CN114795837A

CN114795837A - Multi-mode lower limb multi-joint rehabilitation training device and training method

Info

Publication number: CN114795837A
Application number: CN202210445266.1A
Authority: CN
Inventors: 訾斌; 蒋梦; 李元; 孙智; 陈兵
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-07-29

Abstract

The invention discloses a multi-mode lower limb multi-joint rehabilitation training device and a multi-mode lower limb multi-joint rehabilitation training method, which comprise a supporting and erecting unit, wherein a liftable upper limb weight reducing device and a lower limb wearing mechanism are arranged in the supporting and erecting unit, the lower limb wearing mechanism comprises a pedal plate module, a shank module and a thigh module, the lower limb wearing mechanism is arranged on an electromagnetic detachable standing platform, a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, the training mode conversion platform mechanism comprises a movable placing platform I and a liftable placing platform II, a variable stride simulation walking mechanism is arranged on the placing platform I, and a gear type hip joint rehabilitation mechanism is arranged on the placing platform II. The invention solves the problems that the existing rehabilitation training device has a single rehabilitation mode, cannot meet the requirements of a patient from single-joint rehabilitation training to compound multi-joint rehabilitation training, and can solve the problems that a common rope winding mechanism is easy to disorder ropes and compensate rope winding and unwinding errors.

Description

Multi-mode lower limb multi-joint rehabilitation training device and training method

Technical Field

The invention relates to the field of medical rehabilitation training instruments, in particular to a multi-mode lower limb multi-joint rehabilitation training device and a training method.

Background

In recent years, as social aging and other problems become more serious, cardiovascular diseases such as coronary heart disease and stroke frequently occur, and patients with gait dysfunction or injury caused by the cardiovascular diseases are remarkably increased. The rehabilitation training device is used as an automatic rehabilitation medical device, and provides great convenience for the rehabilitation of patients while reducing the working strength of medical staff. However, the existing rehabilitation training devices for patients with lower limb dyskinesia have single functions, some of the devices can only realize the rehabilitation training of the degree of freedom of a certain joint, and some of the devices can only provide the rehabilitation training by taking a rehabilitation target as guidance, for example, directly provide auxiliary walking training. However, for the patients with lower limb dyskinesia in the early stage of recovery, although the recovery of the gait and walking ability of the lower limbs is taken as the target, the rehabilitation training of the freedom degree of each joint of the lower limbs is required to be carried out firstly according to the recovery treatment course, and after the patients recover a certain muscle strength, the auxiliary gait and walking rehabilitation training is carried out, so that a plurality of rehabilitation devices are required to be used in the training process, which is very inconvenient. Therefore, the need for a rehabilitation device capable of multi-mode switching is particularly urgent.

Patent application number "CN201510348989. X" proposes a lower limb automatic adjustment platform and a training method for waist rehabilitation training, wherein springs, flexible cables, artificial muscles and the like are used for driving in series at a knee joint rotating joint, errors are easy to accumulate, and the accuracy of a knee joint rotating angle is further influenced. In addition, the patient standing platform is driven by the flexible cable, the flexible cable driven robot has the advantages of small rotational inertia, good flexibility, high safety and the like, but due to the characteristics of the flexible cable, the flexible cable can move along the axial direction of the winding drum in the process that the winding drum is driven by the motor to rotate, the flexible cable can be separated from the pulley unit for multiple times, and the robot needs to be shut down and adjusted again. And because the winding radius changes when the reel winds the rope, the error of the rope length winding and unwinding can be caused, and the rehabilitation effect is further influenced. Patent application number "cn201910361439. x" proposes a flexible cable drive wearable waist lower limb rehabilitation robot, the device can carry out multi-mode rehabilitation training, but each rehabilitation training mode can only carry out single joint rehabilitation training, and lacks the compound multi-joint rehabilitation training that needs to be carried out to the lower limb dyskinesia patient in later stage of rehabilitation.

Disclosure of Invention

The invention aims to overcome the defects and shortcomings of the prior art, and provides a multi-mode lower limb multi-joint rehabilitation training device and a training method, so that the problems that the existing rehabilitation training device is single in rehabilitation mode, cannot meet the requirements of a patient from single-joint rehabilitation training to compound multi-joint rehabilitation training and is easy to disorder ropes and compensate rope winding and unwinding errors of a common rope winding mechanism can be solved.

In order to achieve the purpose, the invention provides the following technical scheme:

a multi-mode lower limb multi-joint rehabilitation training device comprises a supporting and erecting unit, wherein a liftable upper limb weight reducing device and a liftable lower limb wearing mechanism are arranged in the supporting and erecting unit from top to bottom, the lower limb wearing mechanism comprises a pedal plate module, a shank module and a thigh module, the lower limb wearing mechanism is arranged on an electromagnetic detachable standing platform, the electromagnetic detachable standing platform is driven to lift through a flexible cable driving mechanism, a flexible cable of the flexible cable driving mechanism is wound and unwound through a double-control type rope winding and unwinding mechanism below the flexible cable driving mechanism, a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, the training mode conversion platform mechanism integrates modes of various motion platforms, the multi-mode lower limb multi-joint rehabilitation training device comprises a movable placing platform I and a liftable placing platform II, and a variable simulation walking mechanism is arranged on the placing platform I, a gear type hip joint rehabilitation mechanism is arranged on the placing platform II;

the lifting of the upper limb weight reducing device is driven by a rope winding mechanism controlled by an upper computer above the upper limb weight reducing device, the height between the upper limb weight reducing device and the electromagnetic detachable standing platform is driven by a flexible cable to meet the height requirement of a patient, and the flexible cable of the double-control rope winding and arranging mechanism drives the electromagnetic detachable standing platform to be installed with a preset track to move so as to realize waist rehabilitation training; the lower leg module and the thigh module of the lower limb wearing mechanism are in transmission connection through a knee joint rotating mechanism, and the upper computer on the electromagnetic detachable standing platform controls a motor to control a flexible cable of the lower leg module and drive the knee joint rotating mechanism to bend so as to realize knee joint rehabilitation training; when the electromagnetic detachable standing platform corresponds to the placing platform, hip joint rehabilitation training is achieved through the action of the gear type hip joint rehabilitation mechanism, and when the electromagnetic detachable standing platform corresponds to the placing platform, walking composite lower limb multi-joint rehabilitation training is achieved through the action of the variable stride simulation walking mechanism.

The supporting and erecting unit is an aluminum alloy rectangular inner and outer frame and comprises an aluminum alloy inner rectangular frame and an aluminum alloy outer rectangular frame, a lifting winding mechanism used for suspending an upper limb weight reduction device is installed on the aluminum alloy outer rectangular frame, pulley units for the flexible cable driving mechanism to bypass are arranged at four corners of the top of the aluminum alloy inner rectangular frame, the flexible cable driving mechanism comprises four flexible cables, one ends of the flexible cables are respectively discharged by the corresponding double-control type rope winding and arranging mechanisms, and after the corresponding pulley units are upwards bypassed, the other ends of the flexible cables are connected to and fixed on rope buckles on the electromagnetic detachable standing platform.

The upper limb weight reduction device comprises a wearable vest, adjusting buttons are distributed on the wearable vest, the upper end of the wearable vest is connected with a Y-shaped bearing flexible cable, and the bearing flexible cable is fixed on a double-shaft motor driving reel of a lifting winding mechanism on the aluminum alloy outer rectangular frame.

The electromagnetic detachable standing platform comprises two semicircular standing platforms, the two semicircular standing platforms are connected by a folding buckle to form a complete circular standing platform, an electromagnet is arranged in the center of each two semicircular standing platform, and the electromagnet has magnetic attraction after being electrified; the foot pedal module comprises an ankle clamp and a foot pedal which are connected through a revolute pair, two symmetrically arranged foot sole pressure sensors are mounted at the bottom of the foot pedal and can be transmitted to an upper computer through a data acquisition card to observe foot sole pressure data in real time, and the foot pedal is fixedly connected to the electromagnetic detachable standing platform through a bolt; the calf module comprises a calf support fixedly arranged on the electromagnetic detachable standing platform, a calf movable frame is installed on the calf support in a guiding mode, calf region pneumatic artificial muscles for driving the calf movable frame to move are arranged in the calf support, a calf region flexible cable for stretching is installed in the calf movable frame, the bottom end of the calf region flexible cable penetrates through a guide hole in the calf support and is connected to the upper end portion of the calf region pneumatic artificial muscles, the upper end portion of the calf region flexible cable is connected to the bottom end of the calf movable frame, and calf region springs are sleeved on the calf movable frame and the calf region flexible cable of the calf support;

the thigh module comprises a thigh support, the bottom end of the thigh support is rotatably connected with a shank movable frame through a rotating shaft, the bending and stretching freedom degree movement of a knee joint can be realized, a knee joint rotating mechanism is arranged at the knee joint to achieve the accurate control of the rotating angle of the knee joint, the thigh support is provided with the shank movable frame matched with the thigh support in a guiding manner, the middle part of the thigh support is provided with upper and lower thigh area pneumatic artificial muscles arranged at intervals, the two thigh area pneumatic artificial muscles are connected through a spring, and the other end of the thigh area pneumatic artificial muscle is respectively fixed at the bottom of the thigh support and the top of the shank movable frame; the middle parts of the thigh module and the shank module are respectively provided with a leg elastic bandage for binding the thigh and the shank of the patient, the leg elastic bandage is bound on the thigh and the shank of the patient, the effect of fixing and supporting the lower limb of the patient is achieved, the leg elastic bandage can be adjusted according to the leg circumference of the patient, the pneumatic artificial muscle in the shank area and the pneumatic artificial muscle in the thigh area are respectively provided with an air inlet pipe for ventilation, and valves of the air inlet buckle pipes are respectively provided with a pressure sensor;

the knee joint rotating mechanism comprises a crankshaft which provides rotating power for rotation between a thigh support and a shank moving frame, the crankshaft is of a three-section step type structure, an outer gear end cover is rotatably mounted on one section of the crankshaft, an absolute encoder which is used for detecting the rotating angle of the crankshaft in real time, namely the rotating angle of the knee joint, is mounted on the crankshaft, and is transmitted to an upper computer through a data acquisition card, an inner gear meshed with the outer gear end cover is arranged in the outer gear end cover, the inner gear is fixedly rotatably mounted on the two sections of the crankshaft, a sliding rod is rotatably mounted on the three sections of the crankshaft, a sliding rod spring is arranged below the sliding rod, a sliding rod flexible cable used for driving the sliding rod spring to stretch is arranged in the sliding rod spring, and the sliding rod flexible cable is driven to be wound and unwound through a cable winding mechanism arranged at the bottom end of the electromagnetic detachable standing platform; infrared distance measuring instruments are installed at the bottom ends of the thigh support and the shank support respectively, and the length value of a slide bar spring can be measured by installing the transmitting unit and the receiving unit of the infrared distance measuring instruments on the slide bar bottom and the electromagnetic detachable type standing platform respectively.

The double-control rope winding and arranging mechanism is formed by correspondingly matching a plurality of groups of pulley units and comprises a box body fixedly mounted on an aluminum alloy outer frame bottom plate, a gear winding and arranging device and a dynamic rope control device are mounted in the box body, the gear winding and arranging device comprises a winding drum rotatably mounted at the bottom end of the box body, the winding drum is driven by a speed regulating motor at the end part, a movable lead screw sliding unit is erected above the winding drum, the lead screw sliding unit comprises a lead screw, a lead screw mounting frame is screwed on the lead screw, and two vertical fixed pulleys are mounted on the lead screw mounting frame; the dynamic rope control device comprises a set of tensioning mechanism, two sets of fixed pulley units and a single-winding reel, wherein the tensioning mechanism comprises a tensioning wheel, a tensioning wheel support frame, a left photoelectric switch, a right photoelectric switch and a spring assembly, one end of the left photoelectric switch and one end of the spring are fixedly arranged on a vertical partition plate of the box body, the other end of the spring is fixedly buckled at one side of the tensioning wheel support frame, the fixed pulley units and the single-winding reel are respectively fixed on the right side wall of the box body through respective support frames through bolt connection, the single-winding reel is driven by a constant-speed motor at the end part, a cylindrical slot hole corresponding to the cross section circle of the tensioning wheel support frame is processed on the side wall of the box body, the tensioning wheel support frame can move left and right in the slot hole, a flexible rope passing through the gear winding mechanism is guided through the fixed pulley blocks and then wound to the tensioning wheel, and then is wound on the single-winding reel and then is output through the fixed pulley unit above, and a tension sensor is arranged on the flexible cable.

The control method of the double-control rope winding and arranging mechanism comprises the following steps:

the method comprises the following steps: opening the upper computer, testing whether the communication between the tension sensor, the left photoelectric switch, the right photoelectric switch, the speed regulating motor and the upper computer is normal or not, and initializing the system;

step two: adjusting the pretightening force of the flexible cable by a speed adjusting motor until a baffle on the left side of the tensioning wheel supporting frame is positioned between the photoelectric switch and the photoelectric switch, and recording the pretightening force as a reference value;

step three: the fixed-speed motor is used as a main control part for controlling the pose of the standing platform, the speed-regulating motor is used as an auxiliary control element, and the rope winding and unwinding work is completed through the dynamic tensioning of the rope at the tensioning wheel;

step four: when the upper computer controls the constant speed motor to release or furl the flexible cable:

1) when the upper computer controls the constant-speed motor to release the flexible cable

If the upper computer detects that the photoelectric switch is triggered, which indicates that the rope tends to be tight, the speed regulating motor 801 is controlled to pay off the rope at a speed slightly larger than that of the constant speed motor, and the speed is regulated to be the same as that of the constant speed motor until the pretightening force of the rope is restored to be initial;

if the upper computer detects that the photoelectric switch is triggered, and the rope tends to be loose, the speed regulating motor is controlled to release the rope at a speed slightly lower than that of the constant speed motor, and the speed is regulated to be the same as that of the constant speed motor until the pretightening force of the rope is restored to be initialized;

2) when the upper computer controls the constant speed motor to fold the flexible cable

If the upper computer detects that the photoelectric switch is triggered, which indicates that the rope tends to be tight, the speed regulating motor 801 is controlled to take up the rope at a speed slightly lower than that of the constant speed motor until the speed is regulated to be the same as that of the constant speed motor when the pretightening force of the rope is restored to be initial;

if the upper computer detects that the photoelectric switch is triggered, which indicates that the rope tends to be loose, the speed regulating motor 801 is controlled to take up the rope at a speed slightly larger than that of the constant speed motor until the pretightening force of the rope is restored to the initial speed which is the same as that of the constant speed motor

After the planned track of the standing platform is input, the upper computer controls a constant-speed motor in the rope winding mechanism to rotate to wind and unwind the corresponding rope length, the upper computer also monitors the on-off condition of a photoelectric switch and the comparison condition of the pretightening force of a tension sensor and an initial reference value in real time, and controls a speed regulating motor to adjust the corresponding speed to wind and unwind the flexible rope.

The device comprises a placing platform I, a rack longitudinal sliding mechanism and a rack longitudinal sliding mechanism, wherein the placing platform I is driven to move by the rack longitudinal sliding mechanism, the rack longitudinal sliding mechanism comprises two groups of longitudinal guide rails which are arranged on an outer frame partition plate in parallel, a sliding block which slides in a guide way with the longitudinal guide rails is arranged on the placing platform I, racks are distributed on the inner side surface of one side of each group of longitudinal guide rails, the placing platform I is provided with a gear which is meshed with the racks for transmission, the gear rotates and is driven by a stepping motor, the middle part of the placing platform I is provided with a variable stride simulation walking mechanism, the variable stride simulation walking mechanism comprises a rotating shaft which is erected by a bracket, the rotating shaft is provided with an eccentric wheel I and an eccentric wheel II which are arranged at intervals and form a group, the upper end part of the eccentric wheel I is provided with a fixed mounting hole I, and the upper end part of the eccentric wheel II is provided with a fixed mounting hole II, the two sides of the eccentric wheel I and the eccentric wheel are respectively sleeved with a rocker arm, the upper end and the lower end of each rocker arm are respectively of a rod body structure, a magnetic attraction type pedal plate is installed between the end portions of rod bodies at the upper ends of the rocker arms at the two sides, guide grooves are formed in the rod bodies at the lower ends of the rocker arms at the two sides, lead screw sliders used for limiting step sizes are arranged on the outer sides of the rod bodies at the lower ends of the rocker arms at the two sides respectively, and the lead screw sliders are driven to move through corresponding lead screws.

The lifting of the second placing platform is driven by a scissor type hydraulic lifting mechanism below the second placing platform, the gear type hip joint rehabilitation mechanism comprises two corresponding transverse sliding rails laid on the second placing platform, a planetary gear train mechanism is erected right above the transverse sliding rails and comprises a tray, right-angle frames are respectively installed on the inner sides of the tray and are installed on sliding blocks matched with the transverse sliding rails, transmission shafts are respectively penetrated through the middle parts of the tray, corresponding ends of the two transmission shafts are rotatably installed on connecting seats in the middle parts, large gears sleeved on the transmission shafts are respectively clamped on the inner sides of the tray, three lead screws synchronously penetrating through the two trays are distributed in the circumferential direction of the large gears, small transmission gears meshed with the large gears are respectively installed on the lead screws, and two lead screws at the bottom end part are supported and erected by limiting supports, the magnetic type pedal is installed on the screw rod above, the bottom end of the magnetic type pedal is fixedly connected with the upper end of the tray, bevel gears are installed at the inner ends of the two transmission shafts respectively, transverse bevel gears for synchronously driving the two bevel gears are installed right below the bevel gears, and the transverse bevel gears are driven by an upper computer control motor at the bottom end.

The training method of the multi-mode lower limb multi-joint rehabilitation training device is carried out according to the following steps:

the method comprises the following steps: the system is initialized by electrifying and starting, whether the communication between each motor and the sensor module and the upper computer is normal or not is detected, and the detachable standing platform is combined into a whole circular platform through buckling connection during initialization;

step two: inputting the information of the body shape of the patient, the length of the thigh and the calf and the like into the upper computer, feeding the information collected by the range finder in real time back to the upper computer, adjusting the circumferential length of the weight reduction vest and controlling the inflation or deflation of the artificial muscles of the thigh and calf module until the body shape of the patient is adapted;

step three: the infrared distance meter detects the length value of the sliding rod spring of the knee rotating mechanism in real time, and transmits the value to the upper computer for calculation and judgment, and the length of the sliding rod spring at the moment is recorded when the big leg module and the small leg module are kept in an upright state and is used as a reference value;

step four: the upper computer controls a motor of the rope winder to adjust the distance between the standing platform and the vest to adapt to the height of a patient, level the standing platform and adjust the pretightening force of the flexible cable until the two photoelectric switches are not triggered;

step five: starting rehabilitation training, enabling the patient to walk on the standing platform, and respectively tying the elastic binding bands of the large and small leg modules to the thigh and the shank of the patient to prepare for rehabilitation exercise;

step six: selection of a rehabilitation mode is performed. The single joint rehabilitation training such as waist rehabilitation training, hip joint rehabilitation training, knee joint rehabilitation training or composite multi-joint rehabilitation training, namely variable stride simulation walking rehabilitation training, can be selected. And selecting according to the current rehabilitation requirement of the patient, and controlling the corresponding motor to work by the upper computer after selection.

Step seven: detecting information such as artificial muscle pressure, flexible cable tension and the like in real time by using a pressure sensor, a tension sensor, an infrared distance meter and a visual motion capture system, detecting pose information of a standing platform in real time, communicating the information to an upper computer in real time through a data acquisition card, automatically stopping for inspection and then starting if the information exceeds an established safety threshold, and returning to the step six;

step eight: after the rehabilitation training is finished, the elastic bandage of the leg part is manually released, and the patient walks down the standing platform;

step nine: and resetting the standing platform, and closing each motor unit and each pneumatic artificial muscle unit.

Compared with the prior art, the invention has the beneficial effects that:

1. the training mode platform switching mechanism provided by the invention realizes that multiple rehabilitation modes can be realized on one rehabilitation device, the mechanism is easy to select different rehabilitation devices to be respectively placed according to the actual conditions and requirements of patients, and the modular design concept is applied, so that the device is convenient to assemble and disassemble and is more convenient to move and transport.

2. According to the double-control rope winding mechanism, the two motors are dynamically controlled, so that the length error of a rope which is wound and unwound due to the fact that the winding radius changes when a rope is wound on the winding drum can be compensated, and the problem of rope shaking caused by the fact that the rope moves along the axial direction of the winding drum when the rope is unwound can be solved. Therefore, the platform can be kept stable during initialization, the waist rotation center of a person and the platform are on the same vertical line, and accuracy and effectiveness of a rehabilitation process are further guaranteed.

3. The invention can not only provide the bending and stretching freedom degree movement of the hip joint of the patient in the sagittal plane (through normal walking rehabilitation training and inverted walking rehabilitation training), but also realize the movement of the hip joint of the patient in the coronal plane through a split movable hip joint rehabilitation mechanism, thereby realizing the multi-degree-of-freedom rehabilitation training of the hip joint.

4. According to the knee joint rotating mechanism based on gear engagement, the gear transmission ratio is fixed, so that the movement precision and the working stability can be guaranteed, and meanwhile, the rotary joint is provided with the encoder for real-time detection, so that the accurate rotation of the knee joint can be controlled and realized.

5. The invention can change different rehabilitation modes according to the requirements of patients, and can independently perform single joint rehabilitation training aiming at waist, knee joint, hip joint and the like for patients in early rehabilitation training, and then perform walking training with multi-joint cooperation. Furthermore, the method is simple. The training stride can also be adjusted according to the requirements of the patient when the lower limb walking rehabilitation training is carried out. The multifunctional rehabilitation training device can realize multiple purposes and meet the rehabilitation training requirements of patients.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the overall structure of the inner and outer frames of the present invention.

Fig. 3 is a schematic structural view of the lower limb wearing mechanism of the present invention.

Fig. 4 is a partial exploded view of the knee joint rotation mechanism of the present invention.

Fig. 5 is a schematic structural diagram of the double-control rope winding and arranging mechanism of the invention.

Fig. 6 is another view of the mechanism of the dual control type rope winding and arranging mechanism of the invention.

Fig. 7 is a schematic structural diagram of the upper limb weight reduction device of the invention.

Fig. 8 is a schematic structural diagram of a rehabilitation mode four-training mode conversion platform mechanism.

Fig. 9 is a mechanism schematic diagram of a rehabilitation mode three-training mode conversion platform mechanism.

FIG. 10 is a schematic structural diagram of a variable stride simulated walking mechanism of the present invention.

Fig. 11 is a partial exploded view of the variable stride simulated walking mechanism of the present invention.

Fig. 12 is a schematic structural view of a gear type hip joint rehabilitation mechanism of the present invention.

Fig. 13 is a flow chart of the operation of the dual-control rope winding and arranging mechanism.

Fig. 14 is a flowchart of the rehabilitation training device.

Reference numerals:

1-aluminum alloy rectangular inner frame, 2-aluminum alloy rectangular outer frame, 3-training mode conversion platform mechanism, 4-upper limb weight reduction device, 5-knee joint rotation mechanism, 6-lower limb wearing mechanism, 7-variable stride simulation walking mechanism, 8-double control type rope winding and arranging mechanism, 9-hip joint rehabilitation mechanism, 10-flexible cable driving mechanism and 11-sensor unit

201-an outer frame top plate, 202-an outer frame separator, 203-an outer frame bottom plate;

301-rack and pinion longitudinal slide. 3011-longitudinal slide rail, 3012-slide block, 3013-middle connecting piece, 3014-stepping motor, 3015-placing platform 1, 3016-gear, 3017-rack, 3018-limiting device;

302-scissor hydraulic jacking mechanism. 3021-hydraulic cylinder, 3022-telescopic rod, 3023-fixed support, 3024-connecting piece, 3025-horizontal sliding rod, 3026-scissor lift rod, 3027-rotating connection pair, and 3028-placing platform 2;

401-adjusting button, 402-wearable vest, 403-bearing flexible cable, 404-winding drum, 405-double-shaft motor;

501-slide bar spring, 502-slide bar flexible cable, 503-slide bar, 504-internal gear, 505-limit half ring, 506-roller bearing, 507-external gear end cover, 508-crankshaft, 509-flat key and 510-roller bearing;

601-electromagnetic detachable standing platform, 602-pedal module, 603-calf support, 604 calf region pneumatic artificial muscle, 605-calf region flexible cable, 606-calf region spring, 607-calf movable frame, 608-thigh support, 609-thigh region spring, 610-thigh movable frame, 611-thigh elastic band, 612-armrest, 613-thigh region pneumatic artificial muscle and 614-calf elastic band;

701-a hand wheel, 702-a motor, 703-a bracket, 704-a rotating shaft, 705-a magnetic-type pedal 1,706-a synchronous pulley, 707-a synchronous belt, 708-a first eccentric wheel, 709-a screw rod mechanism, 710-a screw rod sliding block, 711-a second eccentric wheel and 712-a rocker arm;

801-speed regulating motor, 802-first coupling, 803-first gear, 804-second gear, 805-box, 806-box transverse partition plate, 807-vertical partition plate of box, 808-spring, 809-left photoelectric switch, 810-right photoelectric switch, 811-tensioning wheel support frame, 812-first fixed pulley unit, 813-single winding reel, 815-constant speed motor, 816-second fixed pulley unit, 817-mounting plate, 818-third fixed pulley unit, 819-fourth fixed pulley unit, 820-lead screw mounting rack, 821-lead screw, 822-multi-winding reel and 823-bolt;

901-transverse sliding rail, 902-limit supporting device, 903-transmission shaft, 904-lead screw, 905-tray, 906-magnetic-type pedal 2,907-big gear, 908-circumferential small gear, 909-right-angle frame, 910-sliding block, 911-fixed rod, 912-transverse bevel gear, 913-longitudinal bevel gear;

1001-flexible cable, 1002-pulley unit;

1101-a tension sensor, 1102-a plantar pressure sensor, 1103-an absolute encoder, 1104-an infrared distance meter and 1105-a pressure sensor;

Detailed Description

The structural features of the present invention will now be described in detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, the device for lower limb rehabilitation training comprises an aluminum alloy rectangular inner frame 1 and an aluminum alloy rectangular outer frame 2. The aluminum alloy rectangular inner frame comprises a lower limb wearing mechanism 6, a knee joint rotating mechanism 5 and a flexible cable driving mechanism 10; the double-control rope winding and arranging mechanism 8, the upper limb weight reducing device 4, the training mode conversion platform mechanism 3, the variable stride simulation walking mechanism 7 and the gear type hip joint rehabilitation mechanism 9 are arranged in the aluminum alloy rectangular outer frame.

Referring to fig. 2, the aluminum alloy rectangular outer frame is composed of an outer frame top plate 201, an outer frame spacer 202, an outer frame bottom plate 203, and a plurality of diagonal bracing support frames and support pillars, and is fixed on a foundation.

Referring to fig. 2, further, 4 sets of pulley units 1002 are uniformly distributed at four corners of the top of the aluminum alloy rectangular inner frame 1, the pulley units 1002 are rotatably installed in pulley bases through split pins respectively, the pulley bases are in interference fit with inner rings of bearings, and outer rings of the bearings are installed at four corners of the top of the aluminum alloy rectangular inner frame 1 through brackets, so that the pulley units can freely rotate. One end of the flexible cable 1001 is wound out by the double-control rope winding and arranging mechanism 8 and is wound upwards around the corresponding pulley unit 1002, and the other end of the flexible cable is fixed on a rope buckle on the electromagnetic detachable standing platform 601, so that the pose change of the electromagnetic detachable standing platform 601 is realized.

Furthermore, a visual motion capture system is arranged on the aluminum alloy rectangular outer frame 2 and connected with an upper computer, a Nokov visual camera motion capture system is selected, and fluorescent positioning points are respectively attached to the electromagnetic detachable standing platform 601 and the large and small leg modules, so that the real-time poses of the lower limbs and the electromagnetic detachable standing platform 601 can be obtained in the upper computer.

Referring to fig. 3 and 4, a lower limb wearing mechanism 6 including a pedal module 602, a calf module, and a thigh module is disposed above the electromagnetic detachable standing platform 601. The electromagnetic detachable standing platform 601 uses a detachable connection. The preferred scheme is as follows: in the invention, the detachable connection adopts the buckle connection, and the integrated circular platform can be formed by folding after the buckle connection. The foot pedal module 602 includes an ankle clip and a foot pedal, the foot pedal is fixedly connected to the electromagnetic detachable standing platform 601 through a bolt, and the ankle of the patient passes through the ankle clip to be worn on the foot. The ankle clamp and the foot pedal are connected through a revolute pair, and when the standing platform swings along the coronary axis of the patient, the degree of freedom of pitching of the ankle joint relative to the standing platform can be realized. The bottom of the pedal module 602 is provided with two symmetrical plantar pressure sensors 1102, which can be transmitted to an upper computer through a data acquisition card to observe plantar pressure data in real time, and when an abnormal trend of a data curve is found, the system can automatically stop.

Referring to fig. 3, the calf module comprises a calf support 603, a calf movable frame 607, calf-zone pneumatic artificial muscles 604, calf-zone springs 606, calf-zone flexible cables 605, the top end structure of the calf support 603 is a slotted hole, the bottom end of the calf movable frame 607 is made into a structure corresponding to the slotted hole, the calf module can be inserted into the slotted hole, and the calf module can be matched with the calf-zone pneumatic artificial muscles 604 to realize a length-adjustable structure. The thigh module comprises a thigh support 608, a thigh moving frame 610, a thigh region pneumatic artificial muscle 613 and a thigh region spring 609. The thigh support 608 and the shank adjustable shelf 607 are connected by the rotation axis, which can realize the flexibility of knee joint. The two pneumatic muscles 613 of thigh region are connected in series by a spring 609 of thigh region, and one end of the pneumatic muscle 613 of thigh region, which is far away from the spring 609 of thigh region, is fixed at the bottom of the thigh support 608 and at the top of the movable frame 610.

Referring to fig. 3, the armrests 612 are mounted on the thigh movable frame, the middle ends of the big and small leg modules are respectively provided with a thigh elastic bandage 611 and a shank elastic bandage 614, which are bound on the big and small legs of the patient to support the lower limbs of the patient, and the elastic bandages can be adjusted according to the leg circumference of the patient.

Furthermore, a pressure sensor 1105 is arranged at the inlet pipe mouth valve of the artificial muscle in the big and small leg areas, an infrared distance meter 1104 is respectively arranged on the big and small leg modules, the pressure value and the length of the big and small leg modules can be detected in real time and communicated to an upper computer, the upper computer analyzes the detected data and then compares the detected data with an input preset value, the valve is controlled to open and close, and the muscle pressure is continuously adjusted to achieve the purpose of adapting to the lower limbs of the patient.

Referring to fig. 4, the knee joint rotating mechanism 5 rotatably connects the lower leg moving frame 607 and the thigh frame 608, and includes a crankshaft 508, a pair of ring gear modules, a slide rod 503, a slide rod spring 501, and a slide rod flexible cable 502. The ring gear module includes an outer gear end cap 507 and an inner gear 504. The tooth side of the outer gear end cover 507 is provided with a limit semi-ring 505 which limits the range of the inner gear 504 rotating around the outer gear, and the safety of the human knee joint movement is ensured. A flat key 509 is arranged on a rotating shaft at one end of the crankshaft 508, and a corresponding key groove is processed in a round hole at the bottom of the thigh support 608 and is connected with the thigh module through the flat key 509.

Referring to fig. 4, taking the patient right leg module as an example, the right protruding shaft of the crankshaft 508 is connected with the thigh support 608 by a flat key, the right protruding shaft of the crankshaft 508 is in interference fit with the tapered roller bearing inner ring, the bearing outer ring is matched with the external gear end cover, and the right second section shaft of the crankshaft is connected with the pinion hub by a flat key. The slide rod 503 is connected with the right three-section shaft of the crankshaft in a rotating way through a revolute pair. The sliding rod 503 slides up and down in the sliding slot of the lower leg activity rack 607, one end of the sliding rod flexible cable 502 is fixed on the rope buckle at one side of the sliding rod 503, and the other end is wound on the winding drum driven by the stepping motor (not marked on the figure). The slide bar spring 501 is sleeved outside the slide bar flexible cable 502, and two ends of the slide bar spring are respectively fixed on one side of the slide bar 503 and the electromagnetic detachable standing platform 601.

Further, when the spring is in a natural state, the knee joint is in a 90-degree flexion state. The patient is required to be in an upright position when the platform is initialized, which facilitates leveling of the electromagnetic detachable standing platform 601. At this time, the upper computer controls the motor to drive the sliding rod flexible cable 502 to take up the rope, and at this time, the sliding rod spring 501 is in a compressed state. The bottom of the slide rod 503 and the electromagnetic detachable standing platform 601 are respectively provided with a transmitting unit and a receiving unit of an infrared distance meter 1104, and the length value of the slide rod spring 501 can be measured. When the knee joint is required to bend, the upper computer controls the motor to release the sliding rod flexible cable 502, and the resilience force of the sliding rod spring 501 enables the sliding rod 503 to move upwards along the sliding groove (taking the right leg as an example) so as to drive the internal gear 504 to rotate along the external gear end cover 507 in a meshing manner along the anticlockwise direction, so that the crankshaft 508 is driven to rotate anticlockwise, and the knee joint is driven to bend. Because the gear transmission ratio is fixed, the motion precision, the working stability and the contact precision can be ensured, and the accurate rotation of the knee joint can be controlled and realized. Meanwhile, an absolute encoder 1103 is installed at the crankshaft 508 to detect the rotation angle of the crankshaft 508 in real time, namely the rotation angle of the knee joint, and the rotation angle is transmitted to the upper computer through a data acquisition card.

Referring to fig. 5 and 6, the double-control rope winding and arranging mechanism 8 is fixedly arranged on the bottom plate 203 on the aluminum alloy rectangular outer frame 2 and comprises a speed regulating motor 801, a constant speed motor 815, a box body 805, a gear winding displacement device and a dynamic rope control device. The gear winding mechanism comprises a pair of first gear 803 and second gear 804 which are meshed with each other, a multi-winding reel 822, a group of lead screw sliding units, two groups of third fixed pulley units 818 and fourth fixed pulley units 819. The lead screw 821 and the second gear 804 in the lead screw sliding unit are connected through a flat key, the lead screw 821 is provided with a lead screw mounting rack 820, and the two fixed pulley supporting frames are fixed on the lead screw mounting rack 820 and play a role in guiding a rope wound out from the multiple winding reels 822. The spool shaft is keyed to gear 1 and the multi-winding spool 822 and interference fit, respectively. The speed regulating motor 801 drives the reel shaft to rotate through the first coupler 802, further drives the multi-winding reel 822 and the lead screw 821 to rotate through gear engagement, and the speed of wire arrangement can be controlled by adjusting the gear ratio of the gear, so that the phenomenon of fault parking caused by rope disorder of the mechanism is prevented.

The dynamic control line device 808 includes a set of tensioning mechanisms 811, two sets of first crown block 812 and second crown block 816, and a helical single-wrap drum 813. The tensioning mechanism comprises a tensioning wheel, a tensioning wheel supporting frame 811, a left photoelectric switch 809, a right photoelectric switch 810 and a spring 808. One ends of a left photoelectric switch 809 and a spring 808 are fixedly arranged on the vertical partition plate 807 of the box body, and the other end of the spring 808 is fixed on one side of the tension wheel support bracket 811. The fixed pulley unit and the winding drum are respectively fixed on the right side wall of the box body through respective supporting frames through bolts 823. The side wall of the box body 805 is provided with a cylindrical groove hole corresponding to the cross section circle surface of the tension wheel supporting frame, and the tension wheel supporting frame can move left and right in the groove hole. The flexible cable passing through the gear cable arranging mechanism is guided by the second fixed pulley unit 816 and then winds to the tensioning wheel, and one side of the tensioning wheel supporting frame 811 is made into a rectangular baffle form corresponding to the notch of the photoelectric switch. When the flexible cable 1001 is in a leveling pretightening force state, the left file of the tensioning wheel supporting frame 811 stops between the left photoelectric switch 809 and the right photoelectric switch 810, the spring 808 is in a stretching state at the moment, the tension of the flexible cable is balanced, and the

photoelectric switches

809 and 810 are not triggered at the moment. The tension sensor 1101 is installed on the flexible cable 1001, the upper computer can acquire tension of the flexible cable in real time, and the flexible cable is in a pre-set reference value pre-tightening force range at the moment.

When the flexible cable 1001 bypassing the tensioner tends to be loose, the spring 808 will return to the original position from the stretched state, thereby driving the left baffle of the tensioner supporting frame 811 to move left, and triggering the left light-emitting switch 809. As the flex 1001 around the tensioner tends to tighten, the tensioner brace moves to the right, at which time the right photoelectric switch 810 is triggered. The triggering state of the photoelectric switch is transmitted to the upper computer.

Further, in the actual working process, the upper computer can calculate the length of the flexible cable 1001 according to the input electromagnetic detachable standing platform 601 pose, then control the constant speed motor 815 to drive the single winding drum 813 to correspondingly retract and release the flexible cable, judge the tightness state of the flexible cable 1001 according to the triggering states of the left photoelectric switch 809 and the right photoelectric switch 810, and then control the rotating speed of the speed regulating motor 801 by the upper computer to drive the multi-winding drum 822 to retract and release the flexible cable 1001 in cooperation, so that the dynamic tensioning of the flexible cable is realized. In other words, the double-control rope winding and arranging mechanism 8 can eliminate the influence of offset and jitter of the flexible cable 1001 caused by the axial width of the winding drum, and meanwhile, the attitude control of the electromagnetic detachable standing platform 601 is realized by driving the single-winding drum 813 by the constant-speed motor 815, so that the accumulated rope length error of the radius caused by multilayer rope winding is compensated.

Referring to fig. 7, the upper limb weight reduction device 4 comprises a wearable vest 402, an adjusting button 401, a Y-shaped load bearing flexible cable 403 and a double-shaft motor 405 fixed on the top plate 201 of the outer frame, the wearable vest 402 is worn on the part above the waist of the human body, the vest is made of elastic material, the circumferential length can be adjusted by the adjusting button 401, and the patient can support the upper limb of the patient by wearing the vest. Through host computer control double-shaft motor 405, can adjust wearable undershirt 402 according to patient's height apart from the detachable stand platform 601's of electromagnetism height to adapt to different patients ' height.

Referring to fig. 8 and 9, the training mode conversion platform mechanism 3 includes a scissor lift mechanism 302 secured to the outer frame bottom plate 203 and a pair of rack and pinion longitudinal slides 301 secured to the outer frame spacer 202.

When the patient selects to use the rehabilitation device fixed on the placing platform I3015 to perform the mode-I rehabilitation training, the training mode conversion platform mechanism 3 is in the configuration shown in fig. 8. The upper computer controls the scissor type hydraulic jacking mechanism 302 to drive the second placing platform 3028 to descend to the lowest point, and controls the stepping motor 3014 to drive the gear 3016 to be meshed and driven along the rack 3017, and drives the middle connecting piece 3013 to move to the central position along the longitudinal slide rail 3011, namely, under the magnetic detachable standing platform 601. When the patient selects to use the rehabilitation device fixed on the second placing platform 3028 to perform the rehabilitation training in the second mode, the upper computer controls the stepping motor 3014 to drive the first placing platform 3015 connected to the second placing platform to move to the slide rail limiting device 3018 along the longitudinal slide rail 3011, and then controls the hydraulic cylinder 3021 to enable the scissor-type hydraulic jacking mechanism 302 to jack the second placing platform 3028 to the highest point, which is flush with the first placing platform 3015, and at this time, the second placing platform 3028 is located under the standing platform 601.

Further, the training mode conversion platform mechanism 3 provides a variety of options for the training mode of the present invention. Through fixing different rehabilitation training modules on two place the platform one 3015 and place the platform two 3028 respectively, the detachable platform 601 of standing of electromagnetism combines the back, can provide multiple recovered mode for the patient. The rehabilitation devices placed on the conversion platform mechanism are not limited to the two sets of rehabilitation training devices of the invention. The mechanism is easy to select different rehabilitation devices to be respectively placed according to the actual condition and the requirement of a patient, and the modular design concept is applied, so that the disassembly, the assembly and the recombination are facilitated;

the invention designs a variable stride simulation walking mechanism 7 which is fixed on a placing platform I3015 on a gear rack sliding device 301.

Referring to fig. 10 and 11, the variable stride pseudo walk mechanism 7 includes a magnetic-type pedal 705, two sets of eccentric wheels one 711 and two eccentric wheels 708, two sets of rocker arms 712 with grooves, four sets of screw mechanisms 709, a bracket 703, and a timing belt device 707. The magnetic foot pedal 705 is connected to the lower end rod bodies of the two symmetrical rocker arms 712 through interference fit with the rotating shaft. The screw mechanism includes a screw 709 and a screw slider 710. One side of the screw rod sliding block 710 is made into a cylindrical shaft, the lower part of the rod body at the lower end of the rocker arm is processed into a slot opening which is just matched with the shaft, and the slot opening is matched with the shaft to limit the rotation of the rocker arm. The timing belt device includes a motor 702, a timing belt 707, a timing pulley 706, and a rotating shaft 704. The shaft 704 and the four cam mechanisms are connected by flat keys. Two bilateral brackets 703 are used to support the rotating shaft 704.

The upper computer controls the motor 702 to rotate, drives the synchronous belt pulley 706 to rotate, so as to drive the eccentric wheel I711 and the eccentric wheel II 708 to rotate, so as to enable the rocker arm 712 to swing around the extension shaft of the screw rod slide block 710 and the guide groove to slide along the slide block 710, therefore, the magnetic-type pedal 705 can realize a gait motion track similar to an ellipse, the rotation centers of the two groups of cam mechanisms are separated by 180 degrees, and the two groups of magnetic-type pedals 705 are electrified and magnetized during working, and are respectively and correspondingly attracted and fixed with the two semicircular platforms of the electromagnetic detachable standing platform 601 one by one, so that the track forms of the motion points of the two feet can be ensured to be the same, and the two feet can perform isochronous alternative motion. In addition, the height of the screw rod sliding block 710 can be manually adjusted through a hand wheel, so that the diameter of the gait walking track simulated by the magnetic-type pedal 705 can be adjusted, the stride size during rehabilitation training is changed, and a patient can adjust the height according to rehabilitation requirements.

Furthermore, two motion modes of walking and reversing of the patient can be simulated by changing the rotation direction of the motor 702, and the degrees of freedom of flexion and extension of hip joints, knee joints and ankle joints of the lower limbs are realized, so that the aim of lower limb multi-joint rehabilitation training is fulfilled.

The gear type hip joint rehabilitation mechanism 9 designed by the invention is fixed on a second placing platform 3028 on the gear rack sliding device 301.

Referring to fig. 12, the gear type hip joint rehabilitation mechanism 9 includes two pairs of magnetic-type pedals 906, two pairs of planetary gear train mechanisms, a transmission shaft 903, a pair of bevel gear mechanisms 911, and two sets of transverse sliding rails 901. The outer ring of the hub of the big gear and the small gear in the planetary gear train mechanism is specially made into a U shape, the tray 905 is positioned at the concave part in the middle of the hub, and the inner ring of the hub of the central gear is processed into a flat key slot hole matched with a protruding rectangular block of the transmission shaft 903, so that the big gear 907 can move along the axial direction. Two pairs of magnetically-attracted foot pedals 906 are bolted above the tray 905.

The bevel gear mechanism comprises one transverse bevel gear 912 and two longitudinally symmetric bevel gears 913. The longitudinal bevel gear 913 is engaged with the left and right sides of the transverse bevel gear 912, respectively. The longitudinal bevel gear 913 and the drive shaft 903 are connected by a flat key and positioned axially by a shoulder. The inner ring of the hub of the circumferential pinion 908 is made into a spiral shape to be matched with three groups of lead screws 904, and two sides of each lead screw 904 are also respectively provided with a limiting supporting device 902, so that the magnetic pedal 906 can not be separated from the mechanism. The transverse bevel gear hub 912 is in interference fit with the tapered roller bearing outer ring, and the bearing inner ring is matched with a fixing rod 911 sleeved in the middle of the shaft 903. The tray 905 and the slider 910 are connected by bolts through a right-angle stand 909 as an intermediate member, and the slider 910 can slide on the transverse slide 901 by being driven by the tray 905.

Further, magnetism can be controlled by controlling the on-off of current built in the magnetic-type pedal 906 through the upper computer during operation, and the two magnetic-type pedals 906 are respectively attracted with the two semi-circular platforms of the detachable electromagnetic motion platform 601 after detachment in a one-to-one correspondence manner after magnetic conduction. Specifically, when the mechanism needs to work, the upper computer controls the motor to rotate to drive the two bevel gears to rotate, so as to drive the transmission shaft 903 to rotate, further drive the large gears 907 in the two pairs of planetary gear trains to rotate, and the circumferential small gear 908 engaged with the large gears also rotates along with the rotation, and because the circumferential small gear 908 is connected with the screw 904, the circumferential small gear 908 can drive the tray 905 to axially move along the screw 904, and further drive the magnetic-type pedal 906 to perform split axial movement. The mechanism may provide training of the patient in two degrees of freedom of the hip joint on the coronal plane.

Referring to fig. 13, the control method of the dual-control type rope winding mechanism 8 according to the present invention comprises the following steps:

the method comprises the following steps: and (3) opening the upper computer, testing whether the communication of the tension sensor 1101, the left photoelectric switch 809 and the right photoelectric switch 810 and the

motors

801 and 815 in the upper computer is normal or not, and initializing the system.

Step two: the pretightening force of the flexible cable 1001 is adjusted through the speed adjusting motor 801, and the left baffle of the tensioning wheel supporting frame 811 is adjusted to be positioned between the left photoelectric switch 809 and the right photoelectric switch 810. And recording the pre-tightening force as a reference value.

Step three: the constant speed motor 815 is used as a main control component for controlling the pose of the electromagnetic detachable standing platform 601, and the speed regulating motor 801 is used as an auxiliary control element. The rope is dynamically tensioned at the tensioning wheel to complete the rope winding and unwinding work.

1. when the upper computer controls the constant speed motor 815 to release the flexible cable 1001

1) If the upper computer detects that the right photoelectric switch 810 is triggered, which indicates that the rope tends to be tight, the upper computer controls the speed regulating motor 801 to pay off the rope at a speed slightly larger than that of the constant speed motor 815, and the speed is regulated to be the same as that of the constant speed motor when the pretightening force of the rope returns to the initialization;

2) if the upper computer detects that the photoelectric switch 809 is triggered, which indicates that the rope tends to be loose, the upper computer controls the speed regulating motor 801 to pay off the rope at a speed slightly lower than that of the constant speed motor, and the speed is regulated to be the same as that of the constant speed motor until the pretightening force of the rope returns to the initial value.

2. When the upper computer controls the constant speed motor 815 to fold the flexible cable 1001

1) If the upper computer detects that the photoelectric switch 810 is triggered, which indicates that the rope tends to be tight, the upper computer controls the speed regulating motor 801 to take up the rope at a speed slightly lower than that of the constant speed motor 815 until the pretightening force of the rope returns to the speed same as that of the constant speed motor when the pretightening force of the rope is initialized;

2) if the upper computer detects that the photoelectric switch 809 is triggered, which indicates that the rope tends to be loose, the upper computer controls the speed regulating motor 801 to take up the rope at a speed slightly larger than that of the constant speed motor until the speed is regulated to be the same as that of the constant speed motor when the pretightening force of the rope is restored to be initial.

After the planned track of the standing platform is input, the upper computer controls a constant speed motor 815 in the double-control type rope winding and arranging mechanism 8 to rotate and wind and release the corresponding rope length, the upper computer also monitors the on-off condition of a photoelectric switch and the comparison condition of the pretightening force of the tension sensor 1101 and an initial reference value in real time, and controls a speed regulating motor 801 to adjust the corresponding speed to wind and release the flexible rope.

Referring to fig. 14, the training method of the multi-mode lower limb multi-joint rehabilitation training device provided by the invention comprises the following steps:

the method comprises the following steps: the system is initialized when the power is on, whether the communication between each motor and the sensor module and the upper computer is normal or not is detected, and the detachable standing platform is combined into a whole circular platform through buckling connection during initialization.

Step two: the body shape information, the length of the legs and the like of the patient are input into the upper computer. The infrared distance meter 1104 collects information in real time and feeds the information back to the upper computer, the circumferential length of the weight reduction vest is adjusted, and the artificial muscles of the large and small leg modules are controlled to inflate or deflate until the size of the patient is adapted.

Step three: the infrared distance meter 1104 detects the length value of the sliding rod spring of the knee rotating mechanism in real time, and transmits the value to the upper computer for calculation and judgment, and the length of the sliding rod spring at the moment is recorded when the big leg module and the small leg module are kept in the vertical state, and the length is used as a reference value 1.

Step four: the upper computer controls the motor of the rope winder to adjust the distance between the standing platform and the vest to adapt to the height of a patient, level the standing platform and adjust the pretightening force of the flexible cable until the two photoelectric switches are not triggered.

Step five: starting rehabilitation training, enabling the patient to walk on the standing platform, and respectively tying the elastic bandage of the large and small leg modules on the thigh and the shank of the patient to prepare for rehabilitation exercise.

Step seven: the plantar pressure sensor 1102, the pressure sensor 1105, the tension sensor 1101, the infrared range finder 1104 and the visual motion capture system are used for detecting information such as artificial muscle pressure, flexible cable tension and the like in real time, detecting pose information of a standing platform in real time, communicating the information to an upper computer in real time through a data acquisition card, automatically stopping and checking if the pose information exceeds an established safety threshold value, then starting the system, and returning to the step six.

Step eight: after the rehabilitation training is finished, the elastic bandage on the leg part is manually released, and the patient walks down the standing platform.

In summary, the invention provides a multi-mode lower limb multi-joint rehabilitation training device and a training method. It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a multi-mode low limbs multiarticular rehabilitation trainer which characterized in that: comprises a supporting and erecting unit, a space in the supporting and erecting unit is provided with a liftable upper limb weight reducing device and a lower limb wearing mechanism from top to bottom, the lower limb wearing mechanism comprises a pedal module, a shank module and a thigh module, the lower limb wearing mechanism is arranged on the electromagnetic detachable standing platform, the lifting of the electromagnetic detachable standing platform is driven by a flexible cable driving mechanism, the flexible cable of the flexible cable driving mechanism is retracted and extended by a double-control rope winding and arranging mechanism below the flexible cable driving mechanism, a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, the training mode conversion platform mechanism integrates various modes of a moving platform and comprises a movable placing platform I and a liftable placing platform II, the first placing platform is provided with a variable stride simulation walking mechanism, and the second placing platform is provided with a gear type hip joint rehabilitation mechanism;

2. The multi-mode lower limb multi-joint rehabilitation training device of claim 1, wherein: the utility model discloses a flexible cable, including the detachable stand platform of electromagnetism, support and erect the unit and be the aluminum alloy rectangle inside and outside frame, the rectangle frame is outside rectangular frame outside the aluminum alloy, install the lift winding mechanism who is used for hanging in midair the upper limbs and subtracts heavy device outside the aluminum alloy on the rectangle frame, rectangular frame's top four corners is provided with the pulley unit that supplies flexible cable actuating mechanism to walk around in the aluminum alloy, flexible cable actuating mechanism is including four flexible cables, the one end of flexible cable is discharged by its two accuse formula book rope winding mechanisms that correspond respectively, upwards walks around corresponding pulley unit after, the other end is connected and is fixed on the rope knot on the detachable stand platform of electromagnetism.

3. The multi-mode lower limb multi-joint rehabilitation training device of claim 2, wherein: the upper limb weight reduction device comprises a wearable vest, adjusting buttons are distributed on the wearable vest, the upper end of the wearable vest is connected with a Y-shaped bearing flexible cable, and the bearing flexible cable is fixed on a double-shaft motor driving reel of a lifting winding mechanism on the aluminum alloy outer rectangular frame.

4. The multi-mode lower limb multi-joint rehabilitation training device of claim 1, wherein: the electromagnetic detachable standing platform comprises two semicircular standing platforms, the two semicircular standing platforms are connected by a folding buckle to form a complete circular standing platform, an electromagnet is arranged in the center of each two semicircular standing platform, and the electromagnet has magnetic attraction after being electrified; the foot pedal module comprises an ankle clamp and a foot pedal which are connected through a revolute pair, two symmetrically arranged foot sole pressure sensors are mounted at the bottom of the foot pedal and can be transmitted to an upper computer through a data acquisition card to observe foot sole pressure data in real time, and the foot pedal is fixedly connected to the electromagnetic detachable standing platform through a bolt; the calf module comprises a calf support fixedly arranged on the electromagnetic detachable standing platform, a calf movable frame is installed on the calf support in a guiding mode, calf region pneumatic artificial muscles for driving the calf movable frame to move are arranged in the calf support, a calf region flexible cable for stretching is installed in the calf movable frame, the bottom end of the calf region flexible cable penetrates through a guide hole in the calf support and is connected to the upper end portion of the calf region pneumatic artificial muscles, the upper end portion of the calf region flexible cable is connected to the bottom end of the calf movable frame, and calf region springs are sleeved on the calf movable frame and the calf region flexible cable of the calf support;

the thigh module comprises a thigh support, the bottom end of the thigh support is rotatably connected with a shank movable frame through a rotating shaft, the thigh support is provided with a thigh movable frame matched with the thigh support in a guiding manner, the middle part of the thigh support is provided with upper and lower thigh area pneumatic artificial muscles arranged at intervals, the two thigh area pneumatic artificial muscles are connected through a spring, and the other end of each thigh area pneumatic artificial muscle is respectively fixed at the bottom of the thigh support and the top of the shank movable frame; the thigh module and the shank module are respectively provided with a leg elastic bandage for binding the thigh and the shank of a patient, the pneumatic artificial muscle of the shank area and the pneumatic artificial muscle of the thigh area are respectively provided with an air inlet pipe for ventilation, and the valves of the air inlet buckle pipes are respectively provided with a pressure sensor.

5. The multi-mode lower limb multi-joint rehabilitation training device of claim 4, wherein: the knee joint rotating mechanism comprises a crankshaft which provides rotating power for rotation between a thigh support and a shank moving frame, the crankshaft is of a three-section step structure, an outer gear end cover is rotatably mounted on one section of the crankshaft, an absolute encoder which detects the rotation angle of the crankshaft in real time is mounted at the same time, an inner gear meshed with the outer gear end cover is arranged in the outer gear end cover, the inner gear is fixedly and rotatably mounted on the second section of the crankshaft, a sliding rod is rotatably mounted on the third section of the crankshaft, a sliding rod spring is arranged below the sliding rod, a sliding rod flexible cable used for driving the sliding rod spring to stretch is arranged in the sliding rod spring, and the sliding rod flexible cable is wound and unwound by a rope winding mechanism arranged at the bottom end of the electromagnetic detachable standing platform; infrared distance measuring instruments are installed at the bottom ends of the thigh support and the shank support respectively, and a transmitting unit and a receiving unit of the infrared distance measuring instruments are installed on the bottom of the sliding rod and the electromagnetic detachable type standing platform respectively.

6. The multi-mode lower limb multi-joint rehabilitation training device of claim 2, wherein: the double-control rope winding and arranging mechanism is formed by correspondingly matching a plurality of groups of pulley units and comprises a box body fixedly mounted on an aluminum alloy outer frame bottom plate, a gear winding and arranging device and a dynamic rope control device are mounted in the box body, the gear winding and arranging device comprises a winding drum rotatably mounted at the bottom end of the box body, the winding drum is driven by a speed regulating motor at the end part, a movable lead screw sliding unit is erected above the winding drum, the lead screw sliding unit comprises a lead screw, a lead screw mounting frame is screwed on the lead screw, and two vertical fixed pulleys are mounted on the lead screw mounting frame; the dynamic rope control device comprises a set of tensioning mechanism, two sets of fixed pulley units and a single-winding reel, wherein the tensioning mechanism comprises a tensioning wheel, a tensioning wheel support frame, a left photoelectric switch, a right photoelectric switch and a spring assembly, one end of the left photoelectric switch and one end of the spring are fixedly arranged on a vertical partition plate of the box body, the other end of the spring is fixedly buckled at one side of the tensioning wheel support frame, the fixed pulley units and the single-winding reel are respectively fixed on the right side wall of the box body through respective support frames through bolt connection, the single-winding reel is driven by a constant-speed motor at the end part, a cylindrical slot hole corresponding to the cross section circle of the tensioning wheel support frame is processed on the side wall of the box body, the tensioning wheel support frame can move left and right in the slot hole, a flexible rope passing through the gear winding mechanism is guided through the fixed pulley blocks and then wound to the tensioning wheel, and then is wound on the single-winding reel and then is output through the fixed pulley unit above, and a tension sensor is arranged on the flexible cable.

7. The multi-mode lower limb multi-joint rehabilitation training device of claim 6, wherein: the control method of the double-control rope winding and arranging mechanism comprises the following steps:

8. The multi-mode lower limb multi-joint rehabilitation training device of claim 1, wherein: the device comprises a placing platform I, a rack longitudinal sliding mechanism and a rack longitudinal sliding mechanism, wherein the placing platform I is driven to move by the rack longitudinal sliding mechanism, the rack longitudinal sliding mechanism comprises two groups of longitudinal guide rails which are arranged on an outer frame partition plate in parallel, a sliding block which slides in a guide way with the longitudinal guide rails is arranged on the placing platform I, racks are distributed on the inner side surface of one side of each group of longitudinal guide rails, the placing platform I is provided with a gear which is meshed with the racks for transmission, the gear rotates and is driven by a stepping motor, the middle part of the placing platform I is provided with a variable stride simulation walking mechanism, the variable stride simulation walking mechanism comprises a rotating shaft which is erected by a bracket, the rotating shaft is provided with an eccentric wheel I and an eccentric wheel II which are arranged at intervals and form a group, the upper end part of the eccentric wheel I is provided with a fixed mounting hole I, and the upper end part of the eccentric wheel II is provided with a fixed mounting hole II, the two sides of the eccentric wheel I and the eccentric wheel are respectively sleeved with a rocker arm, the upper end and the lower end of each rocker arm are respectively of a rod body structure, a magnetic attraction type pedal plate is installed between the end portions of rod bodies at the upper ends of the rocker arms at the two sides, guide grooves are formed in the rod bodies at the lower ends of the rocker arms at the two sides, lead screw sliders used for limiting step sizes are arranged on the outer sides of the rod bodies at the lower ends of the rocker arms at the two sides respectively, and the lead screw sliders are driven to move through corresponding lead screws.

9. The multi-mode lower limb multi-joint rehabilitation training device of claim 1, wherein: the lifting of the second placing platform is driven by a scissor type hydraulic lifting mechanism below the second placing platform, the gear type hip joint rehabilitation mechanism comprises two corresponding transverse sliding rails laid on the second placing platform, a planetary gear train mechanism is erected right above the transverse sliding rails and comprises a tray, right-angle frames are respectively installed on the inner sides of the tray and installed on sliding blocks matched with the transverse sliding rails, transmission shafts are respectively penetrated through the middle part of the tray, the corresponding ends of the two transmission shafts are rotatably installed on connecting seats in the middle part, large gears sleeved on the transmission shafts are respectively clamped on the inner sides of the tray, three lead screws synchronously penetrating through the two trays are distributed in the circumferential direction of the large gears, the lead screws are respectively provided with a transmission pinion which is positioned on the inner side of the large gear and meshed with the large gear, and two lead screws at the bottom end part are supported and erected by a limiting support, the magnetic type pedal is installed on the lead screw above, the bottom end of the magnetic type pedal is fixedly connected with the upper end of the tray, bevel gears are installed at the inner end portions of the transmission shafts respectively, transverse bevel gears for synchronously driving the two bevel gears are installed right below the bevel gears, and the transverse bevel gears are driven by an upper computer control motor at the bottom end.

10. The training method of the multi-mode lower limb multi-joint rehabilitation training device according to any one of claims 1 to 9, comprising the following steps:

Step seven: detecting information such as artificial muscle pressure, flexible cable tension and the like in real time by using a pressure sensor, a tension sensor, an infrared distance meter and a visual motion capture system, detecting pose information of a standing platform in real time, communicating the information to an upper computer in real time through a data acquisition card, automatically stopping for inspection and then starting if the set safety threshold is exceeded, and returning to the step six;