WO2023024374A1 - 一种下肢行走康复训练机 - Google Patents

一种下肢行走康复训练机 Download PDF

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Publication number
WO2023024374A1
WO2023024374A1 PCT/CN2021/141922 CN2021141922W WO2023024374A1 WO 2023024374 A1 WO2023024374 A1 WO 2023024374A1 CN 2021141922 W CN2021141922 W CN 2021141922W WO 2023024374 A1 WO2023024374 A1 WO 2023024374A1
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Prior art keywords
connecting rod
rod
rehabilitation training
training machine
support
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PCT/CN2021/141922
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English (en)
French (fr)
Inventor
詹葵华
邱梓衔
陆裕豪
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苏州大学
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Priority to US17/801,312 priority Critical patent/US20230321480A1/en
Publication of WO2023024374A1 publication Critical patent/WO2023024374A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
    • A63B22/0056—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis the pivoting movement being in a vertical plane, e.g. steppers with a horizontal axis
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0046—Details of the support elements or their connection to the exercising apparatus, e.g. adjustment of size or orientation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B25/00—Stilts or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0025—Particular aspects relating to the orientation of movement paths of the limbs relative to the body; Relative relationship between the movements of the limbs
    • A63B2022/0038—One foot moving independently from the other, i.e. there is no link between the movements of the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/09—Adjustable dimensions

Definitions

  • the invention relates to the technical field of limb rehabilitation treatment equipment, in particular to a lower limb walking rehabilitation training machine.
  • the currently used rehabilitation equipment mainly includes two categories: exoskeleton wearable robots and pedal rehabilitation training machines.
  • Exoskeleton wearable robot is an important direction for the development of limb rehabilitation treatment equipment. Its training method is the best choice for patients with limb paralysis and inability to walk, and it is also irreplaceable by other rehabilitation treatment methods. However, the equipment-led modular training method is easy to make patients accustomed to the practice of limb decomposition movements. For patients with partial motor ability who need to improve the coordination of limb movement, the pertinence is not strong, and the use of biofeedback signals Excessive dependence is also not conducive to their conscious stimulation of muscle vitality, getting rid of the assistance of equipment as soon as possible, and restoring their ability to walk independently.
  • Exoskeleton wearable robots take up a lot of space, are expensive, and require highly specialized operations.
  • pedal training machines occupy a small area, are low in cost, and are easy to operate.
  • the gait training of most lower limb rehabilitation training equipment is based on the gait characteristics of a normal human walking on a treadmill, and provides guidance for gait training for patients, and its gait trajectory is in the shape of a tip feather.
  • the improvement of the walking ability of patients with walking disabilities needs to first achieve the rehabilitation goal of "stepping" on the ground. Therefore, it is an urgent problem for those skilled in the art to provide a foot exercise training machine guided by the gait trajectory of "stepping" on the ground.
  • the technical problem to be solved by the present invention is to overcome the defects of the lower limb walking rehabilitation machine in the prior art, technically realize the planning of "stepping" gait trajectory, simplify the structure of the pedal training machine, and reduce the production cost.
  • the present invention provides a walking rehabilitation training machine for lower limbs, which includes two support frames, two gait simulation mechanisms respectively installed on the two support frames, and two gait simulation mechanisms respectively installed on the two steps.
  • Two pedals on the posture simulation mechanism the support frame is a crutch type support frame, and the pedal is a shoe cover type pedal, and the gait simulation mechanism includes:
  • a four-bar linkage mechanism the four-bar linkage mechanism includes a crank, a first connecting rod, a rocker and a frame rod, the lower end of the first connecting rod is connected to one end of the crank through a hinge, and the other end of the crank is connected to the crank.
  • One end of the rack rod is connected by a hinge, the other end of the rack rod is hinged to the lower end of the rocker, the upper end of the rocker is connected to the first connecting rod through a hinge, and the connection point is the first the midpoint of the connecting rod;
  • a curve amplification mechanism includes a second connecting rod, a third connecting rod, a fourth connecting rod and a short connecting rod, the second connecting rod is hinged to one end of the short connecting rod, and the connecting point is the the midpoint of the second connecting rod, the other end of the short connecting rod is hinged to the third connecting rod shaft, the upper end of the second connecting rod is hinged to the fourth connecting rod shaft, and the third connecting rod The upper end of the rod is hinged to the lower end of the fourth connecting rod, the second connecting rod is arranged parallel to the third connecting rod, and the short connecting rod is arranged parallel to the fourth connecting rod;
  • the upper end of the first connecting rod in the four-bar linkage mechanism is hinged to the lower end of the second connecting rod in the curve amplification mechanism, and the lower end of the third connecting rod in the curve amplification mechanism is hinged to the pedal.
  • the frame rod in the four-bar linkage mechanism is relatively fixed to the support frame, and the upper end of the fourth link in the curve amplification mechanism is connected to the inner side of the crutch-type support frame through a fixed hinge, and the hinge point Align vertically with the hinge point at the lower end of the joystick;
  • the support frame In the working state, the support frame is fixed to the ground.
  • trajectory generated by the upper end of the first link in the four-bar linkage mechanism is close to the horizontal line in 5 steps.
  • trajectory size ratio between the track generated by the lower end of the third link in the curve amplification mechanism and the track generated by the upper end of the first link in the four-bar linkage mechanism is 9.5:6.
  • the rod length ratio of the crank, the first connecting rod, the rocker and the rack rod is 1:8:4:3.
  • the rod length ratio of the second connecting rod, the third connecting rod, the fourth connecting rod and the short connecting rod is 6:9.5:9.5:3.5.
  • cranks of the two gait simulation mechanisms are connected through transmission shafts, and the crank of one of the gait simulation mechanisms is driven by a motor to rotate at a constant speed.
  • the rotation angle difference between the cranks of the two gait simulation mechanisms is 180°.
  • the driving speed of the crank can be adjusted.
  • the crutch-type support frame includes a support rod, a soft bag support pad installed on the upper end of the support rod for underarm support, an armrest installed at the lower end of the support rod, and an armrest installed between the armrest and the ground for Fix the fixed bracket of the entire crutch-type support frame, the inner side of the support rod is connected with the fourth connecting rod in the gait simulation mechanism through a fixed hinge, and the connection point is vertically aligned with the hinge point at the lower end of the rocker.
  • the length of the support rod can be adjusted through a rod length adjusting device provided on the support rod.
  • the gait simulation mechanism of the present invention simulates the "stepping" walking training on the ground by allowing the patient's feet to conform to the shell-like movement track of the pedal, and strengthens the ground walking through continuous "stepping” training
  • the vitality and coordination of the muscle groups required for the alternate ups and downs of the legs are used to balance the body, and the mobility of the joints of the lower limbs is used to complete the legs guided by the feet. walking action.
  • the walking rehabilitation training machine for lower limbs disclosed by the present invention only controls the movement trajectory of the ankle joint position, and for patients with partial lower limb mobility, it can be familiar with the normal walking posture and correct its abnormal gait. , to stimulate and enhance their ability to coordinate movements between the joints of their lower limbs.
  • Fig. 1 is the structural representation of lower limb walking rehabilitation training machine of the present invention
  • Fig. 2 is the general view of the left foot device of the walking rehabilitation training machine for lower limbs of the present invention
  • Fig. 3 is a schematic diagram of the mechanism of the four-link mechanism of the walking rehabilitation training machine for lower limbs of the present invention
  • Fig. 4 is a mechanism diagram of the curve amplification mechanism of the lower limb walking rehabilitation training machine of the present invention.
  • Fig. 5 is a working schematic diagram of the lower limb walking rehabilitation training machine of the present invention.
  • Fig. 6 is a diagram of the foot movement track when the walking rehabilitation training machine for lower limbs of the present invention simulates walking on the ground;
  • Fig. 7 is a foot movement trajectory diagram of the walking rehabilitation training machine for lower limbs of the present invention.
  • Fig. 8 is a graph showing the law of foot movement of the walking rehabilitation training machine for lower limbs of the present invention.
  • a kind of lower limb walking rehabilitation training machine comprises two support frames 10, two gait simulation mechanisms 20 respectively installed on the two support frames 10 and respectively installed on the two support frames 10.
  • Two pedals 30 on a gait simulation mechanism 20 the support frame 10 is a crutch type support frame, and the pedal 30 is a shoe cover type pedal, and the gait simulation mechanism 20 includes:
  • crank 210 first connecting rod 211, rocking bar 212 and frame bar 213, and described first connecting rod 211 lower end is connected with described crank 210 by hinge rotation , the other end of the crank 210 is rotatably connected to one end of the rack bar 213 through a hinge, the other end of the rack bar 213 is hinged to the lower end of the rocker 212, and the upper end of the rocker 212 is hinged to the first
  • the connecting rod 211 is connected, and the connecting point is the midpoint of the first connecting rod 211;
  • a curve amplification mechanism includes a second connecting rod 220, a third connecting rod 221, a fourth connecting rod 222 and a short connecting rod 223, the second connecting rod 220 is hinged to one end of the short connecting rod 223,
  • the connecting point is the midpoint of the second connecting rod 220
  • the other end of the short connecting rod 223 is hinged to the shaft of the third connecting rod 221
  • the upper end of the second connecting rod 220 is connected to the fourth connecting rod.
  • the shaft of the rod 222 is hinged, the upper end of the third connecting rod 221 is hinged with the lower end of the fourth connecting rod 222, the second connecting rod 220 is arranged in parallel with the third connecting rod 221, and the short connecting rod 223 is connected with the third connecting rod 221.
  • the fourth connecting rod 222 is arranged in parallel;
  • the upper end of the first connecting rod 211 in the four-bar linkage mechanism 21 is hinged to the lower end of the second connecting rod 220 in the curve amplifying mechanism 22, and the lower end of the third connecting rod 221 in the curve amplifying mechanism 22 is connected to
  • the pedal 30 is hinged, the frame rod 213 in the four-bar linkage mechanism 21 is relatively fixed to the support frame 10, and the upper end of the fourth connecting rod 222 in the curve amplification mechanism 22 is connected to the fixed hinge through a fixed hinge.
  • the inner side of the crutch type support frame is connected, and the hinge point is vertically aligned with the hinge point at the lower end of the rocking bar 212;
  • the support frame 10 In the working state, the support frame 10 is fixed to the ground.
  • the gait simulation mechanism simulates ground walking training by allowing the patient's feet to follow the shell-shaped motion trajectory of the pedals.
  • the trajectory shape is similar to the ankle joint movement trajectory of a normal person's "stepping” walking.
  • continuous “stepping” training to enhance the vitality and coordination of the muscle groups required for the alternate ups and downs of the feet when walking on the ground, at the same time, use the muscle strength of your own upper limbs, use the armpit support to balance the body, and use the mobility of your lower limb joints to complete Two-legged walking action guided by the feet.
  • the track 41 generated by the first link 211 in the four-bar linkage mechanism 21 has five degrees of closeness to the horizontal line.
  • the size ratio relationship between the trajectory 43 generated by the above-mentioned curve amplification mechanism 22 and the trajectory 41 generated by the above-mentioned four-bar linkage mechanism 21 is 9.5:6.
  • the rod length ratio of the crank 210 , the first connecting rod 211 , the rocker 212 and the frame rod 213 is 1:8:4:3.
  • the rod length ratio of the second connecting rod 220 , the third connecting rod 221 , the fourth connecting rod 222 and the short connecting rod 223 is 6:9.5:9.5:3.5.
  • cranks 210 of the above-mentioned gait simulation mechanism are connected through a transmission shaft 23, and one crank 210 of the above-mentioned gait simulation mechanism is driven by a motor to rotate at a constant speed.
  • the rotation angle difference between the cranks 210 of the above two gait simulation mechanisms is 180°.
  • the rotation angle difference between the cranks of the two gait simulation mechanisms is 180°, which can ensure that the trajectory shapes of the movement points of the two feet are the same, and that the two feet perform isochronous alternate movements.
  • the driving speed of the crank 210 can be adjusted.
  • the rotation speed of the drive crank can be adjusted to meet the needs of different patients for walking speed.
  • the above-mentioned crutch type support frame 10 includes a support rod 101, a soft bag support pad 102 installed on the upper end of the above-mentioned support rod 101 for underarm support, an armrest 103 installed on the lower end of the above-mentioned support rod 101, and an armrest 103 and the ground.
  • the fixed bracket 104 is used to fix the entire above-mentioned crutch-type support frame, and the inner side of the above-mentioned support rod 101 is connected with the fourth connecting rod 222 in the above-mentioned gait simulation mechanism 20 through a fixed hinge.
  • the length of the support rod 101 can be adjusted through a rod length adjusting device 105 provided on the support rod 101 .
  • the length can be adjusted to meet the needs of different patients for the height of the support pad.
  • two gait simulation mechanisms 20 are installed on the inner side of the crutch-type bracket to control the motion postures of the left and right feet respectively.
  • One crank 210 of the gait simulation mechanism 20 is driven by a motor to rotate at a constant speed, and the other crank 210 is driven to rotate through the transmission shaft 23.
  • the two cranks maintain a phase difference of 180°.
  • the lower ends of the third connecting rod 221 in the two groups of gait simulation mechanisms 20 work as Alternate "stepping" movements.
  • the position of the lower end of the third link 221 in the gait simulation mechanism is used as a reference for the height of the ankle joint.
  • a pair of shoe cover type pedals are installed to bind the feet, so that the patients can perform gait rehabilitation training on the feet of the patient according to the trajectory of normal people walking on the ground. .
  • the present invention provides a four-bar linkage mechanism capable of generating a shell-like trajectory with 5-order closeness to its tangent.
  • a gait trajectory the higher the degree of closeness to the straight line, the better the fit between the foot and the ground, the smaller the impact, and it will not cause secondary damage to the patient's limbs.
  • the four-bar linkage mechanism is composed of a crank 210, a first connecting rod 211, a rocker 212 and a frame rod 213.
  • the designed rod length ratio is 1:8:4:3, and the first connecting rod
  • the hinge point on 211 is the midpoint of the bar.
  • the trajectory 41 of the upper end point of the first connecting rod has a 5th degree of closeness to the horizontal line at the point 40, presenting a longer straight line segment, which is proved as follows.
  • Equation (1) of track 41 takes the first derivative with respect to x to get
  • W 1 -2835-459x+594x 2 -6x 3 -15x 4 +x 5 +(198-30x-18x 2 +2x 3 )y 2 +(-3+x)y 4 (3)
  • Equation (1) of track 41 takes the second order derivative with respect to x to get
  • W 2 -459+1188x-18x 2 -60x 3 +5x 4 +(-30-36x+6x 2 )y 2 +y 4 (6)
  • Equation (1) of trajectory 41 calculates the fourth order derivative with respect to x to get
  • Equation (1) of track 41 calculates the fifth derivative with respect to x to get
  • the training machine uses an amplification mechanism to amplify the link curve generated by the basic four-bar linkage mechanism.
  • the curve amplification mechanism is made up of three rods with hinges in the middle and a short connecting rod, wherein the dimensions of the second connecting rod 220, the third connecting rod 221, the fourth connecting rod 222 and the short connecting rod 223 The relationship is set to 6:9.5:9.5:3.5 (different size settings correspond to different magnifications), the second connecting rod 220 is arranged in parallel with the third connecting rod 221, and the short connecting rod 223 is arranged in parallel with the fourth connecting rod 222 .
  • the upper end point of the fourth link 222 is constrained by the fixed hinge, and the locus 41 of the upper end point of the first link is amplified by the lower end point of the third link to a locus 43 with an amplification ratio of 9.5:6.
  • the trajectory 43 generated by the curve amplification mechanism also has a fifth-order close relationship with the horizontal straight line. As the corresponding position of the ankle joint of the foot, it can ensure that the displacement, speed and The acceleration is zero, thus effectively avoiding the extra impact of the equipment on the foot and the resulting secondary damage to the limbs.
  • the gait simulation mechanism consists of two sets of mechanisms that respectively control the movement of the left and right feet with a phase difference of 180°.
  • the solid line represents the right foot motion simulation mechanism
  • the dotted line represents the left foot motion simulation mechanism.
  • the rotation angles of the cranks of the two groups of gait simulation mechanisms differ by 180°, and the trajectory shapes of the right foot movement point 50 and the left foot movement point 51 are the same, and are similar to the ankle joint movement trajectory of a normal person when walking in a "stepping" style, which is shell-shaped.
  • the trajectory curve has a section of approximate straight line. Approximately, the points 50 and 51 in Fig.
  • the thick line represents the right foot
  • the thin line represents the left foot
  • the trajectory of the ankle joint of the foot on the plane perpendicular to the ground is shown in Figure 7, the stride is nearly 600mm, and the trajectory is lower There is an approximate straight line in the half part, and the upturned curves at both ends conform to the posture of setting and raising the foot during normal walking.
  • the colored part of Figure 8 shows that during the support period of half a walking cycle when one leg is standing, the displacement, velocity, and acceleration curves of the ankle joint in the direction perpendicular to the ground all have a zero value interval, indicating that the pedal can guide the supporting foot Holds smoothly at a height representative of the ground, without impact. Since the pressure of the pedals on the soles of the feet is similar to that of the ground on the supporting legs, the weight-bearing capacity of the supporting legs is exercised at this time. The evenly changing speed and acceleration curves at both ends of this interval represent the release and storage of kinetic energy in the late stage of landing and the early stage of kicking, as well as the change process of landing weight and starting power. Such movement rules can guide patients to exercise leg muscles that meet the requirements of walking movements. Group forces and the coordination among them. In addition, the high-order continuation of the motion law curve of the pedal indicates that the motion guidance to the patient's foot is stable and safe.

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Abstract

本发明涉及一种下肢行走康复训练机，包括两个支撑架、分别安装于所述两个支撑架上的两个步态模拟机构以及分别安装于所述两个步态模拟机构上的两只踏板，所述支撑架为拐杖式支撑架，所述步态模拟机构包括一种特殊的四连杆机构和曲线放大机构。所述四连杆机构由曲柄、第一连杆、摇杆和机架杆首尾铰接而成，所述第一连杆上端与所述曲线放大机构内第二连杆下端铰接，所述曲线放大机构内第三连杆下端与所述踏板铰接，所述四连杆机构内所述机架杆与所述支撑架相对固定，所述曲线放大机构内第四连杆与所述拐杖式支撑架内侧连接。本发明实现"踏步"式行走训练，步态平稳，无足底冲击，器械结构简单，体形小，易操作，对使用环境的要求低。

Description

一种下肢行走康复训练机 技术领域
本发明涉及肢体康复治疗设备技术领域，尤其是指一种下肢行走康复训练机。
背景技术
近年来，使用下肢康复训练机帮助下肢运动障碍患者锻炼下肢肌肉力量，提高行走能力已经成为临床康复治疗的一种重要手段。目前使用的康复器械主要包括外骨骼穿戴型机器人和踏板式康复训练机两大类。
外骨骼穿戴型机器人是目前肢体康复治疗设备发展的一个重要方向，其训练方式对于肢体麻痹、无步行能力患者来说是最佳选择，也是其它康复治疗方法所不可替代的。然而，由器械主导的模块化训练方法容易使患者习惯于肢体分解动作的练习，对于有部分运动能力，重点需要提升肢体运动协调性的患者来说，针对性不强，而对生物反馈信号的过度依赖也不利于他们自觉激发肌活力，早日摆脱器械的辅助，恢复自主行走能力。
外骨骼穿戴型机器人占用空间大，价格昂贵，操作专业性强，专业要求高。相比之下，踏板式训练机占地小，成本低，操作简单。目前，绝大多数下肢康复训练器械的步态训练，都以正常人体在跑步机上行走的步态特征为标准，为患者提供步态训练的引导，其步态轨迹呈尖端羽毛形。然而，比起能在跑步机上“迈步”，行走障碍患者步行能力的改善，更需要首先达到在地面上“踏步”的康复目标。因此，提供一种以地面“踏步”的步态轨迹引导的足部运动训练机是本领域技术人员亟待解决的问题。
发明内容
为此，本发明所要解决的技术问题在于克服现有技术中下肢行走康复机存在的缺陷，从技术上实现“踏步”式步态轨迹的规划，简化踏板式训练机的结构，降低生产成本。
为解决上述技术问题，本发明提供了一种下肢行走康复训练机，包括两个支撑架、分别安装于所述两个支撑架上的两个步态模拟机构以及分别安装于所述两个步态模拟机构上的两只踏板，所述支撑架为拐杖式支撑架，所述踏板为鞋套式踏板，所述步态模拟机构包括：
四连杆机构，所述四连杆机构包括曲柄、第一连杆、摇杆和机架杆，所述第一连杆下端与所述曲柄一端通过铰链转动连接，所述曲柄另一端与所述机架杆一端通过铰链转动连接，所述机架杆另一端与所述摇杆下端铰接，所述摇杆上端通过铰链与所述第一连杆连接，所述连接点为所述第一连杆的中点；
曲线放大机构，所述曲线放大机构包括第二连杆、第三连杆、第四连杆和短连接杆，所述第二连杆与所述短连接杆一端铰接，所述连接点为所述第二连杆的中点，所述短连接杆另一端与所述第三连杆杆身铰接，所述第二连杆上端与所述第四连杆杆身铰接，所述第三连杆上端与所述第四连杆下端铰接，所述第二连杆与所述第三连杆平行设置，所述短连接杆与所述第四连杆平行设置；
所述四连杆机构内所述第一连杆上端与所述曲线放大机构内所述第二连杆下端铰接，所述曲线放大机构内所述第三连杆下端与所述踏板铰接，所述四连杆机构内所述机架杆与所述支撑架相对固定，所述曲线放大机构内所述第四连杆的上端通过固定铰链与所述拐杖式支撑架内侧连接，所述铰接点与摇杆下端的铰接点竖直对齐；
工作状态下，所述支撑架与地面固定。
进一步的，所述四连杆机构内所述第一连杆上端生成的轨迹与水平线存在5阶密切。
进一步的，所述曲线放大机构内所述第三连杆下端生成的轨迹与所述四 连杆机构内所述第一连杆上端生成的轨迹尺寸比例关系为9.5:6。
进一步的，所述曲柄、所述第一连杆、所述摇杆和所述机架杆的杆长比例关系为1:8:4:3。
进一步的，所述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为6:9.5:9.5:3.5。
进一步的，两个所述步态模拟机构的曲柄之间通过传动轴传动连接，其中一个所述步态模拟机构的曲柄由电机驱动匀速转动。
进一步的，所述两个步态模拟机构的曲柄之间转角差为180°。
进一步的，所述曲柄的驱动转速可调节。
进一步的，所述拐杖式支撑架包括支撑杆、安装于所述支撑杆上端用于腋下支撑的软包支撑垫、安装于所述支撑杆下端的扶手及设于扶手和地面之间用于固定整个所述拐杖式支撑架的固定支架，所述支撑杆内侧通过固定铰链与所述步态模拟机构内第四连杆连接，所述连接点与摇杆下端的铰接点竖直对齐。
进一步的，所述支撑杆长度可通过设于所述支撑杆上的杆长调节装置进行调节。
本发明的上述技术方案相比现有技术具有以下优点：
1)本发明公开的下肢行走康复训练机，本发明的步态模拟机构通过让患者足部顺应踏板贝壳状运动轨迹进行模拟地面“踏步”式的行走训练，通过持续“踏步”训练增强地面行走时双腿交替起落所需的肌肉群活力及其协调能力，同时借助自身上肢的肌肉力量，利用腋下支撑方式平衡身体，借助并发挥自身下肢关节的活动能力，完成由足部引导的双腿行走动作。
2)本发明公开的下肢行走康复训练机，本发明的步态模拟机构与踏板连接点的运动轨迹与水平直线存在5阶密切关系，作为足部踝关节的对应位置，能确保支撑脚在蹬跨最用力的时间段，踝关节与地面垂直方向的位移、速度和加速度为零，从而有效避免器械对足部的额外冲击及由此带来的对肢 体的二次伤害。
3)本发明公开的下肢行走康复训练机，本发明仅控制了踝关节位置的运动轨迹，对于有部分下肢活动能力的患者来说，能在熟悉正常的步行姿态、纠正其异常步态的同时，激发并增强他们下肢各关节间运动协调的能力。
附图说明
为了使本发明的内容更容易被清楚地理解，下面根据本发明的具体实施例并结合附图，对本发明作进一步详细的说明，其中，
图1是本发明下肢行走康复训练机的结构示意图；
图2是本发明下肢行走康复训练机左脚装置的全视图；
图3是本发明下肢行走康复训练机四连杆机构的机构简图；
图4是本发明下肢行走康复训练机曲线放大机构的机构简图；
图5是本发明下肢行走康复训练机工作示意图；
图6是本发明下肢行走康复训练机模拟地面行走时足部运动轨迹图；
图7是本发明下肢行走康复训练机足部运动轨迹图；
图8是本发明下肢行走康复训练机足部运动规律曲线图。
说明书附图标记说明：10、支撑架；101、支撑杆；102、软包支撑垫；103、扶手；104、固定支架；105、杆长调节装置；20、步态模拟机构；21、四连杆机构；210、曲柄；211、第一连杆；212、摇杆；213、机架杆；22、曲线放大机构；220、第二连杆；221、第三连杆；222、第四连杆；223、短连接杆；30、踏板；40、第一连杆上端轨迹点/第二连杆下端轨迹点；41、第一连杆上端点轨迹；42、第三连杆下端轨迹点；43、第三连杆下端点轨迹；50、右脚运动点；51、左脚运动点。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的 限定。
参照图1至图8所示，一种下肢行走康复训练机，包括两个支撑架10、分别安装于所述两个支撑架10上的两个步态模拟机构20以及分别安装于所述两个步态模拟机构20上的两只踏板30，所述支撑架10为拐杖式支撑架，所述踏板30为鞋套式踏板，所述步态模拟机构20包括：
四连杆机构21，所述四连杆机构21包括曲柄210、第一连杆211、摇杆212和机架杆213，所述第一连杆211下端与所述曲柄210一端通过铰链转动连接，所述曲柄210另一端与所述机架杆213一端通过铰链转动连接，所述机架杆213另一端与所述摇杆212下端铰接，所述摇杆212上端通过铰链与所述第一连杆211连接，所述连接点为所述第一连杆211的中点；
曲线放大机构，所述曲线放大机构包括第二连杆220、第三连杆221、第四连杆222和短连接杆223，所述第二连杆220与所述短连接杆223一端铰接，所述连接点为所述第二连杆220的中点，所述短连接杆223另一端与所述第三连杆221杆身铰接，所述第二连杆220上端与所述第四连杆222杆身铰接，所述第三连杆221上端与所述第四连杆222下端铰接，所述第二连杆220与所述第三连杆221平行设置，所述短连接杆223与所述第四连杆222平行设置；
所述四连杆机构21内所述第一连杆211上端与所述曲线放大机构22内所述第二连杆220下端铰接，所述曲线放大机构22内所述第三连杆221下端与所述踏板30铰接，所述四连杆机构21内所述机架杆213与所述支撑架10相对固定，所述曲线放大机构22内所述第四连杆222的上端通过固定铰链与所述拐杖式支撑架内侧连接，所述铰接点与摇杆212下端的铰接点竖直对齐；
工作状态下，所述支撑架10与地面固定。
上文中，步态模拟机构通过让患者足部顺应踏板的贝壳状运动轨迹进行模拟地面行走训练，轨迹形态与正常人“踏步”式步行时踝关节运动轨迹相似。通过持续“踏步”训练增强地面行走时双脚交替起落所需的肌肉群活 力及其协调能力，同时借助自身上肢的肌肉力量，利用腋下支撑方式平衡身体，借助自身下肢关节的活动能力，完成由足部引导的双腿行走动作。
进一步的，上述四连杆机构21内上述第一连杆211生成的轨迹41与水平线存在5阶密切。
进一步的，上述曲线放大机构22生成的轨迹43与上述四连杆机构21的生成的轨迹41尺寸比例关系为9.5:6。
进一步的，上述曲柄210、上述第一连杆211、上述摇杆212和上述机架杆213的杆长比例关系为1:8:4:3。
进一步的，上述第二连杆220、上述第三连杆221、上述第四连杆222和上述短连接杆223的杆长比例关系为6:9.5:9.5:3.5。
上文中，不同的尺寸设置对应不同的放大倍数，可以适应不同患者对行走步幅的需求。
进一步的，两个上述步态模拟机构的曲柄210之间通过传动轴23传动连接，其中一个上述步态模拟机构的曲柄210由电机驱动匀速转动。
进一步的，上述两个步态模拟机构的曲柄210之间转角差为180°。
上文中，两个步态模拟机构的曲柄之间转角差为180°，可以保证两脚运动点的轨迹形态相同，以及双足进行等时的交替运动。
进一步的，上述曲柄210的驱动转速可调节。
上文中，驱动曲柄的转速可调节，以适应不同患者对行走速度的需求。
进一步的，上述拐杖式支撑架10包括支撑杆101、安装于上述支撑杆101上端用于腋下支撑的软包支撑垫102、安装于上述支撑杆101下端的扶手103及设于扶手103和地面之间用于固定整个上述拐杖式支撑架的固定支架104，上述支撑杆101内侧通过固定铰链与上述步态模拟机构20内第 四连杆222连接。
上文中，利用腋下支撑方式平衡身体，借助自身上肢的肌肉力量和自身下肢关节的活动能力，完成由足部引导的双腿行走动作。自身肌能力的发挥有助于提升康复的信心和训练的积极性，同时利用拐杖式造型与患者间建立一种亲和感，这有利于他们顺利进入借助拐杖在地面独立行走的下一个康复阶段，从而缩短器械辅助的时间。
进一步的，所述支撑杆101长度可通过设于所述支撑杆101上的杆长调节装置105进行调节。
上文中，长度可调节可以适应不同患者对支撑垫高度的需求。
本发明工作原理：拐杖式支架内侧安装两个步态模拟机构20，分别控制左右双脚的运动姿态。步态模拟机构20由电机驱动其中一曲柄210匀速转动，通过传动轴23带动另一曲柄210转动，两曲柄保持180°的相位差，两组步态模拟机构20内第三连杆221下端作交替“踏步”样运动。步态模拟机构内第三连杆221下端的位置作为踝关节的高度参照安装一对鞋套式踏板，用来绑定双脚，使患者双脚按照正常人地面行走的轨迹进行步态康复训练。
步态轨迹生成机构说明：
本发明提供一个能生成与其切线具有5阶密切的贝壳状轨迹的四连杆机构。作为步态轨迹，与直线密切阶数越高表明着地脚与地面贴合度越好，冲击越小，不会对患者的肢体造成二次伤害。
如图3所示，四连杆机构由曲柄210、第一连杆211、摇杆212和机架杆213组成，所设计的杆长比例关系为1:8:4:3，第一连杆211上的铰接点为杆的中点。第一连杆上端点轨迹41在点40处与水平线存在5阶密切，呈现出较长的直线段，证明如下。
在图3的坐标系xOy中，取曲柄210长度为1，轨迹41的方程为
35721-17010x-1377x 2+1188x 3-9x 4-18x 5+x 6+(855+1188x-90x 2-36x 3+3x 4)y 2+(-81-18x+3x 2)y 4+y 6＝0             (1)
轨迹41在点40处的坐标为x＝3,
Figure PCTCN2021141922-appb-000001
轨迹41的方程(1)对x求一阶导数得
W 1+y′(D 1)＝0，                      (2)
式中，
Figure PCTCN2021141922-appb-000002
W 1＝-2835-459x+594x 2-6x 3-15x 4+x 5+(198-30x-18x 2+2x 3)y 2+(-3+x)y 4                        (3)
D 1＝(285+396x-30x 2-12x 3+x 4)y+(-54-12x+2x 2)y 3+y 5   (4)
将x＝3,
Figure PCTCN2021141922-appb-000003
代入(3)式得W 1＝0，由(2)式得y′＝0。
轨迹41的方程(1)对x求二阶导数得
W 2+y′(D 2+D 1′)+y"(D 1)＝0，                (5)
式中
W 2＝-459+1188x-18x 2-60x 3+5x 4+(-30-36x+6x 2)y 2+y 4   (6)
D 2＝(396-60x-36x 2+4x 3)y+(-12+4x)y 3                (7)
将x＝3,
Figure PCTCN2021141922-appb-000004
代入(6)式得W 2＝0，由(5)式得y"＝0。
轨迹41的方程对x求三阶导数得
W 3+y′(D 3+D 2′+D 1″)+y″(D 2+2D′ 1)+y″′(D 1)＝0，      (8)
式中
W 3＝1188-36x-180x 2+20x 3+(-36+12x)y 2            (9)
D 3＝(-60-72x+12x 2)y+4y 3                     (10)
将x＝3,
Figure PCTCN2021141922-appb-000005
代入(9)式得W 3＝0，由(8)式得y″′＝0。
轨迹41的方程(1)对x求四阶导数得
W 4+y′(D 4+D 3′+D 2″+D 1″′)+y″(D 3+2D 2′+3D 1″)+y″′(D 2+3D 1′)+y (4)(D 1)＝0，                                (11)
式中
W 4＝-36-360x+60x 2+12y 2               (12)
D 4＝(-72+24x)y                          (13)
将x＝3,
Figure PCTCN2021141922-appb-000006
代入(12)式得W 4＝0，由(2)式得y (4)＝0。
轨迹41的方程(1)对x求五阶导数得
W 5+y′(D 5+D 4′+D 3″+D 2″′+D 1 (4))+y″(D 4+2D 3′+3D 2″+4D 1″′)+y″′(D 3+3D 2′+6D 1″)+y (4)(D 2+4D 1′)+y (5)(D 1)＝0，              (14)
式中
W 5＝-360+120x                 (15)
D 5＝24y                           (16)
将x＝3,
Figure PCTCN2021141922-appb-000007
代入(15)式得W 5＝0，由(14)式得y (5)＝0。
由此证得第一连杆上端点的轨迹41与水平线存在5阶密切。
曲线放大机构说明：
为针对不同身高的患者提供不同步幅的步态驱动，本训练机通过一个放大机构对由基础四连杆机构生成的连杆曲线进行放大，此放大机构同时起到将步态曲线下移，以适应人体足部位置的作用。如图4所示，曲线放大机构由三根中间带铰链的杆件和一根短连接杆组成，其中第二连杆220、第三连杆221、第四连杆222和短连接杆223的尺寸关系设置为6:9.5:9.5:3.5(不同的尺寸设置对应不同的放大倍数)，第二连杆220与所述第三连杆221平行设置，短连接杆223与第四连杆222平行设置。第四连杆222的上端点在固定铰链的约束下，第一连杆上端点轨迹41被第三连杆下端点放大为轨迹43，放大比例为9.5:6。
曲线放大机构生成的轨迹43也与水平直线存在5阶密切关系，作为足 部踝关节的对应位置，能确保支撑脚在蹬跨最用力的时间段，踝关节与地面垂直方向的位移、速度和加速度为零，从而有效避免器械对足部的额外冲击及由此带来的对肢体的二次伤害。
步态模拟机构说明：
步态模拟机构由分别控制左右双脚运动，相位差为180°的两套机构组成。如图5所示，实线代表右脚运动模拟机构，虚线代表左脚运动模拟机构。两组步态模拟机构曲柄的转角相差180°，右脚运动点50和左脚运动点51的轨迹形态相同，并且与正常人“踏步”式步行时踝关节运动轨迹相似，为贝壳状。轨迹曲线有一段近似直线，近似地，图5中的点50和点51分别位于近似直线的两端，表示此瞬时双脚同时接触地面，而前一时刻，只有右脚接触地面，左脚处于空中跨步即将落地状态，后一时刻则右脚抬起，左脚成为接触地面的支撑脚。将运动点作为踝关节位置模拟地面行走，曲柄每转30°记录右-左脚的位置1-1’，2-2’……，其结果如图6所示。图中，粗线代表右脚，细线代表左脚，表明本步态模拟机构能很好地完成左右脚的交替，并且保证步行周期中支撑期和摆动期时间相等，符合人体正常行走的运动规律。
行走平稳性评估：
如取驱动曲柄杆长为70mm，曲线放大机构内第四连杆的长度为665mm，得到足部踝关节在与地面垂直平面上的运动轨迹如图7所示，步幅近600mm，轨迹的下半部分存在一段近似直线，其两端的上翘曲线符合正常行走时落脚和起脚的姿态。
图8的着色部分显示，在单腿驻足的半个步行周期的支撑期，踝关节在与地面垂直方向上的位移、速度、加速度曲线均存在一个数值为零的区间，表明踏板能引导支撑脚平稳地保持在一个代表地面的高度位置，无冲击。由于踏板对足底的压力类似于地面对支撑腿的压力，此时支撑腿的负重能力得到锻炼。而此区间两端均匀变化的速度和加速度曲线代表落脚后期和起脚前 期的动能释放和储备以及落脚负重和起步动力的变化过程，这样的运动规律能引导患者锻炼符合步行动作要求的腿部肌肉群力量以及它们之间的协调性。另外，踏板的运动规律曲线高阶连续，表明对患者足部的运动引导平稳、安全。
显然，上述实施例仅仅是为清楚地说明所作的举例，并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出它不同形式变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种下肢行走康复训练机，其特征在于，包括两个支撑架、分别安装于所述两个支撑架上的两个步态模拟机构以及分别安装于所述两个步态模拟机构上的两只踏板，所述支撑架为拐杖式支撑架，所述踏板为鞋套式踏板，所述步态模拟机构包括：
    四连杆机构，所述四连杆机构包括曲柄、第一连杆、摇杆和机架杆，所述第一连杆下端与所述曲柄一端通过铰链转动连接，所述曲柄另一端与所述机架杆一端通过铰链转动连接，所述机架杆另一端与所述摇杆下端铰接，所述摇杆上端通过铰链与所述第一连杆连接，所述连接点为所述第一连杆的中点；
    曲线放大机构，所述曲线放大机构包括第二连杆、第三连杆、第四连杆和短连接杆，所述第二连杆与所述短连接杆一端铰接，所述连接点为所述第二连杆的中点，所述短连接杆另一端与所述第三连杆杆身铰接，所述第二连杆上端与所述第四连杆杆身铰接，所述第三连杆上端与所述第四连杆下端铰接，所述第二连杆与所述第三连杆平行设置，所述短连接杆与所述第四连杆平行设置；
    所述四连杆机构内所述第一连杆上端与所述曲线放大机构内所述第二连杆下端铰接，所述曲线放大机构内所述第三连杆下端与所述踏板铰接，所述四连杆机构内所述机架杆与所述支撑架相对固定，所述曲线放大机构内所述第四连杆的上端通过固定铰链与所述拐杖式支撑架内侧连接，所述铰接点与摇杆下端的铰接点竖直对齐；
    工作状态下，所述支撑架与地面固定。
  2. 根据权利要求1所述的一种下肢行走康复训练机，其特征在于，所述四连杆机构内所述第一连杆上端生成的轨迹与水平线存在5阶密切。
  3. 根据权利要求1所述的一种下肢行走康复训练机，其特征在于，所述曲线放大机构内所述第三连杆下端生成的轨迹与所述四连杆机构内所述第 一连杆上端生成的轨迹尺寸比例关系为9.5:6。
  4. 根据权利要求3所述的一种下肢行走康复训练机，其特征在于，所述曲柄、所述第一连杆、所述摇杆和所述机架杆的杆长比例关系为1:8:4:3。
  5. 根据权利要求3所述的一种下肢行走康复训练机，其特征在于，所述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为6:9.5:9.5:3.5。
  6. 根据权利要求1所述的一种下肢行走康复训练机，其特征在于，两个所述步态模拟机构的曲柄之间通过传动轴传动连接，其中一个所述步态模拟机构的曲柄由电机驱动匀速转动。
  7. 根据权利要求6所述的一种下肢行走康复训练机，其特征在于，所述两个步态模拟机构的曲柄之间转角差为180°。
  8. 根据权利要求6所述的一种下肢行走康复训练机，其特征在于，所述曲柄的驱动转速可调节。
  9. 根据权利要求1所述的一种下肢行走康复训练机，其特征在于，所述拐杖式支撑架包括支撑杆、安装于所述支撑杆上端用于腋下支撑的软包支撑垫、安装于所述支撑杆下端的扶手及设于扶手和地面之间用于固定整个所述拐杖式支撑架的固定支架，所述支撑杆内侧通过固定铰链与所述步态模拟机构内第四连杆连接。
  10. 根据权利要求9所述的一种下肢行走康复训练机，其特征在于，所述支撑杆长度可通过设于所述支撑杆上的杆长调节装置进行调节。
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