WO2020220639A1

WO2020220639A1 - Bed-type gait rehabilitation training system

Info

Publication number: WO2020220639A1
Application number: PCT/CN2019/117957
Authority: WO
Inventors: 李伟达; 李轩
Original assignee: 苏州博安捷机器人科技有限公司
Priority date: 2019-04-29
Filing date: 2019-11-13
Publication date: 2020-11-05
Also published as: CN109998861A; CN109998861B

Abstract

A bed-type gait rehabilitation training system, comprising a bed (1), a driving mechanism, a transmission mechanism (4), a leg support module (2), and/or a foot movement module (3). The leg support module (2) comprises a thigh support module and a calf support module, which are detachably installed on at least one side of the bed (1) to support a patient's thighs and calves. The foot movement module (3) is a treadmill, and is detachably installed at one end of the bed (1). The driving mechanism is used to drive the foot movement module (3) to move, and drive, via the transmission mechanism (4), the leg support module (2) to move vertically with respect to the bed (1). The bed-type gait rehabilitation training system configures the rehabilitation training devices for the legs and feet as separate modules, and each module is detachably connected to the bed body (1), such that modules can be added or removed according to the needs of the patient, achieving multifunctionality, reduced costs, a wide range of applications, and applicability to different rehabilitation training stages of a rehabilitation training system.

Description

Bed-type gait rehabilitation training system

Technical field

The invention relates to the technical field of rehabilitation training equipment, in particular to a bed-type gait rehabilitation training system.

Background technique

At present, most of the rehabilitation training robots that appear for the specific rehabilitation stage of patients carry out rehabilitation training, and have achieved preliminary rehabilitation treatment effects in clinical practice. However, due to their single function, they cannot be applied to the entire process of rehabilitation training. The utilization rate of rehabilitation robots Lower, resulting in a longer recovery cycle.

The existing lower limb rehabilitation training robots still have some shortcomings. Some rehabilitation robots have less drives and have unsatisfactory exercise effects, or they can only perform single step training. The gait curve of rehabilitation training is quite different from that of normal people walking; rehabilitation robots with more drives are driven by one motor. A robot joint, in turn, drives the human body to perform rehabilitation training. The rehabilitation training effect is better, but the cost is high, the cost is expensive, the economy is poor, and the control is more complicated.

Summary of the invention

The technical problem to be solved by the present invention is to provide a bed-type gait rehabilitation training system. The rehabilitation training device for the legs and feet is made into separate modules. Each module is connected to the bed body through a quick disassembly interface, which can be adjusted according to the patient The need to increase or remove a certain module, to achieve the rehabilitation training system multi-functional, low-cost, wide range of applications, can be applied to different rehabilitation training stages.

In order to solve the above technical problems, the present invention provides a bed-type gait rehabilitation training system, which includes a bed body, a driving mechanism, a transmission mechanism, a leg support module and/or a foot movement module; the leg support module includes a thigh A support module and a calf support module, the thigh support module and the calf support module are detachably mounted on at least one side of the bed for supporting the legs of the patient; the foot movement module is a treadmill, which can It is detachably installed at one end of the bed body; the driving mechanism is used to drive the foot movement module to move, and the leg support module is driven to move up and down along the bed body through the transmission mechanism.

In the present invention, the driving mechanism and the transmission mechanism are arranged inside the bed body, and are used to drive the leg support module to move up and down along the bed body according to the gait law of a normal person walking, thereby driving the patient's legs to follow the steps of a normal person walking. State track exercise to achieve the purpose of rehabilitation training.

Further, the leg support module and the foot movement module are installed on the bed body through a quick and quick disassembly interface, so that the modules can be quickly disassembled and assembled.

Further, the leg support module includes a vertical support plate, a horizontal support rod, and a leg support seat. The lower end of the vertical support plate is detachably connected to the transmission mechanism, and the upper end is fixedly connected to the horizontal support rod. ; The leg support seat is fixedly connected to the horizontal support rod.

Further, the upper end of the vertical support plate is fixedly connected with the horizontal support rod through a wing nut; preferably, the upper end of the vertical support plate is provided with a plurality of mounting holes for adjusting the relative position of the horizontal support rod to adapt to different legs Long patients.

Further, the horizontal supporting rod includes a first horizontal supporting rod and a second horizontal supporting rod, and the first horizontal supporting rod and the second horizontal supporting rod are connected by an adjusting sleeve. The adjustment sleeve is used to adjust the relative position of the first horizontal support rod and the second horizontal support rod in the axial direction, and then adjust the position of the leg support seat to adapt to patients with different leg spacings.

Further, the horizontal support rod is provided with a rotating member, the lower part of the leg support seat is provided with a guide rail, and the rotating member is provided with a first sliding block that cooperates with the guide rail to slide. The guide rail and the first sliding block slide relatively, and the rotating member and the horizontal support rod relatively rotate, so as to realize the man-machine compliant connection and prevent the patient from being over-constrained and causing secondary injury.

Further, the transmission mechanism includes a connecting rod slider mechanism, a cam, and a roller push rod; wherein, the connecting rod slider mechanism includes a connecting rod fixing seat, a first connecting rod, a second connecting rod, a vertical rail, The connecting rod connecting block and the second sliding block slidably connected to the vertical guide rail, the connecting rod fixing seat and the vertical guide rail are both fixedly connected to the bed body, the first connecting rod and the second connecting rod are hinged to each other, Its two ends are respectively hinged on the connecting rod fixing seat and the connecting rod connecting block, the second sliding block is fixed on the connecting rod connecting block; the lower end of the vertical support plate is detachably connected to the connecting rod connecting block The cam is driven to rotate by the driving mechanism, the cam is provided with a curved groove, one end of the roller push rod moves in the curved groove, and the other end is fixed to the first of the connecting rod slider mechanism On the connecting rod.

In the present invention, the cam is driven by the driving mechanism to rotate around its center, thereby driving the roller push rod to move in the curved groove of the cam; the movement of the roller push rod will drive the first connecting rod around the connecting rod fixed seat The hinge point rotates to drive the connecting rod connecting block to move up and down along the vertical guide rail. The connecting rod connecting block is connected to the vertical support plate of the leg support module through a quick disassembly interface, so the connecting rod connecting block can drive the leg support module to move up and down along the bed.

The movement track of the leg support module is determined by the rotation speed of the cam and the shape of the curved groove on the cam. Since the swing of the thigh and the lower leg of the human body is inconsistent during normal walking, the cam curves of the transmission mechanism of the thigh support module and the lower leg support module are inconsistent, and other structures are the same.

Since the gait cycle of the left and right legs of the human body always maintain a phase difference of 50% during normal walking, the transmission mechanism of the thigh support module and the calf support module on the left and right sides of the bed always maintains a 50% phase of the cam rotation cycle difference.

The cam in the transmission mechanism of the thigh support module is named thigh cam, and the cam in the transmission mechanism of the calf support module is named calf cam. Further, the thigh cams on the left and right sides of the bed are respectively connected to the two ends of the thigh cam drive shaft, and the rotation period is different by 50%; the calf cams on the left and right sides of the bed are respectively connected to the two ends of the calf cam drive shaft, and the rotation period is different 50%. The two drive shafts rotate synchronously and are driven by the same motor.

Further, the foot movement module adopts a left-right symmetrical structure, which includes left and right side panels and a running belt located between the two side panels; pedals are installed under the running belt to bear the weight of the patient, and the pedals are fixedly connected to the side panels. A driving shaft and a driven shaft are installed on the left and right side plates, and the running belt is wound on the driving shaft and the driven shaft, and the driving shaft provides torque for them.

The first transmission shaft of the treadmill and the second transmission shaft of the treadmill are also arranged between the left and right sides of the board. The first transmission shaft of the treadmill and the second transmission shaft of the treadmill are respectively equipped with the first gear and the running gear that mesh with each other. The second gear of the machine; the power input mechanism of the foot movement module is the first gear of the treadmill, the first gear of the treadmill meshes with the gear of the driving mechanism inside the bed, and the driving mechanism inside the bed drives the first gear of the treadmill to rotate , The first gear of the treadmill drives the second gear of the treadmill to rotate, which in turn drives the second transmission shaft of the treadmill to rotate. The second timing belt wheel is installed at both ends of the second drive shaft of the treadmill. The second timing belt wheel drives the first timing belt wheel to rotate through the timing belt. The two first timing belt wheels are respectively installed at both ends of the driving shaft to drive the driving shaft to rotate. , So that the running belt rotates around the driving shaft and the driven shaft.

Since the leg movement speed and the foot movement speed have a definite matching relationship when a person is walking normally, the running speed of the running belt matches the running speed of the thigh movement module and the calf movement module; while the running speed of the running belt matches that of the thigh. The matching relationship between the running speed of the movement module and the calf movement module is determined by the transmission mechanism of the bed. Since the movement speed of each movement module has a certain matching relationship, the movement of the leg movement module and the foot movement module can be driven by the same motor.

Further, the driving mechanism includes a motor that drives the foot movement module and the leg movement module to move synchronously.

Further, the driving mechanism specifically includes a motor and a gear I fixed on the motor main shaft, a gear II and a first sprocket are respectively fixed on the thigh cam transmission shaft, and a second sprocket and a second sprocket are respectively fixed on the lower leg cam transmission shaft. The third sprocket; also includes a gear transmission shaft and a fourth sprocket and a transmission gear fixed on the gear transmission shaft.

When the motor drives gear I to rotate, gear I and gear II mesh and drive, and gear II drives the thigh cam drive shaft to rotate. Two thigh cams are installed on both sides of the thigh cam drive shaft, and the two thigh cams rotate with the thigh cam drive shaft; , The first sprocket installed on the thigh cam drive shaft drives the second sprocket to rotate synchronously through the chain; the second sprocket drives the calf cam drive shaft to rotate, two calf cams are installed on both sides of the calf cam drive shaft, two calf cams With the rotation of the calf cam drive shaft; at the same time, the third sprocket installed on the calf cam drive shaft drives the fourth sprocket to rotate synchronously through the chain, drives the gear drive shaft to rotate, and then drives the drive gear on the foot module to rotate to drive the foot Department module movement.

The leg support module and the foot movement module move synchronously, and the transmission ratio distribution is determined by the number of teeth of the gear and sprocket.

Further, the bed body includes a bottom frame and a bed body, and a driving push rod is provided on the bottom frame, and the driving push rod is used to push the bed body to rotate within a range of 0 to 90°, so that the patient can lie flat, Rehabilitation training when tilting and standing to adapt to different stages of rehabilitation. Preferably, the driving push rod is a pneumatic spring. Preferably, the bed surface is divided into two parts. During rehabilitation training, the lower bed surface can be turned down to a certain angle to avoid interference between the bed board and the patient's legs.

Further, armrests are installed on both sides of the bed to help the patient stabilize the body during rehabilitation training.

Further, a suspension mechanism is installed at the other end of the bed relative to the foot movement module, so that the patient can suspend the upper body of the patient during rehabilitation training in an inclined or close to standing posture, thereby reducing the load on the lower limbs of the patient , Is conducive to the recovery of patients.

The beneficial effects of the present invention:

1. The present invention applies the concept of modularity. The rehabilitation training device for the legs and feet is made into separate modules, and each module is detachably connected to the bed. A certain module can be added or removed according to the needs of the patient. The rehabilitation training system is multifunctional, low-cost, and has a wide range of applications, and can be applied to the goals of different rehabilitation training stages.

2. The present invention uses the cam as the movement transmission mechanism of the leg support module. The movement state of the leg support module is only related to the cam curve and the motor speed. By changing the cam curve, the movement track of the leg support module can be changed, even if the system is in Failure during operation will not cause secondary injury to the patient, and the safety factor is high.

3. The present invention uses only one motor as the driving element of the rehabilitation training system. The leg support module and the foot movement module of the rehabilitation training system are designed to be linked according to the law of normal human legs and feet. The movement of each module of the rehabilitation training system can be Accurately conform to the trajectory of normal people walking.

Description of the drawings

Figure 1 is the overall effect diagram of the bed-type gait rehabilitation training system of the present invention;

Figure 2 is a schematic diagram of the bed structure after removing each movement module;

Figure 3 is a schematic diagram of the bed at different inclination angles;

Figure 4 is a schematic diagram of the structure of the leg support module;

Figure 5 is a schematic diagram of the structure of the transmission mechanism;

6 is a schematic diagram of the position of the transmission mechanism of the thigh support module and the lower leg support module on the bed;

Figure 7 is a schematic diagram of the structure of the foot movement module;

Figure 8 is a schematic diagram of the structure of the drive mechanism;

Explanation of reference numerals in the figure: 1. Bed body; 11. Handrails; 12. Bed surface; 13. Suspension mechanism; 14. Guard plate; 15. Casters; 16. Pneumatic spring;

2. Leg support module; 21, vertical support plate; 22, wing nut; 23, horizontal support rod; 231, first horizontal support rod; 232, second horizontal support rod; 24, adjustment screw; 25, adjustment sleeve Tube; 26, leg support seat; 27, guide rail; 28, first slider; 29, rotating member;

3. Foot movement module; 301, connection interface; 302, timing belt guard plate; 303, side plate; 304, running belt; 305, pedal; 306, driven shaft; 307, support; 308, driving shaft; 309 , First timing belt wheel; 310, timing belt; 311, timing belt tensioning device; 312, second timing belt wheel; 313, treadmill second gear; 314, treadmill first gear; 315, treadmill second Transmission shaft; 316, the first transmission shaft of the treadmill;

4. Transmission mechanism; 401, connecting rod fixing seat; 402, first hinge pin; 403, push rod fixing pin; 404, first connecting rod; 405, second sliding block; 406, vertical guide rail; 407, connecting rod Connecting block; 408, second hinge; 409, second connecting rod; 410, third hinge pin; 411, roller push rod; 412, cam;

501, transmission gear; 502, gear transmission shaft; 503, fourth sprocket; 504, calf cam transmission shaft; 505, third sprocket; 506, second sprocket; 507, motor; 508, gear I; 509, Gear II; 510, thigh cam drive shaft; 511, the first sprocket.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention, but the cited embodiments are not intended to limit the present invention.

Referring to FIG. 1, an embodiment of the bed-type gait rehabilitation training system of the present invention is composed of a bed body 1 and various movement modules. The exercise module includes a foot exercise module 3 and a leg support module 2. The leg support module 2 is divided into four groups of modules with the same structure, which are respectively connected to the patient's thigh and calf; the foot exercise module 3 is a treadmill.

When the rehabilitation training is not performed, each movement module can be easily removed from the bed body 1 through the quick disassembly interface. At this time, the bed body 1 is an ordinary hospital bed. The bed body 1 after removing the movement modules is shown in Figure 2.

Referring to Fig. 3, the bed body 1 is a frame structure, which includes a bottom frame and a bed body. Both sides of the bed body are provided with guard plates 14 and casters 15 are installed on the bottom frame. A driving push rod is provided on the bottom frame, and the driving push rod is used to push the bed to rotate in the range of 0-90°, so that the patient can perform rehabilitation training when lying, leaning and standing to adapt to different rehabilitation stages. The bed surface 12 is divided into two parts. During rehabilitation training, the lower bed surface 12 can be turned down to a certain angle to avoid interference between the bed board and the patient's legs. The driving push rod is preferably a pneumatic spring 16.

Handrails 11 are installed on both sides of the bed so that the patient can stabilize the body during rehabilitation training. A suspension mechanism 13 is installed at the other end of the bed relative to the foot movement module 3 so that the patient can suspend the upper body of the patient during rehabilitation training in an inclined or near standing posture, thereby reducing the load on the lower limbs of the patient, which is beneficial to the patient Recovery.

The leg support module 2 is composed of four groups of modules with the same structure, and one of them is introduced here, as shown in FIG. 4.

Specifically, the leg support module 2 includes a vertical support plate 21, a horizontal support rod 23, and a leg support seat 26. The lower end of the vertical support plate 21 is connected to the transmission mechanism 4 inside the bed 1 by a quick disassembly interface, and the upper end The wing nut 22 is connected to the horizontal support rod 23. Three holes are reserved at the upper end of the vertical support plate 21 to adjust the relative position of the horizontal support rod 23 to adapt to patients with different leg lengths. Preferably, the transverse support rod 23 includes a first transverse support rod 231 and a second transverse support rod 232. The first transverse support rod 231 and the second transverse support rod 232 are connected by an adjustment sleeve 25, so that the first transverse support rod can be adjusted. The relative position of the 231 and the second horizontal support rod 232 in the axial direction, thereby adjusting the position of the leg support seat 26 to adapt to patients with different leg spacings. The second horizontal support rod 232 is provided with a rotating member 29, the lower portion of the leg support 26 is provided with a guide rail 27, and the rotating member 29 is provided with a first sliding block 28 that cooperates with the guide rail 27 to slide. The guide rail 27 slides relative to the first sliding block 28, and the rotating member 29 rotates relative to the second horizontal support rod 232, so as to realize a compliant connection between man and machine and prevent the patient from being over-constrained and causing secondary injuries.

The bed 1 is equipped with a driving mechanism and a transmission mechanism 4 to drive the four leg support modules 2 to move up and down along the bed 1 according to the gait law of a normal person walking, thereby driving the patient's legs to follow the gait trajectory of a normal person walking Exercise to achieve the purpose of rehabilitation training.

Referring to Fig. 5, the transmission mechanism 4 of the leg support module 2 is located inside the bed body 1, and is also composed of four groups of modules with similar structures, respectively driving the thigh and calf movement modules on the left and right sides. Here, one set is introduced.

The transmission mechanism 4 includes a connecting rod slider mechanism, a cam 412, and a roller push rod 411; wherein, the connecting rod slider mechanism includes a connecting rod fixing seat 401, a first connecting rod 404, a second connecting rod 409, a vertical rail 406, The connecting rod connecting block 407 and the second sliding block 405 slidably connected to the vertical guide rail 406, the connecting rod fixing seat 401 and the vertical guide rail 406 are both fixedly connected to the bed 1, and the first connecting rod 404 passes through the first The hinge pin 402 is hinged to the connecting rod fixing seat 401, the second connecting rod 409 is hinged to the connecting rod connecting block 407 through the second hinge 408 pin, and the first connecting rod 404 and the second connecting rod 409 are hinged through the third hinge pin 410 , The lower end of the vertical support plate 21 is connected to the connecting rod connecting block 407 through a quick release interface. The cam 412 is driven to rotate by a driving mechanism. The cam 412 is provided with a curved groove. One end of the roller push rod 411 moves in the curved groove, and the other end is connected to the first link of the connecting rod slider mechanism through the push rod fixing pin 403. Rod 404 on.

In the present invention, the cam 412 is driven by the driving mechanism to rotate around its center, thereby driving the roller push rod 411 to move in the curved groove of the cam 412; the roller push rod 411 can rotate around the push rod fixing pin 403, and the roller push rod 411 drives the first connecting rod 404 to rotate around the first hinge pin 402 through the push rod fixing pin 403, and then drives the connecting rod connecting block 407 to move up and down along the vertical guide rail 406. The connecting rod connecting block 407 is connected with the vertical support plate 21 of the leg support module 2 through a quick disassembly interface. Therefore, the connecting rod connecting block 407 can drive the leg support module 2 to move up and down along the bed 1.

The movement track of the leg support module 2 is determined by the rotation speed of the cam 412 and the shape of the curved groove on the cam 412. Since the swing of the thigh and lower leg of the human body is not consistent during normal walking, the curve of the cam 412 of the transmission mechanism 4 of the thigh support module and the lower leg support module is not consistent, and other structures are consistent.

Referring to Fig. 6, since the gait cycle of the left and right legs of the human body always maintains a phase difference of 50% during normal walking, the transmission mechanism 4 of the thigh support module and the calf support module on the left and right sides of the bed body 1 rotates its cam 412 The cycle always maintains a phase difference of 50%.

The cam 412 in the transmission mechanism 4 of the thigh support module is named the thigh cam 412, and the cam 412 in the transmission mechanism 4 of the lower leg support module is named the calf cam 412. The thigh cams 412 on the left and right sides of the bed body 1 are respectively connected to the two ends of the thigh cam drive shaft 510, and the rotation period differs by 50%; the lower leg cams 412 on the left and right sides of the bed body 1 are respectively connected to the two ends of the lower leg cam drive shaft 504, The rotation period differs by 50%. The two transmission shafts rotate synchronously and are driven by the same motor 507.

Referring to FIG. 7, the foot movement module 3 is a treadmill, which can be easily installed on or removed from the bed body 1 through a quick disassembly interface.

The foot movement module 3 adopts a left-right symmetrical structure, which includes left and right side plates 303 and a running belt 304 located between the two side plates 303; under the running belt 304 is installed a pedal 305 to bear the weight of the patient, and the pedal 305 is fixed on both sides Board 303. A driving shaft 308 and a driven shaft 306 are installed on the left and right side plates 303. The running belt 304 is wound on the driving shaft 308 and the driven shaft 306, and the driving shaft 308 provides torque for them.

A treadmill first transmission shaft 316 and a treadmill second transmission shaft 315 are also provided between the left and right sides of the plates 303. The treadmill first transmission shaft 316 and the treadmill second transmission shaft 315 are respectively installed with treadmills that mesh with each other. The first gear 314 and the treadmill second gear 313; the power input mechanism of the foot motion module 3 is the treadmill first gear 314, the treadmill first gear 314 meshes with the gears of the driving mechanism inside the bed body 1, and the bed body 1 The internal driving mechanism drives the first gear 314 of the treadmill to rotate, and the first gear 314 of the treadmill drives the second gear 313 of the treadmill to rotate, which in turn drives the second transmission shaft 315 of the treadmill to rotate. The second synchronous belt wheel 312 is installed at both ends of the second transmission shaft 315 of the treadmill. The second synchronous belt wheel 312 drives the first synchronous belt wheel 309 to rotate through the synchronous belt. The two first synchronous belt wheels 309 are respectively installed on the driving shaft 308. At the end, the driving shaft 308 is driven to rotate, so that the running belt 304 rotates around the driving shaft 308 and the driven shaft 306.

As a person walks normally, the leg movement speed and the foot movement speed have a definite matching relationship, so the running speed of the running belt 304 matches the running speed of the thigh movement module and the calf movement module; and the running speed of the running belt 304 The matching relationship with the running speed of the thigh movement module and the lower leg movement module is determined by the transmission mechanism 4 of the bed 1. Since the movement speed of each movement module has a certain matching relationship, the movement of the leg movement module and the foot movement module 3 can be driven by the same motor 507.

The driving mechanism is located inside the bed body 1, and its structure is shown in FIG. 8. It can be seen from the figure that the driving mechanism includes a motor 507 and a gear I 508 fixed on the main shaft of the motor 507. A gear II 509 and a first sprocket 511 are respectively fixed on the thigh cam drive shaft 510, and the lower leg cam drive shaft 504 is respectively fixed There are a second sprocket 506 and a third sprocket 505; it also includes a gear transmission shaft 502 and a fourth sprocket 503 and a transmission gear 501 fixed on the gear transmission shaft 502.

When the motor 507 drives the gear I508 to rotate, the gear I508 meshes with the gear II509 for transmission, and the gear II509 drives the thigh cam drive shaft 510 to rotate. Two thigh cams 412 are installed on both sides of the thigh cam drive shaft 510. The two thigh cams 412 follow the thigh cams. The drive shaft 510 rotates; at the same time, the first sprocket 511 installed on the thigh cam drive shaft 510 drives the second sprocket 506 to rotate synchronously through the chain; the second sprocket 506 drives the shank cam drive shaft 504 to rotate, and the shank cam drive shaft 504 rotates twice. Two calf cams 412 are installed on the side respectively, and the two calf cams 412 rotate with the calf cam drive shaft 504; at the same time, the third sprocket 505 installed on the calf cam drive shaft 504 drives the fourth sprocket 503 to rotate synchronously through the chain to drive the gear The transmission shaft 502 rotates to drive the transmission gear 501 on the foot module to rotate to drive the foot module to move.

The leg support module 2 and the foot movement module 3 move synchronously, and the transmission ratio distribution relationship is determined by the number of teeth of the gear and the sprocket.

The above-mentioned embodiments are only preferred embodiments for fully explaining the present invention, and the protection scope of the present invention is not limited thereto. The equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention is subject to the claims.

Claims

A bed-type gait rehabilitation training system, which is characterized by comprising a bed body, a driving mechanism, a transmission mechanism, a leg support module and/or a foot movement module;

The leg support module includes a thigh support module and a calf support module. The thigh support module and the calf support module are detachably mounted on at least one side of the bed for supporting the patient's thigh and calf; the foot The first exercise module is a treadmill, which is detachably installed on one end of the bed;

The driving mechanism is used to drive the foot movement module to move, and the leg support module is driven to move up and down along the bed through the transmission mechanism, thereby driving the patient's legs to move according to the gait trajectory of a normal person walking.
The bed-type gait rehabilitation training system according to claim 1, wherein the leg support module and the foot movement module are connected to the bed body through a quick disassembly interface.
The bed-type gait rehabilitation training system of claim 1, wherein the leg support module includes a vertical support plate, a horizontal support rod, and a leg support seat, and the lower end of the vertical support plate is detachably connected On the transmission mechanism, the upper end is fixedly connected to the horizontal support rod; the leg support seat is fixedly connected to the horizontal support rod.
The bed-type gait rehabilitation training system according to claim 3, wherein the transverse support rod comprises a first transverse support rod and a second transverse support rod, the first transverse support rod and the second transverse support rod Connect by adjusting sleeve.
The bed-type gait rehabilitation training system according to claim 3, wherein the horizontal support rod is provided with a rotating member, the lower part of the leg support seat is provided with a guide rail, and the rotating member is provided with The guide rail cooperates with the sliding first slider.
The bed-type gait rehabilitation training system according to claim 3, wherein the transmission mechanism comprises a link slider mechanism, a cam and a roller push rod;

The connecting rod slider mechanism includes a connecting rod fixing seat, a first connecting rod, a second connecting rod, a vertical rail, a connecting rod connecting block, and a second slider slidably connected to the vertical rail. The rod fixing seat and the vertical guide rail are both fixedly connected to the bed body, the first connecting rod and the second connecting rod are hinged to each other, and both ends are hinged to the connecting rod fixing seat and the connecting rod connecting block respectively. The block is fixed on the connecting rod connecting block; the lower end of the vertical support plate is detachably connected to the connecting rod connecting block;

The cam is driven to rotate by the driving mechanism, the cam is provided with a curved groove, one end of the roller push rod moves in the curved groove, and the other end is fixedly connected to the first connecting rod.
The bed-type gait rehabilitation training system of claim 1, wherein the driving mechanism comprises a motor, and the motor drives the foot movement module and the leg movement module to move synchronously.
The bed-type gait rehabilitation training system according to claim 1, wherein the bed body includes a bottom frame and a bed body, and a driving push rod is provided on the bottom frame, and the driving push rod is used to push the bed The body rotates within the range of 0～90°.
The bed-type gait rehabilitation training system according to claim 8, wherein handrails are installed on both sides of the bed.
The bed-type gait rehabilitation training system according to claim 8, wherein a suspension mechanism is installed on the other end of the bed relative to the foot movement module.