CN112618250A

CN112618250A - Multifunctional gait rehabilitation machine

Info

Publication number: CN112618250A
Application number: CN202011359396.0A
Authority: CN
Inventors: 孙祺; 孙国建
Original assignee: Hangzhou Huayi Technology Co ltd
Current assignee: Hangzhou Huayi Technology Co ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-04-09

Abstract

The invention discloses a multifunctional gait rehabilitation machine, which comprises: the bottom plates are welded between the bottom frames; the driving device is formed on the left side of the upper surface of the bottom frame and comprises a mounting plate; the supporting device is formed on the left side of the upper surface of the underframe and comprises a pair of U-shaped frames and a pair of supporting columns, the lower end surfaces of the pair of U-shaped frames are welded and fixed with the mounting plate, the lower surfaces of the pair of supporting columns are in threaded connection with the two ends of the pair of U-shaped frames, and the pair of supporting columns are fixedly provided with connecting plates through bolts; a gait part formed on the front surface of the connecting plate; the sliding device is formed on the bottom plate on the right side of the driving device; the pedal mechanism is formed on the bottom plate on the right side of the sliding device, the first lead screw is driven to rotate through the first motor, the angle between the thigh part and the cross beam is changed, the second lead screw is driven to rotate through the second motor, and the angle between the thigh part and the shank part is changed through matching between the second lead screw and the second lead screw nut, so that rehabilitation exercise is simulated, and the patient is helped to recover.

Description

Multifunctional gait rehabilitation machine

Technical Field

The invention belongs to the technical field of medical rehabilitation mechanical equipment, and particularly relates to a multifunctional gait rehabilitation machine.

Background

Weight-reducing walking rehabilitation training is the most widely applied lower limb rehabilitation training mode in recent years, and the traditional manual walking rehabilitation training has many problems, such as high labor intensity of therapists, too much dependence of the experience and level of the therapists on the training effect, difficulty in ensuring that patients obtain enough training intensity and training period, and the like;

the multifunctional gait rehabilitation machine overcomes the defects of the traditional artificial rehabilitation training, is an effective means for carrying out gait rehabilitation training on patients with abnormal gait caused by motor nervous system diseases, and mainly has two mechanism forms of leg driving type and foot driving type. The leg driving type gait rehabilitation machine usually adopts an exoskeleton form, and has the limitations that the degree of freedom of mechanical joints is less than that of actual human joints, joint movement in normal gait cannot be accurately reproduced, and the defect of uncomfortable wearing exists. The foot driving type gait rehabilitation training machine drives the feet of a patient to move through a moving pedal plate, and then the feet and the shanks of the patient move, however, the existing foot driving type lower limb rehabilitation machine usually adopts a fixed mechanism to realize an ellipse-like movement track, can not flexibly adjust the movement track of the feet according to the physical condition and the training requirement of the patient, and is difficult to achieve an ideal rehabilitation effect.

Disclosure of Invention

The present invention is directed to a multifunctional gait rehabilitation machine, which solves the above problems of the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a multi-functional gait rehabilitation machine comprising:

the chassis is in a rectangular frame shape, a bottom plate is welded between the chassis, and universal wheels are fixedly connected to the lower surface of the chassis through bolts;

furthermore, the arranged underframe is in a rectangular frame shape and has stability, and universal wheels fixedly connected to the lower surface of the underframe through bolts facilitate the movement of the device;

the driving device is formed on the left side of the upper surface of the bottom frame and comprises a mounting plate, and the mounting plate is welded and fixed with the upper surface of the bottom frame;

further, the arranged driving device is used as a power source of the sliding device;

the supporting device is formed on the left side of the upper surface of the underframe and comprises a pair of U-shaped frames and a pair of supporting columns, the lower end surfaces of the pair of U-shaped frames are welded and fixed with the two ends of the mounting plates, the lower surfaces of the pair of supporting columns are welded with a pair of square mounting plates, threaded holes are formed in the pair of square mounting plates, the pair of supporting columns are in threaded connection with the two ends of the pair of U-shaped frames through the square mounting plates, and connecting plates are fixedly mounted between the pair of supporting columns through bolts;

furthermore, the length of the mounting plate is larger than the width of the underframe, and the support device plays a role in fixing the gait part;

a gait part which is formed on the front surface of the connecting plate and comprises a thigh part and a lower leg part;

furthermore, the legs, the thigh parts and the shank parts of the patient are fixed, and the gait part simulates the movement to help the rehabilitation;

the sliding device is formed on the bottom plate on the right side of the driving device;

the pedal mechanism is formed on the bottom plate on the right side of the sliding device;

furthermore, the gait part and the pedal mechanism are mutually matched to help the patient to simulate the movement.

As a preferred embodiment of the present invention: the driving device comprises a motor cover, the motor cover and the mounting plate are matched with each other to form a containing cavity, and a driving motor is fixedly mounted on the mounting plate in the motor cover through bolts.

As a preferred embodiment of the present invention: the back of linkage plate is provided with accomodates the basket, all welds on a pair of support column that is located accomodate basket both sides and has the handrail, the cladding has the rubber layer on the handrail.

As a preferred embodiment of the present invention: the thigh part comprises a pair of crossbeams, the crossbeams are in threaded connection with the front surface of the connecting plate through square flange plates, the middle part of the lower surface of each crossbeam is in threaded connection with a first joint bearing, one end, away from the crossbeam, of each first joint bearing is rotatably connected with a first motor mounting seat through a rotating shaft, a first motor is fixedly mounted in each first motor mounting seat through bolts, the output end of each first motor is coaxially and rotatably connected with a first lead screw, one end, away from the first motor, of each first lead screw is coaxially provided with a first lead screw nut, one end, away from the first lead screw, of each first lead screw nut is provided with a U-shaped notch, each U-shaped notch is rotatably connected with a joint connecting piece through the rotating shaft, the top end of each crossbeam is in threaded connection with a second joint bearing, the front end of each second joint bearing is rotatably connected with an H-shaped connecting plate, and, a triangular plate shaft seat is installed at the back of the thigh rod, a second motor seat is rotatably connected to the lower surface of the triangular plate shaft seat through a third joint bearing, a second motor is fixedly installed in the second motor seat through bolts, and a second lead screw is coaxially and rotatably connected to the output end of the second motor.

As a preferred embodiment of the present invention: the joint connecting piece comprises a joint shaft, a U-shaped plate is welded at one end of the joint shaft, rotating holes are formed in two sides of the U-shaped plate, and a through hole is formed in the other end of the joint shaft.

As a preferred embodiment of the present invention: the shank part comprises a shank rod, the shank rod is rotatably connected with the thigh rod through a joint connecting piece, the middle part of the shank rod is rotatably connected with a second lead screw nut through the joint connecting piece, the second lead screw nut is matched with a second lead screw, and a pedal is arranged on the lower surface of the shank rod.

As a preferred embodiment of the present invention: the sliding device comprises a sliding plate, the sliding plate is fixedly connected with the bottom plate, a pair of sliding rails are fixedly mounted on the sliding plate along the two sides of the length direction through pin shafts, a pair of limiting blocks are mounted on the sliding plate between the pair of sliding rails and are located a pair of limiting blocks, the limiting blocks are connected with a rotating rod in a rotating mode, one end, away from the limiting blocks, of the rotating rod is connected with a driving motor in a rotating mode, rotating nuts are coaxially arranged on the rotating rod, supporting plates are mounted on the rotating nuts, a pair of sliding blocks are mounted on the lower surfaces of the supporting plates, and.

As a preferred embodiment of the present invention: the massage chair is characterized in that a telescopic column is arranged on the upper surface of the supporting plate, a protection barrel is fixedly sleeved on the movable end of the telescopic column, a massage chair is fixedly arranged on the protection barrel, and a compression spring is connected between the movable end of the telescopic column and the protection barrel.

As a preferred embodiment of the present invention: the pedal mechanism includes a pair of tie-beam, and is a pair of be connected with the arc pole perpendicularly between the connecting rod, arc pole middle part through connection has the pivot, and the coaxial connecting rod that is provided with on the pivot both ends, open the circular slot hole that has the equidistance to arrange on the connecting rod, be provided with the pedal in the circular slot hole, through fastening bolt fixed connection between pedal and the circular slot hole.

As a preferred embodiment of the present invention: thigh portion and shank portion inboard fixed mounting have fixing device, fixing device includes oval fixed plate, install the magic subsides on the oval fixed plate.

The invention has the beneficial effects that:

(1) according to the invention, the supporting device and the gait part are connected and fixed through the arranged gait part and the pair of cross beams, the arranged first motor mounting seat plays a role in protecting the first motor, and simultaneously, the danger of direct contact between the leg part of the patient and the first motor is prevented.

(2) According to the invention, through the arranged pedal mechanism, the patient can simulate leg movement by placing feet on the pedals to help the patient to treat, and the pedals can move according to the circular slots which are arranged at equal intervals on the connecting rod, so that the size of a movement path is changed, and the rehabilitation training is targeted.

(3) According to the invention, through the arranged sliding device, the distance between the patient and the pedal mechanism can be changed by the patient sitting on the massage chair through the sliding device, the practicability is greatly enhanced, the height of the massage chair can be changed through the telescopic column arranged below the massage chair, the adjustment according to the height of the patient is convenient, the compression spring connected between the movable end of the telescopic column and the protection barrel plays a role in shock resistance, and the comfort of the patient in use is increased.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial schematic view of the present invention;

FIG. 3 is a schematic structural view of the supporting device of the present invention;

FIG. 4 is a partial structural view of the driving device of the present invention;

FIG. 5 is a schematic view of the sliding device of the present invention;

FIG. 6 is a partial schematic view of the sliding apparatus of the present invention;

FIG. 7 is a schematic view of the pedal mechanism of the present invention;

FIG. 8 is a schematic view of the gait portion of the invention;

figure 9 is a schematic view of the articulating components of the present invention.

In the figure: 1. a chassis; 11. a base plate; 12. a universal wheel; 2. a drive device; 21. mounting a plate; 22. a motor cover; 23. a drive motor; 3. a support device; 31. a U-shaped frame; 32. a support pillar; 33. a square mounting plate; 34. a connector tile; 35. a handrail; 351. a rubber layer; 4. a sliding device; 41. a slide plate; 42. a slide rail; 43. a limiting block; 44. rotating the rod; 45. rotating the nut; 46. a support plate; 47. a slider; 5. a pedal mechanism; 51. a connecting beam; 52. an arcuate bar; 53. a connecting rod; 531. a circular slot; 54. pedaling; 55. fastening a bolt; 6. a storage basket; 7. a gait part; 71. a thigh section; 711. a cross beam; 712. a first joint bearing; 713. a first motor mount; 7131. a first motor; 714. a first lead screw; 7141. a first lead screw nut; 7142. a U-shaped notch; 715. a second joint bearing; 716. an H-shaped connecting plate; 717. a thigh bar; 7171. a triangular plate shaft seat; 7172. a third spherical plain bearing; 718. a second motor mount; 7181. a second motor; 7182. a second lead screw; 72. a lower leg portion; 721. a shank rod; 722. a second feed screw nut; 723. a pedal; 73. a joint connector; 731. a joint shaft; 732. a U-shaped plate; 733. hole turning; 734. a through hole; 74. a fixing device; 741. an elliptical fixing plate; 742. magic tape; 8. a massage chair; 81. a telescopic column; 82. a protective cylinder; 83. compressing the spring.

Detailed Description

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1-9, a multifunctional gait rehabilitation machine comprises:

the device comprises an underframe 1, wherein the underframe 1 is in a rectangular frame shape, a bottom plate 11 is welded between the underframe 1, and the lower surface of the underframe 1 is fixedly connected with universal wheels 12 through bolts;

furthermore, the arranged underframe 1 is in a rectangular frame shape and has stability, and the universal wheels 12 fixedly connected with the lower surface of the underframe 1 through bolts are convenient for the device to move;

the driving device 2 is formed on the left side of the upper surface of the bottom frame 1, the driving device 2 comprises a mounting plate 21, and the mounting plate 21 is fixedly welded with the upper surface of the bottom frame 1;

further, the driving device 2 is arranged as a power source of the sliding device 4;

the supporting device 3 is formed on the left side of the upper surface of the underframe 1 and comprises a pair of U-shaped frames 31 and a pair of supporting columns 32, the lower end surfaces of the pair of U-shaped frames 31 are welded and fixed with two ends of the mounting plate 21, the lower surfaces of the pair of supporting columns 32 are welded with a pair of square mounting plates 33, the pair of square mounting plates 33 are provided with threaded holes, the pair of supporting columns 32 are in threaded connection with two ends of the pair of U-shaped frames 31 through the square mounting plates 33, and connecting plates 34 are fixedly mounted between the pair of supporting columns 32 through bolts;

further, the length of the mounting plate 21 is larger than the width of the underframe 1, and the support device 3 is arranged to play a role in fixing the gait part 7;

a gait part 7 formed on the front surface of the joint plate 34 and including a thigh part 71 and a lower leg part 72;

furthermore, the legs of the patient are fixed with the thigh part 71 and the lower leg part 72, and the gait part 7 simulates movement to help rehabilitation;

a sliding device 4 formed on the bottom plate 11 on the right side of the driving device 2;

the pedal mechanism 5 is formed on the bottom plate 11 on the right side of the sliding device 4;

furthermore, the gait part 7 is matched with the pedal mechanism 5 to help the patient simulate the movement.

Specifically, drive arrangement 2 includes motor cover 22, and motor cover 22 and mounting panel 21 mutually support to form and hold the chamber, is located and has driving motor 23 through bolt fixed mounting on the mounting panel 21 in motor cover 22.

In a further embodiment: the motor cover 22 can prevent the driving motor 23 from falling ash, reduce the trouble of manual scrubbing and prolong the service life of the driving motor 23.

Specifically, the back of connector plate 34 is provided with accomodates basket 6, all welds handrail 35 on a pair of support column 32 that are located accomodate basket 6 both sides, and the cladding has rubber layer 351 on handrail 35.

In a further embodiment: the connection plate 34 that sets up plays the effect of connecting a pair of support column 32, prevents that a pair of support column 32 from rocking, in order to increase the practicality, is provided with at the back of connection plate 34 and accomodates basket 6, can place patient's article, and welded handrail 35 cooperatees with universal wheel 12 on a pair of support column 32, makes things convenient for mobile device, and the rubber layer 351 of cladding has skid-proof effect on handrail 35.

Specifically, the thigh part 71 comprises a pair of beams 711, the pair of beams 711 are in threaded connection with the front face of the connecting plate 34 through square flanges, a first joint bearing 712 is in threaded connection with the middle part of the lower surface of the beam 711, one end, far away from the beam 711, of the first joint bearing 712 is in rotary connection with a first motor mounting seat 713 through a rotating shaft, a first motor 7131 is fixedly mounted in the first motor mounting seat 713 through bolts, a first screw 714 is coaxially and rotatably connected to the output end of the first motor 7131, a first screw nut 7141 is coaxially arranged on one end, far away from the first motor 7131, of the first screw nut 7141, a U-shaped slot 7142 is formed in one end, far away from the first screw 714, of the first screw nut 7141, a joint connecting piece 73 is rotatably connected in the U-shaped slot 7142 through the rotating shaft, the top end of each beam is in threaded connection with a second joint bearing 715, and the front end of the, the lower surface fixedly connected with thigh pole 717 of H type connecting plate 716, set square axle seat 7171 is installed at thigh pole 717 back, and the lower surface of set square axle seat 7171 rotates through third joint bearing 7172 and is connected with second motor cabinet 718, has second motor 7181 through bolt fixed mounting in the second motor cabinet 718, and coaxial rotation is connected with second lead screw 7182 on the output of second motor 7181.

In a further embodiment: the pair of cross beams 711 are arranged to connect and fix the supporting device 3 and the gait part 7, the first motor mounting seat 713 is arranged to protect the first motor 7131 and prevent the danger that the legs of the patient are in direct contact with the first motor 7131, the first motor 7131 drives the first screw rod 714 to rotate by starting the first motor 7131, and the rotating first screw rod 714 is matched with the first screw rod nut 7141 to change the angle between the thigh part 71 and the cross beams 711.

Specifically, the joint connecting member 73 includes a joint shaft 731, one end of the joint shaft 731 is welded with a U-shaped plate 732, two sides of the U-shaped plate 732 are provided with rotating holes 733, and the other end of the joint shaft 731 is provided with a through hole 734.

In a further embodiment: the U-shaped plate 732 is configured to have an inner concave surface that conforms to the thigh bar 717 and the calf bar 721.

Specifically, the lower leg part 72 comprises a lower leg rod 721, the lower leg rod 721 is rotatably connected with the upper leg rod 717 through a joint connecting piece 73, the middle part of the lower leg rod 721 is rotatably connected with a second screw nut 722 through the joint connecting piece 73, the second screw nut 722 is matched with the second screw 7182, and a pedal 723 is arranged on the lower surface of the lower leg rod 721.

In a further embodiment: by starting the second motor 7181, the second motor 7181 drives the second lead screw 7182 to rotate, and the angle between the thigh part 71 and the shank part 72 is changed by the matching between the second lead screw 7182 and the second lead screw nut 722.

Specifically, slider 4 includes slide 41, fixed surface is connected on slide 41 and the bottom plate 11, there is a pair of slide rail 42 along length direction's both sides on slide 41 through round pin axle fixed mounting, be located and install a pair of stopper 43 on the slide 41 between a pair of slide rail 42, it is connected with dwang 44 to rotate between a pair of stopper 43, the one end that stopper 43 was kept away from to dwang 44 rotates with driving motor 23 to be connected, coaxial swivel nut 45 that is provided with on the dwang 44, install layer board 46 on the swivel nut 45, layer board 46 under surface mounting has a pair of slider 47, a pair of slider 47 matches with a pair of slide rail 42 and suits.

In a further embodiment: the rotating rod 44 is connected with the driving motor 23, the driving motor 23 is started, the driving motor 23 drives the rotating rod 44 to change, the rotating rod 44 changes the moving track of the driving motor 23 into linear motion, and the rotating nut 45 is driven to move back and forth on the rotating rod 44.

Specifically, a telescopic column 81 is mounted on the upper surface of the supporting plate 46, a protective cylinder 82 is fixedly sleeved on the movable end of the telescopic column 81, a massage chair 8 is fixedly mounted on the protective cylinder 82, and a compression spring 83 is connected between the movable end of the telescopic column 81 and the protective cylinder 82.

In a further embodiment: the patient sits at massage armchair 8 and can change the distance between patient and the pedal mechanism 5 through slider 4, has strengthened the practicality greatly, and the flexible post 81 that sets up under the massage armchair 8 can change the height of massage armchair 8, and the convenience is adjusted according to patient's height, and the compression spring 83 of being connected between flexible post 81 expansion end and a protection section of thick bamboo 82 plays jar-proof effect, increases the travelling comfort that the patient used.

Specifically, the pedal mechanism 5 includes a pair of connecting beams 51, an arc rod 52 is vertically connected between the pair of connecting beams 51, a rotating shaft is connected in the middle of the arc rod 52 in a penetrating manner, connecting rods 53 are coaxially arranged at two ends of the rotating shaft, circular slots 531 arranged at equal intervals are formed in the connecting rods 53, pedals 54 are arranged in the circular slots 531, and the pedals 54 are fixedly connected with the circular slots 531 through fastening bolts 55.

In a further embodiment: the patient can simulate leg movement by placing feet on the pedals 54 to help the patient to treat, and the pedals 54 can move according to the circular grooves 531 arranged at equal intervals on the connecting rod 53, so that the size of the movement path is changed, and the rehabilitation training is targeted.

Specifically, the fixing device 74 is fixedly mounted on the inner sides of the thigh portion 71 and the lower leg portion 72, the fixing device 74 includes an oval fixing plate 741, and the oval fixing plate 741 is mounted with a hook and loop fastener 742.

In a further embodiment: the fixing device 74 is fixedly attached to the inner sides of the thigh portion 71 and the lower leg portion 72 to fix the leg of the patient and prevent the leg from separating from the gait portion 7 during exercise.

The working principle and the using process are as follows:

when the massage chair is used, a patient sits on the massage chair 8 and is connected with the driving motor 23 through the rotating rod 44, the driving motor 23 is started, the driving motor 23 drives the rotating rod 44 to change, the rotating rod 44 changes the moving track of the driving motor 23 into linear motion, and drives the rotating nut 45 to move back and forth on the rotating rod 44, so as to drive the massage chair 8 to move, so as to adjust the distance between the massage chair 8 and the pedal mechanism 5, the height of the massage chair 8 can be changed through the telescopic column 81 arranged below the massage chair 8, so as to be convenient to adjust according to the height of the patient, the compression spring 83 connected between the movable end of the telescopic column 81 and the protection cylinder 82 plays a role in shock resistance, so as to increase the comfort of the patient, the fixing device 74 is fixedly arranged at the inner sides of the thigh part 71 and the shank part 72 to play a role in fixing the legs of the patient, and the first motor 71, the rotating first screw rod 714 is matched with the first screw rod nut 7141 to change the angle between the thigh part 71 and the beam 711, the second motor 7181 is started, the second motor 7181 drives the second screw rod 7182 to rotate, the angle between the thigh part 71 and the shank part 72 is changed through the matching between the second screw rod 7182 and the second screw rod nut 722, a patient places feet on the foot pedal 54 through the gait part 7 to simulate leg movement and help the patient to treat, the foot pedal 54 can move according to the circular slotted holes 531 arranged at equal intervals on the connecting rod 53, so that the size of a movement path is changed, and the rehabilitation training tool is pointed.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A multi-functional gait rehabilitation machine, characterized by comprising:

the device comprises base frames (1), wherein the base frames (1) are rectangular frames, a bottom plate (11) is welded between the base frames (1), and universal wheels (12) are fixedly connected to the lower surfaces of the base frames (1) through bolts;

the driving device (2) is formed on the left side of the upper surface of the bottom frame (1), the driving device (2) comprises an installation plate (21), and the installation plate (21) is fixedly welded with the upper surface of the bottom frame (1);

the supporting device (3) is formed on the left side of the upper surface of the bottom frame (1) and comprises a pair of U-shaped frames (31) and a pair of supporting columns (32), the lower end faces of the pair of U-shaped frames (31) are fixedly welded with the two ends of the mounting plate (21), the lower surfaces of the pair of supporting columns (32) are welded with a pair of square mounting plates (33), threaded holes are formed in the pair of square mounting plates (33), the pair of supporting columns (32) are in threaded connection with the two ends of the pair of U-shaped frames (31) through the square mounting plates (33), and connecting plates (34) are fixedly mounted between the pair of supporting columns (32) through bolts;

a gait part (7) formed on the front surface of the connection plate (34) and comprising a thigh part (71) and a lower leg part (72);

the sliding device (4) is formed on a bottom plate (11) on the right side of the driving device (2);

and the pedal mechanism (5) is formed on the bottom plate (11) on the right side of the sliding device (4).

2. The multifunctional gait rehabilitation machine of claim 1, characterized in that: drive arrangement (2) are including motor cover (22), motor cover (22) and mounting panel (21) mutually support to form and hold the chamber, are located there is driving motor (23) through bolt fixed mounting on mounting panel (21) in motor cover (22).

3. The multifunctional gait rehabilitation machine of claim 1, characterized in that: the back of connection board (34) is provided with accomodates basket (6), all welds handrail (35) on a pair of support column (32) that are located accomodate basket (6) both sides, the cladding has rubber layer (351) on handrail (35).

4. The multifunctional gait rehabilitation machine of claim 1, characterized in that: the thigh part (71) comprises a pair of beams (711), the beams (711) are in threaded connection with the front face of the connecting plate (34) through square flanges, the middle part of the lower surface of the beams (711) is in threaded connection with a first joint bearing (712), one end, away from the beams (711), of the first joint bearing (712) is rotatably connected with a first motor mounting seat (713) through a rotating shaft, a first motor (7131) is fixedly mounted in the first motor mounting seat (713) through bolts, a first lead screw (714) is coaxially and rotatably connected to the output end of the first motor (7131), one end, away from the first motor (7131), of the first lead screw (714) is coaxially provided with a first lead screw nut (7141), one end, away from the first lead screw (714), of the first lead screw nut (7141) is provided with a U-shaped notch (7142), and a joint connecting piece (73) is rotatably connected to the U-shaped notch (7142) through a rotating shaft, crossbeam (711) top threaded connection has second joint bearing (715), the front end of second joint bearing (715) rotates and is connected with H type connecting plate (716), the lower surface fixed connection of H type connecting plate (716) has thigh pole (717), set-square axle seat (7171) is installed at thigh pole (717) back, the lower surface of set-square axle seat (7171) rotates through third joint bearing (7172) and is connected with second motor cabinet (718), there is second motor (7181) through bolt fixed mounting in second motor cabinet (718), coaxial rotation is connected with second lead screw (7182) on the output of second motor (7181).

5. The multifunctional gait rehabilitation machine of claim 4, characterized in that: the joint connecting piece (73) comprises a joint shaft (731), a U-shaped plate (732) is welded at one end of the joint shaft (731), rotating holes (733) are formed in two sides of the U-shaped plate (732), and a through hole (734) is formed in the other end of the joint shaft (731).

6. The multifunctional gait rehabilitation machine of claim 5, characterized in that: the shank part (72) comprises a shank rod (721), the shank rod (721) is rotatably connected with a thigh rod (717) through a joint connecting piece (73), the middle part of the shank rod (721) is rotatably connected with a second lead screw nut (722) through the joint connecting piece (73), the second lead screw nut (722) is matched with a second lead screw (7182), and a pedal (723) is arranged on the lower surface of the shank rod (721).

7. The multifunctional gait rehabilitation machine of claim 2, characterized in that: slide device (4) include slide (41), fixed surface is connected on slide (41) and bottom plate (11), slide (41) are gone up and are gone up along length direction's both sides through round pin axle fixed mounting have a pair of slide rail (42), lie in and install a pair of stopper (43), a pair of stopper (43) on slide (41) between a pair of slide rail (42) rotate between stopper (43) and be connected with dwang (44), the one end that stopper (43) were kept away from in dwang (44) rotates with driving motor (23) and is connected, coaxial being provided with swivel nut (45) on dwang (44), install layer board (46) on swivel nut (45), layer board (46) lower surface mounting has a pair of slider (47), and is a pair of slider (47) match with a pair of slide rail (42) and fit.

8. The multifunctional gait rehabilitation machine according to claim 7, characterized in that: surface mounting has flexible post (81) on layer board (46), cup joint on the activity end of flexible post (81) and be fixed with a protection section of thick bamboo (82), fixed mounting has massage armchair (8) on a protection section of thick bamboo (82), be connected with compression spring (83) between flexible post (81) expansion end and a protection section of thick bamboo (82).

9. The multifunctional gait rehabilitation machine of claim 1, characterized in that: pedal mechanism (5) are including a pair of tie-beam (51), and are a pair of be connected with arc pole (52) between tie-beam (51) perpendicularly, arc pole (52) middle part through connection has the pivot, and the coaxial connecting rod (53) that is provided with on the pivot both ends, it has circular slotted hole (531) that the equidistance was arranged to open on connecting rod (53), be provided with pedal (54) in circular slotted hole (531), through fastening bolt (55) fixed connection between pedal (54) and circular slotted hole (531).

10. The multifunctional gait rehabilitation machine of claim 7, characterized in that: the inner sides of the thigh part (71) and the small leg part (72) are fixedly provided with fixing devices (74), each fixing device (74) comprises an oval fixing plate (741), and the oval fixing plates (741) are provided with magic tapes (742).