CN212090147U - A lower limb rehabilitation training device with multi-track motion mode - Google Patents

Abstract

The utility model provides a lower limb rehabilitation training apparatus in a multi-track motion mode. A seat lifting mechanism is attached to the load-bearing frame, and the seat lifting and lowering mechanism is realized by changing the relative positions of the small holes on the seat and the small holes fixed on the load-bearing frame. The track adjustment rod is fixed on the two limit sliders, and the trajectory of the end of the rod is changed by the rotation of the turntable and the relative position of the two limit sliders on the rod; the ankle fixing mechanism connected to the end of the rod is used to fix The relative position of the patient's sole and ankle avoids injury of the patient's ankle from relative rotation and stretching during the rehabilitation training process; a parallelogram mechanism is used to connect the operation panel to the load-bearing frame through two pairs of rods to ensure that the operation panel and the load-bearing frame are connected Always at a fixed angle, making it easier for the patient to use the operating panel. The utility model can independently adjust the relative position of the slider on the rod according to the recovery state of the patient, thereby changing the movement track of the foot support connected with the end of the rod.

Description

A lower limb rehabilitation training device with multi-track motion mode

technical field

The utility model belongs to the field of rehabilitation equipment, in particular to the rehabilitation training of lower limbs of patients.

Background technique

According to relevant surveys, there are 1.2-1.5 million new stroke cases in my country every year, of which about 75% of the survivors are disabled and lose their ability to walk. In addition, diseases that cause paralysis of the lower extremities include spinal cord injuries and trauma, such as lower extremity joint diseases, spinal muscular atrophy, and multiple sclerosis. Lower extremity mobility impairment can lead to serious complications. Long-term bedridden patients will lead to obstruction of venous blood return in the lower extremities, poor blood supply to the lower extremity tissues, etc., resulting in the decline of the physiological functions of the lower extremities, and severe cases will lead to disuse syndrome.

Traditional studies have shown that rehabilitation training can accelerate the blood flow of the lower extremities, improve the mobility of the lower extremities and the nerve repair of the lower extremities. Cycle is fast. However, it requires a lot of manpower and material resources to perform rehabilitation training on patients through trainers. Therefore, designing a lower limb rehabilitation robot that can replace the trainer can be of great significance to the lower limb rehabilitation of patients.

At present, there are many patents related to lower extremity rehabilitation training at home and abroad. Chinese patent 201811014316.0 discloses a wheelchair capable of lower extremity rehabilitation training, including driving wheels, driven wheels, pedals, and footrests. An extension of any of the footrests The end of the direction is connected with the foot pedal. The patient sits in a wheelchair, and the foot is placed on the foot pedal to drive the shaft to rotate the foot pedal, so that the patient's lower limb can get a certain movement, and the patient's lower limb can get a certain recovery. . However, this lower limb rehabilitation training chair seems to make the patient's foot movement trajectory into a circular trajectory, which cannot well simulate the human rehabilitation gait. At the same time, the investigation shows that the elliptical trajectory gait is better than the circular trajectory gait during the exercise process. There is less impact on the knee, so training with a circular gait trajectory has greater dangers and side effects. Similarly, Chinese Patent No. 201510655368.6 discloses a lower limb rehabilitation training elliptical machine device, including a device frame, a drive unit, an elliptical trajectory realization unit, and a foot pedal connection unit. The linear guide slider is connected with the elliptical track by the belt drive, so that the lower limbs can be trained along the elliptical track. The lower limb rehabilitation training device is more in line with the normal human gait and has a better rehabilitation effect, but the elliptical trajectory is relatively simple and cannot be adjusted according to the patient's rehabilitation period and the patient's leg length and posture.

In order to solve the above technical problems, the utility model provides a lower limb rehabilitation training device with a multi-track motion mode, which includes a base plate, a load-bearing frame, two turntable fixing frames, two cross slide turntables, a seat lifting mechanism, and a patient's handrail. Mechanism, operation panel, two track adjustment mechanisms, two ankle fixing mechanisms, drive motor, pinion gear, large gear, four limit sliders, two limit plates. By changing the relative positions of the four limit sliders and the small holes of the long rod, when the two cross slide turntables rotate, the patient's foot movement can be an elliptical movement with different trajectories, which is in line with the human gait, and various trajectories can be more It is good to let patients adapt to rehabilitation training and accelerate the rehabilitation cycle.

SUMMARY OF THE INVENTION

The main technical problem solved by the utility model is to provide a lower limb rehabilitation training apparatus with a multi-track motion mode.

The utility model relates to the field of rehabilitation equipment, in particular to a lower limb rehabilitation device, comprising a base plate, a load-bearing frame, a turntable fixing frame I, a turntable fixing frame II, a cross slide rail turntable I, a cross slide rail turntable II, a seat lift Mechanism, patient handholding mechanism, operation panel, operation panel fixing frame, support rod I, support rod II, support rod III, support rod IV, long axis I, long axis II, variable trajectory adjustment rod mechanism I, variable trajectory Adjusting lever mechanism II, ankle fixing mechanism I, ankle fixing mechanism II, drive motor, pinion gear, large gear, limit slider I, limit slider II, limit slider III, limit slider IV, limit Plate I, limit plate II, the load-bearing frame is installed on the bottom plate, the limit plate I and limit plate II are fixed at the rear of the load-bearing frame by bolts, and the seat lifting mechanism is fixed on the limit plate through pin connection On the plate I and the limit plate II, the fixing block of the hand-held mechanism is installed in the middle of the load-bearing frame, the front end of the load-bearing frame has four holes, and the two ends of the long axis I are installed at the front end of the load-bearing frame. On holes I and II, both ends of the long axis II are installed on holes III and IV of the load-bearing frame, the turntable fixing frame I and turntable fixing frame II are installed in the middle of the bottom plate, and the turntable fixing frame I and turntable fixing frame II are installed in the middle of the bottom plate. The position is symmetrical with respect to the plane I, the cross slide rail turntable I is installed in the large hole of the turntable fixing frame I, the cross slide rail turntable II is installed in the large hole of the turntable fixing frame II, and the large gear and the cross slide rail turntable are connected through the turntable shaft. The teeth of the large gear and the pinion are meshed, and the pinion is connected with the drive motor through the motor shaft. The drive motor is fixed on the turntable fixing frame II by bolts. The limit slider I and limit slider II are connected to the cross slide turntable. Fitting on the cross track in I, the limit slider III and limit slider IV are matched with the cross track in the cross rail turntable II, and the track variable adjustment rod I is matched with the limit slider I and the limit slider II Matching, the track variable adjustment rod II cooperates with the limit slider III and limit slider IV, the ankle fixing mechanism I is fixed on the track variable adjustment rod I through the rotating shaft I, and the ankle fixing mechanism II is fixed on the track adjustable through the rotating shaft II. on the adjustment lever II.

As a further optimization of the present technical scheme, the described seat lifting mechanism of the lower limb rehabilitation training apparatus of a multi-track motion mode of the present utility model comprises a seat, a lifting circular platform and a seat support plate, and the described limit plate I The installation position of the limit plate II and the installation position of the limit plate II are symmetrical with respect to the plane I, and there are four rows and five columns of small holes of equal size distributed on the limit plate I and the limit plate II. The two sides of the seat support plate There are four rows and five columns of small holes. The small holes on the seat support plate are the same size as the small holes on the limit plate I and the limit plate II. The small holes on the seat support plate are the same as the limit plates. The small holes on the plate I and the limit plate II are concentric, the relative position of the seat support plate and the load-bearing frame is fixed by the pin, the upper part of the seat support plate is connected with the lifting round table, the upper part of the lifting round table is connected with the seat, and the seat can be changed. The relative position of the hole on the support plate and the hole on the limit plate can change the relative position of the seat and the load-bearing frame, rotate the lift round table, change the relative position of the seat and the load-bearing frame again, and change the seat to the foot support twice. The relative position can be adapted to patients with different heights and leg lengths for rehabilitation training.

As a further optimization of the technical solution, the patient's hand-holding mechanism described in a multi-track motion mode lower limb rehabilitation training device of the present invention includes a holding block, a connecting bolt, a handle, a telescopic rod I, and a telescopic rod II. One end of the telescopic rod II is connected to the fixing block of the hand-held mechanism by bolts, and the other end is slidably connected with the telescopic rod I, which can be retracted within the set range. A handle is installed above the telescopic rod I, and the telescopic rod II can be wound around. The hand-held fixed frame is rotated, and when the patient finishes rehabilitation training, it is retracted and placed horizontally on the load-bearing frame to save space.

As a further optimization of this technical solution, one end of the support rod I described in a multi-track motion mode lower limb rehabilitation training device of the present invention is connected to the long axis I through bolts, and the other end of the support rod I is installed on the operation panel. On the axis I, one end of the support rod II is connected to the long axis I by bolts, the other end of the support rod II is installed on the axis II of the operation panel, and one end of the support rod III is connected to the long axis by bolts. On II, the other end of the support rod III is installed on the shaft III of the operation panel, one end of the support rod IV is connected to the long shaft II by bolts, and the other end of the support rod IV is installed on the shaft IV of the operation panel, The support rod I, the support rod III, the load-bearing frame and the operation panel fixing frame form a parallelogram mechanism, and the support rod II, the support rod IV, the load-bearing frame and the operation panel fixing frame form a parallelogram mechanism, so that the patient's line of sight is always aligned with the operation panel. keep the same angle.

As a further optimization of the technical solution, the track variable adjustment mechanism I described in a multi-track motion mode lower limb rehabilitation training device of the present invention includes a long rod I, a long rod II, a short axis I, a short axis II, and a spring I , Spring II, Spring III, Spring I, Clamping Frame I, Clamping Frame II, Nut I, Nut II, Nut III, Nut IV, the long rod I has 15 semicircular holes, and the front end has a semicircle The big hole, the long rod II and the long rod I are exactly the same, the long rod I with the semicircular small hole on one side and the long rod II with the semicircular small hole on one side are completely fitted to form a single with 15 small holes. A hole and a porous rod with a large hole, threads are distributed at both ends of the short axis I, and the short axis II is exactly the same as the short axis I, and the short axis I passes through the clamping frame I, the spring I, and the long rod in turn. I, the long rod II, the spring II, the clamping frame I, the two ends of the short shaft I with threads are matched with the nut I and the nut II respectively, and the relative position of the short shaft I and the clamping frame I is fixed, and the short shaft I II passes through the clamping frame II, spring III, long rod I, long rod II, spring IV, and clamping frame II in turn. The threaded ends of the short shaft II are matched with the nut III and the nut IV respectively, and the short shaft II is fixed. The relative position of the clamping frame II, so that the long rod I and the long rod II can only squeeze the spring along the axis direction of the short axis I, and the limit slider I and the limit block matched with the cross rail turntable I The slider II is installed in the small hole of the multi-hole rod. When the cross slide rail turntable I rotates, the trajectory of the large hole at the end of the multi-hole rod is an ellipse. The pressure in the axial direction squeezes the spring to keep a gap between the long rod I and the long rod II. Adjust the position of the limit slider I and the limit slider II in different small holes. After adjustment, the four springs connect the two belts. The long rod I and the long rod II with the semicircular holes are reset to the initial state, the limit slider I and the limit slider II are fixed in the small hole of the multi-hole rod, and the cross rail turntable I can change the end of the long rod and the ellipse when the cross rail turntable I rotates. The long axis and short axis of the long rod can change the elliptical trajectory of the end of the long rod. The installation method of the trajectory adjustment mechanism II and the trajectory adjustment mechanism I is exactly the same.

As a further optimization of this technical solution, the ankle fixing mechanism of the variable trajectory lower extremity rehabilitation training chair of the present invention includes a foot support, a foot support strap, a foot support link I, a foot support link II, and a calf guard , magic belt, calf strap I and calf strap II, one end of the shaft I is installed on the large hole of the porous rod, the foot support is installed on the other end of the shaft I, and the foot support and the calf guard are connected through the foot support The rod I and the foot support link II are connected, the foot support strap is installed in the middle of the foot support, the calf strap I and the calf strap II are installed on the calf guard, and the foot support strap is connected with the magic belt through the magic belt button I Connected, the magic belt is connected with the calf strap I and the calf strap II through the magic belt button II, and the relative position of the sole of the foot and the ankle can be fixed by adjusting the relative position of the magic belt button and the small hole on the magic belt to prevent the patient from operating. The ankle fixing mechanism II is installed in exactly the same way as the ankle fixing mechanism I if the ankle is improperly pulled.

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

During the rehabilitation training process, the patient holds the handle of the holding mechanism, which can avoid the shift of the center of gravity of the body during the training process. The telescopic rod I and the telescopic rod II are slidably connected, and the telescopic rod II can be rotated around the fixed block, which can be stretched after the patient is trained. Rod I and telescopic rod II are placed horizontally on the load-bearing frame in a retracted state to save space.

Support rod I, support rod III, load-bearing frame and operation panel fixing frame form a parallelogram mechanism, support rod II, support rod IV, load-bearing frame and operation panel fixing frame form a parallelogram mechanism. The upper surface of the load-bearing frame is always kept parallel to ensure that the operation panel is always at a fixed angle with the patient's line of sight, which is convenient for the patient to operate.

According to the National Physical Fitness Monitoring Bulletin, most people's legs are between 72 cm and 82 cm long. Before rehabilitation training, adjust the position of the limit holes on the symmetrical side plates and the limit holes on the limit plate, and you can initially adjust the seat. The relative position of the chair relative to the load-bearing frame can be adjusted again by rotating the lift turntable, and the relative position of the seat to the foot support can be adjusted twice, which can adapt to patients with different heights and leg lengths for rehabilitation training.

The use of magic straps, foot support straps and calf straps can completely fix the relative position of the ankle and the sole of the foot, which can effectively prevent the patient's ankle from being injured again due to improper operation during the rehabilitation training process.

Studies have shown that during the patient's rehabilitation training, the patient's lower limbs move along the elliptical trajectory to better simulate the normal gait. At the same time, the movement along the elliptical trajectory makes the patient's thigh lift process more gentle, and the force applied to the thigh and calf will be less. Some are suitable for the early rehabilitation training of patients, which can effectively prevent the patient from being stretched and injured due to excessive force on the thigh during rehabilitation training.

Studies have shown that the normal knee bending angle is 90 degrees to 110 degrees. When the patient's leg is injured, the knee bending angle is limited. During the rehabilitation training process, the patient's knee bending angle will increase with the rehabilitation effect. Lift and gradually increase, and the knee joint of the patient gradually returns to normal. The crank double-slider and cross slide mechanism are used to make the movement track of the end of the crank be an ellipse. The long rod I and the long rod II can only move in the direction of the axis of the short axis. Adjusting the relative positions of the two sliders fixed on the small holes on the rod can change the long axis and short axis of the elliptical trajectory at the end of the long rod, and can change the knee joint of the patient. The bending angle of the patient's lower limbs can be realized along different elliptical trajectories, which conforms to the normal gait of human beings. According to different heights, leg lengths and rehabilitation degrees, patients can choose different motion trajectories for rehabilitation training.

Description of drawings:

For ease of description, the present invention has the following specific implementation and accompanying drawings for detailed description below.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation methods.

FIG. 1 is a schematic diagram of the left side structure of a lower limb rehabilitation training chair with variable trajectory according to the present invention.

FIG. 2 is a schematic diagram of the right side structure of a lower limb rehabilitation training chair with variable trajectory according to the present invention.

Figure 3 is a schematic diagram of the connection of the load-bearing frame.

FIG. 4 is a schematic diagram of the connection between the ankle fixing mechanism and the track adjustment mechanism.

FIG. 5 is a schematic diagram of the drive connection.

Figure 6 is a schematic diagram of a patient's handholding mechanism.

FIG. 7 is a schematic diagram of the connection between the cross rail turntable and the limit slider.

FIG. 8 is a schematic diagram of the track adjustment mechanism.

Figure 9 is a schematic diagram of the porous rod structure.

In the above drawings: 1. base plate, 2. load-bearing frame, 3. turntable fixing frame 1, 4. cross slide turntable 1, 5. track adjustment mechanism 1, 6. ankle fixing mechanism 1, 7. limit plate 1 , 8. Seat lifting mechanism, 9. Patient handholding mechanism, 10. Operation panel, 11. Operation panel fixing frame, 12. Fixed axis I, 13. Support rod I, 14. Fixed axis III, 15. Long axis I , 16. Long axis II, 17. Support rod III, 18. Rotation axis II, 19. Limit plate II, 20. Fixed axis II, 21. Support rod II, 22. Fixed axis IV, 23. Support rod IV, 24 .Ankle fixing mechanism II, 25. Track adjustment mechanism II, 26. Turntable fixing frame II, 27. Cross slide turntable II, 28. Rotating shaft I, 29. Hand-held mechanism fixing block, 30. Face I, 31. Support hole I , 32. Support hole II, 33. Support hole III, 34. Support hole IV, 35. Limit plate hole, 36. Limit slider I, 37. Limit slider II, 38. Drive motor, 39. Motor shaft, 40. Large gear, 41. Turntable shaft, 42. Pinion, 43. Limit slider III, 44. Limit slider IV, 45. Porous rod, 5-1. Short axis I, 5-2 . Clamp I, 5-3. Nut II, 5-4. Spring II, 5-5. Long Rod II, 5-6. Nut IV, 5-7. Spring IV, 5-8. Spring III, 5 -9. Nut III, 5-10. Short shaft II, 5-11. Long rod I, 5-12. Spring I, 5-13. Nut I, 5-14. Clamp II, 6-1. Shank Guard, 6-2. Calf Strap I, 6-3. Calf Strap II, 6-4. Foot Support Link I, 6-5. Foot Support, 6-6. Foot Support Strap, 6-7 . Foot support link II, 6-8. Magic belt, 6-9. Magic belt button II, 6-10. Magic belt button I, 8-1. Lifting round table, 8-2. Seat, 8-3. Seat support plate, 9-1. Handle, 9-2. Telescopic rod I, 9-3. Telescopic rod II

Detailed ways:

Specific implementation one:

Below in conjunction with Fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, the present embodiment will be described, the present utility model relates to the field of rehabilitation equipment, more specifically to the lower limb rehabilitation equipment of multi-elliptical trajectory motion, including 1. Bottom plate, 2. Load-bearing frame, 3. Turntable fixing frame I, 4. Cross rail turntable I, 5. Track adjustment mechanism I, 6. Ankle fixing mechanism I, 7. Limit plate I, 8. Seat lifting mechanism, 9. Patient handholding mechanism, 10. Operation panel, 11. Operation panel fixing frame, 19. Limiting plate II, 24. Ankle fixing mechanism II, 25. Track adjustment mechanism II, 26. Turntable fixing frame II, 27. Cross Slide rail turntable II, 38. drive motor, 40. large gear, 42. pinion, the device has a simple structure, and the device can help people to carry out leg rehabilitation training through the movement of the ankle fixing mechanism. According to the height and leg length of the patient, adjust the seat to an appropriate position. First, fix the small holes on the seat support plate 8-3 and the small holes on the limit plate I7 and limit plate II19 through pins. Wait until the patient After sitting on the seat 8-2, press the button of the operation panel 10 to adjust the lifting round table 8-1 to a suitable position, place the patient's feet on the foot support 6-5, and attach the foot support straps 6-6, calf Fasten the straps I6-2 and the calf straps II6-3, and fix the patient's calf and foot by adjusting the relative positions of the Velcro 6-8 and the Velcro button II6-9 and the Velcro button I6-10. Hold the handle 9-1 to ensure that the center of gravity does not shift during the training process. After the preparation is completed, the patient starts the rehabilitation training through the start button on the operation panel 10 . At this time, the driving motor 38 drives the pinion gear 42 to rotate, thereby driving the large gear 40 and the matching cross rail turntable I4 to rotate, and the four limit sliders installed in the cross rail drive the long rod to move. The end is connected to the foot support 6-5 through the rotating shaft I28. During the long pole movement, the patient's feet are placed on the foot support 6-5 to perform elliptical motion that conforms to human gait. During the training process, according to the patient's leg length, the height that the patient's thigh can be lifted, and the patient's rehabilitation state, the movement trajectory is changed, so as to achieve the purpose of rehabilitation training.

Specific implementation two:

1, 2, 3, 4, 5, 6, 7, 8, and 9 will be used to describe this embodiment. This embodiment will further describe Embodiment 1. The track adjustment structure I5 includes two long rods with semicircular holes. Rod I5-11 and rod II5-5 are symmetrically placed to form a porous rod 45, and the limit slider I36 and limit slider II37 connected with the cross rail turntable I4 are fixed to the small hole of the porous rod. The clamping frame I5-2 and the clamping frame II5-14 fix the relative positions of the long rod I5-11 and the long rod II5-5. When the cross slide turntable I4 rotates, the trajectory of the end of the multi-hole rod 45 is an ellipse, and the short axis I5-1 passes through the clamping frame I5-2, the spring I5-12, the long rod I5-11, the long rod II5-5, the spring II5-4, the clamping frame I5-2 in sequence, and the short shaft I5-1 is threaded The two ends of the shaft are matched with nut I5-13 and nut II5-3 respectively to fix the relative position of short shaft I5-1 and clamping frame I5-2. Short shaft II5-10 passes through clamping frame II5-14 and spring III5 in turn. -8. Long rod I5-11, long rod II5-5, spring IV5-7, clamping frame II5-14, short shaft II5-10 with threaded ends matched with nut III5-9 and nut IV5-6 respectively , fix the relative position of the short axis II5-10 and the clamping frame II5-14, so that the long rod I5-11 and the long rod II5-14 can only squeeze the four springs along the axis direction of the short axis I5-1, according to The patient's height, leg length, and rehabilitation status By applying vertical pressure to the small hole between the long rod I5-11 and the long rod II5-5, the spring is squeezed to keep a gap between the long rod I5-11 and the long rod II5-5. , You can adjust the position of the limit slider I36 and the slider II37 in different holes. After adjustment, the four springs reset the two long rods I5-11 and II5-5 with semicircular small holes to the initial state , the limit slider I36 and the limit slider II37 are re-fixed to the small holes of the porous rod 45. At this time, changing the position of the limit slider I36 and the limit slider II37 correspondingly changes the length of the elliptical trajectory at the end of the porous rod 45. axis and short axis, thereby changing the elliptical trajectory of the end of the porous rod 45. It enables the patient to adapt to the trajectory rehabilitation training. During the rehabilitation process, the patient's legs are adapted to the movement of different trajectories and the rehabilitation cycle is accelerated.

Of course, the above description does not limit the present utility model, and the present utility model is not limited to the above-mentioned examples. Changes, modifications, additions or replacements made by those of ordinary skill in the technical field within the essential scope of the present utility model also belong to the scope of the present utility model. The scope of protection of the utility model.

Claims (6)

1. A lower limb rehabilitation training apparatus with a multi-track motion mode, comprising a base plate (1), a load-bearing frame (2), a turntable fixing frame I (3), a turntable fixing frame II (26), and a cross slide turntable I (4) , Cross rail turntable II (27), seat lifting mechanism (8), patient handholding mechanism (9), operation panel (10), operation panel fixing frame (11), hand-held mechanism fixing block (29), support rod I (13), support rod II (21), support rod III (17), support rod IV (23), long axis I (15), long axis II (16), track adjustment mechanism I (5), track adjustment Mechanism II (25), Ankle Fixing Mechanism I (6), Ankle Fixing Mechanism II (24), Drive Motor (38), Small Gear (42), Large Gear (40), Limit Slider I (36), Limit Position slider II (37), limit slider III (43), limit slider IV (44), limit plate I (7), limit plate II (19), the load-bearing frame (2) Installed on the bottom plate (1), the limit plate I (7) and the limit plate II (19) are fixed at the rear of the load-bearing frame (2) by bolts, and the seat lift mechanism (8) is fixed on the On the limiting plate I (7) and the limiting plate II (19), the hand-held mechanism fixing block (29) is installed in the middle of the load-bearing frame (2), and the front end of the load-bearing frame (2) has four Support holes, the two ends of the long axis I (15) are installed on the support holes I (31) and the support holes II (32) at the front end of the load-bearing frame, and the two ends of the long axis II (16) are installed on the load-bearing frame ( 2) On the support hole III (33) and the support hole IV (34), the turntable fixing frame I (3) and the turntable fixing frame II (26) are installed in the middle of the bottom plate (1), and the turntable fixing frame I (3) and The position of the turntable fixing frame II (26) is symmetrical with respect to the plane I (30). In (26), the large gear (40) is connected with the cross rail turntable I (4) through the turntable shaft (41), the large gear (40) and the pinion (42) are meshed with the gear teeth, and the pinion (42) is connected with the drive motor (38) is connected through the motor shaft (39), the drive motor (38) is fixed on the turntable fixing frame II (26) by bolts, the limit slider I (36) and the limit slider II (37) are connected with The cross rails in the cross rail turntable I (4) are matched, the limit slider III (43) and the limit slider IV (44) are matched with the cross rails in the cross rail turntable II (27), and the track adjustment mechanism I (5) Cooperate with limit slider I (36) and limit slider II (37), and track adjustment mechanism II (25) cooperate with limit slider III (43) and limit slider IV (44), The ankle fixing mechanism I (6) is fixed on the trajectory adjustment mechanism I (5) through the rotating shaft I (28), and the ankle fixing mechanism II (24) is fixed through the rotating shaft II (18). On Track Adjustment Mechanism II (25). 2. The lower limb rehabilitation training apparatus in a multi-track motion mode according to claim 1, wherein the seat lifting mechanism (8) comprises a lifting circular platform (8-1), a seat (8-2) and The seat support plate (8-3), the installation position of the limit plate I (7) and the installation position of the limit plate II (19) are symmetrical with respect to the plane I (30), and the limit plate I (7) Four rows and five columns of small holes of equal size are distributed on both the limit plate II (19) and the seat support plate (8-3), and four rows and five columns of small holes are distributed on both sides of the seat support plate (8-3). The holes on the support plate (8-3) are the same size as the holes on the limit plate I (7) and limit plate II (19), and the seat support plate (8-3) and the load-bearing frame are fixed by pins. In the relative position of (2), the upper part of the seat support plate (8-3) is connected with the lifting round table (8-1), and the upper part of the lifting round table (8-1) is connected with the seat (8-2). 3. The lower limb rehabilitation training apparatus in a multi-track motion mode according to claim 1, characterized in that: the patient's handholding mechanism (9) comprises a handle (9-1), a telescopic rod I (9-2), Telescopic rod II (9-3), one end of the telescopic rod II (9-3) is connected to the hand-held mechanism fixing block (29) by bolts, and the other end is slidably connected to the telescopic rod I (9-2). It can be retracted within the set range, and a handle (9-1) is installed above the telescopic rod I (9-2). 4. The lower extremity rehabilitation training apparatus in a multi-track motion mode according to claim 1, characterized in that: one end of the support rod I (13) is connected to the long axis I (15) by bolts, and the support rod I ( The other end of 13) is installed on the fixed shaft I (12) of the operation panel (10). One end of the support rod II (21) is connected to the long shaft I (15) by bolts. The other end is installed on the fixed axis II (20) of the operation panel (10), one end of the support rod III (17) is connected to the long axis II (16) by bolts, and the other end of the support rod III (17) One end is installed on the fixed shaft III (14) of the operation panel (10), one end of the support rod IV (23) is connected to the long shaft II (16) by bolts, and the other end of the support rod IV (23) is installed On the fixed axis IV (22) of the operation panel (10), the support rod I (13), the support rod III (17), the load-bearing frame (2) and the operation panel fixing frame (11) form a parallelogram mechanism, The support rod II (21), the support rod IV (23), the load-bearing frame (2) and the operation panel fixing frame (11) form a parallelogram mechanism. 5 . The lower limb rehabilitation training apparatus in a multi-track motion mode according to claim 1 , wherein the track adjustment mechanism I ( 5 ) comprises a long rod I ( 5-11 ), a long rod II ( 5-5 . 6 . ), short axis I (5-1), short axis II (5-10), spring I (5-12), spring II (5-4), spring III (5-8), spring IV (5-7 ), Clamp I (5-2), Clamp II (5-14), Nut I (5-13), Nut II (5-3), Nut III (5-9), Nut IV (5 -6), the long rod I (5-11) has 15 small semicircular holes, and the front end has a semicircular large hole, the long rod II (5-5) and the long rod I (5-11) Exactly the same, the long rod I (5-11) with semi-circular holes on one side and the long rod II (5-5) with semi-circular holes on one side are fully fitted to form one with 15 small holes and a A porous rod (45) with a large hole, threads are distributed at both ends of the short axis I (5-1), and the short axis II (5-10) is exactly the same as the short axis I (5-1). The shaft I (5-1) passes through the clamping frame I (5-2), the spring I (5-12), the long rod I (5-11), the long rod II (5-5), and the spring II (5 -4), the clamping frame I (5-2), the threaded ends of the short shaft I (5-1) are matched with the nut I (5-13) and the nut II (5-3) respectively to fix the short shaft The relative position of I (5-1) and the clamping frame I (5-2), the short axis II (5-10) sequentially passes through the clamping frame II (5-14), the spring III (5-8 ), long rod I (5-11), long rod II (5-5), spring IV (5-7), holder II (5-14), short shaft II (5-10) with threaded Both ends are matched with nuts III (5-9) and IV (5-6), respectively, to fix the relative position of the short shaft II (5-10) and the clamping frame II (5-14), so that the long rod I (5-14) -11) and the long rod II (5-5) can only squeeze the spring along the axis direction of the short axis I (5-1) to move the limit slider I ( 36) and the limit slider II (37) are installed into the small holes of the multi-hole rod (45). 6 . The lower extremity rehabilitation training apparatus in a multi-track motion mode according to claim 1 , wherein the ankle fixing mechanism I ( 6 ) comprises a foot support ( 6-5 ), a foot support strap ( 6-6 ). 7 . ), foot support link I (6-4), foot support link II (6-7), calf guard (6-1), magic belt (6-8), calf strap I (6-2) And the calf strap II (6-3), one end of the shaft I (28) is installed on the large hole of the multi-hole rod (45), and the foot support (6-5) is installed on the other end of the shaft I (28) , the foot support (6-5) and the calf guard (6-1) are connected by the foot support link I (6-4) and the foot support link II (6-7), the foot support straps (6-6 ) in the middle of the chainstays (6-5), the calf straps I (6-2) and the calf straps II (6-3) are installed on the calf guards (6-1), and the footrest straps (6-2) -6) Connect with the magic belt (6-8) through the magic belt button I (6-10), the magic belt (6-8) is connected with the calf strap I (6-2) through the magic belt button II (6-9) ) is connected with the calf strap II (6-3), and the ankle fixing mechanism II (24) is installed in exactly the same way as the ankle fixing mechanism I (6).

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