique

In the prior art, lower limb paralysis caused by stroke is generally treated by exercise and massage, and there is a lack of rehabilitation equipment specially designed for stroke patients to walk with lower limbs. Slow movement on the support has poor effect. It is mainly manifested in: because the patient's lower limbs are paralyzed, the nerves cannot control the movement of the lower limbs well, and it is easy to fall. Therefore, the patient's family members or medical staff are required to take care of them at any time; in addition, during exercise During the process, the weight of the upper body of the patient will increase the burden on the lower limbs, which will not only easily lead to fatigue and increase the risk of falling, but more importantly, it will not be possible to carry out targeted exercises for the coordination of the patient's legs, but also the hip and knee joints. It is also difficult to exercise the flexibility of the patient, which greatly reduces the rehabilitation process of the patient; and the existing massage equipment is also difficult to carry out effective rehabilitation exercise for the coordinated movement of the patient's legs and the flexibility of each joint.

SUMMARY OF THE INVENTION

In order to solve the problem of lack of effective rehabilitation physiotherapy equipment for lower limb paralysis caused by stroke in the prior art, the present invention provides a walking simulation device for rehabilitation of stroke patients. The walking simulation device is composed of a horizontal reciprocating motion mechanism and an arc lift. It is formed by the combination of two motion mechanisms to simulate the alternating walking action of human legs, so that when the patient stands on it, the equipment can drive his legs to walk, which not only exercises the coordination of the legs and The flexibility of the joints, the coordination of the nerves, and the exercise of the leg muscles have improved the rehabilitation effect and shortened the rehabilitation time.

The technical solution adopted by the present invention to solve the above technical problems is as follows: a walking simulation device for rehabilitation of stroke patients, comprising a frame, the frame has a horizontal working surface, the working surface is provided with a walking simulation system, and the walking simulation system is arranged on the working surface. The simulation system is composed of a horizontal reciprocating mechanism and an arc-shaped lifting mechanism, wherein the arc-shaped lifting mechanism includes a turntable set on the working surface to rotate by means of a rotating shaft, and the disk surface of the turntable vertically penetrates the working surface and is driven by the power mechanism. It rotates around the rotating shaft, and two pedals are arranged on both sides of the turntable through the pin shaft, and the two pedals are symmetrically distributed with the center of the turntable as the center of symmetry, and there are four through holes on the working surface. Distributed on the track of the two pedals rotating with the turntable, so that the two pedals pass through the two through holes simultaneously in the process of movement to complete the circular motion;

The horizontal reciprocating motion mechanism includes two groups of motion units with the same structure located on both sides of the turntable. Each motion unit includes a moving base plate that is driven by a telescopic oil cylinder to reciprocate on the surface of the working surface, and has a cavity in the middle of the moving base plate. , and the side of the cavity close to the turntable has an aisle that communicates with the outside world, so that the pin shaft of the pedal can pass through the aisle when it rotates with the turntable;

There are receiving grooves located on both sides of the cavity on the surface of the movable base plate, and a movable plate is arranged in the cavity, and the movable plate is erected in the receiving groove through the protruding mixing shafts on both sides of the movable plate, so that the movable plate is in an empty position. cavity;

The two moving units located on both sides of the turntable, the initial positions of the cavities on the two moving substrates are respectively located on the through holes on the opposite sides of the turntable axial direction, along the rotation direction of the turntable, the two on both sides of the turntable are passed through. The holes are defined as the front hole and the rear hole respectively. The initial position of the pedal on the left side of the turntable is in the front hole on this side, and the cavity of the mobile base plate is located directly above the front hole. When the turntable rotates, the pedal on the left side passes through from top to bottom. The front hole on the side moves to the rear hole on the side. At the same time, the moving base plate on the side moves from the front hole along the surface of the working surface to the rear hole driven by the telescopic oil cylinder. stirring shaft, so as to drive the movable plate to move synchronously with the moving base plate, and when the pedal reaches the rear hole on the side, the movable plate stays just above the rear hole;

The initial position of the pedal on the right side of the turntable is in the rear hole on this side, and the cavity of the mobile base plate is located just above the rear hole. When the turntable rotates, the pedal on the right side passes through the rear hole on the side from bottom to top, and holds up the cavity The movable plate erected inside makes it move to the front hole of this side together with the pedal. At the same time, the moving base plate of this side moves from the rear hole to the front hole along the surface of the working surface under the drive of the telescopic oil cylinder, and before the pedal enters the side. When inside the hole, the cavity of the movable base plate is directly above the front hole, and when the pedal passes through the front hole from top to bottom, the shaft stirring frame of the movable plate held up by it is in the receiving groove of the movable base plate.

A preferred embodiment of the present invention is that the power mechanism that controls the movement of the turntable is a motor-driven reducer, and the motor, the reducer and the telescopic oil cylinder that drives the moving substrate to reciprocate on the working surface are all intelligently controlled by an LPC Coordinator control.

Another preferred embodiment of the present invention is that one end of the pin shaft is fixedly connected to the side surface of the turntable, and the other end extends into a mounting hole provided at the end of the pedal, and the diameter of the mounting hole is larger than the diameter of the pin shaft, and A torsion spring is arranged around the outer surface of one end of the pin shaft extending into the installation hole, the inner ring of the torsion spring is fixedly connected with the outer diameter of the end of the pin shaft, and the two protruding ends of the torsion spring are fixedly connected with the inner wall of the installation hole. to keep the pedals level.

Another preferred embodiment of the present invention is that the frame is a flat rectangular hollow box, the top surface of which is a working surface, and a cavity area is formed inside, and the rotating shaft of the turntable is fixed on the working surface, The four through holes all run through the cavity area, so that the turntable drives the two pedals on both sides of the turntable to pass through the four through holes to form a rotation cycle above the cavity area and the working surface; armrest.

Another preferred embodiment of the present invention is that the frame is a flat rectangular hollow box body, and a vertical partition plate is arranged in the cavity area inside the box body, so as to separate a control area therein , the PLC intelligent control system that controls the movement of the turntable and the telescopic oil cylinder is arranged in the control area.

Another preferred embodiment of the present invention is that the walking simulation device further includes a PLC coordination training control system, and the PLC coordination training control system includes a PLC intelligent controller, a front sensor and a rear sensor for detecting the motion state of the legs. device, a number of electrical stimulation patches attached to the acupoints on the left and right legs of the patient, and an electroacupuncture therapeutic apparatus that provides pulsed current to these electrical stimulation patches, wherein the front and rear sensors detect the right and left legs, respectively. state, and send different signals to the PLC intelligent controller. The PLC intelligent controller controls the electroacupuncture treatment device to the right or left leg acupoints of the patient according to the received signals from the front sensor or the rear sensor. The electrical stimulation patch on the top releases pulse current to stimulate the acupuncture points, so that the right and left legs form muscle and nerve memory, so as to realize the coordinated action of the two.

Another preferred embodiment of the present invention is that the front sensor and the rear sensor respectively send out different signals to the PLC intelligent controller when the left pedal passes through the front hole and the rear hole. The signal from the front sensor or the back sensor respectively controls the electro-acupuncture therapeutic apparatus to release pulse current to stimulate the acupoints to the electrical stimulation patches attached to the acupoints of the patient's right leg or left leg.

Another preferred embodiment of the present invention is that the electrical stimulation patch comprises a conductive metal sheet, one side surface of the conductive metal sheet is densely covered with a plurality of conical discharge tips, and the other side is adhered to a silicone pad In the middle of the side, the other side of the silicone pad is pasted to the middle of one side of a absorbent gauze through Velcro, and the other side of the absorbent gauze is pasted with a waterproof tape, so that the electrical stimulation patch is pasted on the skin of the acupuncture point with the waterproof tape; A piece of conductive metal sheet is connected to the current output interface of the electroacupuncture therapeutic apparatus through a wire wrapped with insulating paint.

Another preferred embodiment of the present invention is that the upper surface of the movable plate is provided with a depression that is convenient for the patient to align and step on, and the shape of the depression is the same as the shape of the outside of the shoe, but larger than the size of the shoe.

Compared with the prior art, the present invention has the following beneficial effects:

1) The walking simulation device of the present invention is formed by a combination of a horizontal reciprocating motion mechanism and an arc-shaped lifting mechanism. The combination of the two motion mechanisms simulates the alternating walking action of human legs, so that when the patient stands on it, the The equipment drives its legs to walk, which not only exercises the coordination of the legs, the flexibility of each joint, and the coordination of nerves, but also exercises the muscles of the legs, which improves the recovery effect and shortens the recovery time;

2) The walking simulation device of the present invention is formed by a combination of a horizontal reciprocating mechanism and an arc-shaped lifting mechanism. The rotation of the arc-shaped lifting mechanism drives two pedals to drive one foot of the patient to move in an arc-shaped lifting from point A to B. At the same time, the other foot of the patient is moved from point B to point A by the horizontal reciprocating motion mechanism, so as to realize the simulation of walking motion, in the process, the various muscle groups of the legs are well exercised , and more importantly, the joint flexibility and nerve coordination of both legs have been well exercised;

3) In the walking simulation device of the present invention, the pedal and the pin shaft are connected by a torsion spring, so that the pedal not only maintains the function of being able to rotate around the pin shaft at a certain angle, but also has a reset function under the action of the torsion spring. This ensures that the pedals are in a horizontal state and better hold up the movable board.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Figure 2 is a schematic top view of a horizontal reciprocating mechanism and an arc-shaped lifting mechanism;

Fig. 3 is the partial enlarged bottom view structure schematic diagram of Fig. 2;

Fig. 4 is the partial enlarged top view structure schematic diagram of Fig. 2;

5 is a schematic structural diagram of a mobile substrate;

6 is a schematic structural diagram of a movable plate;

Fig. 7 is the structural representation of the turntable;

Figure 8 is a schematic diagram of the connection structure of the pedal and the pin;

9 is a schematic diagram of the matching structure of the pedal and the movable plate;

FIG. 10 is a schematic structural diagram of a preferred embodiment of FIG. 9;

11-14 are schematic diagrams of the state of the present invention simulating a walking cycle;

Figure 15 is a schematic structural diagram of a PLC coordination training control system;

Figure 16 is a schematic structural diagram of an electrical stimulation patch;

Reference numerals: 1, frame, 101, work surface, 102, armrest frame, 103, cavity area, 104, control area, 105, vertical partition, 106, through hole, 2, horizontal reciprocating mechanism, 201 , mobile base plate, 202, cavity, 203, aisle, 204, receiving groove, 205, telescopic cylinder, 206, movable plate, 207, mixing shaft, 208, depression, 3, arc lift mechanism, 301, turntable, 302, Pin shaft, 303, pedal, 304, torsion spring, 305, raised end, 4, PLC coordination training control system, 401, electroacupuncture therapy device, 402, PLC intelligent controller, 403, front sensor, 404, rear sensor device, 5, electrical stimulation patch, 501, conductive metal foil, 502, conical discharge tip, 503, lead wire, 504, silicone pad, 505, absorbent gauze, 506, waterproof tape.

Detailed ways

The technical solutions of the present invention will be further elaborated and described below in conjunction with specific embodiments. The components and structures used in the following embodiments of the present invention that are not described in detail are all prior art, such as PLC intelligent controllers, used for sensing Position sensor, electroacupuncture therapeutic apparatus, telescopic oil cylinder and its supporting hydraulic oil supply system, etc.

Example 1

As shown in Figures 1-7, a walking simulation device for rehabilitation of stroke patients includes a frame 1. The frame 1 has a horizontal working surface 101. The working surface 101 is provided with a walking simulation system. The walking simulation system It is composed of a horizontal reciprocating mechanism 2 and an arc-shaped lifting mechanism 3, wherein the arc-shaped lifting mechanism 3 includes a turntable 301 that is rotated and arranged on the working surface 101 by means of a rotating shaft, and the disk surface of the turntable 301 vertically penetrates the working surface 101. It is driven by the power mechanism to rotate around the rotating shaft. Two pedals 303 are provided on both sides of the turntable 301 through the pin shaft 302, and the two pedals 303 are symmetrically distributed with the center of the turntable 301 as the center of symmetry, and are distributed on the working surface 101. There are four through holes 106, and these four through holes 106 are distributed on the trajectory of the rotation of the two pedals 303 with the turntable 301, so that the two pedals 303 pass through the two through holes at the same time during the movement. 106 completes the circular motion; the four through holes 106 and the two pedals 303 are all rectangular, and the size of the four through holes 106 is slightly larger than the size of the pedal 303, so that the pedal can pass through the through hole 106 without obstacles. The connecting line passing through the center of the hole 106 actually forms a rectangle, and the distance between the two passing holes 106 on the same side is the diameter of the turntable 301;

The horizontal reciprocating mechanism 2 includes two groups of moving units with the same structure located on both sides of the turntable 301. Each moving unit includes a moving base plate 201 that is driven by the telescopic oil cylinder 205 to reciprocate on the surface of the working surface 101. There is a cavity 202 in the middle of the 201, and the side of the cavity 202 close to the turntable 301 has a passage 203 communicating with the outside world, so that the pin 302 of the pedal 303 can pass through the passage 203 when it rotates with the turntable 301; the function of the passage 203 It avoids the movement track of the pin shaft 302; in order to ensure the smoothness of the movement of the mobile substrate 201, each mobile substrate 201 is driven by two telescopic oil cylinders 205 to move synchronously;

There are receiving grooves 204 on both sides of the cavity 202 distributed on the surface of the moving base plate 201 , and a movable plate 206 is arranged in the cavity 202 , and the movable plate 206 is erected on the receiving groove 204 by the mixing shafts 207 protruding on both sides of the movable plate 206 . so that the movable plate 206 is located in the cavity 202; the receiving grooves 204 are four grooves distributed with the surface of the movable substrate 201, two on each side of the cavity 202, symmetrically distributed, and the mixing shaft 207 corresponds to it, Moreover, the depth of the receiving groove 204 is preferably greater than the radius of the mixing shaft 207, preferably 2-3 times the radius of the mixing shaft 207, because if the receiving groove 204 is relatively shallow, when the telescopic oil cylinder 205 drives the moving base plate 201 to move, the movable plate 206 The stirring shaft 207 may be separated from the receiving groove 204, so that the movable plate 206 cannot move synchronously and horizontally with the moving base plate 201;

The initial positions of the cavities 202 on the two moving substrates 201 of the two moving units located on both sides of the turntable 301 are respectively located on the through holes 106 on the opposite sides of the turntable 301 in the axial direction. The two through holes 106 on both sides of the 301 are respectively defined as the front hole and the rear hole. The initial position of the pedal 303 on the left side of the turntable 301 is in the front hole on the side, and the cavity 202 of the mobile base plate 201 is located directly above the front hole. When the turntable 301 During rotation, as shown in Figures 11-14, the pedal 303 on the left side passes through the front hole on the side from top to bottom and moves toward the rear hole on the side. It moves to the back hole along the surface of the working surface 101. During this process, the moving base plate 201 catches the stirring shaft 207 of the movable plate 206 through the receiving groove 204, thereby driving the movable plate 206 to move synchronously with the moving base plate 201, and when the pedal 303 reaches the When inside the side rear hole, the movable plate 206 stays just above the rear hole;

The initial position of the pedal 303 on the right side of the turntable 301 is in the rear hole on the side, and the cavity 202 of the moving base plate 201 is located directly above the rear hole. When the turntable 301 rotates, as shown in Figures 11-14, the pedal 303 on the right side is from the bottom The movable plate 206 erected in the cavity 202 is lifted up and moved to the front hole of the side together with the pedal 303 . At the same time, the movable base plate 201 on the side is driven by the telescopic cylinder 205 It moves from the rear hole to the front hole along the surface of the working surface 101, and when the pedal 303 enters the front hole on the side, the cavity 202 of the mobile base plate 201 is directly above the front hole, and the pedal 303 passes through the front hole from top to bottom. When the hole is opened, the stirring shaft 207 of the movable plate 206 held up by it is supported in the receiving groove 204 of the moving base plate 201 .

In order to ensure that the movable plate 206 and the pedal 303 are combined more tightly and are not easy to fall off, the surface of the pedal 303 and the bottom surface of the movable plate 206 are respectively provided with corresponding grooves and ridges, as shown in FIG. When the 303 is combined with the movable plate 206, the groove and the convex edge cooperate to realize the tightness of the combination of the two.

In this embodiment, the telescopic oil cylinder 205 is an existing hydraulic oil cylinder or an air cylinder, preferably a hydraulic oil cylinder, and the auxiliary hydraulic oil or compressed gas supply facilities are all in the prior art, and will not be repeated here.

The above are the basic embodiments of the present invention, and further improvements, optimizations and limitations can be made on the above basis, thereby obtaining the following embodiments:

Example 2

This embodiment is an improvement on the basis of Embodiment 1. Its main structure is the same as that of Embodiment 1. The improvement lies in that the power mechanism for controlling the movement of the turntable 301 is a motor-driven reducer, and the The motor, the reducer, and the telescopic oil cylinder 205 that drives the moving substrate 201 to reciprocate on the surface of the working surface 101 are coordinated and controlled by an LPC intelligent controller.

When the patient just started exercising, the flexibility of his legs is very poor. Therefore, the output speed of the reducer can be set to be very slow, so that it drives the turntable 301 to rotate slowly, for example, 3-5 revolutions per minute. After a period of exercise, its coordination and flexibility have been improved, and then slowly increase the output speed of the reducer.

Example 3

This embodiment is another improvement scheme made on the basis of Embodiment 1. Its main structure is the same as that of Embodiment 1. The improvement is: as shown in FIG. The side is fixedly connected, and the other end extends into the installation hole provided at the end of the pedal 303. The diameter of the installation hole is larger than the diameter of the pin shaft 302, and a torsion spring is provided on the outer surface of one end of the pin shaft 302 that extends into the installation hole. 304, the inner ring of the torsion spring 304 is fixedly connected with the outer diameter of the end of the pin shaft 302, such as welding, and the two protruding ends 305 thereof are fixedly connected with the inner wall of the mounting hole, so as to keep the pedal 303 horizontal.

Example 4

This embodiment is another improvement scheme made on the basis of Embodiment 1. Its main structure is the same as that of Embodiment 1. The improvement is: as shown in FIG. 1 , the frame 1 is a flat rectangular The top surface of the hollow box is the working surface 101, and a cavity area 103 is formed inside. The rotating shaft of the turntable 301 is fixed on the working surface 101, and the four through holes 106 all penetrate the cavity area 103, so that the turntable 301 drives The two pedals 303 on both sides thereof pass through the four through holes 106 to form a rotation cycle above the cavity area 103 and the work surface 101 ; on the work surface 101 , a handrail frame 102 for the patient to hold is provided.

In this embodiment, in order to facilitate the patient to get on and off the rack 1, a pit can be dug in the ground when the rack 1 is installed, so that the rack 1 is installed in the pit so that its working surface 101 is flush with the ground.

Example 5

This embodiment is another improvement scheme made on the basis of Embodiment 1. Its main structure is the same as that of Embodiment 1. The improvement is: as shown in FIG. 1 , the frame 1 is a flat rectangular A hollow box body, and a vertical partition 105 is arranged in the cavity area 103 inside the box body, so as to separate a control area 104, and the PLC intelligent control system 4 for controlling the movement of the turntable 301 and the telescopic oil cylinder 205 is provided within the control area 104 .

Example 6

This embodiment is another improvement scheme made on the basis of Embodiment 1. Its main structure is the same as that of Embodiment 1. The improvement is: as shown in FIG. 15 , the walking simulation device also includes a PLC coordination training control. System 4, the PLC coordination training control system 4 includes a PLC intelligent controller 402, a front sensor 403 and a rear sensor 404 for detecting the motion state of the legs, a number of electrical stimulation patches 5 attached to the acupoints of the left and right legs of the patient And the electroacupuncture therapeutic apparatus 401 that provides pulse current to these electrostimulation patches 5, wherein, the front sensor 403 and the back sensor 404 detect the state of the right leg and the left leg respectively, and send different signals to the PLC intelligent The controller 402 and the PLC intelligent controller 402 respectively control the electro-acupuncture therapeutic apparatus 401 to the electro-stimulation patch 5 attached to the acupuncture point of the patient's right leg or the acupoint of the left leg according to the received signal of the front sensor 403 or the back sensor 404. The pulse current is released to stimulate the acupuncture points, so that the right and left legs form muscle and nerve memory, so as to realize the coordinated action of the two.

The electro-acupuncture therapeutic apparatus 401 used in this embodiment is an existing mature technology, and belongs to the conventional equipment for electro-acupuncture acupoint treatment. The electrical stimulation patches 5 are respectively attached to the patient's Huantiao, Zhibian and Fengshi points.

Example 7

This embodiment is another improvement scheme made on the basis of Embodiment 6, and its main structure is the same as that of Embodiment 6. The improvement lies in: as shown in Figures 1, 9 and 10, the front sensor 403 and The rear sensor 404 respectively sends out different signals to the PLC intelligent controller 402 when the left pedal 303 passes through the front hole and the rear hole. The electro-acupuncture therapeutic apparatus 401 is controlled to release pulse currents to stimulate the acupoints to the electro-stimulation patch 5 attached to the acupoints of the patient's right leg or left leg.

In this embodiment, the front sensor 403 sends a signal to the PLC intelligent controller 402 when it detects that the left pedal 303 passes through the front hole from top to bottom, and the PLC intelligent controller 402 controls the electroacupuncture therapeutic apparatus 401 according to the signal. Release the pulse current to stimulate the acupoints to the electrical stimulation patch 5 attached to the acupoints of the patient's right leg; the rear sensor 404 sends a signal to the PLC intelligent controller 402 when it detects that the left pedal 303 passes through the rear hole from bottom to top , the PLC intelligent controller 402 controls the electro-acupuncture therapeutic apparatus 401 according to the signal to release the pulse current to stimulate the acupoints to the electro-stimulation patch 5 attached to the acupoints of the left leg of the patient.

Example 8

This embodiment is another improvement scheme made on the basis of Embodiment 6. Its main structure is the same as that of Embodiment 6. The improvement lies in: as shown in FIG. 16 , the electrical stimulation patch 5 includes a conductive metal The sheet 501 is densely covered with a number of conical discharge tips 502 on one side of the conductive metal sheet 501, the other side is attached to the middle of one side of a silicone pad 504, and the other side of the silicone pad 504 is pasted on a water-absorbing pad through Velcro. In the middle of one side of the gauze 505, the other side of the absorbent gauze 505 is pasted with the waterproof tape 506, so that the electrical stimulation patch 5 is pasted on the skin of the acupoint by the waterproof tape 506; The lead 503 is connected to the current output interface of the electroacupuncture therapeutic apparatus 401 .

Example 9

This embodiment is another improvement scheme made on the basis of Embodiment 1, and its main structure is the same as that of Embodiment 1. The improvement lies in: as shown in FIGS. 4 and 6 , on the upper surface of the movable plate 206 A depression 208 is provided for the patient to align and step on, and the shape of the depression 208 is the same as the shape of the outer side of the shoe, but larger than the size of the shoe.

Claims (9)

1. The utility model provides a walking analogue means is used in recovery of stroke patient, includes frame (1), and frame (1) has a horizontally working face (101), its characterized in that: the working surface (101) is provided with a walking simulation system which is formed by compounding a horizontal reciprocating mechanism (2) and an arc-shaped lifting mechanism (3), wherein the arc-shaped lifting mechanism (3) comprises a turntable (301) which is rotationally arranged on the working surface (101) by means of a rotating shaft, the surface of the rotary disc (301) vertically penetrates through the working surface (101) and is driven by a power mechanism to rotate around a rotating shaft, two pedals (303) are arranged on two sides of the turntable (301) through a pin shaft (302), the two pedals (303) are symmetrically distributed by taking the center of the turntable (301) as a symmetrical center, four through holes (106) are distributed on the working surface (101), the four through holes (106) are distributed on the track of the two pedals (303) rotating along with the turntable (301), so that the two pedals (303) simultaneously pass through the two through holes (106) to complete circular motion one above the other in the motion process;

the horizontal reciprocating mechanism (2) comprises two groups of motion units with the same structure, which are positioned on two sides of the turntable (301), each motion unit comprises a movable base plate (201) driven by a telescopic oil cylinder (205) to reciprocate on the surface of the working surface (101), a cavity (202) is arranged in the middle of the movable base plate (201), and one side of the cavity (202) close to the turntable (301) is provided with a passage (203) communicated with the outside, so that a pin shaft (302) of the pedal (303) passes through the passage (203) when rotating along with the turntable (301);

bearing grooves (204) positioned at two sides of the cavity (202) are distributed on the surface of the movable substrate (201), a movable plate (206) is arranged in the cavity (202), and the movable plate (206) is erected in the bearing grooves (204) through stirring shafts (207) protruding at two sides of the movable plate (206), so that the movable plate (206) is positioned in the cavity (202);

two motion units are arranged at two sides of the turntable (301), wherein the initial positions of the cavities (202) on two movable substrates (201) are respectively arranged on the through holes (106) at the opposite sides of the turntable (301) in the axial direction, the two through holes (106) at two sides of the turntable (301) are respectively defined as a front hole and a rear hole along the rotation direction of the turntable (301), the initial position of the pedal (303) at the left side of the turntable (301) is arranged in the front hole at the side, the cavity (202) of the movable substrate (201) is arranged right above the front hole, when the turntable (301) rotates, the pedal (303) at the left side passes through the front hole at the side from top to bottom and moves towards the rear hole at the side, meanwhile, the movable substrate (201) at the side moves from the front hole to the rear hole along the surface of the working surface (101) under the driving of the telescopic oil cylinder (205), and in the process, the movable substrate (201) stirs the trip shaft (207) of the movable plate, thereby driving the movable plate (206) and the movable base plate (201) to move synchronously, and when the pedal (303) reaches the rear hole on the side, the movable plate (206) stays right above the rear hole;

the initial position of a pedal (303) on the right side of a turntable (301) is in the rear hole on the side, a cavity (202) of a movable substrate (201) is positioned right above the rear hole, when the turntable (301) rotates, the pedal (303) on the right side penetrates through the rear hole on the side from bottom to top, and a movable plate (206) erected in the cavity (202) is supported to move to the front hole on the side along with the pedal (303), meanwhile, the movable substrate (201) on the side is driven by a telescopic oil cylinder (205) to move from the rear hole to the front hole along the surface of a working surface (101), when the pedal (303) enters the front hole on the side, the cavity (202) of the movable substrate (201) is positioned right above the front hole, and when the pedal (303) penetrates through the front hole from top to bottom, a stirring shaft (207) of the movable plate (206) supported by the pedal (303) is erected in a bearing groove (204) of the movable substrate (201.

2. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: the power mechanism for controlling the movement of the turntable (301) is a motor-driven speed reducer, and the motor, the speed reducer and the telescopic oil cylinder (205) for driving the movable substrate (201) to reciprocate on the surface of the working face (101) are coordinately controlled by an LPC intelligent controller.

3. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: one end of the pin shaft (302) is fixedly connected with the side face of the turntable (301), the other end of the pin shaft extends into a mounting hole formed in the end portion of the pedal (303), the diameter of the mounting hole is larger than that of the pin shaft (302), a torsion spring (304) is arranged around the outer surface of one end, extending into the mounting hole, of the pin shaft (302), the inner ring of the torsion spring (304) is fixedly connected with the outer diameter of the end portion of the pin shaft (302), and the two protruding tail ends (305) of the torsion spring are fixedly connected with the inner wall of the mounting hole, so that the pedal (303) is kept horizontal.

4. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: the rack (1) is a flat rectangular hollow box body, the top surface of the box body is a working surface (101), a cavity area (103) is formed inside the box body, a rotating shaft of the turntable (301) is fixed on the working surface (101), and the four through holes (106) penetrate through the cavity area (103), so that the turntable (301) drives the two pedals (303) on the two sides of the turntable to penetrate through the four through holes (106) to form rotating circulation above the cavity area (103) and the working surface (101); an armrest frame (102) for holding the patient is arranged on the working surface (101).

5. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: the rack (1) is a flat rectangular hollow box body, a vertical partition plate (105) is arranged in a cavity area (103) in the box body, so that a control area (104) is divided into the box body, and a PLC intelligent control system (4) for controlling the movement of the rotary disc (301) and the telescopic oil cylinder (205) is arranged in the control area (104).

6. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: the walking simulation device also comprises a PLC coordinated training control system (4), the PLC coordinated training control system (4) comprises a PLC intelligent controller (402), a front inductor (403) and a rear inductor (404) for detecting the motion state of the two legs, a plurality of electric stimulation patches (5) attached to acupuncture points of the left leg and the right leg of a patient and an electric acupuncture therapy apparatus (401) for providing pulse current for the electric stimulation patches (5), wherein the front inductor (403) and the rear inductor (404) respectively detect the states of the right leg and the left leg and respectively send different signals to the PLC intelligent controller (402), the PLC intelligent controller (402) respectively controls the electric acupuncture therapy apparatus (401) to release the pulse current to the electric stimulation patches (5) attached to the acupuncture points of the right leg or the left leg of the patient according to the received signals of the front inductor (403) or the rear inductor (404), so that the right leg and the left leg form muscle and neural memory, thereby realizing the coordinated action of the two.

7. The walking simulator for stroke patient rehabilitation according to claim 6, wherein: the front sensor (403) and the rear sensor (404) respectively send different signals to the PLC intelligent controller (402) when the left pedal (303) penetrates through the front hole and the rear hole, and the PLC intelligent controller (402) respectively controls the electric needle therapeutic apparatus (401) to release pulse current to the electric stimulation patch (5) attached to the right leg acupoint or the left leg acupoint of the patient to stimulate the acupoint according to the received signals of the front sensor (403) or the rear sensor (404).

8. The walking simulator for stroke patient rehabilitation according to claim 6, wherein: the electric stimulation patch (5) comprises a conductive metal sheet (501), a plurality of conical discharge tips (502) are densely distributed on the surface of one side of the conductive metal sheet (501), the other side of the conductive metal sheet is adhered to the middle of one side of a silica gel pad (504), the other side of the silica gel pad (504) is adhered to the middle of one side of a water absorbing gauze (505) through a magic tape, and the other side of the water absorbing gauze (505) is adhered to a waterproof adhesive tape (506), so that the electric stimulation patch (5) is adhered to the skin of an acupuncture point through the waterproof adhesive tape (506); each conductive metal sheet (501) is connected with a current output interface of the electric acupuncture treatment instrument (401) through a conducting wire (503) wrapped by insulating paint.

9. The walking simulator for stroke patient rehabilitation according to claim 1, wherein: the upper surface of the movable plate (206) is provided with a recess (208) for the patient to align with the tread.

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