WO2021003835A1 - 用于无动力多关节同步训练器的凸轮、非圆齿轮副、其制造方法、使用其的传动机构及无动力多关节同步训练器 - Google Patents

用于无动力多关节同步训练器的凸轮、非圆齿轮副、其制造方法、使用其的传动机构及无动力多关节同步训练器 Download PDF

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Publication number
WO2021003835A1
WO2021003835A1 PCT/CN2019/104720 CN2019104720W WO2021003835A1 WO 2021003835 A1 WO2021003835 A1 WO 2021003835A1 CN 2019104720 W CN2019104720 W CN 2019104720W WO 2021003835 A1 WO2021003835 A1 WO 2021003835A1
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WO
WIPO (PCT)
Prior art keywords
swing
follower
circular gear
cam
assembly
Prior art date
Application number
PCT/CN2019/104720
Other languages
English (en)
French (fr)
Inventor
帅梅
Original Assignee
北京大艾机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京大艾机器人科技有限公司 filed Critical 北京大艾机器人科技有限公司
Priority to CA3146011A priority Critical patent/CA3146011A1/en
Priority to AU2019456345A priority patent/AU2019456345B2/en
Priority to US17/625,540 priority patent/US20220331186A1/en
Priority to CN201980003648.5A priority patent/CN112739302B/zh
Priority to KR1020227003592A priority patent/KR20220027228A/ko
Priority to EP19937092.5A priority patent/EP3998053A4/en
Priority to JP2022500537A priority patent/JP7240782B2/ja
Publication of WO2021003835A1 publication Critical patent/WO2021003835A1/zh
Priority to JP2023013968A priority patent/JP2023061997A/ja

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1418—Cam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/08—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion

Definitions

  • This article relates to a transmission mechanism and a rehabilitation training device. Specifically, a transmission mechanism for an unpowered multi-joint synchronous trainer and an unpowered multi-joint synchronous trainer with a transmission mechanism are designed.
  • the survey also shows that more and more physically disabled people have an increasing demand for medical assistance, support, and rehabilitation services.
  • my country s rehabilitation technology is still using traditional rehabilitation equipment supplemented by rehabilitation professionals. It requires a large number of rehabilitation technicians to participate in it.
  • this article is to provide a suggested lower limb rehabilitation training equipment, which does not need to have electric settings and corresponding complicated control procedures, but can provide one-to-one rehabilitation to patients with limb dysfunction through simple operations by the therapist or operator training.
  • this document provides a cam for an unpowered multi-joint synchronized exerciser, characterized in that the cam has a circular body, and a cam is arranged on the first side of the circular body A groove, the contour of the cam groove is configured such that the rotational movement of the cam drives a follower provided in the cam groove to perform variable-speed reciprocation on a predetermined horizontal axis, wherein
  • the follower component performs a reciprocating movement between the first position and the second position on the predetermined horizontal axis
  • the first position is the position of the follower on the horizontal axis when the follower is at the position of the contour closest to the center of the circular body
  • the second position is The position of the follower component on the horizontal axis when the follower component is at the position of the contour farthest from the center of the circular body
  • the reciprocating motion drives the driven object connected with the follower component to swing at a variable speed within an angle range.
  • this article also provides a non-circular gear pair for an unpowered multi-joint synchronous trainer, comprising a driving non-circular gear and a driven non-circular gear meshing with the driving non-circular gear, wherein
  • the driving non-circular gear and the driven non-circular gear have the same number of teeth and a fixed center distance
  • the pitch line warp of the driving non-circular gear and the driven non-circular gear is configured such that when the driving non-circular gear rotates once, the driving non-circular gear drives the second non-circular gear provided on the driven non-circular gear.
  • the follower component on one side performs a variable speed reciprocating movement between the first position and the second position;
  • the first position is the position of the follower member closest to the axis of rotation of the driving non-circular gear
  • the second position is the position of the follower member furthest away from the axis of rotation of the driving noncircular gear.
  • variable speed reciprocating motion drives the driven object connected to the follower member to swing at variable speed within an angle range.
  • this article also provides a method for manufacturing a cam, which includes the following steps:
  • step (c) Rotating the disk at a constant speed while performing step (b), wherein the period for the follower member to perform the variable speed reciprocating motion once is equal to the period of one revolution of the disk;
  • this article also provides a method for manufacturing a non-circular gear pair, which includes the following steps:
  • a follower part is provided on the side surface of the driven non-circular gear, wherein the pitch lines of the driving non-circular gear and the driven non-circular gear are configured such that when the driving non-circular gear rotates once,
  • the driving non-circular gear drives the follower component to perform a variable speed reciprocating movement between a first position and a second position, wherein
  • the first position is the position of the follower member closest to the axis of rotation of the driving non-circular gear
  • the second position is the position of the follower member furthest away from the axis of rotation of the driving noncircular gear.
  • variable speed reciprocating motion drives the driven object connected to the follower member to swing at variable speed within an angle range.
  • this article also provides a transmission mechanism for an unpowered multi-joint synchronized exerciser, which is characterized in that it includes:
  • a transmission assembly the transmission assembly is in transmission connection with the wheel assembly;
  • a drive assembly the drive assembly is in transmission connection with the transmission assembly, and the drive assembly has the cam described herein;
  • the leg bar assembly is connected to the driving assembly through a connecting rod, so that the leg bar assembly is driven by the transmission assembly to swing.
  • this article also provides an unpowered multi-joint synchronized training device, which is characterized in that it includes:
  • a first transmission mechanism and a second transmission mechanism are respectively installed on both sides of the body frame, the first transmission mechanism and the second transmission mechanism are the transmission mechanisms described herein; among them
  • the drive assembly of the first transmission mechanism and the drive assembly of the second transmission mechanism are connected by a shaft, and the orientation of the drive assembly of the first transmission mechanism and the drive assembly of the second transmission mechanism differ by 180°.
  • Fig. 1 is a three-dimensional schematic diagram of an unpowered multi-joint synchronized exerciser according to an embodiment of this document.
  • Fig. 2 is a cross-sectional view of the wheel assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 3 is an exploded view of the transmission assembly of the unpowered multi-joint synchronous trainer shown in Fig. 1.
  • Fig. 4 is an exploded view of the cam assembly and the cam support of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 5A is an exploded view of the leg bar assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 5B is a three-dimensional schematic diagram of the leg bar assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 6 is a side view of the transmission member of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 7 is a flowchart of a cam profile design method for the cam groove of the cam assembly of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 8 is a three-dimensional schematic diagram of the waist holder of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • Fig. 9 is a three-dimensional schematic diagram of the lumbar retainer support of the unpowered multi-joint synchronized exerciser shown in Fig. 1.
  • 10A to 10D are schematic diagrams illustrating the movement of the follower roller driven by the cam according to an embodiment of this document.
  • 11A to 11D are schematic diagrams showing the movement of a non-circular gear pair driving a follower component according to another embodiment of this document.
  • FIG. 1 shows an unpowered multi-joint synchronized exerciser 10 according to an embodiment of this document.
  • the trainer 10 is composed of a body frame 100, a pair of transmission mechanisms 200 attached to the body frame 100, a waist holding assembly 300, a pair of universal wheels 400 and an armrest 500.
  • the patient who needs walking rehabilitation training is fixed on the front of the trainer 10 (ie, the left side in FIG. 1), and another medical staff or other operator assisting in the rehabilitation training is located on the trainer The rear of 10 (ie, the right side in Figure 1).
  • the medical staff or other operators hold the handrails and slowly push the trainer 10 forward.
  • the forward power of the trainer 10 is converted into the force applied to the patient's legs (for example, thigh and/ Or calf part), which enables the patient’s legs to swing with the patient’s hip as the axis in accordance with established rules, so that the patient can follow the trainer 10 with a normal walking gait , In order to achieve the purpose of walking rehabilitation training.
  • the patient's legs for example, thigh and/ Or calf part
  • a pair of universal wheels 400 are provided on the bottom rear side of the body frame 100.
  • the pair of universal wheels 400 is preferably a pair of 4-inch universal silent brake casters, which provide the trainer with balance and stability when moving and at rest.
  • the types of universal wheels are not particularly limited, as long as the above-mentioned balance and stability performance can be achieved.
  • the transmission mechanism 200 and the waist holding assembly 300 will be described in more detail below.
  • the trainer 100 has a pair of transmission mechanisms 200 arranged on both sides of the vehicle body frame (ie, the front and back sides of FIG. 1), and the pair of transmission mechanisms 200 have the same mechanism .
  • the transmission mechanism 200 includes a wheel assembly 210, a transmission assembly 220, a driving assembly 230 and a leg assembly 240.
  • the wheel assembly 210, the transmission assembly 220, the drive assembly 230, and the leg bar assembly 240 are attached to the body frame 100 at appropriate positions, respectively.
  • the wheel assembly 220 is arranged on the lower front side of the body frame 100
  • the transmission assembly 220 is arranged on the middle rear side of the body frame 100
  • the drive assembly 230 is arranged on the upper rear side of the body frame 100
  • the leg assembly 240 is arranged on the body frame
  • the front part of the body frame 100 extends from the upper part to the lower part of the body frame 100.
  • FIG. 2 is a cross-sectional view of the wheel assembly 210 of the transmission mechanism 200.
  • the wheel assembly 210 includes a wheel body 211, a sprocket 212, a mounting shaft 213 and a bearing assembly 214.
  • the wheel body 211 is preferably a 700C integrated wheel, so that the bottom of the wheel body 211 and the bottom of the universal wheel 400 are on the same horizontal plane, so that the trainer 10 can smoothly contact the ground.
  • the sprocket 212 is coaxially arranged with the wheel body 211, and is connected to each other via the mounting shaft 213 and the bearing assembly 214, so that the sprocket 212 and the wheel body 211 can rotate synchronously.
  • the mounting shaft 213 is fixed to the body frame 100.
  • the wheel assembly 210 is drivingly connected to the transmission assembly 220 which will be described in detail below through the sprocket 212.
  • the sprocket 212 of the wheel assembly 210 is drivingly connected to the wheel assembly 220 via a transmission belt 215.
  • the transmission belt 215 may be a transmission chain or a transmission belt.
  • FIG. 3 is an exploded view of the transmission assembly 200 of the transmission mechanism 200.
  • the transmission assembly 200 includes sprockets 221 and 222, bearings 223 and 224, and a mounting shaft 225.
  • the sprockets 221 and 222 are connected to each other through a bearing assembly composed of bearings 223 and 224 and a mounting shaft 225, so that the sprockets 221 and 222 can rotate synchronously.
  • the sprocket 221 receives the power (or torsion) transmitted by the wheel assembly 210 via the transmission belt 215 described above, and the sprocket 222 is drivingly connected to the drive assembly 230 of the transmission member 200 via another transmission belt 228 , Thereby further transmitting the power (torque) to the driving assembly 230.
  • the conveyor belt 228 is similar to the transmission belt 215, and it can be a transmission chain or a transmission belt.
  • the mounting shaft 225 is preferably a spline shaft.
  • a pair of transmission mechanisms 200 are attached to the body frame 100 shown in FIG. 1. Therefore, the trainer 10 shown in FIG. 1 has a pair of transmission components 200.
  • the pair of transmission mechanisms 200 are connected to each other through a shaft 226.
  • one end of the shaft 226 is connected with the installation shaft 225 of one transmission assembly 200, and the other end of the shaft 226 is also connected with the installation shaft of another transmission assembly (not shown).
  • the transmission assembly 220 includes a differential 227. As shown in FIG. 2, the radially outer side of the differential 227 is welded to the sprocket 222.
  • the differential 227 can also be installed at other positions of the transmission assembly 220.
  • the differential only needs to be installed on one of the transmission components.
  • the differential 227 is installed on the transmission assembly 220 shown in FIG. 2, but it may also be installed on another transmission assembly not shown in FIG. 2. The selection of the differential avoids the self-steering phenomenon caused by uneven road surface or the inconsistent rotational speed of the pair of wheel assemblies 210 when turning, and does not add additional resistance to the steering of the wheels.
  • Part A of FIG. 4 is an exploded schematic view of the cam mechanism 230 of the transmission mechanism 200, and part B of FIG. 4 is a schematic view of the cam support 250.
  • the driving assembly 230 includes a cam 231, a connecting rod 232, a sprocket 233, a bearing 234, a follower roller 235, a swing rod 236 and a shaft 237.
  • the shaft 237 connects the sprocket 233 and the cam 231 to each other by means of a bearing 234 and an opening 2312 formed with the center of the cam 231.
  • the sprocket 233 receives the power (torque) provided by the transmission assembly 220 via the conveyor belt 228 described above, so that the cam 231 rotates with the rotation of the transmission assembly 220.
  • a cam groove 2311 to be described later is formed on one side of the cam 231.
  • One end of the connecting rod 232 is connected to the cam 231, and the other end is connected to the leg assembly 240, which will be described in detail below, so that when the cam 231 rotates, the end of the connecting rod 232 connected to the cam 231 will move at the same time as the cam 231 rotates.
  • the follower roller 235 is disposed in the cam groove 2311, and the cam profile of the cam groove 2311 is configured to convert the rotational movement of the cam 231 into a predetermined position of the follower roller 235 in the cam groove 2311 in a substantially horizontal direction. Reciprocating motion.
  • the follower roller 235 is preferably a roller bearing.
  • the follower roller has a rolling portion 2351 and a support 2352 connected to the rolling portion.
  • the rolling portion 2351 is arranged in the cam groove 2311, and the side wall of the rolling portion 2351 is in contact with the side wall of the cam groove 2311, so that when the cam When the 231 rotates, the rolling portion 2351 of the follower roller 235 can roll in the cam groove 2311 along the side wall of the groove.
  • FIGS. 10A-10D show a brief schematic diagram of the cam 700 driving the follower roller 750 to move according to the embodiment of this document.
  • the cam 700 is similar to the cam 231 in FIG. 4 and the follower roller 750 is similar to the follower roller 235 in FIG. 4.
  • the cam 700 has a centered body 710, which can rotate with the center 720 as an axis under the driving of the transmission assembly 220, preferably at a uniform speed.
  • a cam groove 740 is formed on the side surface 730 of the center body 710.
  • the cam groove 740 is eccentrically arranged with respect to the center 720.
  • the cam profile of the cam groove 740 is a non-circular closed curve, and at the position A of the cam profile, its distance from the center of the circle is the closest, so it can be called the near center position A.
  • the position B of the cam profile it The distance from the center of the circle is the farthest, so it can be called the telecentric position B.
  • the follower roller 750 is disposed in the cam groove 740, and the follower roller 750 is restricted by the swing lever 236 and the cam support 250 shown in FIG. 4 and described below and is substantially movable only on the horizontal axis 760.
  • the cam 700 is rotated counterclockwise in the direction of the arrow shown in FIG. 10A, so that the cam 700 is rotated to the state of FIG. 10B.
  • a certain position between the proximal position A and the telecentric position B of the cam profile rotates to coincide with the horizontal axis 760.
  • the side wall of the cam groove 740 forces the follower roller 750 to move on the horizontal axis 760 in the horizontal direction (for example, horizontally to the left) from the position C1 in FIG. 10A to the position on the horizontal axis 760 in FIG. 10B C2.
  • FIG. 10D continue to rotate the cam 700 counterclockwise in the direction of the arrow shown in FIG. 10C, so that the cam 700 is rotated to the state of FIG. 10D.
  • a certain position between the proximal position A and the telecentric position B of the cam profile rotates to coincide with the horizontal axis 760.
  • the side wall of the cam groove 740 forces the follower roller 750 to move in the opposite direction (for example, horizontally to the right) from the position C3 in FIG. 10C along the horizontal direction on the horizontal axis 760 in the opposite direction to FIGS. 10A and 10B.
  • the cam 700 rotated counterclockwise in the direction of the arrow shown in FIG. 10D, it will return to the state shown in FIG. 10A. That is, the proximal position A of the cam groove 740 is exactly on the horizontal axis 760. At this time, the side wall located in the cam groove 740 forces the follower roller 750 to move in the horizontal direction along the horizontal axis 760 in the reverse direction (for example, horizontally to the right) from the position C4 in FIG. 10D back to the position in FIG. 10A C1. At this time, the cam 700 rotates exactly once.
  • the follower roller 750 reciprocates on the horizontal axis 760.
  • the starting position C1 at the time T0 of the follower roller moves horizontally to the left to the position C2 at the time T1, and then continues to move horizontally to the left to the position at the time T2 C3, then move horizontally to the right in the opposite direction to position C4, and finally continue to return horizontally to the right to position C1 in the opposite direction. Therefore, during one rotation of the cam 700, the follower roller 750 undergoes a reciprocating movement of position C1 ⁇ position C2 ⁇ position C3 ⁇ position C4 ⁇ position C1.
  • the positions C1 and C3 correspond to the turning point of the reciprocating motion
  • the position C1 corresponds to the position where the proximal position A of the cam profile rotates to coincide with the horizontal axis 760
  • the position C3 corresponds to the telecentric position B of the cam profile Rotate to the position when it coincides with the horizontal axis 760. Therefore, during one rotation of the cam 700, the follower roller 750 performs a reciprocating motion between the positions C1 and C3.
  • the cam profile of the non-circular closed curve also causes the instantaneous speed of the follower roller 750 to move on the horizontal axis 760 during the rotation of the cam 700 to change according to the change of the cam profile, that is, when the cam 700 rotates During this period, the follower roller 750 performs a variable speed reciprocating motion between the positions C1 and C3.
  • the variable speed reciprocating motion between the positions C1 and C3 further drives the variable speed swing of the driven object (not shown) to be driven by the follower roller 750 within a predetermined angle range.
  • the cam is used as the driving assembly 230 to realize the rotational movement of the cam to drive the follower roller arranged in the cam groove to reciprocate, and then other driving forms can also be used.
  • 11A-11D show the use of a non-circular gear pair 800 instead of the cam 700 with the cam groove 740.
  • the sprocket 233 of the driving assembly 230 is connected to the driving non-circular gear 810 in the non-circular gear pair 800, instead of connecting the sprocket 233 to the cam 700.
  • 11A-11D show a schematic diagram of using a non-circular gear pair 800 to drive the follower 850 thereon to move.
  • the non-circular gear pair 800 has a driving non-circular gear 810 and a driven non-circular gear 820 meshing with it.
  • the driving non-circular gear 810 drives the driven non-circular gear 820 to rotate.
  • the driving non-circular gear 810 and the driven non-circular gear 820 are formed with teeth on the outer periphery.
  • the number of teeth of the respective teeth of the driving non-circular gear 810 and the driven non-circular gear 820 are the same, so that every time the driving non-circular gear 810 rotates, The driven non-circular gear 820 also rotates once.
  • the rotation shaft centers 830 and 840 of the driving non-circular gear 810 and the driven non-circular gear 820 deviate from their respective geometric centers, and are designed so that the driving non-circular gear 810 and the driven non-circular gear 820 are
  • the center distance is equal to each other.
  • the center distance refers to the radius of rotation from the rotation axis 830 of the driving non-circular gear 810 to the meshing position and the rotation radius from the rotation axis 840 of the driven non-circular gear 820 to the meshing position. with.
  • both the driving non-circular gear 810 and the driven non-circular gear 820 can be meshed together. , And will not separate or squeeze each other.
  • a follower 850 is formed on the side surface of the driven non-circular gear 820.
  • the position of the follower 850 in FIG. 11A is taken as the starting position D1 at time T0.
  • the distance E1 between the follower 850 and the rotation axis 830 of the driving noncircular gear 810 is the shortest, that is, at position D1, the follower is closest to the driving noncircular gear 810 Rotation axis 830.
  • the distance E2 between the follower 850 and the rotation axis 830 of the driving noncircular gear 810 is greater than E1, so as the noncircular gear pair 800 moves from the state of FIG. 11A to the state of FIG. 11B, the follower 850 gradually moves away from the rotation axis 830 of the driving non-circular gear 810.
  • the driven non-circular gear 820 rotates counterclockwise under the drive of the driving non-circular gear 810 and returns to that shown in FIG. 11A status. That is, as the non-circular gear pair 800 moves from the state of FIG. 11D back to the state of FIG. 11A, the follower member 850 continues to gradually approach the rotation axis 830 of the driving non-circular gear 810 and finally returns to the one closest to the driving non-circular gear 810 The position D1 of the rotation axis 830. At this time, the cam 700 rotates exactly once.
  • the follower member 850 reciprocates between the positions D1 and D3.
  • the starting position D1 of the follower 850 that is closest to the rotation axis 830 of the driving non-circular gear 810 at time T0 moves to a distance away from the driving non-circular gear 810.
  • the position C2 of the rotation axis 830 of the circular gear 810 is then moved further away from the rotation axis 830 of the active non-circular gear 810 to the position D3 farthest from the rotation axis 830 at time T2, and then gradually moves closer to the rotation axis 830 Go to the position D3, and finally move closer to the rotation axis 830 and return to the position D1 closest to the rotation axis 830. Therefore, during one rotation of the non-circular gear pair 800, the follower 850 undergoes a reciprocating movement of position D1 ⁇ position D2 ⁇ position D3 ⁇ position D4 ⁇ position D1.
  • the positions D1 and D3 correspond to the turning point of the reciprocating motion, where the position D1 corresponds to the position closest to the rotation axis 830 of the driving non-circular gear 810, and D3 corresponds to the farthest distance from the rotation axis 83 of the driving non-circular gear 810 s position. Therefore, during one rotation of the non-circular gear pair 800, the follower 850 performs a reciprocating movement between the positions D1 and D3.
  • the non-circular gear profile also causes that during the rotation of the non-circular gear pair 800, the instantaneous speed of the follower 850 at each position changes according to the change of the non-circular gear pitch line.
  • the follower 850 performs variable-speed reciprocating motion between the positions D1 and D3.
  • the variable speed reciprocating motion between the positions D1 and D3 further drives the variable speed swing of the driven object (not shown) to be driven by the follower 850 within a predetermined angle range.
  • variable speed reciprocating motion obtained by the cam profile design of the cam groove 2311 drives the variable speed swing of a certain point of the leg with the hip as the axis when a normal person walks. Therefore, as the follower roller 235 rolls in the cam groove 2311, the position of the follower roller 235 in the XZ plane will change based on the cam profile of the cam groove 2311, that is, in the XZ plane according to the cam profile of the cam groove 2311 Perform regular variable-speed reciprocating motion between positions C1 and C3 as shown in Figure 10A-10D.
  • the two boundary positions C1 and C3 of the reciprocating movement of the follower roller 235 correspond to the two boundary angles of a certain point of the leg with the hip as the axis when a normal person is walking.
  • the pillar 2352 of the follower roller 235 is connected to one end of the link 232, and the other end of the link 232 is connected to the leg assembly 240 which will be described below, so that when the follower roller 235 rotates in the XZ plane with the cam 231
  • the leg bar assembly 240 performs regular variable-speed swing in the XZ plane under the push/pull action of the connecting rod 232.
  • the follower roller 235 in the cam groove 2311 performs a reciprocating motion at a distance defined by positions C1 and C3 in FIGS. 10A-10D, for example. Since the follower roller 235 drives the leg bar assembly 240 to swing, the leg bar assembly 240 is correspondingly driven by the reciprocating motion.
  • the swing angle of the leg bar assembly 240 driven by the above-mentioned reciprocating drive corresponds to the swing of the leg relative to the hip when a certain point of the leg is walking when a normal person walks.
  • the leg bar assembly 240 is driven by a reciprocating movement of the roller 235
  • the variable-speed swing corresponds to the variable-speed swing of the leg relative to the hip when a normal person takes a step when walking, so that it is fixed on the leg bar assembly 240.
  • the patient takes a step passively, and the swing angle of the leg when the patient takes a step And the swing method is no different from normal people, so as to realize the walking training of the patient.
  • the connecting rod 232 connects the follower roller 235 with the position of the leg rod assembly 240 close to the hip corresponding to the thigh, and therefore, reciprocating corresponding to the cam profile design of the cam groove 2311
  • the movement drives the swing of the thigh relative to the hip when a normal person walks, and the swing angle driven by the reciprocating motion should be the swing angle of the thigh relative to the hip when a normal person walks.
  • the exerciser is further provided with a cam support 250.
  • the cam support 250 has a first arm 251.
  • the bottom and the top of the first arm 251 are respectively provided with fixing sleeves 252 for supporting and fixing the bearing 234 of the driving assembly 230 and the bearing 223 of the transmission assembly 220 respectively.
  • the upper part of the first arm 251 is also formed with a guide groove 253 formed as a long hole extending in the X direction.
  • the support 2352 of the follower roller 235 is arranged in the guide groove 253, so that when the follower roller 235 swings regularly in the XZ plane, its displacement in the Z direction (ie, the vertical direction) is restricted by the guide groove 253, Roughly only in the X direction (that is, the horizontal direction), a regular back and forth swing is performed.
  • the drive assembly 240 further has a swing rod 236.
  • One end of the swing rod 236 is connected to the support pillar 2352, and the other end is connected to the cam support 250, so that the follower roller 235 can be displaced in the Z direction through the swing rod 236. Make restrictions.
  • the other end of the swing rod 236 may also be directly connected to the body frame 100.
  • a second cam groove (not shown) is formed on the other side of the cam 231 opposite to the side on which the cam groove 2311 is formed, similar to the cam groove 2311
  • the variable speed reciprocating motion corresponding to the cam profile design of the second cam groove is another variable speed reciprocating motion that is different from the variable speed reciprocating motion corresponding to the cam profile of the cam groove 2311.
  • the driving assembly 230 further has a second bearing 234', a second connecting rod 232', a second follower roller 235', and a second swing rod 236'.
  • the second bearing 234' is used to connect the cam 231 and the shaft 234.
  • the cam support 250 may also have a second arm 254 parallel to the first arm 251.
  • the second arm 254 also has a fixing sleeve 252 at the bottom and the top for supporting and fixing the second bearing 234' of the driving assembly 230 and the bearing 224 of the transmission assembly 220 therein.
  • the upper part of the second arm 254 is also formed with a second guide groove 255 for restricting the displacement of the second follower roller 235' in the Z direction, so that the second cam groove is configured to convert the rotational movement of the cam 231 into The second follower roller 235' in the second cam groove reciprocates substantially in the X direction (horizontal direction).
  • variable speed reciprocating motion corresponding to the cam profile design of the second cam groove corresponds to the variable speed swing of the calf relative to the hip when a normal person is walking
  • the two boundary positions of the reciprocating motion correspond to the calf when a normal person is walking.
  • variable speed reciprocating movement of the second follower roller 235' in the second cam groove corresponds to the variable speed swing of the calf relative to the hip when a normal person is walking, thereby driving the calf of the leg bar assembly 240
  • the part also swings in the same way that the lower leg swings relative to the hip when a normal person walks. Therefore, the patient's calf also swings once in a manner corresponding to the swing of the calf when a normal person walks, so as to realize the patient's walking training.
  • the drive assembly 230 may have friction plates 239 and 239' (if present) disposed between the cam support 250 and the connecting rod.
  • the friction plates 239 and 239' are preferably PTFE-based friction, which can reduce the frictional resistance of the connecting rod during the swinging process.
  • the drive assembly with a non-circular gear pair 800 may further have another additional non-circular gear pair.
  • the additional non-circular gear pair is different from the non-circular gear pair 800 and is designed to correspond to the variable speed reciprocating motion of the follower component. It is the variable speed swing of the calf relative to the hip of a normal person. Therefore, in this case, the second link 232' connecting the lower leg position of the leg bar assembly 240 and the second follower roller 235' can be modified to connect the lower leg position of the leg bar assembly 240 and an additional non-circular shape.
  • the follower part of the gear pair Therefore, the variable-speed reciprocating motion of the follower part of the additional non-circular gear pair can drive the patient's calf to swing at a variable speed in the manner of swinging the calf relative to the hip when a normal person is walking.
  • a pair of transmission mechanisms 200 are attached to the body frame 100. Therefore, the trainer 10 has a pair of driving components 230. As shown in FIG. 4, one end of the shaft 237 is connected to a driving component 230, although not shown, the other end of the shaft 237 is connected to another driving component whose structure is the same as that of the driving component 230. In the walking gait of a normal person, the swing phase of the two legs is always 180 degrees out of phase, so the pair of driving components with the shaft 237 are also installed with a phase difference of 180 degrees.
  • the shaft 237 is composed of a first shaft 2371 and a second shaft 2372.
  • the first shaft 2371 is connected to the drive assembly 230, and the second shaft 2372 is connected to another shaft.
  • the drive components are connected.
  • the first shaft 2377 and the second shaft 2372 are equipped with a clutch device 238.
  • the advantage of using the clutch device 238 is that the phase difference between a pair of driving components can be adjusted as required. For example, when the patient wears the training device 10, the legs need to be in a closed posture. Therefore, the clutch device 238 can be opened to freely adjust the phases of the drive components on both sides. When the patient is finished wearing, the drive on both sides will be readjusted.
  • the clutch device 238 includes a sliding buckle 2381, and the clutch device 238 is provided with limit handles on both sides thereof to limit the orientation of the first shaft 2377 and the second shaft 2372 .
  • the orientation of any one of the first shaft 2377 and the second shaft 2372 is defined, and the other of the first shaft 2377 and the second shaft 2372 is adjusted, after adjusting to a specified phase After tightening the limit handle of the other one, the clutch device 238 is closed, and then the limit handles on both sides are respectively released.
  • the shaft 237 is also provided with a folding handle 2373 and an accommodation space 2372 for accommodating the folding handle 2373.
  • the folding handle 2373 can be rotated from the accommodation space 2372.
  • the folding handle 2373 is screwed into the receiving space 2372. Marking lines are engraved on the semi-axes on both sides of the clutch device 238.
  • the clutch device When the semi-axes at both ends are adjusted to the mark lines are aligned, slide the sliding buckle to fix the first shaft 2377 and the second shaft 2372 on both sides at a distance of 180
  • the clutch device also includes elastic bumpers 2382 to ensure that the sliding buckle 2381 can stay at the designated position when there is no operation.
  • FIG. 5A is an exploded view of the leg bar assembly 240 of the transmission mechanism 200.
  • FIG. 5B is a perspective view of the leg bar assembly 240 of the transmission mechanism 200.
  • the leg bar assembly 240 is mainly composed of a thigh bar 241 and a calf bar 242.
  • the thigh bar 241 and the lower leg bar 242 are connected to each other at the knee position by a bearing (not shown).
  • the leg bar assembly 240 further includes a sole member 243, and the sole member 243 is detachably connected to the ankle position of the leg bar assembly 240 through a foot connecting seat 244
  • the calf bar 242 of the leg bar assembly 240 can also flex forward 0-15 degrees.
  • the leg bar assembly 240 further includes a strap plate 245 attached to the thigh bar and a strap seat 246 attached to the lower leg bar 242.
  • the strap plate 245 and the strap seat 246 are still installed with leg straps to fix the patient's leg to the leg bar assembly 240.
  • the thigh bar 241 has an opening 2419 at the hip, and an opening 2414 is formed near the hip.
  • One end of the connecting rod 232 described above is connected to the opening 2414 through a roller bearing 2413, so that the thigh bar 241 Along with the rotation of the driving assembly 240, it swings regularly to achieve the purpose of walking rehabilitation training. It is described above that in the embodiment where the second link 232' exists, the second link 232' is connected to the lower leg position of the calf lever 242 near the knee, so that the calf portion of the leg lever assembly 240 can also follow the driving The rotation of the assembly 230 performs regular swings. As shown in FIG.
  • the driving assembly 230 is installed at a height substantially consistent with the hip position of the leg bar assembly 240, and in the walking gait of a normal person, the swing of the calf often exists in the X direction (horizontal direction) and Z direction at the same time.
  • Direction vertical direction
  • the second link 232' is indirectly connected to the calf position of the calf rod 242 near the knee via the calf swing rod, which is disposed at the hip including the thigh rod 241 It is composed of a first follower rod 247 and a second follower rod 248. Specifically, one end of the second connecting rod 232' (for example, through a bearing) is connected to an opening at the end 2471 of the first follower rod 247. For example, the opening at the other end 2472 of the first following rod 247 is connected to the opening at the end 2481 of the second following rod 248 through a bearing.
  • the second follower rod 248 is connected to an opening 2421 formed at the top of the calf rod 242 at a position close to the knee at the opening of the other end 2482 through a rolling bearing.
  • the first follower rod 247 is connected to an opening 2419 formed at the hip of the thigh rod 241 at an opening located on the middle portion 2473, for example, via a bearing.
  • the position of the opening 2419 is adjacent to the opening 2414.
  • the first follower lever 247 uses the middle portion 2473 as the rotation axis, so that the other end 2472 of the first follower lever 247 swings following the end 2471, and the other end 2472 of the first follower lever 247 swings through the second follower.
  • the rod 248 is transmitted to the position of the calf rod 242 close to the knee, thereby driving the patient's knee to swing accordingly.
  • the first follower rod 247 preferably has an L-shaped shape.
  • the first follower rod 247 and the second follower rod 248 are bent along the Y direction at a predetermined position, so that the second link 232', the first follower rod 247, and the second follower rod 248 are mutually in the Y direction. Staggered so as to avoid the interference of the second link 232', the first follower rod 247, and the second follower rod 248 when they swing.
  • the thigh bar 241 includes an outer thigh bar 2411 away from the patient's thigh and an inner thigh bar 2412 that abuts the patient's thigh.
  • the outer thigh bar 2411 and the inner thigh bar 2412 are detachably installed together.
  • the outer thigh bar 2411 and the inner thigh bar 2412 are jointly connected to the calf bar 242 at the bottom through a bearing, so that when the outer thigh bar 2411 and the inner thigh bar 2412 are separated from each other, they can use the outer thigh bar on the XZ plane.
  • connection position of 2411 (and inner thigh bar 2412) and calf bar 242 is that the shafts rotate with each other.
  • the advantage of this is that when the patient needs to wear in a sitting position, the outer thigh bar 2411 and the inner thigh bar 2412 can be separated, so that the inner thigh bar 2412 can be at an angle of about 90 degrees with the calf bar 242 in the XZ plane for convenience Wear it. After the patient is put on, the patient stands up with the help of external force.
  • the outer thigh bar 2411 and the inner thigh bar 2412 tend to be parallel to each other and overlap each other, the outer thigh bar 2411 and the inner thigh bar 2412 are installed together as a whole to complete Wear.
  • the thigh bar 241 has a spring latch mechanism 2417 installed at the opening 2418 on the outer thigh bar 2411.
  • the operator manually opens the spring latch mechanism 2417.
  • the outer thigh bar 2411 rotates relative to the inner thigh bar 2412, and when the outer thigh bar 2411 is rotated to coincide with the inner thigh bar 2412, it is formed on the inner thigh bar 2412
  • the opening 2418' overlaps the opening 2418.
  • the spring latch in the spring latch mechanism 2417 automatically springs into the opening 2418', thereby realizing the automatic locking of the outer thigh bar 2411 and the inner thigh bar 2412.
  • the thigh bar also has two handle screws 2415, and the handle screws 2415 are installed at the corresponding opening 2416 of the outer thigh bar 2411 and the opening 2416' of the inner thigh bar 2412.
  • the operator manually opens the handle screw 2415 to realize the separation of the outer thigh bar 2411 and the inner thigh bar 2412.
  • the handle screw 2415 is tightened to further assemble the outer thigh bar 2411 and the inner thigh bar 2412 into a whole.
  • FIG. 6 is a side view of the transmission member 200. Some unnecessary components are hidden so that the structure of the transmission member 200 can be displayed more clearly.
  • the wheel assembly 210 travels forward.
  • the rotation of the wheel assembly 210 is transmitted to the transmission assembly 220 via the transmission belt 215.
  • the power of the transmission assembly 220 is again transmitted to the driving assembly 230 via the transmission belt 228 to drive the cam in the driving assembly 230 to rotate.
  • the cam rotates, the first link 232 and the second link 232' drive the leg bar assembly 240 to swing regularly.
  • the first link 232 is directly connected to the thigh position of the leg bar assembly 240 near the hip, so as to drive the patient's thigh to swing regularly relative to the hip.
  • the second link 232' is indirectly connected to the lower leg position of the leg bar assembly 240 near the knee through the first follower bar 247 and the second follower bar 248, so as to drive the patient's lower leg relative to the hip to perform regular swing. So as to finally realize the purpose of walking rehabilitation training.
  • the above describes the use of the specially designed cam profile to make the push rod assembly 240 perform regular swings when a normal person walks.
  • the cam profile is designed inversely according to the swing law of the legs of a normal person when walking, especially according to the swing law of the hip position and knee position of the leg when a normal person is walking.
  • the design method of the cam profile can be done in the opposite way in which the driving assembly 230 drives the leg bar assembly 240 to swing.
  • FIG. 7 is a flowchart of a cam profile design method 600 of the cam groove of the driving assembly 230.
  • the method 600 will be described below in conjunction with FIGS. 2-6.
  • the follower is disposed on the side surface of a disc.
  • the follower may be a follower such as a follower roller 235, which can roll on the side surface of the disc.
  • a disc with a flat side surface can be used instead of the cam 231 in FIG. 4.
  • the follower is arranged so that it is movable substantially only in the horizontal direction.
  • the guide groove 253 and the swing rod 236 shown in FIG. 4 are used to limit the displacement of the follower in the vertical direction.
  • a circular body is provided, and the follower performs a predetermined reciprocating movement (for example, variable-speed reciprocation) at a predetermined distance on the side surface of the circular body and in a substantially horizontal direction. For example, it is the distance defined by the positions C1 and C3 shown in FIGS. 10A-10D.
  • the disk is rotated at a constant speed, so that every time the disk rotates once, the follower performs a reciprocating motion over the predetermined distance.
  • the disc also makes exactly one revolution. Therefore, during one reciprocating movement of the follower over this distance, a non-circular closed curve rolling track is formed on the side surface of the disc, and the closed curve is the cam profile of the required cam groove. Therefore, the cam groove described herein can be obtained by forming a cam groove on the circular main body with the closed curve.
  • the required reciprocating motion preferably corresponds to the swing of the thigh/calf relative to the hip when a normal person is walking.
  • the above two boundary points of the predetermined distance correspond to the two boundary angles of the swing of the thigh/calf relative to the hip when a normal person walks.
  • leg rod When the leg rod is fixed to the legs of a normal person instead of the legs of a patient, whenever a normal person performs a normal walking action, it will drive the follower to perform at the swing angle corresponding to the normal person walking.
  • the swing motion corresponding to human walking so the track left by the follower on the side surface of the disc corresponds to the swing of the calf/thigh when a normal person walks, and the corresponding cam profile is obtained.
  • the cam profile can also be obtained by software modeling.
  • computer-aided software for example, Solidworks
  • Solidworks can be used to model the characteristic dimensions of the human body’s legs and the basic structure of the trainer, and then according to the reciprocation of the legs (for example, hips and knees) during normal walking.
  • the law of motion adds constraint loads to the model and performs kinematics simulation calculations to obtain the gait displacement curve of a normal person walking, and import the simulated gait displacement curve into the model of the basic structure of the trainer, which can be reversed Find the cam profile.
  • the advantage of this is that the legs of the actual patient can be measured, so that the most suitable cam profile can be customized for the specific patient to improve the effect of rehabilitation training.
  • the manufacturing method can be carried out as follows:
  • the driving non-circular gear and the driven non-circular gear that mesh with each other, wherein the driving non-circular gear and the driven non-circular gear have the same number of teeth and a fixed center distance, so that the driving non-circular gear 810 rotates every time In one revolution, the driven non-circular gear 820 also rotates, and when the driving non-circular gear 810 and the driven non-circular gear 820 rotate to any position, the driving non-circular gear 810 and the driven non-circular gear 820 are guaranteed to be able to Engaged together without separation or squeezing.
  • the rotational axis centers of the driving non-circular gear and the driven non-circular gear are designed to deviate from their respective geometric centers.
  • a follower part is formed on the side surface of the driven non-circular gear to complete the manufacture of the non-circular gear pair.
  • the gear pitch lines of the driving non-circular gear and the driven non-circular gear are designed such that when the driving non-circular gear rotates one revolution, the driving non-circular gear can drive the follower component on the driven non-circular gear Perform a variable speed reciprocating motion between the first position and the second position.
  • the first position is the position of the follower member closest to the rotation axis of the driving non-circular gear
  • the second position is the position of the follower member furthest away from the rotation axis of the driving noncircular gear.
  • the variable speed reciprocating movement of the follower component can drive the component connected to it (for example by a connecting rod) to perform within a certain angle range.
  • the follower member may be connected to the leg bar assembly 240 at a position corresponding to the thigh or a position corresponding to the lower leg in the leg bar assembly 240 through a link.
  • variable speed reciprocating movement of the follower component can drive the thigh position of the leg bar assembly 240 to take the hip as the axis and follow the thigh relative to the normal person walking.
  • the swing mode of the hip is variable-speed swing.
  • the swing angle driven by this variable speed reciprocating motion corresponds to the swing angle of the thigh relative to the hip when a normal person walks.
  • the two boundary positions (ie, the first position and the second position) where the follower moves back and forth correspond to the two boundary angles of the thigh swing when a normal person walks.
  • the first position corresponds to when the left leg is used as the supporting leg, the right leg takes a step and the left leg relative to the lower boundary angle of the hip, and the second position corresponds to When the right leg is used as the supporting leg, the lower boundary angle of the left leg relative to the hip after the left leg takes a step.
  • the pitch line design of the driving non-circular gear and the driven non-circular gear it can be designed by conventional methods. That is, determine the pitch curve, modulus, number of teeth, and center distance.
  • the pitch curve is obtained according to the required predetermined swing law.
  • the required predetermined swing law is the variable speed swing law of the leg (thigh or calf) relative to the hip when a normal person walks. If the rotation angle of the driving non-circular gear is used as the time reference, the leg rod driven by the non-circular gear pair will swing according to this time reference and according to a predetermined rule. At this time, there is no movement curve of the driven non-circular gear, so the driven non-circular gear is driven by the leg rod through the connecting rod to drive the driven non-circular gear.
  • the driving non-circular gear makes one revolution
  • the driven non-circular gear also makes exactly one revolution.
  • the rotation speed of the driven non-circular gear driven by the leg rod is not equal to the uniform speed of the driving non-circular gear, but the integral of the rotation speed with time should be equal to 360 in one rotation period of the driving non-circular gear. °.
  • the numerical integration result due to the influence of rounding error and sampling density, there will be a small amount of deviation in the numerical integration result, which requires proportional correction to control the numerical integration error within the allowable range.
  • modulus For the determination of modulus, number of teeth and center distance, standard modulus is preferred for non-circular gear pairs, which is convenient for processing with standard tools.
  • the modulus is determined and based on the given number of teeth, the perimeter of the pitch line of the non-circular gear is also determined.
  • the instantaneous transmission ratio of the non-circular gear pair is equal to the inverse ratio of the respective rotation radii of the meshing points of the driving non-circular gear and the driven non-circular gear on the pair of pitch lines.
  • the sum of the radius of each pair of pitch lines on the pitch line is equal to the center distance of the non-circular gear pair.
  • the pitch line is non-circular, there is no longer a simple proportional relationship between the center distance, the module and the number of teeth like a circular gear pair. That is, if a standard modulus is used, non-standard center distances will appear, and vice versa. Since the pitch radius of each point must be determined before the numerical integration of the pitch line circumference, and the pitch line radius is obtained based on the center distance and the instantaneous transmission ratio, first assume a center distance, and try to Calculate the perimeter of the pitch line. By adjusting the center distance, finally the pitch line circumference error is less than the allowable value.
  • the non-circular gear pair designed in this way has a standard modulus and a non-standard center distance. It is easy to manufacture with standard modulus and non-standard center distance.
  • the trainer 10 has a waist holding assembly 300 attached to the top of the body frame 100. It is designed to provide strength support to the waist for patients with paraplegia and hemiplegia during rehabilitation training, allowing patients to experience walking upright.
  • the part where the waist holding component 300 contacts the patient may be provided with a polymer material band and supplemented with soft and comfortable foam rubber filling, which increases the wearing comfort and use experience of the patient.
  • the waist retaining assembly 300 includes components including a waist retainer 310 in contact with the patient and a waist retainer support 320 for attaching the waist retainer 310 to the body frame 100 .
  • the waist holder 310 is above the body frame 100 and extends between both sides of the body frame 100.
  • the center of gravity of the human body has a floating amount of about 20-30mm in the vertical direction.
  • the lumbar holder support 320 is configured to be capable of floating up and down in the vertical direction to match the floating of the center of gravity of the human body in the vertical direction during normal walking.
  • FIG. 8 is a perspective schematic view of the waist holder 310.
  • the waist holder 310 includes a pair of brackets 311 fixed to the waist holder support 320, and a pair of baffles 311 are pivotally connected to the corresponding bracket 311 at one end thereof.
  • the baffle 311 can be opened and closed, so that the paraplegic patient can change the spatial position of wearing in a sitting posture and walking in a standing posture.
  • the waist holder 310 may further include a latch 313 detachably connected with the baffle 311 to ensure that the baffle 311 can maintain the rigidity and stability of the waist holder 310 as a whole after the baffle 311 is closed.
  • the latch 313 may be carbon fiber material.
  • FIG. 9 is a perspective view of the waist holder support 320.
  • the holder support 320 includes a fixed part 321, an adjusting part 322 and a floating part 323.
  • the fixing part 320 is attached to the top of the body frame 100.
  • the floating part 323 is connected to the waist holder 310.
  • An opening is formed at both ends of the fixing portion 320, and the optical shaft 324 passes through the opening of the fixing portion 320 and is assembled with the fixing portion 320 through a linear bearing (not shown), so that the optical shaft 324 can be in the opening of the fixing portion 320 Move up and down in the vertical direction.
  • Both ends of the adjusting part 322 are also formed with openings.
  • the adjusting part 322 is attached to the optical axis 324 at its opening through a linear bearing (not shown), and the adjusting part 322 can be arranged along the extending direction (vertical direction) of the optical axis 324. )move up and down.
  • the top of the optical shaft 324 is connected to the floating part 323.
  • the adjusting part 322 is further connected to the fixing part 321 by a lifting screw 325 (for example, a cylindrical screw), and the distance between the fixing part 321 and the adjusting part 322 in the vertical direction is adjusted by an adjusting mechanism 326 provided on the fixing part 321.
  • the floating part 322 is further connected to the adjusting part 322 through an elastic member 327 (for example, a tower spring).
  • the distance between the adjustable portion 322 and the fixed portion 321 in the vertical direction that is, the position of the adjustable portion 322 in the vertical direction relative to the body frame 100, can be adjusted to adjust the waist holder support 320
  • the vertical position of the connected waist holder 310 may provide different installation positions of the waist holder 310 for patients of different heights. Since the floating part 323 is connected to the adjusting part 322 through the elastic member 327, the floating part 323 can work with the waist holder 310 connected to the floating part 323 when the patient is used for rehabilitation training. The center of gravity floats in the vertical direction accordingly.
  • the trainer in this article can perform walking rehabilitation training for the patient only through a simple mechanical mechanism, without the aid of electronic equipment. Therefore, the manufacturing cost is low, and at the same time, the high research and development cost required for the research and development of the intelligent control program matched with the trainer that requires electronic equipment is eliminated. Only a medical staff or even an ordinary operator can provide walking rehabilitation training for the patient, which improves the continuity of the rehabilitation training and the treatment effect.

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Abstract

一种用于无动力多关节同步训练器（10）的凸轮（700）。凸轮（700）具有圆形主体（710），圆形主体（710）的第一侧面（730）布置有凸轮槽（740），凸轮槽（740）的轮廓被构造为使凸轮（700）的旋转运动驱动设置在凸轮槽（740）中的随动部件（750）在预定水平轴线（760）上进行变速往复运动。凸轮（700）每旋转一周，随动部件（750）在第一、第二位置间进行一次往复运动。第一、第二位置分别是当随动部件（750）处于轮廓的距离圆形主体（710）的圆心（720）最近和最远位置时，随动部件（750）在水平轴线（760）上的位置。往复运动驱动与随动部件（750）相连的被驱动物在一角度范围内变速摆动。本申请还包括非圆齿轮副（800）、凸轮（700）和非圆齿轮副（800）的制造方法、采用凸轮（700）和非圆齿轮副（800）的传动装置以及无动力多关节同步训练器（10）。

Description

用于无动力多关节同步训练器的凸轮、非圆齿轮副、其制造方法、使用其的传动机构及无动力多关节同步训练器 技术领域
本文涉及一种传动机构和康复训练器，具体而言，设计一种用于无动力多关节同步训练器的传动机构和具有传动机构的无动力多关节同步训练器。
背景技术
肢体残疾人数量增多，老年人占比较大。根据第二次全国残疾人抽样调查结果显示全国目前肢体残疾患者约为2400多万，并且以每年数以百万计的数量递增。随着我国人口老龄化程度不断加剧，且脑血管疾病导致的肢体残疾人也越来越多。
调查还显示越来越多的肢体残疾人对医疗救助、扶持、康复服务的需求也越来越大，目前我国的康复技术手段仍以传统康复器械辅以康复师一对一康复治疗，这就需要大量的康复技师投身其入其中。
有的家庭因为经济问题而错过最佳的康复时间，经临床研究表明，多数偏瘫患者使用康复训练器械进行康复训练是可以部分或全部地恢复肢体运动功能的。
目前国内已经有许多科研机构和公司开始投入康复器械的研制，但智能化的设备研制费用高昂，普通患者家庭很难承担如此高昂的费用，同时相对于传统的肢体功能障碍康复治疗主要靠治疗师一对一徒手训练来说其训练强度，持续性，治疗效果也无法得至有效保证。
因此需要研制一款普通患者也有使用的下肢康复训练设备，并且康复训练强度、持续性、治疗效果都有保证的设备。
发明内容
本文的目的在于提供一种建议的下肢康复训练设备，其无需具备电动设置和相应的复杂控制程序，而仅仅通过治疗师或操作者进行简单操作即可向肢体功能障碍患者提供一对一的康复训练。
为了实现上述目的，根据一个方面，本文提供了一种用于无动力多关节同步训练器的凸轮，其特征在于，所述凸轮具有圆形主体，所述圆形主体的第一侧面布置有凸轮槽，所述凸轮槽的轮廓被构造为使所述凸轮的旋转运动驱动设置在所述凸轮槽中的随动部件在预定水平轴线上进行变速往复运动，其中
所述凸轮每旋转一周，所述随动部件在所述预定水平轴线上的第一位置与第二位置之间进行一次往复运动；
所述第一位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最近的位置时，所述随动部件在所述水平轴线上的位置，所述第二位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最远的位置时，所述随动部件在所述水平轴线上的位置；并且
所述往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
根据另一个方面，本文还提供了一种用于无动力多关节同步训练器的非圆齿轮副，包括主动非圆齿轮和与所述主动非圆齿轮传动啮合的从动非圆齿轮，其中
所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距，
所述主动非圆齿轮和所述从动非圆齿轮的节线经构造使得当所述主动非圆齿轮旋转一周时，所述主动非圆齿轮驱动设置在所述从动非圆齿轮上的第一侧面上的随动部件在第一位置和第二位置之间进行一次变速往复运动；
所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置，所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置；并且
所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
根据另一个方面，本文还提供了一种凸轮的制造方法，包括以下步骤：
(a)提供一圆形主体，将一随动件设置在所述圆形主体的侧表面上，所述随动部件在所述侧表面上并仅在水平方向上是可移动的；
(b)使所述随动部件在所述盘片的所述侧表面上在第一位置和第二位置之间进行一次变速往复运动；
(c)在执行步骤(b)的同时等速旋转所述盘片，其中所述随动部件执行 一次所述变速往复运动的周期与所述盘片旋转一周的周期相等；以及
(d)将所述随动部件在所述盘片的所述侧表面移动的轨迹作为凸轮轮廓以在所述圆心主体的侧表面上形成凸轮槽，其中所述第一位置与所述圆形主体的圆心之间的距离等于所述凸轮轮廓上距离所述圆心最近的位置与所述圆心之间的距离，并且所述第二位置与所述圆心之间的距离等于所述凸轮轮廓上距离所述圆心最远的位置与所述圆心之间的距离。
根据另一个方面，本文还提供了一种非圆齿轮副的制造方法，包括以下步骤，
提供彼此啮合的主动非圆齿轮和从动非圆齿轮，其中所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距；以及
在所述从动非圆齿轮的侧表面上提供随动部件，其中所述主动非圆齿轮和所述从动非圆齿轮的节线被构造为使得当所述主动非圆齿轮旋转一周时，所述主动非圆齿轮驱动所述随动部件在第一位置和第二位置之间进行一次变速往复运动，其中
所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置，所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置；并且
所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
根据另一个方面，本文还提供了一种用于无动力多关节同步训练器的传动机构，其特征在于，包括：
车轮组件；
传动组件，所述传动组件与所述车轮组件传动连接；
驱动组件，所述驱动组件与所述传动组件传动连接，所述驱动组件具有本文描述的凸轮；以及
腿杆组件，所述腿杆组件通过连杆与所述驱动组件连接，使得所述腿杆组件受所述传动组件的驱动而进行摆动。
根据另一个方面，本文还提供了一种无动力多关节同步训练器，其特征在于，包括：
车身框架；以及
第一传动机构和第二传动机构，所述第一传动机构和第二传动机构分别安装在所述车身框架的两侧，所述第一传动机构和第二传动机构是本文描述的传动机构；其中
所述第一传动机构的驱动组件与所述第二传动机构的驱动组件通过轴杆相连，并且所述第一传动机构的驱动组件与所述第二传动机构的驱动组件的定向相差180°。
附图说明
图1是根据本文一实施方式的无动力多关节同步训练器的立体示意图。
图2是图1所示的无动力多关节同步训练器的车轮组件的横截面视图。
图3是图1所示的无动力多关节同步训练器的传动组件的爆炸图。
图4是图1所示的无动力多关节同步训练器的凸轮组件和凸轮支撑件的爆炸图。
图5A是图1所示的无动力多关节同步训练器的腿杆组件的爆炸图。
图5B是图1所示的无动力多关节同步训练器的腿杆组件的立体示意图。
图6是图1所示的无动力多关节同步训练器的传动构件的侧视图。
图7是图1所示的无动力多关节同步训练器的凸轮组件的凸轮槽的凸轮轮廓设计方法的流程图。
图8是图1所示的无动力多关节同步训练器的腰部保持架的立体示意图。
图9是图1所示的无动力多关节同步训练器的腰部保持架支撑件的立体示意图。
图10A至图10D绘示了根据本文一实施方式的凸轮驱动随动滚轮运动的简要示意图。
图11A至图11D绘示了根据本文另一实施方式的非圆齿轮副驱动随动部件运动的简要示意图。
具体实施方式
为了使本发明的特征和优点更加清楚，下面将结合附图对本发明作进一步的说明，应注意，附图中所示出的实施方式是以解释本发明的方式而被提供的，且不应被视为对本发明的限制。
请参照图1，图1示出了根据本文一实施方式的无动力多关节同步训练器10。如图1所示，训练器10由车身框架100，以及附接在车身框架100上的一对传动机构200、腰部保持组件300、一对万向轮400和扶手500构成。在使用训练器时，需要进行行走康复训练的患者被固定在训练器10的前部(即，图1中的左侧)，另一位协助进行康复训练的医护人员或其他操作者位于训练器10的后部(即，图1中的右侧)。医护人员或其他操作者握紧扶手，并缓慢向前推动训练器10，在传动机构200机构的作用下，训练器10向前行进的动力转化为施加向患者腿部(例如，大腿部位和/或小腿部分)的作用力，该作用力使得患者的腿部能够按照既定的规律进行以患者的髋部为轴进行摆动，从而使得患者能够以正常人行走的步态跟随训练器10向前行进，以便实现行走康复训练的目的。
在本文的一些实施方式中，一对万向轮400设置在车身框架100的底部后侧。这一对万向轮400优选为一对4寸万向静音刹车脚轮，为训练器提供行进、静止时的平衡和稳定性能。当然，取决于车身框架的尺寸，也可以采用其它尺寸的万向轮，并且万向轮的种类也没有特别限制，只需能够实现上述平衡和稳定性能即可。
下文将对传动机构200、腰部保持组件300进行更详细的描述。
对于传动机构200，如图1所进一步示出，训练器100具有设置在车身框架两侧(即，图1的正面和背面)的一对传动机构200，这一对传动机构200具有相同的机构。如图1所示，传动机构200包括车轮组件210、传动组件220、驱动组件230和腿杆组件240。车轮组件210、传动组件220、驱动组件230和腿杆组件240分别在合适的位置处附接至车身框架100。例如，车轮组件220设置在车身框架100的下部前侧，传动组件220设置在车身框架100的中部后侧，驱动组件230设置在车身框架100的上部后侧，并且腿杆组件240设置在车身框架100的前部并从车身框架100的上部延伸至下部。
请参照图2，图2是传动机构200的车轮组件210的横截面视图。如图2所示，车轮组件210包括车轮主体211、链轮212、安装轴213和轴承组件214。车轮主体211优选为700C一体式车轮，使得车轮主体211的底部与万向轮400的底部处于相同的水平面，从而训练器10能够平稳地与地面接触。链轮212与车轮主体211同轴设置，并经由安装轴213和轴承组件214相互连接，使得 链轮212和车轮主体211能够同步旋转。安装轴213固定至车身框架100上。在该实施方式中，车轮组件210通过链轮212与将在下文详细描述的传动组件220传动连接。例如，如结合图1所示，车轮组件210的链轮212经由传动带215与车轮组件220传动连接。在车轮主体211旋转时，车轮主体211旋转的动力(或，扭力)经由传动带215传递给传动组件220，从而传动组件220能够随着车轮组件210的旋转而旋转。传动带215可以是传动链条，也可以是传动皮带。
请参照图3，图3是传动机构200的传动组件200的爆炸图。传动组件200包括链轮221和222、轴承223和224、和安装轴225。链轮221和222通过由轴承223、224和安装轴225所构成的轴承组件彼此连接，使得链轮221和222能够同步旋转。在传动组件200中，链轮221经由上文描述的传动带215而接受车轮组件210所传递的动力(或，扭力)，并且链轮222经由另一个传动带228与传动构件200的驱动组件230传动连接，从而将该动力(扭力)进一步传递给驱动组件230。传送带228与传动带215类似，其可以是传动链条，也可以是传动皮带。在一些实施方式中，安装轴225优选为花键轴。
返回图1，如图1所示的车身框架100上附接有一对传动机构200。因此图1所示的训练器10具有一对传动组件200。在本文的实施方式中，这一对传动机构200通过轴杆226彼此连接。如图2所述，轴杆226一端与一个传动组件200的安装轴225连接，轴杆226的另一端同样和另一个传动组件(未示出)的安装轴连接。由此，两个传动组件处的动力可以相互补充。在可与本文的一些实施方式结合的其它实施方式中，传动组件220包括差速器227。如图2所示，差速器227的径向外侧焊接至链轮222。当然，差速器227也可以安装在传动组件220的其它位置处。对于训练器10中的一对传动组件，差速器仅需安装在其中一个传动组件上即可。例如，差速器227安装在图2所示的传动组件220上，但是也可以安装在未图示于图2中的另一个传动组件上。差速器的选用避免了路面不平或是转弯时一对车轮组件210转速不一致而导致的自转向现象，并且不会给车轮转向增加额外的阻力。
请继续参照图4，如图4的A部分是传动机构200的凸轮机构230的爆炸示意图，图4的B部分是凸轮支撑件250的示意图。
如图4所示，驱动组件230包括凸轮231、连杆232、链轮233、轴承234、 随动滚轮235、摆杆236和轴杆237。其中轴杆237借助轴承234并经由形成与凸轮231的中央的开口2312而将链轮233和凸轮231彼此连接。链轮233经由上文描述的传送带228来接受传动组件220所提供的动力(扭力)，使得凸轮231随着传动组件220的旋转而旋转。
凸轮231的一侧上形成有将在下文描述的凸轮槽2311。连杆232的一端与凸轮231相连，另一端与下文将详细描述的腿杆组件240相连，使得当凸轮231旋转时，连杆232的与凸轮231相连的一端会随着凸轮231的旋转而在大致水平的方向上进行往复运动，从而连杆232的与腿杆组件240相连的另一端在凸轮231的驱动下进行前后摆动，这样腿杆组件240就会带着患者的腿部按正常人的行走步态被动地前后摆动，以在该前后摆动下使得患者向前被动行走，以便达到行走康复训练的目的。
具体而言，随动滚轮235被设置在凸轮槽2311内，凸轮槽2311的凸轮轮廓被构造为将凸轮231的旋转运动转换为位于凸轮槽2311内的随动滚轮235在大致水平方向上的预定的往复运动。随动滚轮235优选为滚轮轴承。具体而言，随动滚轮具有滚动部2351和与滚动部连接的支柱2352，滚动部2351设置在凸轮槽2311内，并且滚动部2351的侧壁与凸轮槽2311的侧壁向接触，使得当凸轮231旋转时，随动滚轮235的滚动部2351可以在凸轮槽2311内沿着槽的侧壁滚动。
请参见图10A-10D，示出了根据本文实施方式的凸轮700驱动随动滚轮750运动的简要示意图。其中凸轮700与图4中的凸轮231相似，随动滚轮750与图4中的随动滚轮235相似。
如图10A所示，凸轮700具有圆心主体710，其在传动组件220的驱动下可以圆心720为轴心旋转，优选为匀速旋转。在圆心主体710的侧面730上形成有凸轮槽740，例如，在一些实施方式中，凸轮槽740相对于圆心720偏心设置。凸轮槽740的凸轮轮廓为非圆形的封闭曲线，并且在该凸轮轮廓的位置A处，其距离圆心的距离最近，因此可称为近心位置A，在该凸轮轮廓的位置B处，其距离圆心的距离最远，因此可称为远心位置B。随动滚轮750设置在凸轮槽740中，并且随动滚轮750受到图4所示并将在下文描述的摆杆236和凸轮支撑件250的限制而大致仅在水平轴线760上是可移动的。
例如，以图10A中随动滚轮750位于水平轴线760上的位置作为T0时刻 的起始位置C1。如图10A所示，在位置C1处，凸轮700旋转到使得其上的凸轮槽740的近心位置A恰好位于水平轴线760上，从而凸轮槽740中的随动滚轮750位于凸轮轮廓的近心位置A。
接着，沿着图10A所示的箭头的方向逆时针转动凸轮700，使得凸轮700被转动到图10B的状态。如图10B所示，在T1时刻，随着凸轮700的转动，位于凸轮轮廓的近心位置A和远心位置B之间的某一位置旋转到与水平轴线760重合。此时，凸轮槽740的侧壁迫使随动滚轮750在水平轴线760上沿着水平方向上(例如，水平向左)从图10A中的位置C1移动到图10B中的水平轴线760上的位置C2。
接着，继续沿着图10B所示的箭头的方向逆时针转动凸轮700，使得凸轮700被转动到图10C的状态。如图10C所示，在T2时刻，随着凸轮700的转动，凸轮轮廓的远心位置B旋转到与水平轴线760重合。此时，位于凸轮槽740的侧壁迫使随动滚轮750在水平轴线760上沿着水平方向上(例如，水平向左)从图10B中的位置C2移动到图10C中的位置C3。其中，在位置C3处，随动滚轮750恰好位于凸轮轮廓的远心位置B。
接着，继续沿着图10C所示的箭头的方向逆时针转动凸轮700，使得凸轮700被转动到图10D的状态。如图10D所示，在T3时刻，随着凸轮700的转动，位于凸轮轮廓的近心位置A和远心位置B之间的某一位置旋转到与水平轴线760重合。此时，凸轮槽740的侧壁迫使随动滚轮750在水平轴线760上沿着水平方向上以与图10A和10B相反的方向(例如，水平向右)从图10C中的位置C3反向移动到图10D中的水平轴线760上的位置C4。
接着，若继续沿着图10D所示的箭头的方向逆时针转动凸轮700，则会回到图10A所示的状态。即，凸轮槽740的近心位置A恰好位于水平轴线760上。此时，位于凸轮槽740的侧壁迫使随动滚轮750在水平轴线760上沿着水平方向继续反向(例如，水平向右)上从图10D中的位置C4移动返回到图10A中的位置C1。此时，凸轮700正好旋转一圈。
可以看出，在凸轮700旋转一圈的期间，随动滚轮750在水平轴线760上进行往复运动。如图10A-10D所示，在凸轮700旋转一圈的期间，随动滚轮在T0时刻的起始位置C1水平向左移动到T1时刻的位置C2，接着继续水平向左移动到T2时刻的位置C3，接着以相反的方向水平向右移动到位置C4， 最后继续以相反的方向水平向右返回到位置C1。因此，凸轮700旋转一圈的期间，随动滚轮750经历到位置C1→位置C2→位置C3→位置C4→位置C1的往复运动。其中位置C1和C3对应于该往复运动的折返点，其中位置C1对应于凸轮轮廓的近心位置A旋转到与水平轴线760重合时上的位置，而位置C3对应于凸轮轮廓的远心位置B旋转到与水平轴线760重合时的位置。因此，在凸轮700旋转一圈的期间，随动滚轮750在位置C1和C3之间进行一次往复运动。同时，非圆形的封闭曲线的凸轮轮廓也导致了在凸轮700旋转期间，随动滚轮750在水平轴线760上移动的瞬时速度根据凸轮轮廓的变化而发生变化，也就是说，在凸轮700旋转期间，随动滚轮750在位置C1和C3之间进行变速度的往复运动。而在位置C1和C3之间的变速度往复运动进一步驱动了是待被随动滚轮750驱动的被驱动物(未示出)在预定角度范围内的变速度的摆动。
上文描述了使用凸轮作为驱动组件230以实现使凸轮的旋转运动驱动设置在凸轮槽中的随动滚轮进行往复运动，然后也可以使用其他驱动形式。图11A-11D示出了使用非圆齿轮副800来代替具有凸轮槽740的凸轮700。在使用非圆齿轮副800的情况下，驱动组件230的链轮233与非圆齿轮副800中的主动非圆齿轮810相连，而不是将链轮233于凸轮700相连。
图11A-图11D示出了使用非圆齿轮副800驱动其上的随动部件850运动的简要示意图。
如图11A-11D所示，非圆齿轮副800具有主动非圆齿轮810和与其啮合的从动非圆齿轮820。主动非圆齿轮810驱动从动非圆齿轮820旋转。主动非圆齿轮810和从动非圆齿轮820在外周上形成有齿部，主动非圆齿轮810和从动非圆齿轮820各自齿部的齿数相同，使得主动非圆齿轮810每旋转一圈，从动非圆齿轮820也旋转一圈。在该实施方式中，主动非圆齿轮810和从动非圆齿轮820的旋转轴心830和840从各自的几何中心偏离，并被设计为使得主动非圆齿轮810和从动非圆齿轮820之间的中心距相等，所述中心距指的是从主动非圆齿轮810的旋转轴心830到啮合位置的旋转半径和从从动非圆齿轮820的旋转轴心840到啮合位置的旋转半径之和。从而，具有相同中心距的非圆齿轮副800使得主动非圆齿轮810和从动非圆齿轮820旋转到任何位置处时，主动非圆齿轮810和从动非圆齿轮820都保证能够啮合在一起，而不会出现相互 分离或相互挤压的情况。从动非圆齿轮820的侧表面上形成有随动部件850。
下面将结合图11A-11D描述非圆齿轮副800上的随动部件850运动。
如图11A所示，以图11A中随动部件850的位置作为T0时刻的起始位置D1。如图11A所示，在位置D1处，随动部件850距离主动非圆齿轮810旋转轴心830之间的距离E1最短，即，在位置D1出，随动部件最靠近主动非圆齿轮810的旋转轴心830。
接着，沿着图11A所示的箭头的方向顺时针转动主从非圆齿轮810，从而从动非圆齿轮820在主动非圆齿轮810的驱动下逆时针旋转，使得非圆齿轮副800被转动到图11B的状态。如图11B所示，在T1时刻，随着非圆齿轮副800的转动，位于最靠近主动非圆齿轮810的旋转轴心830位置D1的随动部件850运动到位置D2。在位置D2处，随动部件850距离主动非圆齿轮810旋转轴心830之间的距离E2大于E1，故随着非圆齿轮副800从图11A的状态运动到图11B的状态，随动部件850渐渐远离主动非圆齿轮810的旋转轴心830。
接着，继续沿着图11B所示的箭头的方向顺时针转动主从非圆齿轮810，从而从动非圆齿轮820在主动非圆齿轮810的驱动下逆时针旋转，使得非圆齿轮副800被转动到图11C的状态。如图11C所示，在T2时刻，随着非圆齿轮副800的转动，位于位置D2的随动部件850运动到位置D3。在位置D3处，随动部件850距离主动非圆齿轮810旋转轴心830之间的距离E3进一步大于E2，故随着非圆齿轮副800从图11B的状态运动到图11C的状态，随动部件850继续渐渐远离主动非圆齿轮810的旋转轴心830。
接着，继续沿着图11C所示的箭头的方向顺时针转动主从非圆齿轮810，从而从动非圆齿轮820在主动非圆齿轮810的驱动下逆时针旋转，使得非圆齿轮副800被转动到图11D的状态。如图11D所示，在T3时刻，随着非圆齿轮副800的转动，位于位置D3的随动部件850运动到位置D4。在位置D4处，随动部件850距离主动非圆齿轮810旋转轴心830之间的距离E4小于E3并大于E1，故随着非圆齿轮副800从图11C的状态运动到图11D的状态，随动部件850开始渐渐靠近主动非圆齿轮810的旋转轴心830。
接着，若继续沿着图11D所示的箭头的方向顺时针转动主从非圆齿轮810，则从动非圆齿轮820在主动非圆齿轮810的驱动下逆时针旋转并回到图11A所示的状态。即，随着非圆齿轮副800从图11D的状态运动回到图11A的状 态，随动部件850继续渐渐靠近主动非圆齿轮810的旋转轴心830并最终返回最靠近主动非圆齿轮810的旋转轴心830的位置D1。此时，凸轮700正好旋转一圈。
可以看出，在非圆齿轮副800旋转一圈的期间，随动部件850在位置D1和D3之间进行往复运动。如图11A-11D所示，在非圆齿轮副800旋转一圈的期间，随动部件850在T0时刻的距离主动非圆齿轮810的旋转轴心830最近的起始位置D1移动到远离主动非圆齿轮810的旋转轴心830的位置C2，接着在T2时刻进一步远离主动非圆齿轮810的旋转轴心830而移动到距旋转轴心830最远的位置D3，接着渐渐靠近旋转轴心830移动到位置D3，并最后进一步靠近旋转轴心830而移动返回到距离旋转轴心830最近的位置D1。因此，在非圆齿轮副800旋转一圈的期间，随动部件850经历到位置D1→位置D2→位置D3→位置D4→位置D1的往复运动。其中位置D1和D3对应于该往复运动的折返点，其中位置D1对应于距离主动非圆齿轮810的旋转轴心830最近的位置，D3对应于距离主动非圆齿轮810的旋转轴心83最远的位置。因此，在非圆齿轮副800旋转一圈的期间，随动部件850在位置D1和D3之间进行一次往复运动。同时，非圆形的齿轮轮廓也导致了在非圆齿轮副800旋转期间，随动部件850在每一位置处的瞬时速度根据非圆形的齿轮节线的变化而发生变化。也就是说，在非圆齿轮副800旋转期间，随动部件850在位置D1和D3之间进行变速度的往复运动。而在位置D1和D3之间的变速度往复运动进一步驱动了是待被随动部件850驱动的被驱动物(未示出)在预定角度范围内的变速度的摆动。
回到图4，在优选实施方式中，凸轮槽2311的凸轮轮廓设计所得到的变速往复运动驱动正常人行走时腿部某一点以髋部为轴的变速摆动。因此，随着随动滚轮235在凸轮槽2311内的滚动，随动滚轮235在X-Z平面中的位置将基于凸轮槽2311的凸轮轮廓而变化，即，根据凸轮槽2311的凸轮轮廓而在X-Z平面上在如图10A-10D中位置C1和C3之间进行有规律的变速度往复运动。随动滚轮235的往复运动的两个边界位置C1和C3对应于正常人行走时腿部某一点以髋部为轴的两个边界角度。随动滚轮235的支柱2352连接至连杆232的一端，连杆232的另一端连接至将在下文描述的腿杆组件240上，使得当随动滚轮235随着凸轮231的旋转在X-Z平面中进行有规律的变速往复 运动时，腿杆组件240在连杆232的推/拉作用下在X-Z平面中进行有规律的变速摆动。凸轮231的凸轮槽2311的凸轮轮廓每旋转一周，凸轮槽2311中随动滚轮235在例如由图10A-10D中位置C1和C3所限定的距离进行一次往复运动。由于随动滚轮235带动腿杆组件240摆动，从而腿杆组件240也相应地在上述往复运动的驱动下摆动。由上述往复驱动所驱动的腿杆组件240的摆动角度对应于正常人行走时腿部某一点迈出一步时相对于髋部的摆动，随动滚轮235的一次往复运动所驱动的腿杆组件240变速摆动对应于正常人行走时腿部某一点迈出一步时相对于髋部的变速摆动，从而固定在腿杆组件240上患者被动地迈出一步，并且患者迈出一步时腿部的摆动角度和摆动方式与正常人无异，从而实现患者的步行训练。在本文的实施方式中，具体而言，连杆232将随动滚轮235与腿杆组件240的靠近髋部的对应于大腿的位置相连，因此，与凸轮槽2311的凸轮轮廓设计所对应的往复运动驱动正常人行走时大腿相对于髋部的摆动，并且往复运动驱动的摆动角度应于正常人行走时大腿相对于髋部的摆动角度。
对于正常人的行走步态而言，正常人的靠近髋部的大腿位置大致在图4所示的X方向上进行前后摆动，而在Z方向上的摆动很小，或几乎没有。有鉴于此，训练器进一步设置有凸轮支撑件250。凸轮支撑件250具有第一臂251，第一臂251的底部和顶部分别具有固定套252，以分别用于将驱动组件230的轴承234和传动组件220的轴承223支撑并固定于其中。第一臂251的上部还形成有导向槽253，导向槽253形成为在X方向上延伸的长孔。随动滚轮235的支柱2352设置在导向槽253中，使得随动滚轮235在X-Z平面中进行有规律的摆动时，其在Z方向(即，垂直方向)上的位移受到导向槽253的限制，而大致仅在X方向(即，水平方向)上进行有规律的前后摆动。此外，驱动组件240还进一步具有摆杆236，摆杆236的一端连接至支柱2352，另一端连接至凸轮支撑件250上，使得通过摆杆236也可以对随动滚轮235在Z方向上的位移进行限制。摆杆236的另一端也可以直接连接至车身框架100。
在可与本文的实施方式结合的其它实施方式中，凸轮231的与形成有凸轮槽2311的一侧相对的另一侧上还形成有第二凸轮槽(未示出)，与凸轮槽2311类似，与第二凸轮槽的凸轮轮廓设计对应的变速往复运动是与凸轮槽2311的凸轮轮廓所对应的变速往复运动不同的另一变速往复运动。相应的，驱动组件 230还具有第二轴承234’、第二连杆232’、第二随动滚轮235’和第二摆杆236’。第二轴承234’用以将凸轮231和轴杆234相连。第二凸轮槽、第二连杆232’、第二随动滚轮235’和第二摆杆236’的配合方式与凸轮槽2311、连杆232、随动滚轮235和第二摆杆236的配合方式基本相同，在此不再赘述。相应地，凸轮支撑件250还可具有与第一臂251平行的第二臂254。第二臂254在底部和顶部同样具有固定套252，用于将驱动组件230的第二轴承234’和传动组件220的轴承224支撑并固定于其中。并且第二臂254的上部同样形成有第二导向槽255，用于限制第二随动滚轮235’在Z方向上的位移，从而第二凸轮槽被构造为将凸轮231的转动运动转化为位于第二凸轮槽中的第二随动滚轮235’在大致在X方向(水平方向)上进行往复运动。
在凸轮231具有第二凸轮槽的实施方式中，第二连杆252’的一端连接至第二随动滚轮235’，另一端直接或间接地连接至腿杆组件240的对应于膝部的位置。因此，因此，与第二凸轮槽的凸轮轮廓设计所对应的变速往复运动对应于正常人行走时小腿相对于髋部的变速摆动，并且该往复运动的两个边界位置对应于正常人行走时小腿相对于髋部的变速摆动的两个边界角度。由此，凸轮231每旋转一周，在第二凸轮槽中的第二随动滚轮235’的变速往复运动对应于正常人行走时小腿相对于髋部的变速摆动，从而带动腿杆组件240的小腿部分同样以正常人行走时小腿相对于髋部的摆动方式进行一次摆动。因此，患者的小腿同样以对应于正常人行走时小腿的摆动方式进行一次摆动，从而实现患者的步行训练。
在可与本文的实施方式结合的其它实施方式中，驱动组件230可具有摩擦片239和239’(若存在的话)，设置在凸轮支撑件250和连杆之间。摩擦片239和239’优选为聚四氟基摩擦，可降低连杆在摆动过程中的摩擦阻力。
应注意虽然上文描述了基于具有凸轮的驱动组件230实现的患者的步行训练。但也可以使用具有如上文结合图11A-11D所示的非圆齿轮副800的另一形式的驱动组件来实现患者的步行训练。在这种情况下，将腿杆组件240的大腿位置和随动滚轮235相连的连杆232可被修改为连接腿杆组件240的大腿位置和随动部件850。从而随动部件850在位置D1和D3之间的变速往复运动同样可以驱动患者的大腿以正常人行走时大腿相对于髋部的摆动方式进行变速摆动。而具有非圆齿轮副800的驱动组件还可进一步具有另一额外的非 圆齿轮副，该额外的非圆齿轮副不同的非圆齿轮副800，其被设计为随动部件的变速往复运动对应于正常人小腿相对于髋部的变速摆动。因此，在这种情况下，将将腿杆组件240的小腿位置和第二随动滚轮235’相连的第二连杆232’可被修改为连接腿杆组件240的小腿位置和额外的非圆齿轮副的随动部件。从而额外的非圆齿轮副的随动部件的变速往复运动可以驱动患者的小腿以正常人行走时小腿相对于髋部的摆动方式进行变速摆动。
由于车身框架100上附接有一对传动机构200。因此训练器10具有一对驱动组件230。如图4所述，轴杆237的一端连接至一驱动组件230，虽然未示出，轴杆237的另一端连接至另一驱动组件，所述另一驱动组件的构造与驱动组件230相同。正常人的行走步态中，两只腿的摆动的相位始终是相差180度的，因此与轴杆237的一对驱动组件也以180度的相位差进行安装。
在可与本文的实施方式结合的其它实施方式中，轴杆237由第一轴杆2371和第二轴杆2372构成，第一轴杆2371与驱动组件230相连，第二轴杆2372与另一驱动组件相连。并且第一轴杆2377和第二轴杆2372安装有离合装置238。使用离合装置238的好处在于，一对驱动组件之间的相位差可以根据需要进行调整。例如，在患者穿戴训练器10时，需要双腿处于并拢的姿势，因此，可以打开离合装置238以自由的调整两侧的驱动组件的相位，当患者穿戴完成时，将重新调整两侧的驱动组件的相位使其相差180度，并再次闭合离合装置以形成第一轴杆2377和第二轴杆2372之间的固定连接。在可与本文的实施方式结合的其它实施方式中，离合装置238包括滑动扣2381，并且离合装置238在其两侧设置有限位把手，以限制第一轴杆2377和第二轴杆2372的取向。例如，在调节时，将第一轴杆2377和第二轴杆2372任意一者的取向进行限定，并调节第一轴杆2377和第二轴杆2372的另一者，在调节至指定相位后将所述另一者的限位把手拧紧后将离合装置238闭合，后再分别松开两侧的限位把手。轴杆237上还设置有折叠手柄2373和用于容纳折叠手柄2373的容纳空间2372，在调节第一轴杆2377和第二轴杆2372的取向时，可将折叠手柄2373从容纳空间2372中旋出，以便对第一轴杆2377和第二轴杆2372的取向进行调节，并在调节后将折叠手柄2373旋入容纳空间2372中。离合装置238两侧半轴上刻有标记线，当调节两端半轴至标记线对齐时将滑动扣进行滑动即可让两侧的第一轴杆2377和第二轴杆2372固定在相距180度相位，离合装置 还包括弹性碰珠2382，以保证在无操作时滑动扣2381可停留在指定位置。
参照图5A和5B，图5A是传动机构200的腿杆组件240的爆炸图。图5B是传动机构200的腿杆组件240的立体示意图。
腿杆组件240主要由大腿杆241和小腿杆242构成。大腿杆241和小腿杆242通过轴承(为示出)在膝部位置处彼此连接。在可与本文的实施方式结合的其它实施方式中，腿杆组件240进一步包括足底部件243，足底部件243在腿杆组件240的踝部位置处通过足部连接座244可拆卸第连接至腿杆组件240的小腿杆242。足底部件243还可向前屈曲0-15度。
在可与本文的实施方式结合的其它实施方式中，腿杆组件240进一步包括附接至大腿杆的绑带板245和附接至小腿杆242的绑带座246。绑带板245和绑带座246尚安装有腿部绑带，以便将患者的腿部固定至腿杆组件240上。
大腿杆241具有在髋部处的开口2419，并且在靠近髋部的位置处形成有开孔2414，上文所描述的连杆232的一端通过滚轮轴承2413连接至开孔2414，使得大腿杆241随着驱动组件240的旋转而进行有规律的摆动，以实现行走康复训练的目的。上文描述了在存在第二连杆232’的实施方式中，第二连杆232’连接至小腿杆242的靠近膝部的小腿位置处，使得腿杆组件240的小腿部分同样能够随着驱动组件230的旋转而进行有规律的摆动。如图1所述，驱动组件230安装在大致与腿杆组件240的髋部位置一致的高度，并且在正常人的行走步态中，小腿的摆动往往同时存在于X方向(水平方向)和Z方向(垂直方向)两者上。为了能够尽量将膝部的摆动转化为位于与驱动组件230处于一致的高度，在可与本文的实施方式结合的其它实施方式中，优选将第二连杆232’的一端间接地连接到小腿杆242的靠近膝部的小腿位置处。如图5所示，第二连杆232’经由小腿摆杆而间接地连接至小腿杆242的靠近膝部的小腿位置处，所述小腿摆杆设置在包括大腿杆241的对应于髋部的位置处并由第一随动杆247和第二随动杆248构成。具体而言，第二连杆232’的一端(例如，通过轴承)连接至位于第一随动杆247的端部2471处的开孔。例如通过轴承在第一随动杆247的另一端部2472的开孔处连接至第二随动杆248的位于端部2481处的开孔。第二随动杆248在另一端部2482的开孔处通过滚动轴承与形成在小腿杆242顶部的靠近膝部位置处的开孔2421连接。第一随动杆247在位于中间部2473上的开口处例如经由轴承连接至大腿杆241髋部处形成的开 口2419。开口2419的位置临近于开口2414。这样，当驱动组件230旋转时，第二连杆232’进行有规律的摆动，第二连杆232’作用于第一随动杆247的端部2471上而进行相应的摆动。第一随动杆247以中间部2473为转轴，使得第一随动杆247的另一端部2472跟随端部2471进行摆动，第一随动杆247的另一端部2472的摆动经由第二随动杆248而传递给小腿杆242的靠近膝部的位置，从而带动患者的膝部进行相应的摆动。第一随动杆247优选为具有L型的形状。第一随动杆247和第二随动杆248在预定位置处沿着Y方向弯折，使得第二连杆232’、第一随动杆247和第二随动杆248在Y方向上彼此错开，从而避免第二连杆232’、第一随动杆247和第二随动杆248彼此在摆动时的干扰。
在可与本文的实施方式结合的其它实施方式中，大腿杆241包括远离患者大腿的外侧大腿杆2411和紧靠患者大腿的内侧大腿杆2412。外侧大腿杆2411和内侧大腿杆2412可拆卸地安装在一起。如图5所示，外侧大腿杆2411和内侧大腿杆2412在底部通过轴承共同连接至小腿杆242，使得外侧大腿杆2411和内侧大腿杆2412在相互分离时，能够在X-Z平面上以外侧大腿杆2411(和内侧大腿杆2412)与小腿杆242的连接位置为转轴彼此旋转。这样得而好处是，当患者需要以坐姿进行穿戴时，可将外侧大腿杆2411和内侧大腿杆2412分离，使得内侧大腿杆2412可以在X-Z平面与小腿杆242呈大约90度的角度，以方便进行穿戴。在患者穿戴完成后，患者借助外力站立起来，当外侧大腿杆2411和内侧大腿杆2412趋于相互平行并相互重叠时，将外侧大腿杆2411和内侧大腿杆2412安装在一起成为一个整体，从而完成穿戴。在可与本文的实施方式结合的其它实施方式中，大腿杆241具有安装在外侧大腿杆2411上的开口2418处的弹簧插销机构2417。在需要分离外侧大腿杆2411和内侧大腿杆2412时，操作者手动打开弹簧插销机构2417。当需要重新组装侧大腿杆2411和内侧大腿杆2412时，外侧大腿杆2411相对于内侧大腿杆2412进行旋转，当外侧大腿杆2411旋转至与内侧大腿杆2412重合时，形成在内侧大腿杆2412上的开口2418’与开口2418重叠，此时，弹簧插销机构2417中的弹簧插销自动弹入开口2418’中，从而实现外侧大腿杆2411和内侧大腿杆2412的自动锁定。大腿杆还具有两个把手螺钉2415，把手螺钉2415安装在对应的外侧大腿杆2411的开口2416处和内侧大腿杆2412的开口2416’的位置处。当 需要分离外侧大腿杆2411和内侧大腿杆2412时，操作者手动打开把手螺钉2415以实现外侧大腿杆2411和内侧大腿杆2412的分离。当外侧大腿杆2411和内侧大腿杆2412相互重叠并经由弹簧插销机构2417自动锁定时，旋紧把手螺钉2415以进一步将外侧大腿杆2411和内侧大腿杆2412组装为一整体。
请参照图6，图6是传动构件200的侧视图，其中一些不必要的构件被隐去，使得传动构件200的结构可以显示得更加清楚。如上文所描述，当向前推动训练器时，车轮组件210向前行进。车轮组件210的转动经由传动带215传递给传动组件220。传动组件220的动力再次经由传动带228传递给驱动组件230，以带动驱动组件230中的凸轮转动。随着凸轮的转动，第一连杆232和第二连杆232’带动腿杆组件240进行有规律的摆动。第一连杆232直接连接至腿杆组件240的靠近髋部的大腿位置处，以带动患者的大腿相对于髋部进行有规律的摆动。第二连杆232’通过第一随动杆247和第二随动杆248间接地连接至腿杆组件240的靠近膝部的小腿位置处，以带动患者的小腿相对于髋部进行有规律的摆动。从而最终实现行走康复训练的目的。
上文描述了借助特别设计的凸轮轮廓使得推杆组件240进行正常人行走时的有规律的摆动。其中该凸轮轮廓是根据正常人行走时腿部的摆动规律反求设计出，特别是根据正常人行走时腿部的髋部位置和膝部位置的摆动规律反求设计出的。对于该凸轮轮廓的设计方法，正好可以以驱动组件230带动腿杆组件240摆动的相反的方式进行。
图7是驱动组件230的凸轮槽的凸轮轮廓设计方法600的流程图。下面将结合图2-图6来描述方法600。在框610中，将随动件设置在一盘片的侧表面上。如图4所示，该随动件可以是如随动滚轮235的随动件，其可以在盘片的侧表面上滚动。由于方法600是为了设计凸轮槽的凸轮轮廓，因此可以使用具有平坦侧表面的圆盘来替代图4中的凸轮231。随动件经设置使得其大致仅在是水平方向是可移动的，例如，借助图4中示出的导向槽253和摆杆236来限制随动件在垂直方向上的位移。
在框620处，提供一个圆形主体，使该随动件在圆形主体的侧表面上并在大致水平的方向上在预定距离上进行预定往复运动(例如，变速往复运动)，上述预定距离例如是图10A-10D所示的由位置C1和C3所限定的距离。
在框630处，在使随动件进行往复运动的同时，等速旋转盘片，使得盘片 每旋转一周，随动件在该预定距离上进行一次往复运动。
在框640处，因此，在随动件进行了一次往复运动时，盘片也恰好旋转一周。因此，随动件在该距离上进行一次往复运动的期间会在盘片的侧表面上形成一个非圆形闭合曲线的滚动轨迹，该闭合曲线就是所需要的凸轮槽的凸轮轮廓。因此，以该闭合曲线在圆形主体上形成凸轮槽即可得到本文所描述的凸轮。
如上文所述，所需要的往复运动优选是对应于正常人行走时大腿/小腿相对于髋部的摆动。上述预定距离的两个边界点(例如，图10A-10D所示的位置C1和C3)对应于正常人行走时大腿/小腿相对于髋部的摆动的两个边界角度。当需要将随动件的往复运动和运动距离分别和正常人行走时大腿相对于髋部的摆动和摆动角度时，只需将随动件通过连杆与腿杆的靠近髋部的大腿部分(例如图5所示的开孔2414的位置)相连即可。与之相似的，当需要随动件的往复运动和运动距离分别和正常人行走时小腿相对于髋部的摆动和摆动角度时，如图5-6所示，只需将随动件经由连杆，并经由小腿摆动杆连接至腿杆的靠近膝部的小腿部分即可，即，只需将随动件经由连杆(例如第二连杆232’)，并经由中间部分连接至腿杆髋部的第一随动杆(例如，第一随动杆248)和第二随动杆(例如，第二随动杆248)间接连接至腿杆的靠近膝部的小腿部分(例如图5所示的开孔2421的位置)处即可。当腿杆被固定至正常人的腿部而非患者的腿部时，每当正常人进行正常的行走动作时，就会带动随动件在与正常人行走时对应的摆动角度上进行与正常人行走对应的摆动运动，因此随动件在盘片的侧表面上留下的轨迹对应于正常人行走时小腿/大腿的摆动，从而得到的对应的凸轮轮廓。
在可与本文的实施方式结合的其它实施方式中，也可通过软件建模的方法来得到凸轮轮廓。例如，可利用计算机辅助软件(例如，Solidworks)对人体的腿部特征尺寸以及训练器的基本结构进行建模，再根据正常人行走过程中的腿部(例如，髋部和膝部)的往复运动规律对模型添加约束载荷，进行运动学仿真计算，从而得出正常人行走中的步态位移曲线，并将仿真得到的步态位移曲线导入到训练器的基本结构的模型中，从而可反求得出凸轮轮廓。此举的好处在于，可对实际使用的患者的腿部进行测量，从而能够为具体的患者定制最适合的凸轮轮廓，以改善康复训练的效果。
而对于非圆齿轮副，其制造方法可以如下进行：
首先，制造彼此啮合的主动非圆齿轮和从动非圆齿轮，其中所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距，使得主动非圆齿轮810每旋转一圈，从动非圆齿轮820也旋转一圈，并使得主动非圆齿轮810和从动非圆齿轮820旋转到任何位置处时，主动非圆齿轮810和从动非圆齿轮820都保证能够啮合在一起，而不会出现相互分离或相互挤压的情况。在一些实施方式中，主动非圆齿轮和从动非圆齿轮的旋转轴心被设计为从各自的几何中心偏离。
之后，在从动非圆齿轮的侧表面上形成随动部件以完成非圆齿轮副的制造。
在制造过程中，主动非圆齿轮和从动非圆齿轮的齿轮节线被设计为使得当所述主动非圆齿轮旋转一周时，主动非圆齿轮可驱动从动非圆齿轮上的随动部件在第一位置和第二位置之间进行一次变速往复运动。其中第一位置是随动部件最接近主动非圆齿轮的旋转轴心的位置，第二位置是随动部件最远离主动非圆齿轮的旋转轴心的位置。
当随动部件与待被随动部件驱动的其他构件(例如，腿杆组件240)相连时，随动部件的变速往复运动可驱动与其(例如通过连杆)连接的构件在一定角度范围内进行变速摆动。例如，根据本文的实施方式，随动部件可以通过连杆而在腿杆组件240中的对应于大腿的位置或对应于小腿的位置处与腿杆组件240相连。以随动部件连接至腿杆组件240中的对应于大腿的位置为例，随动部件的变速往复运动可驱动腿杆组件240的大腿位置以髋部为轴并遵循正常人行走时大腿相对于髋部的摆动方式进行变速摆动。由该变速往复运动驱动的摆动角度对应于正常人行走时大腿相对于髋部的摆动角度。随动部件进行往复运动的两个边界位置(即，第一位置和第二位置)对应于正常人行走时大腿摆动的两个边界角度。例如，当随动部件连接至左腿的腿杆时，第一位置对应于以左腿作为支撑腿时，右腿迈出一步后左腿相对于髋部的下边界角度，而第二位置对应于以右腿作为支撑腿时，左腿迈出一步后左腿相对于髋部的下边界角度。
对于主动非圆齿轮和从动非圆齿轮的节线设计，其可通过常规方法进行设计。即，确定其节曲线、模数、齿数与中心距的确定。
节曲线是根据所需的预定摆动规律得到的，例如，在本文的实施方式中，所需的预定摆动规律就是正常人行走时腿部(大腿或小腿)相对于髋部的变速 摆动规律。如果以主动非圆齿轮的转角作为时间基准，受到非圆齿轮副驱动的腿杆按此时间基准，并按照预定的规律进行摆动。此时还没有从动非圆齿轮的运动曲线，故从动非圆齿轮由腿杆通过连杆带动从动非圆齿轮来驱动。由于主动非圆齿轮与腿杆的摆动是同一个时间基准，故主动非圆齿轮回转一周，从动非圆齿轮也恰好回转一周。而在每一瞬时，由腿杆带动的从动非圆齿轮的转速并不等于主动非圆齿轮的均匀速度，但该转速对时间的积分在一个主动非圆齿轮的一个旋转周期内应该等于360°。但在实际工程计算中，由于舍入误差和采样密度的影响，数值积分结果会有少量偏差，需要通过比例修正，将数值积分误差控制在允许范围之内。
对于模数、齿数与中心距的确定，非圆齿轮副优先采用标准模数，便于使用标准的刀具进行加工。确定了模数并基于给定的齿数，也就确定了非圆齿轮节线的周长。而非圆齿轮副的瞬时传动比，等于该瞬时一对节线上主动非圆齿轮和从动非圆齿轮相互啮合的啮合点各自的旋转半径的反比。而节线上每一对节线半径之和等于非圆齿轮副的中心距。由于节线非圆，中心距、模数与齿数之间不再像圆形齿轮副那样存在一个简单的比例关系。即，如果采用标准模数，就会出现非标准中心距，反之亦然。由于在做节线周长数值积分之前，先要确定每一点的节线半径，而节线半径又是根据中心距和瞬时传动比来求得的，故首先要假设一个中心距，据此试算节线周长。通过调整中心距，最终使节线周长误差小于允许值。这样设计出来的非圆齿轮副具有标准模数和非标准的中心距。具有标准模数和非标准的中心距是易于制造的。
如图1所示，训练器10具有附接在车身框架100顶部的腰部保持组件300。以为截瘫、偏瘫患者在康复训练过程中对腰部提供力量支撑作用，让患者体验直立行走。腰部保持组件300与患者接触部分可设置有高分子材料绑带并辅以柔软舒适的发泡橡胶填充，增加患者穿戴舒适性和使用体验。
在可与本文的实施方式结合的其它实施方式中，腰部保持组件300包括组件包括与患者接触的腰部保持架310和用于将腰部保持架310附接至车身框架100的腰部保持架支撑件320。腰部保持架310在车身框架100的上方并在车身框架100的两侧之间延伸。在正常人的行走过程中，人体的重心在垂直方向具有约20-30mm的浮动量。腰部保持架支撑件320被构造为能够在垂直方向上进行上下浮动，以配合正常人的行走过程中人体的重心在垂直方向上的浮动。
图8是腰部保持架310的立体示意图。如图8所述，腰部保持架310包括固定至腰部保持架支撑件320上的一对支架311，一对挡板311分别在其一端枢接至相应的支架311。使得挡板311可被打开与闭合，以便于截瘫患者处于坐姿穿戴和立姿行走的空间位置变换。腰部保持架310还可包括与挡板311可拆卸地连接的门闩313，以保证挡板311闭合后整体保持腰部保持架310的刚性和稳定性。门闩313可为碳纤维材料。
请参照图9，图9是腰部保持架支撑件320的立体示意图。保持架支撑件320包括固定部321、调节部322和浮动部323。固定部320附接在车身框架100的顶部。浮动部323与腰部保持架310连接。固定部320两端形成有开孔，光轴324穿过固定部320的开孔并通过线性轴承(未示出)而与固定部320组装，使得光轴324能够在固定部320的开孔中在垂直方向上下移动。调节部322的两端也形成有开孔，调节部322在其开口处通过线性轴承(未示出)附接至光轴324上，并且调节部322可沿光轴324的延伸方向(垂直方向)上下移动。光轴324的顶部连接至浮动部323。调节部322进一步通过升降螺杆325(例如，圆柱丝杠)连接至固定部321，并通过设置在固定部321上的调节机构326来调整固定部321和调节部322在垂直方向的距离。浮动部322进一步通过弹性件327(例如，塔簧)连接至调节部322。通过调节升降螺杆325，可调节调节部322与固定部321在垂直方向上的距离，也就是可调节调节部322相对于车身框架100在垂直方向上的位置，从而调节与腰部保持架支撑件320连接的腰部保持架310的垂直位置，以便可能为不同身高的患者提供不同的腰部保持架310安装位置。由于浮动部323通过弹性件327连接至调节部322，因此在患者使用进行康复训练时，浮动部323能够与连接至浮动部323的腰部保持架310一起相对于调节部322随着患者行走时人体的重心在垂直方向的浮动量而相应地上下浮动。
由上所述，本文的训练器仅通过简单地机械机构就实现了对患者进行行走康复训练，无需使用电子设备加以辅助。因此制造成本低，同时省去了研发与需要电子设备的训练器配套的智能控制程序所需的高昂的研发费用。仅仅一名医护人员或甚至是普通操作者即可为患者提供行走康复训练，改善了康复训练的持续性和治疗效果。
当然，本文还可有其它多种实施方式，在不背离本文精神及其实质的情况 下，熟悉本领域的技术人员当可根据本文作出各种相应的改变和变形，但这些相应的改变和变形都应属于本文所附的权利要求的保护范围。

Claims (30)

  1. 一种用于无动力多关节同步训练器的凸轮，其特征在于，所述凸轮具有圆形主体，所述圆形主体的第一侧面布置有凸轮槽，所述凸轮槽的轮廓被构造为使所述凸轮的旋转运动驱动设置在所述凸轮槽中的随动部件在预定水平轴线上进行变速往复运动，其中
    所述凸轮每旋转一周，所述随动部件在所述预定水平轴线上的第一位置与第二位置之间进行一次往复运动；
    所述第一位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最近的位置时，所述随动部件在所述水平轴线上的位置，所述第二位置是当所述随动部件处于所述轮廓的距离所述圆形主体的圆心最远的位置时，所述随动部件在所述水平轴线上的位置；并且
    所述往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
  2. 根据权利要求1所述的凸轮，其中所述被驱动物是人的大腿，所述角度是正常人行走时大腿以髋部为轴的摆动角度，所述变速摆动是正常人行走时大腿的摆动。
  3. 根据权利要求1或2所述的凸轮，其中所述凸轮进一步包括第二凸轮槽，所述第二凸轮槽设置在所述圆形主体的所述第一侧面相对的第二侧面上，所述第二凸轮槽的第二轮廓被构造为使所述凸轮的旋转运动驱动设置在所述第二凸轮槽中的第二随动部件在所述水平轴线上进行另一往复运动，所述第二轮廓与所述轮廓不同，其中
    所述凸轮每旋转一周，所述第二随动部件在所述预定水平轴线上并在第三位置与第四位置之间进行一次往复运动；
    所述第三位置是当所述第二随动部件处于所述第二轮廓的距离所述圆形主体的圆心最近的位置时，所述第二随动部件在所述水平轴线上的位置，所述第四位置是当所述第二随动部件处于所述第二轮廓的距离所述圆形主体的圆心最远的位置时，所述第二随动部件在所述水平轴线上的位置；并且
    所述另一往复运动驱动与所述第二随动部件相连的另一被驱动物在另一角度范围内变速摆动。
  4. 根据权利要求3所述的凸轮，其中所述另一被驱动物是人的小腿，所述另一角度是正常人行走时小腿以髋部为轴的摆动角度，所述另一变速摆动是正常人行走时小腿的摆动。
  5. 一种用于无动力多关节同步训练器的非圆齿轮副，包括主动非圆齿轮和与所述主动非圆齿轮传动啮合的从动非圆齿轮，其中
    所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距，
    所述主动非圆齿轮和所述从动非圆齿轮的节线经构造使得当所述主动非圆齿轮旋转一周时，所述主动非圆齿轮驱动设置在所述从动非圆齿轮上的第一侧面上的随动部件在第一位置和第二位置之间进行一次变速往复运动；
    所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置，所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置；并且
    所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
  6. 根据权利要求5所述的非圆齿轮副，其中所述被驱动物是人的大腿，所述角度是正常人行走时大腿以髋部为轴的摆动角度，所述变速摆动是正常人行走时大腿的摆动。
  7. 根据权利要求5所述的非圆齿轮副，其中所述被驱动物是人的小腿，所述角度是正常人行走时小腿以髋部为轴的摆动角度，所述变速摆动是正常人行走时小腿的摆动。
  8. 一种凸轮的制造方法，包括以下步骤：
    (a)提供一圆形主体，将一随动件设置在所述圆形主体的侧表面上，所述随动部件在所述侧表面上并仅在水平方向上是可移动的；
    (b)使所述随动部件在所述盘片的所述侧表面上在第一位置和第二位置之间进行一次变速往复运动；
    (c)在执行步骤(b)的同时等速旋转所述盘片，其中所述随动部件执行一次所述变速往复运动的周期与所述盘片旋转一周的周期相等；以及
    (d)将所述随动部件在所述盘片的所述侧表面移动的轨迹作为凸轮轮廓以在所述圆心主体的侧表面上形成凸轮槽，其中所述第一位置与所述圆形主体的圆心之间的距离等于所述凸轮轮廓上距离所述圆心最近的位置与所述圆心之间的距离，并且所述第二位置与所述圆心之间的距离等于所述凸轮轮廓上距离所述圆心最远的位置与所述圆心之间的距离。
  9. 根据权利要求8所述的方法，进一步包括以下步骤：提供一固定至人的腿部的腿杆，所述腿杆具有彼此相连的大腿部分和小腿部分，将所述随动部件通过连杆与所述大腿部分相连，使用正常人行走时所述大腿部分以髋部为轴的变速摆动驱动所述随动部件进行所述变速往复运动。
  10. 根据权利要求8所述的方法，进一步包括以下步骤：提供一固定至人的腿部的腿杆，所述腿杆具有彼此相连的大腿部分和小腿部分，将所述随动部件通过连杆与所述小腿部分相连，使用正常人行走时所述小腿部分以髋部为轴的变速摆动驱动所述随动部件进行所述变速往复运动。
  11. 一种非圆齿轮副的制造方法，包括以下步骤，
    提供彼此啮合的主动非圆齿轮和从动非圆齿轮，其中所述主动非圆齿轮和所述从动非圆齿轮具有相同的齿数和固定的中心距；以及
    在所述从动非圆齿轮的侧表面上提供随动部件，所述主动非圆齿轮和所述从动非圆齿轮的节线被构造为使得当所述主动非圆齿轮旋转一周时，所述主动非圆齿轮驱动所述随动部件在第一位置和第二位置之间进行一次变速往复运动，其中
    所述第一位置是所述随动部件最接近所述主动非圆齿轮的旋转轴心的位置，所述第二位置是所述随动部件最远离所述主动非圆齿轮的旋转轴心的位置；并且
    所述变速往复运动驱动与所述随动部件相连的被驱动物在一角度范围内变速摆动。
  12. 根据权利要求11所述的非圆齿轮副，其中所述被驱动物是人的大腿，所述角度是正常人行走时大腿以髋部为轴的摆动角度，所述变速摆动是正常人行走时大腿的摆动。
  13. 根据权利要求11所述的非圆齿轮副，其中所述被驱动物是人的小腿，所述角度是正常人行走时小腿以髋部为轴的摆动角度，所述变速摆动是正常人行走时小腿的摆动。
  14. 一种用于无动力多关节同步训练器的传动机构，其特征在于，包括：
    车轮组件；
    传动组件，所述传动组件与所述车轮组件传动连接；
    驱动组件，所述驱动组件与所述传动组件传动连接，所述驱动组件具有权利要求3所述的凸轮；以及
    腿杆组件，所述腿杆组件通过连杆与所述驱动组件连接，使得所述腿杆组件受所述传动组件的驱动而进行摆动。
  15. 根据权利要求14所述的传动机构，其中所述驱动组件进一步包括：
    支撑件，用于支撑所述凸轮；以及
    摆杆，所述摆杆的一端与所述驱动组件的随动部件连接，所述摆杆的另一端固定连接至所述支撑件。
  16. 根据权利要求14所述的传动机构，其中所述驱动组件进一步包括聚四氟基摩擦片，设置在所述连杆与所述凸轮支撑件之间。
  17. 根据权利要求14所述的传动机构，其中所述腿杆组件包括：
    大腿杆；以及
    小腿杆；所述小腿杆通过轴承在所述腿杆组件的膝部位置处与所述大腿 杆连接；
    其中所述连杆将所述随动部件连接至所述大腿杆上，使得所述大腿杆受所述随动部件驱动而在一角度上进行变速摆动，所述角度是正常人行走时大腿以髋部为轴摆动的角度，并且所述变速摆动是正常人行走时大腿的摆动。
  18. 根据权利要求17所述的传动机构，进一步包括：
    小腿摆动杆；
    第二连杆，所述第二连杆的一端经由所述小腿摆动杆连接至所述小腿杆上，所述小腿摆动杆设置在所述大腿杆的对应髋部的位置处，所述第二连杆的另一端连接至所述驱动组件的第二随动部件；以及
    第二摆杆，所述第二摆杆的一端与所述第二随动部件连接，所述第二摆杆的另一端固定连接至所述支撑件；其中
    所述第二随动部件驱动所述小腿杆以另一角度进行另一变速摆动，所述另一角度是正常人行走时小腿以髋部为轴摆动的角度，并且所述另一变速摆动是正常人行走时小腿的摆动。
  19. 一种用于无动力多关节同步训练器的传动机构，其特征在于，包括：
    车轮组件；
    传动组件，所述传动组件与所述车轮组件传动连接；
    驱动组件，所述驱动组件与所述传动组件传动连接，所述驱动组件具有权利要求5所述的非圆齿轮副；以及
    腿杆组件，所述腿杆组件通过连杆与所述驱动组件连接，使得所述腿杆组件受所述传动组件的驱动而进行摆动。
  20. 根据权利要求19所述的传动机构，其中所述腿杆组件包括：
    大腿杆；以及
    小腿杆；所述小腿杆通过轴承在所述腿杆组件的膝部位置处与所述大腿杆连接；
    其中所述连杆将所述驱动组件的随动部件连接至所述大腿杆上，使得所述大腿杆受所述随动部件驱动而在一角度上进行变速摆动，所述角度是正常人行 走时大腿以髋部为轴摆动的角度，并且所述变速摆动是正常人行走时大腿的摆动。
  21. 根据权利要求19所述的传动机构，进一步包括：
    另一驱动组件，其中所述另一驱动组件具有权利要求5所述的非圆齿轮副；
    小腿摆动杆；
    第二连杆，所述第二连杆的一端经由所述小腿摆动杆连接至所述小腿杆上，所述小腿摆动杆设置在所述大腿杆的对应髋部的位置处，所述第二连杆的另一端连接至所述另一驱动组件的第二随动部件；以及
    第二摆杆，所述第二摆杆的一端与所述第二随动部件连接，所述第二摆杆的另一端固定连接至所述支撑件；其中
    所述第二随动部件驱动所述小腿杆以另一角度进行另一变速摆动，所述另一角度是正常人行走时小腿以髋部为轴摆动的角度，并且所述另一变速摆动是正常人行走时小腿的摆动。
  22. 根据权利要求17或20所述的传动机构，所述腿杆组件进一步包括足底部件，所述足底部件在所述腿杆组件的踝关节处可拆卸地安装至所述小腿杆。
  23. 根据权利要求17或20所述的传动机构，所述大腿杆包括外侧大腿杆和内侧大腿杆，所述内侧大腿杆上安装有绑带板，所述小腿杆上安装有绑带座；其中所述内侧大腿杆相对于所述外侧大腿杆是可旋转的。
  24. 一种无动力多关节同步训练器，其特征在于，包括：
    车身框架；以及
    第一传动机构和第二传动机构，所述第一传动机构和第二传动机构分别安装在所述车身框架的两侧，所述第一传动机构和第二传动机构是如权利要求14-23任一项所述的传动机构；其中
    所述第一传动机构的驱动组件与所述第二传动机构的驱动组件通过轴杆相连，并且所述第一传动机构的驱动组件与所述第二传动机构的驱动组件的定向相差180°。
  25. 根据权利要求24所述的无动力多关节同步训练器，其中所述轴杆包括第一杆部和第二杆部，所述第一杆部通过离合器与所述第二杆部相连。
  26. 根据权利要求24所述的无动力多关节同步训练器，其中所述第一传动机构与所述第二传动机构通过第二轴杆相连，并且所述第一传动机构与所述第二传动机构之间具有安装至所述第二轴杆的差速器。
  27. 根据权利要求24所述的无动力多关节同步训练器，进一步具有两个万向刹车脚轮，安装在所述车身框架的底部并分别位于所述车身框架的两侧。
  28. 根据权利要求24所述的无动力多关节同步训练器，进一步具有腰部保持架，所述腰部保持架连接至所述车身框架的顶部并在所述框架的两侧之间延伸。
  29. 根据权利要求28所述的无动力多关节同步训练器，进一步具有两个腰部保持架支撑件，所述两个腰部保持架支撑件安装在所述车身框架的顶部并位于所述车身框架的两侧，所述腰部保持架支撑件包括：
    固定部，固定连接至所述车身框架；
    调节部，通过升降螺杆与所述固定部连接；以及
    浮动部，所述浮动部通过弹性件与所述调节部连接；其中
    所述腰部保持架的两端分别连接至相应腰部保持架支撑件的所述浮动部。
  30. 根据权利要求24所述的无动力多关节同步训练器，进一步具有扶手，所述扶手安装在所述车身框架上。
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