CN212090147U

CN212090147U - Lower limb rehabilitation training instrument with multi-track motion mode

Info

Publication number: CN212090147U
Application number: CN201921531660.7U
Authority: CN
Inventors: 张永德; 高英博; 姜金刚; 代雪松; 杨建智; 赵佳伟
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2019-09-16
Filing date: 2019-09-16
Publication date: 2020-12-08
Anticipated expiration: 2029-09-16

Abstract

The utility model provides a lower limb rehabilitation training device with multi-track motion mode, a seat lifting mechanism is attached on a bearing frame, and the adjustment of seat lifting is realized by changing the relative positions of a small hole on a seat and a small hole fixed on the bearing frame; the track adjusting rod is fixed on the two limiting slide blocks, and the track of the tail end of the rod is changed by the rotation of the rotary table and the relative positions of the two limiting slide blocks on the rod; the ankle fixing mechanism connected with the tail end of the rod is used for fixing the relative position of the sole and the ankle of the patient, so that the relative rotary stretching of the ankle part of the patient is prevented from being damaged in the rehabilitation training process; adopt parallelogram mechanism to connect operating panel on the bearing frame through two pairs of poles, guarantee that operating panel and bearing frame become a fixed angle all the time, make the patient use operating panel more convenient. The utility model discloses can independently adjust the relative position of slider on the pole according to patient's recovered state to the movement track of the heel brace that the change is connected with the pole end.

Description

Lower limb rehabilitation training instrument with multi-track motion mode

Technical Field

The utility model belongs to the field of rehabilitation equipment, especially relate to patient's low limbs rehabilitation training.

Background

According to the related research, 150 million people with 120 new cases of stroke per year in China are shown, wherein about 75 percent of survivors cause disability and lose walking ability. In addition, the diseases causing paralysis of lower limbs include spinal cord injury and trauma, such as joint diseases of lower limbs, spinal muscular atrophy, multiple sclerosis, etc. Lower limb mobility impairment can lead to serious complications. The patients lying in bed for a long time can cause the lower limb physiological function decline caused by the obstruction of lower limb venous blood reflux, poor blood supply of lower limb tissues and the like, and serious patients can cause disuse syndrome.

Traditional research shows that carrying out the blood flow that rehabilitation trained can accelerate low limbs, can improve patient's low limbs mobility and the neural restoration of low limbs, the patient who accepts training person to carry out shank rehabilitation training compares in not carrying out the patient recovered effectual of rehabilitation training, and the rehabilitation cycle is fast. However, a large amount of manpower and material resources are needed for rehabilitation training of the patient through the trainer, so that the lower limb rehabilitation robot capable of replacing the trainer is designed, and the lower limb rehabilitation robot has important significance for lower limb rehabilitation of the patient.

At present, there are many related patents for lower limb rehabilitation training at home and abroad, and Chinese patent 201811014316.0 discloses a wheelchair capable of performing lower limb rehabilitation training, which comprises a driving wheel, a driven wheel, pedals and pedal frames, wherein the tail end of the extending direction of any pedal frame is rotatably connected with the pedals, a patient sits on the wheelchair, feet are placed on the pedals, and the driven wheel drives a rotating shaft to rotate the pedals, so that the lower limbs of the patient can move to a certain degree, and the lower limbs of the patient can be recovered to a certain degree. However, the lower limb rehabilitation training chair causes the foot movement track of a patient to be a circular track, so that the rehabilitation gait of the human cannot be simulated well, and meanwhile, investigation shows that the impact force of the gait with the elliptical track to the knee is smaller than that of the gait with the circular track in the movement process of the human, so that the circular gait track training has great danger and side effects. Similarly, chinese patent No. 201510655368.6 discloses an elliptical machine for lower limb rehabilitation training, which comprises a machine frame, a driving unit, an elliptical trajectory realization unit, and a pedal connection unit. The belt is in transmission connection with the linear guide rail slide block to match with the elliptical track, so that the lower limb is trained along the elliptical track. The lower limb rehabilitation training device is more suitable for normal gait of a person and has a good rehabilitation effect, but the elliptical track is single, and the lower limb rehabilitation training device cannot be adjusted according to the rehabilitation period of the patient and the long posture of the leg of the patient.

In order to solve the technical problem, the utility model provides a low limbs rehabilitation training device of many trails motion pattern, including bottom plate, bearing frame, two carousel mounts, two cross slide rail carousels, seat elevating system, the hand mechanism of patient, operating panel, two orbit adjustment mechanism, two ankle fixed establishment, driving motor, pinion, gear wheel, four limit slider, two limiting plates. Through changing the relative position of four spacing sliders and stock aperture, when two cross slide rail carousel rotated, the motion of patient foot can be the elliptical motion of different trails, accords with people's gait, and multiple orbit can be better let patient adaptation rehabilitation training, the recovered cycle of acceleration.

Disclosure of Invention

The utility model discloses the main technical problem who solves provides a low limbs rehabilitation training apparatus of many trails motion pattern, device simple structure, and the device can help the patient to carry out the rehabilitation training of shank through the motion of orbit adjustment mechanism and ankle fixed establishment.

The utility model relates to the field of rehabilitation equipment, in particular to a lower limb rehabilitation device, which comprises a bottom plate, a 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 lifting mechanism, a patient hand-held mechanism, an operating panel fixing frame, a supporting rod I, a supporting rod II, a supporting rod III, a supporting rod IV, a long shaft I, a long shaft II, a track variable adjusting rod mechanism I, a track variable adjusting rod mechanism II, an ankle fixing mechanism I, an ankle fixing mechanism II, a driving motor, a pinion, a gearwheel, a limiting slider I, a limiting slider II, a limiting slider III, a limiting slider IV, a limiting plate I and a limiting plate II, wherein the bearing frame is arranged on the bottom plate, the limiting plate I and the limiting plate II are fixed behind the bearing frame through bolts, the seat lifting mechanism is fixed on the limiting plate I and, the hand-held mechanism fixing block is arranged in the middle of the bearing frame, the front end of the bearing frame is provided with four holes, two ends of the long shaft I are arranged on a hole I and a hole II at the front end of the bearing frame, two ends of the long shaft II are arranged on a hole III and a hole IV of the bearing frame, the turntable fixing frame I and the turntable fixing frame II are arranged in the middle of the bottom plate, the positions of the turntable fixing frame I and the turntable fixing frame II are symmetrical relative to the plane I, the cross slide rail turntable I is arranged in the large hole of the turntable fixing frame I, the cross slide rail turntable II is arranged in the large hole of the turntable fixing frame II, the gear wheel is connected with the cross slide rail turntable through the turntable shaft, the gear wheel is meshed with the gear wheel of the pinion, the pinion is connected with the driving motor through the motor shaft, the driving motor is fixed on the turntable fixing frame, the limiting slide block III and the limiting slide block IV are matched with a cross track in the cross slide rail rotary table II, the track variable adjusting rod I is matched with the limiting slide block I and the limiting slide block II, the track variable adjusting rod II is matched with the limiting slide block III and the limiting slide block IV, the ankle fixing mechanism I is fixed on the track variable adjusting rod I through a rotating shaft I, and the ankle fixing mechanism II is fixed on the track variable adjusting rod II through a rotating shaft II.

As a further optimization of the technical scheme, the lifting mechanism of the seat lifting mechanism of the lower limb rehabilitation training device with the multi-track motion mode comprises a seat, a lifting round platform and a seat supporting plate, wherein the mounting position of a limiting plate I and the mounting position of a limiting plate II are symmetrical about a plane I, four rows of five rows of small holes with the same size are distributed on the limiting plate I and the limiting plate II, four rows of five rows of small holes are distributed on two sides of the seat supporting plate, the small holes on the seat supporting plate are identical in size with the small holes on the limiting plate I and the limiting plate II, the small holes on the seat supporting plate are concentric with the small holes on the limiting plate I and the limiting plate II, the relative position of the seat supporting plate and a bearing frame is fixed through a pin shaft, the upper part of the seat supporting plate is connected with the lifting round platform, the upper part of the lifting round platform is connected with the, the relative position of the seat and the bearing frame is changed, the lifting circular truncated cone is rotated, the relative position of the seat and the bearing frame is changed again, and the relative position of the seat to the foot support is changed twice, so that the rehabilitation training device can adapt to patients with different heights and leg lengths to perform rehabilitation training.

As this technical scheme's further optimization, the utility model relates to a low limbs rehabilitation training device of many trails motion pattern the hand mechanism of patient include handheld mechanism fixed block, connecting bolt, handle, telescopic link I, telescopic link II's one end pass through bolted connection on the handheld mechanism fixed block, the other end and telescopic link I sliding connection can contract in setting for the within range, telescopic link I's top installation handle, telescopic link II can be rotatory around handheld mount, when the patient finishes rehabilitation training, place its shrink then level on the bearing frame, save space.

As a further optimization of the technical proposal, the utility model relates to a lower limb rehabilitation training device with multi-track motion mode, one end of a support rod I is connected with a long shaft I through a bolt, the other end of the support rod I is arranged on the shaft I of an operation panel, one end of a support rod II is connected with the long shaft I through a bolt, the other end of the support rod II is arranged on the shaft II of the operation panel, one end of a support rod III is connected with the long shaft II through a bolt, the other end of the support rod III is arranged on the shaft III of the operation panel, one end of a support rod IV is connected with the long shaft II through a bolt, the other end of the support rod IV is arranged on the shaft IV of the operation panel, the support rod I, the support rod III, a bearing frame and an operation panel fixing frame form a parallelogram mechanism, the support rod II, the support rod IV, the, the sight line of the patient is always kept at the same angle with the operation panel.

As a further optimization of the technical scheme, the variable track adjusting mechanism I of the lower limb rehabilitation training device with the multi-track motion mode comprises a long rod I, a long rod II, a short shaft I, a short shaft II, a spring I, a spring II, a spring III, a spring I, a clamping frame II, a nut I, a nut II, a nut III and a nut IV, wherein the long rod I is provided with 15 semicircular small holes, the front end of the long rod I is provided with a semicircular big hole, the long rod II and the long rod I are completely the same, one side of the long rod I with the semicircular small holes and one side of the long rod II with the semicircular small holes are completely jointed to form a porous rod with 15 small holes and one big hole, the two ends of the short shaft I are provided with threads, the short shaft II and the short shaft I are completely the same, the short shaft I sequentially passes through the clamping frame I, the spring I, the long rod II, the, the two ends of the short shaft I with threads are respectively matched with the nut I and the nut II, the relative position of the short shaft I and the clamping frame I is fixed, the short shaft II sequentially passes through the clamping frame II, the spring III, the long rod I, the long rod II, the spring IV and the clamping frame II, the two ends of the short shaft II with threads are respectively matched with the nut III and the nut IV, the relative position of the short shaft II and the clamping frame II is fixed, the long rod I and the long rod II can only extrude the spring along the axial direction of the short shaft I, the limiting slide block I and the limiting slide block II which are matched with the cross slide rail turntable I are arranged in the small hole of the porous rod, when the cross slide rail turntable I rotates, the track of the large hole at the tail end of the porous rod is elliptical, a broken distance is reserved between the long rod I and the long rod II by applying pressure extrusion spring along the axial direction of the short shaft I to the small hole between the long rod I and the, after adjustment, the four springs reset the two long rods I and II with the semicircular small holes to the initial state, the limiting slide blocks I and II are fixed in the small holes of the porous rods, the oval track of the tail end of the long rod can be changed by changing the long axis and the short axis of the tail end of the long rod when the cross slide rail turntable I rotates, and the track adjusting mechanism II and the track adjusting mechanism I are completely the same in installation mode.

As a further optimization of the technical scheme, the ankle fixing mechanism of the variable-track lower limb rehabilitation training chair comprises a foot support, a foot support bandage, a foot support connecting rod I, a foot support connecting rod II, a calf guard plate, a magic belt, a calf bandage I and a calf bandage II, wherein one end of a rotating shaft I is arranged on a large hole of a porous rod, the foot support is arranged at the other end of the rotating shaft I, the foot support and the calf guard plate are connected through the foot support connecting rod I and the foot support connecting rod II, the foot support bandage is arranged in the middle of the foot support, the calf bandage I and the calf bandage II are arranged on the calf guard plate, the foot support bandage and the magic belt are connected through a magic belt button I, the magic belt is connected with the calf bandage I and the calf bandage II through a magic belt button II, the relative position of a sole and an ankle is fixed by adjusting the relative position of a small hole on the magic belt, and the ankle position is prevented from being improperly, the ankle fixing mechanism II and the ankle fixing mechanism I are installed in the same mode.

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

in the rehabilitation training process, the handle of handheld mechanism is held to the patient, can avoid in training process body weight heart skew, and telescopic link I and telescopic link II sliding connection and telescopic link II can rotate around the fixed block, and telescopic link I and telescopic link II are the shrink state level and place on bearing frame after can the patient trains, save space.

The support rod I, the support rod III, the bearing frame and the operation panel fixing frame form a parallelogram mechanism, the support rod II, the support rod IV, the bearing frame and the operation panel fixing frame form a parallelogram mechanism, and the parallelogram mechanism is adopted to enable the lower surface of the operation panel to be always parallel to the upper surface of the bearing frame, so that the operation panel is guaranteed to always form a fixed angle with the sight line of a patient, and the operation of the patient is facilitated.

According to the national physique monitoring bulletin, the legs of most people are 72 cm to 82 cm long, the positions of the limiting holes in the symmetrical side plates and the limiting holes in the limiting plates are adjusted before rehabilitation training, the relative position of the seat relative to the bearing frame can be adjusted preliminarily, the position of the seat relative to the bearing frame can be adjusted again by rotating the lifting rotary table, the relative position of the seat to the foot supports is adjusted twice, and the rehabilitation training device can adapt to patients with legs of different heights to perform rehabilitation training.

Adopt magic area, heel brace bandage and shank bandage can fix the relative position of ankle and sole completely, can effectually avoid at the rehabilitation training in-process, patient's ankle position is injured again because misoperation.

Research shows that in the process of rehabilitation training of a patient, the lower limbs of the patient can better simulate normal gait along the motion of an elliptical track, the process of lifting the thighs of the patient is more gentle along the motion of the elliptical track, the force applied to the thighs and the shanks is smaller, the rehabilitation training device is suitable for the rehabilitation training of the early stage of the patient, and the situation that the thighs of the patient are stretched and injured due to too large stress in the rehabilitation training process is effectively avoided.

Research shows that the bending angle of the knee joint of a normal person is 90 degrees to 110 degrees, when the leg of a patient is injured, the bending angle of the knee joint is limited, in the rehabilitation training process, the bending angle of the knee joint of the patient can be gradually increased along with the improvement of the rehabilitation effect, the knee joint part of the patient is gradually recovered to be normal, a crank double-slider and cross-shaped sliding rail mechanism is adopted, the motion trail of the crank end is elliptic, in the utility model, the long rod I and the long rod II can only move along the direction of the axis of the short shaft by using the retainer, the spring and the short shaft, the relative positions of the small holes on the rods are adjusted to be fixed by the two sliding blocks, the long axis and the short axis of the elliptic orbit at the tail end of the long rod can be changed, the bending angle of the knee joint of the patient can be changed, the lower limbs of the patient can be rehabilitated along different elliptical tracks, normal gait of the patient is met, and different motion tracks can be selected for the patient to perform rehabilitation training according to different heights, leg lengths and rehabilitation degrees.

Description of the drawings:

for the purpose of illustration, the invention is described in detail below with reference to the following detailed description and accompanying drawings.

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a left side structure diagram of the lower limb rehabilitation training chair with variable track of the utility model.

Fig. 2 is a right side schematic structure view of the lower limb rehabilitation training chair with variable track of the utility model.

Figure 3 is a schematic view of a load bearing frame attachment.

Fig. 4 is a schematic view illustrating the connection of the ankle securing mechanism and the track adjusting mechanism.

Fig. 5 is a schematic view of the drive connection.

Fig. 6 is a schematic view of a patient hand-held mechanism.

Fig. 7 is a schematic view of the connection between the cross slide rail turntable and the limiting slide block.

Fig. 8 is a schematic view of a trajectory adjustment mechanism.

FIG. 9 is a schematic view of a porous rod structure.

In the above drawings: 1. the device comprises a bottom plate, 2 bearing frames, 3 rotating disc fixing frames I, 4 cross sliding rail rotating discs I, 5 track adjusting mechanisms I, 6 ankle fixing mechanisms I, 7 limiting plates I, 8 seat lifting mechanisms, 9 patient hand-held mechanisms, 10 operation panels, 11 operation panel fixing frames, 12 fixing shafts I, 13 support rods I, 14 fixing shafts III, 15 long shafts I, 16 long shafts II, 17 support rods III, 18 rotating shafts II, 19 limiting plates II, 20 fixing shafts II, 21 support rods II, 22 fixing shafts IV, 23 support rods IV, 24 ankle fixing mechanisms II, 25 track adjusting mechanisms II, 26 rotating disc fixing frames II, 27 cross sliding rail rotating discs II, 28 rotating shafts I, 29 hand-held mechanism fixing blocks, 30 faces I, 31 support holes I, 32 support holes II, 33 support holes III, 34 support holes IV, ankle fixing shafts, 35. A limiting plate small hole, 36 limiting slide blocks I, 37 limiting slide blocks II, 38 driving motor, 39 motor shaft, 40 big gear, 41 turntable shaft, 42 pinion, 43 limiting slide blocks III, 44 limiting slide blocks IV, 45 porous rod, 5-1 short shaft I, 5-2 clamping frame 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 clamping frame II, 6-1 calf guard plate, 6-2 calf binding band I, 6-3 calf binding band II, 6-12 calf binding band II, 6-4 of a foot support connecting rod I, 6-5 of a foot support, 6-6 of a foot support binding band, 6-7 of a foot support connecting rod II, 6-8 of a magic belt, 6-9 of a magic belt button II, 6-10 of a magic belt button I, 8-1 of a lifting circular table, 8-2 of a seat, 8-3 of a seat supporting plate, 9-1 of a handle, 9-2 of a telescopic rod I, 9-3 of a telescopic rod II

The specific implementation mode is as follows:

the first embodiment is as follows:

the embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, and 9, the present invention relates to the field of rehabilitation apparatus, and more specifically to a lower limb rehabilitation apparatus with multi-elliptic track motion, comprising a base plate 1, a bearing frame 2, a turntable fixing frame 3, a cross slide turntable I, 4, a track adjusting mechanism I, 6, an ankle fixing mechanism I, 7. the device comprises limiting plates I and 8, a seat lifting mechanism, 9, a patient hand-holding mechanism, 10, an operation panel, 11, an operation panel fixing frame, 19, limiting plates II and 24, ankle fixing mechanisms II and 25, a track adjusting mechanism II and 26, a rotary disc fixing frame II and 27, cross slide rail rotary discs II and 38, a driving motor, 40, a large gear and 42, a small gear, and is simple in structure, and the device can help people to perform leg rehabilitation training through the movement of the ankle fixing mechanism. The seat is adjusted to a proper position according to the height and the leg length of the patient, firstly, the small hole on the seat supporting plate 8-3, the small holes on the limiting plate I7 and the limiting plate II19 are fixed through the pin shaft, after the patient sits on the seat 8-2, the button of the operation panel 10 is pressed to adjust the lifting round table 8-1 to a proper position, the feet of the patient are placed on the foot supports 6-5, the foot support binding bands 6-6, the shank binding bands I6-2 and the shank binding bands II6-3 are tied well, the shank and the foot of a patient are fixed well by adjusting the relative positions of the magic tape 6-8, the magic tape button II6-9 and the magic tape button I6-10, the patient holds the handle 9-1 by hand to ensure that the center of gravity does not shift in the training process, and after the preparation is completed, the patient starts to perform rehabilitation training by the aid of the starting button on the operation panel 10. At the moment, the driving motor 38 drives the pinion gear 42 to rotate, so as to drive the gearwheel 40 and the matched cross slide rail turntable I4 to rotate, the four limiting slide blocks arranged in the cross slide rail drive the matched long rod to move, the tail end of the long rod is connected with the foot support 6-5 through the rotating shaft I28, in the process of the long rod movement, the feet of a patient are placed on the foot support 6-5 to do elliptical movement which is in accordance with the gait of the patient along with the foot support 6-5, and in the process of rehabilitation training, the movement track of the patient is changed according to the leg length of the patient, the height of the thigh of the patient which can be lifted and the rehabilitation state of the patient, so that the aim.

The second embodiment is as follows:

referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, and 9 for further explanation of this embodiment, the trajectory adjusting structure I5 includes two long rods I5-11 and II5-5 with semicircular holes to symmetrically place them to form a porous rod 45, a limit slider I36 and a limit slider II37 connected to the cross slide turntable I4 are fixed in the holes of the porous rod, a holding frame I5-2 and a holding frame II5-14 are used to fix the relative positions of the long rods I5-11 and II5-5, when the cross slide turntable I4 rotates, the trajectory of the end of the porous rod 45 is elliptical, a short axis I5-1 sequentially passes through the holding frame I5-2, the spring I5-12, the long rod I5-11, the long rod II5-5, the spring II5-4, and the holding frame I5-2, the two ends of the short shaft I5-1 with threads are respectively matched with nuts I5-13 and II5-3, the relative position of the short shaft I5-1 and a clamping frame I5-2 is fixed, the short shaft II5-10 sequentially penetrates through the clamping frames II5-14, springs III5-8, a long rod I5-11, a long rod II5-5, springs IV5-7 and the clamping frames II5-14, the two ends of the short shaft II5-10 with threads are respectively matched with nuts III5-9 and nuts IV5-6, the relative position of the short shaft II5-10 and the clamping frames II5-14 is fixed, the long rod I5-11 and the long rod II5-14 can only press four springs along the axial direction of the short shaft I9-1 for movement, and the vertical compression springs are applied to small holes between the long rod I5-11 and the long rod II5-5 according to the leg length condition and the rehabilitation state of a patient to ensure that the long rod I5-11 and the middle II 865 are pressed by vertical compression The spacing interval can be adjusted, the positions of the limiting sliding block I36 and the sliding block II37 in different small holes can be adjusted, after adjustment, the four springs reset the two long rods I5-11 and the two long rods II5-5 with semicircular small holes to the initial state, the limiting sliding block I36 and the limiting sliding block II37 are fixed in the small holes of the porous rod 45 again, at the moment, the positions of the limiting sliding block I36 and the limiting sliding block II37 are changed, the long axis and the short axis of the tail end elliptical track of the porous rod 45 are correspondingly changed, and therefore the tail end elliptical track of the porous rod 45 is changed. The patient can adapt to the track rehabilitation training, the leg of the patient can adapt to the movement of different tracks in the rehabilitation process, and the rehabilitation period is accelerated.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention also belong to the protection scope of the present invention.

Claims

1. The utility model provides a lower limbs rehabilitation training device of many trails mode of motion, including bottom plate (1), bearing frame (2), carousel mount I (3), carousel mount II (26), cross slide rail carousel I (4), cross slide rail carousel II (27), seat elevating system (8), the hand mechanism (9) of patient, operating panel (10), operating panel mount (11), hand mechanism fixed block (29), bracing piece I (13), bracing piece II (21), bracing piece III (17), bracing piece IV (23), major axis I (15), major axis II (16), orbit adjustment mechanism I (5), orbit adjustment mechanism II (25), ankle fixed establishment I (6), ankle fixed establishment II (24), driving motor (38), pinion (42), gear wheel (40), spacing slider I (36), spacing slider II (37), The limiting slide block III (43), the limiting slide block IV (44), the limiting plate I (7) and the limiting plate II (19), the bearing frame (2) is installed on the bottom plate (1), the limiting plate I (7) and the limiting plate II (19) are fixed at the rear of the bearing frame (2) through bolts, the seat lifting mechanism (8) is fixed on the limiting plate I (7) and the limiting plate II (19) through pin connection, the handheld mechanism fixing block (29) is installed in the middle of the bearing frame (2), the front end of the bearing frame (2) is provided with four supporting holes, two ends of the long shaft I (15) are installed on the supporting holes I (31) and II (32) at the front end of the bearing frame, two ends of the long shaft II (16) are installed on the supporting holes III (33) and IV (34) of the bearing frame (2), the turntable fixing frame I (3) and the turntable II (26) are installed in the middle of the bottom plate (1), the positions of a turntable fixing frame I (3) and a turntable fixing frame II (26) are symmetrical about a surface I (30), a cross slide rail turntable I (4) is installed in the turntable fixing frame I (3), a cross slide rail turntable II (27) is installed in the turntable fixing frame II (26), a large gear (40) is connected with the cross slide rail turntable I (4) through a turntable shaft (41), the large gear (40) is meshed with a small gear (42) through gear teeth, the small gear (42) is connected with a driving motor (38) through a motor shaft (39), the driving motor (38) is fixed on the turntable fixing frame II (26) through bolts, a limiting slide block I (36) and a limiting slide block II (37) are matched with a cross track in the cross slide rail turntable I (4), a limiting slide block III (43) and a limiting slide block IV (44) are matched with the cross track in the cross slide rail turntable II (27), a track adjusting mechanism I (5) is matched with the limiting slide block I (36) and the limiting slide block II (37), the track adjusting mechanism II (25) is matched with the limiting slide block III (43) and the limiting slide block IV (44), the ankle fixing mechanism I (6) is fixed on the track adjusting mechanism I (5) through a rotating shaft I (28), and the ankle fixing mechanism II (24) is fixed on the track adjusting mechanism II (25) through a rotating shaft II (18).

2. The lower limb rehabilitation training device with multi-track motion mode according to claim 1, characterized in that: the seat lifting mechanism (8) comprises a lifting round platform (8-1), a seat (8-2) and a seat supporting plate (8-3), the mounting position of the limiting plate I (7) and the mounting position of the limiting plate II (19) are symmetrical about a plane I (30), four rows of five rows of small holes with equal size are distributed on the limiting plate I (7) and the limiting plate II (19), two sides of the seat supporting plate (8-3) are distributed with four rows and five columns of small holes, the size of the small holes on the seat supporting plate (8-3) is equal to that of the small holes on the limiting plate I (7) and the limiting plate II (19), the relative position of the seat supporting plate (8-3) and the bearing frame (2) is fixed through a pin shaft, the upper part of the seat supporting plate (8-3) is connected with a 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 device with multi-track motion mode according to claim 1, characterized in that: the patient hand-held mechanism (9) comprises a handle (9-1), a telescopic rod I (9-2) and a telescopic rod II (9-3), one end of the telescopic rod II (9-3) is connected to the hand-held mechanism fixing block (29) through a bolt, the other end of the telescopic rod II (9-3) is connected with the telescopic rod I (9-2) in a sliding mode and can be retracted within a set range, and the handle (9-1) is installed above the telescopic rod I (9-2).

4. The lower limb rehabilitation training device with multi-track motion mode according to claim 1, characterized in that: one end of the support rod I (13) is connected to the long shaft I (15) through a bolt, the other end of the support rod I (13) is installed on a fixing shaft I (12) of the operation panel (10), one end of the support rod II (21) is connected to the long shaft I (15) through a bolt, the other end of the support rod II (21) is installed on a fixing shaft II (20) of the operation panel (10), one end of the support rod III (17) is connected to the long shaft II (16) through a bolt, the other end of the support rod III (17) is installed on a fixing shaft III (14) of the operation panel (10), one end of the support rod IV (23) is connected to the long shaft II (16) through a bolt, the other end of the support rod IV (23) is installed on a fixing shaft IV (22) of the operation panel (10), and the support rod I (13), the support rod III (17), the bearing frame (2) and the operation panel (11) form a parallelogram mechanism, the support rod II (21), the support rod IV (23), the bearing frame (2) and the operation panel fixing frame (11) form a parallelogram mechanism.

5. The lower limb rehabilitation training device with multi-track motion mode according to claim 1, characterized in that: the track adjusting mechanism I (5) comprises a long rod I (5-11), a long rod II (5-5), a short shaft I (5-1), a short shaft II (5-10), a spring I (5-12), a spring II (5-4), a spring III (5-8), a spring IV (5-7), a clamping frame I (5-2), a clamping frame II (5-14), a nut I (5-13), a nut II (5-3), a nut III (5-9) and a nut IV (5-6), wherein 15 semicircular small holes are formed in the long rod I (5-11), a semicircular large hole is formed in the front end of the long rod I (5-11), the long rod II (5-5) and the long rod I (5-11) are completely identical, one side of the long rod I (5-11) with the semicircular small holes and one side of the long rod II (5-5) with the semicircular small holes are completely attached to form a structure with 15 small holes and one side of the long The novel multi-hole screw rod comprises a large-hole multi-hole rod (45), wherein threads are distributed at two ends of a short shaft I (5-1), a short shaft II (5-10) and the short shaft I (5-1) are completely the same, the short shaft I (5-1) sequentially penetrates through a clamping frame I (5-2), a spring I (5-12), a long rod I (5-11), a long rod II (5-5), a spring II (5-4) and a clamping frame I (5-2), two ends of the short shaft I (5-1) with threads are respectively matched with a nut I (5-13) and a nut II (5-3), the relative positions of the short shaft I (5-1) and the clamping frame I (5-2) are fixed, and the short shaft II (5-10) sequentially penetrates through the clamping frame II (5-14), the spring III (5-8), the long rod I (5-11), The long rod II (5-5), the spring IV (5-7) and the clamping frame II (5-14), wherein two ends of the short shaft II (5-10) with threads are respectively matched with the nut III (5-9) and the nut IV (5-6), the relative positions of the short shaft II (5-10) and the clamping frame II (5-14) are fixed, the long rod I (5-11) and the long rod II (5-5) can only extrude the spring to move along the axial direction of the short shaft I (5-1), the limiting slide block I (36) and the limiting slide block II (37) which are matched with the cross slide rail turntable I (4) are installed in a small hole of a porous rod (45), and the installation mode of the track adjusting mechanism II (25) and the track adjusting mechanism I (5) is completely the same.

6. The lower limb rehabilitation training device with multi-track movement mode according to claim 1, characterized in that the ankle fixing mechanism I (6) comprises a foot support (6-5), a foot support bandage (6-6), a foot support connecting rod I (6-4), a foot support connecting rod II (6-7), a lower leg guard (6-1), a magic belt (6-8), a lower leg bandage I (6-2) and a lower leg bandage II (6-3), one end of the rotating shaft I (28) is arranged on the large hole of the porous rod (45), the foot support (6-5) is arranged at the other end of the rotating shaft I (28), the foot support (6-5) is connected with the lower leg guard (6-1) through the foot support connecting rod I (6-4) and the foot support connecting rod II (6-7), the foot support bandage (6-6) is arranged in the middle of the foot support (6-5), the shank bandage I (6-2) and the shank bandage II (6-3) are installed on a shank guard plate (6-1), the foot support bandage (6-6) is connected with the magic belt (6-8) through a magic belt button I (6-10), the magic belt (6-8) is connected with the shank bandage I (6-2) and the shank bandage II (6-3) through a magic belt button II (6-9), and the ankle fixing mechanism II (24) and the ankle fixing mechanism I (6) are completely the same in installation mode.