A multi-mode limb multi-joint rehabilitation training device and training method

Abstract

The present invention discloses a multi-mode lower limb multi-joint rehabilitation training device and training method, including a support and erection unit, in which a liftable upper limb weight reduction device and a lower limb wearable mechanism are arranged, the lower limb wearable mechanism includes a pedal module, a calf module and a thigh module, the lower limb wearable mechanism is arranged on an electromagnetic detachable standing platform, a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, the training mode conversion platform mechanism includes a movable placement platform 1 and a liftable placement platform 2, a variable stride simulation walking mechanism is arranged on the placement platform 1, and a gear-type hip joint rehabilitation mechanism is arranged on the placement platform 2. The present invention solves the problem that the existing rehabilitation training device has a single rehabilitation mode and cannot meet the patient's needs from single joint rehabilitation training to complex multi-joint rehabilitation training, and can solve the problem that the ordinary winding rope mechanism is easy to be tangled and compensate for the error of the rope retracting and releasing.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation training equipment, in particular to a multi-mode limb multi-joint rehabilitation training device and a training method. Background Art

[0002] In recent years, with the increasing severity of problems such as the aging of society, cardiovascular diseases such as coronary heart disease and stroke have occurred frequently, and the number of patients with gait dysfunction or injury caused by them has increased significantly. As an automated rehabilitation medical device, the rehabilitation training device not only reduces the workload of medical personnel, but also provides great convenience for the rehabilitation of patients. However, the functions of the rehabilitation training devices for patients with lower limb movement disorders are relatively single. Some can only achieve rehabilitation training of the freedom of a certain joint, and some can only provide rehabilitation training guided by rehabilitation goals, such as directly providing assisted walking training. However, for patients with lower limb movement disorders in the early stages of recovery, although the goal is to restore the gait walking ability of the lower limbs, it is still necessary to first conduct rehabilitation training of the freedom of each joint of the lower limbs according to the recovery course, and then conduct assisted gait walking rehabilitation training after the patient has recovered a certain amount of muscle strength. As mentioned above, multiple rehabilitation devices need to be used in the training process, which is extremely inconvenient. Therefore, the demand for rehabilitation devices that can be converted into multiple modes is particularly urgent.

[0003] Patent application number "CN201510348989.X" proposes an automatic adjustment platform and training method for lower limbs used in lumbar rehabilitation training. The invention uses springs, cables and artificial muscles in series to drive the knee joint. Errors are easy to accumulate, which in turn affects the accuracy of the knee joint rotation angle. In addition, the invention uses cables to drive the patient's standing platform. The cable-driven robot has the advantages of small moment of inertia, good compliance, and high safety. However, due to the characteristics of the cable, when the motor drives the drum to rotate, the cable will move along the axial direction of the drum, which will cause the cable to detach from the pulley unit many times, causing the robot to need to be shut down and adjusted again. And because the winding radius changes when the drum is wound, it will cause errors in the length of the rope, which will affect the rehabilitation effect. Patent application number "CN201910361439.X" proposes a flexible cable-driven wearable lumbar and lower limb rehabilitation robot. The device can perform multi-mode rehabilitation training, but each rehabilitation training mode can only perform single-joint rehabilitation training, and lacks the complex multi-joint rehabilitation training required for patients with lower limb movement disorders in the late stage of rehabilitation. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects and shortcomings of the prior art and to provide a multi-mode lower limb multi-joint rehabilitation training device and training method to solve the problem that the existing rehabilitation training device has a single rehabilitation mode and cannot meet the patient's needs from single-joint rehabilitation training to complex multi-joint rehabilitation training. At the same time, it can solve the problem that the ordinary rope winding mechanism is prone to rope tangling and compensate for the error of rope retraction and release.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-mode upper limb multi-joint rehabilitation training device, comprising a support and erection unit, wherein the space in the support and erection unit is provided with a liftable upper limb weight reduction device and a lower limb wearable mechanism from top to bottom, wherein the lower limb wearable mechanism comprises a foot pedal module, a calf module and a thigh module, wherein the lower limb wearable mechanism is arranged on an electromagnetic detachable standing platform, wherein the lifting and lowering of the electromagnetic detachable standing platform is driven by a flexible cable driving mechanism, wherein the flexible cable of the flexible cable driving mechanism is retracted and released by a double-control winding rope mechanism below, wherein a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, wherein the training mode conversion platform mechanism gathers multiple motion platform modes, including a movable placement platform 1 and a liftable placement platform 2, wherein the placement platform 1 is provided with a variable stride simulation walking mechanism, and the placement platform 2 is provided with a gear-type hip joint rehabilitation mechanism;

[0007] The lifting and lowering of the upper limb weight loss device is driven by a rope winding mechanism controlled by the upper computer above it, and the height between the upper limb weight loss device and the electromagnetic detachable standing platform is driven by the flexible rope to meet the patient's height requirement, and the electromagnetic detachable standing platform is installed with a preset trajectory movement driven by the flexible rope of the dual-control winding rope mechanism to realize waist rehabilitation training; the calf module and the thigh module of the lower limb wearable mechanism are connected through a knee joint rotation mechanism, and the flexible rope of the calf module is controlled by the upper computer on the electromagnetic detachable standing platform to drive the knee joint rotation mechanism to bend to realize knee joint rehabilitation training; when the electromagnetic detachable standing platform corresponds to the second placement platform, the hip joint rehabilitation training is realized by the action of the gear-type hip joint rehabilitation mechanism, and when the electromagnetic detachable standing platform corresponds to the first placement platform, the walking compound lower limb multi-joint rehabilitation training is realized by the variable stride simulation walking mechanism action.

[0008] The support and installation unit is an aluminum alloy rectangular inner and outer frame, including an aluminum alloy inner rectangular frame and an aluminum alloy outer rectangular frame. A lifting and winding mechanism for suspending the upper limb weight reduction device is installed on the aluminum alloy outer rectangular frame. Pullway units for the flexible cable driving mechanism to bypass are arranged at the top four corners of the aluminum alloy inner rectangular frame. The flexible cable driving mechanism includes four flexible cables. One end of the flexible cable is respectively released by its corresponding double-control winding rope mechanism, and after bypassing the corresponding pulley unit upward, the other end is connected to the rope buckle on the electromagnetic detachable standing platform and fixed.

[0009] The upper limb weight reduction device includes a wearable vest, which is provided with adjustment buttons. The upper end of the wearable vest is connected with a Y-shaped load-bearing flexible cable, and the load-bearing flexible cable is fixed on a double-axis motor driven reel of a lifting and winding mechanism on an aluminum alloy outer rectangular frame.

[0010] The electromagnetic detachable standing platform comprises two semicircular standing platforms, which are connected by buckles to form a full-circular standing platform, and an electromagnet is built in the center of the two semicircular standing platforms. After power is turned on, the electromagnet is magnetically energized and has magnetic attraction; the foot pedal module comprises an ankle clip and a foot pedal connected by a rotating pair, and two symmetrically arranged plantar pressure sensors are installed at the bottom of the foot pedal, which can be transmitted to the host computer through a data acquisition card to observe plantar pressure data in real time, and the foot pedal is fixedly connected to the electromagnetic detachable standing platform by bolts; The calf module comprises a calf support fixedly mounted on an electromagnetically detachable standing platform, a calf movable frame is guided and mounted on the calf support, a calf area pneumatic artificial muscle for driving the calf movable frame to move is arranged in the calf support, a calf area flexible cable for extension and retraction is installed in the calf movable frame, the bottom end of the calf area flexible cable passes through a guide hole on the calf support and is connected to the upper end of the calf area pneumatic artificial muscle, and the upper end is connected to the bottom end of the calf movable frame, and a calf area spring is sleeved on the calf movable frame and the calf area flexible cable of the calf support;

[0011] The thigh module includes a thigh support, the bottom end of the thigh support is rotatably connected with the calf movable frame through a rotating shaft, so as to realize the flexion and extension freedom of the knee joint, and a knee joint rotation mechanism is arranged at the knee joint to achieve accurate control of the rotation angle of the knee joint, and a thigh movable frame matched with it is installed on the guide of the thigh support, and two thigh area pneumatic artificial muscles arranged at intervals are installed in the middle of the thigh support, and the two thigh area pneumatic artificial muscles are connected by a spring, and the other ends of the thigh area pneumatic artificial muscles are respectively fixed to the bottom of the thigh support and the top of the thigh movable frame; the middle of the thigh module and the calf module are respectively provided with elastic leg straps for binding the patient's calves and thighs, which are bound on the patient's calves and thighs to play the role of fixing and supporting the patient's lower limbs, and can be adjusted according to the patient's leg circumference, and the calf area pneumatic artificial muscles and thigh area pneumatic artificial muscles are respectively installed with air inlet pipes for ventilation, and the valves of the air inlet buckle pipes are installed with pressure sensors;

[0012] The knee joint rotation mechanism includes a crankshaft that provides rotational power for rotation between the thigh support and the calf movable frame. The crankshaft is a three-section stepped structure. An external gear end cover is rotatably installed on the first section of the crankshaft. At the same time, an absolute encoder for real-time detection of the crankshaft rotation angle, that is, the rotation angle of the knee joint, is installed and transmitted to the host computer through a data acquisition card. An internal gear meshing with the external gear end cover is provided inside the external gear end cover. The internal gear is fixedly rotatably installed on the second section of the crankshaft. A sliding rod is rotatably installed on the third section of the crankshaft. A sliding rod spring is provided below the sliding rod. A sliding rod cable for driving the sliding rod spring to extend and retract is provided inside the sliding rod spring. The retraction and extension of the sliding rod cable is driven by a rope winding mechanism arranged on the electromagnetic detachable standing platform at the bottom end. Infrared rangefinders are respectively installed at the bottom ends of the thigh support and the calf support, and a transmitting unit and a receiving unit of the infrared rangefinder are respectively installed at the bottom of the sliding rod and the electromagnetic detachable standing platform, which can measure the length value of the sliding rod spring.

[0013] The double-control type winding and arranging rope mechanism is a corresponding cooperation of multiple groups of pulley units, including a box body fixedly mounted on the bottom plate of the aluminum alloy outer frame, a gear wire arrangement device and a dynamic rope control device are installed in the box body, the gear wire arrangement device includes a drum rotatably mounted at the bottom end of the box body, the drum is driven by a speed regulating motor at the end, a movable lead screw sliding unit is mounted above the drum, the lead screw sliding unit includes a lead screw, a lead screw mounting frame is screwed on the lead screw, and two vertical fixed pulleys are installed on the lead screw mounting frame; the dynamic rope control device includes a group of tensioning mechanisms, two groups of fixed pulley units, and a single winding drum, the tensioning mechanism includes a tensioning wheel, a tensioning wheel support frame, A left photoelectric switch, a right photoelectric switch and a spring assembly, one end of the left photoelectric switch and the spring are fixedly mounted on the vertical partition of the box, the other end of the spring is fixedly buckled on one side of the tensioning wheel support frame, the fixed pulley unit and the single winding reel are respectively fixed to the right side wall of the box through their respective support frames by bolts, the single winding reel is driven by a constant speed motor at the end, a cylindrical slot corresponding to the cross-sectional circular surface of the tensioning wheel support frame is processed on the side wall of the box, the tensioning wheel support frame can move left and right in the slot, the flexible cable passing through the gear wiring mechanism is guided by the fixed pulley group and then wound around the tensioning wheel, and then wound on the single winding reel, and then output through the fixed pulley unit above, and a tension sensor is installed on the flexible cable.

[0014] The control method of the dual-control type winding rope mechanism is carried out according to the following steps:

[0015] Step 1: Turn on the host computer, test whether the communication between the tension sensor, left photoelectric switch, right photoelectric switch, speed regulating motor and the host computer is normal, and initialize the system;

[0016] Step 2: Adjust the preload force of the flexible cable by means of the speed regulating motor until the left baffle of the tensioning wheel support frame is between the left photoelectric switch and the right photoelectric switch, and record the preload force as a reference value;

[0017] Step 3: The fixed speed motor is used as the main control component for the posture control of the standing platform, and the speed regulating motor is used as the auxiliary control component to complete the rope retraction and release work by dynamically tensioning the rope at the tensioning wheel;

[0018] Step 4: When the host computer controls the fixed speed motor to release or retract the soft rope:

[0019] 1) When the host computer controls the fixed speed motor to release the soft rope

[0020] If the host computer detects that the right photoelectric switch is triggered, indicating that the rope tends to be tight, the speed regulating motor 801 is controlled to release the rope at a speed slightly greater than that of the fixed speed motor, until the pre-tightening force of the rope returns to the initialization state and then the speed is adjusted to the same speed as that of the fixed speed motor;

[0021] If the host computer detects that the left photoelectric switch is triggered, it means that the rope tends to be loose, and then the speed regulating motor is controlled to release the rope at a speed slightly lower than that of the fixed speed motor, until the preload force of the rope returns to the initialization speed and then the speed is adjusted to the same speed as the fixed speed motor;

[0022] 2) When the host computer controls the fixed speed motor to retract the flexible rope

[0023] If the host computer detects that the right photoelectric switch is triggered, indicating that the rope tends to be tight, the speed regulating motor 801 is controlled to retract the rope at a speed slightly lower than that of the fixed speed motor until the pre-tightening force of the rope returns to the same speed as that of the fixed speed motor during initialization;

[0024] If the host computer detects that the left photoelectric switch is triggered, it means that the rope tends to be loose, and then the speed regulating motor 801 is controlled to retract the rope at a speed slightly higher than that of the fixed speed motor until the pre-tightening force of the rope returns to the speed at the initialization time.

[0025] After the planned trajectory of the standing platform is input, the upper computer controls the fixed-speed motor in the rope winding mechanism to rotate and retract the corresponding rope length. The upper computer also monitors the on-off status of the photoelectric switch and the comparison between the preload force of the tension sensor and the initial reference value in real time, and controls the speed regulating motor to adjust the corresponding speed to retract and release the soft rope. The rope winding mechanism not only avoids the disadvantage of easy axial movement of the soft rope during retraction and release, causing rope disorder or mechanism shutdown, but also compensates for the error in rope retraction and release caused by changes in the rope winding radius, ensuring the initial horizontality of the standing platform and reducing the error with the preset trajectory.

[0026] The movement of the placement platform 1 is driven by a gear rack longitudinal sliding mechanism, and the gear rack longitudinal sliding mechanism includes two groups of longitudinal guide rails arranged in parallel on the outer frame partition. The placement platform 1 is provided with a slider that guides and slides with the longitudinal guide rails, and a rack is distributed on the inner side surface of one side of each group of longitudinal guide rails. The placement platform is installed with a gear that meshes with the rack for transmission, and the rotation of the gear is driven by a stepping motor. A variable stride simulation walking mechanism is installed in the middle of the placement platform 1, and the variable stride simulation walking mechanism includes a rotating Axle, the rotating shaft is equipped with eccentric wheels 1 and 2, which are spaced apart and form a group of two. The upper end of the eccentric wheel 1 is provided with a fixed mounting hole 1, and the upper end of the eccentric wheel 2 is provided with a fixed mounting hole 2. The eccentric wheels 1 and 2 are both equipped with rocker arms, and the upper and lower ends of the rocker arms are rod body structures respectively. Magnetic foot pedals are installed between the ends of the upper rod bodies of the rocker arms on both sides. Guide grooves are provided on the lower rod bodies of the rocker arms on both sides, and screw sliders for limiting the step size are respectively provided on the outer sides of the lower rod bodies, and the movement of the screw sliders is driven by the corresponding screws.

[0027] The lifting of the placement platform 2 is driven by the scissor-type hydraulic lifting mechanism below it. The gear-type hip joint rehabilitation mechanism includes two corresponding transverse slide rails laid on the placement platform 2. A planetary gear train mechanism is set up just above the transverse slide rails. The planetary gear train mechanism includes a tray. The inner side of the tray is respectively installed with a right angle frame. The right angle frame is installed on a slider matched with the transverse slide rail. The middle of the tray is respectively penetrated by a transmission shaft, and the corresponding ends of the two transmission shafts are rotatably installed on the connecting seat in the middle. The inner side of the tray is respectively clamped with a gear mounted on the transmission shaft. The large gear has three lead screws which synchronously penetrate the two trays distributed in the circumferential direction of the large gear, and transmission pinions which are located on the inner side of the large gear and mesh with the large gear are respectively installed on the lead screws, and the two lead screws at the bottom ends are supported and mounted by limit bearings, and a magnetic foot pedal is installed on the upper lead screw, and the bottom end of the magnetic foot pedal is connected and fixed to the upper end of the tray, and bevel gears are respectively installed on the inner ends of the two transmission shafts, and a transverse bevel gear for synchronously driving the two bevel gears is installed directly below the bevel gears, and the transverse bevel gear is driven by a motor controlled by the upper computer at the bottom.

[0028] The training method of the multi-mode upper limb multi-joint rehabilitation training device is carried out according to the following steps:

[0029] Step 1: Power on and start the system to initialize and check whether the communication between each motor and sensor module and the host computer is normal. During initialization, the detachable standing platform is connected into a full circle platform through the snap connection;

[0030] Step 2: Input the patient's body shape information, calf length and other information into the host computer. The rangefinder collects information in real time and feeds it back to the host computer to adjust the circumferential length of the weight loss vest and control the inflation or deflation of the artificial muscles of the calf modules until it adapts to the patient's body shape.

[0031] Step 3: The infrared rangefinder detects the length of the sliding rod spring of the knee rotation mechanism in real time, and transmits the value to the host computer for calculation and judgment until the upper and lower leg modules are both in an upright state, and records the length of the sliding rod spring at this time, which is used as a reference value;

[0032] Step 4: The upper computer controls the motor of the rope winding machine to adjust the distance between the standing platform and the vest to suit the patient's height, level the standing platform, and adjust the pre-tightening force of the flexible rope until the two photoelectric switches are not triggered;

[0033] Step 5: Start rehabilitation training. Ask the patient to walk onto the standing platform and tie the elastic straps of the calf and thigh modules on the patient's thighs and calves respectively, and prepare for rehabilitation exercises.

[0034] Step 6: Select the rehabilitation mode. You can choose single joint rehabilitation training such as waist rehabilitation training, hip rehabilitation training, knee rehabilitation training or composite multi-joint rehabilitation training, i.e. variable stride simulated walking rehabilitation training. Select according to the patient's current rehabilitation needs, and after selection, the upper machine will control the corresponding motor to work.

[0035] Step 7: Use pressure sensors and tension sensors, infrared rangefinders and visual motion capture systems to detect artificial muscle pressure and cable tension in real time, detect the posture information of the standing platform in real time, and communicate the above information to the host computer in real time through the data acquisition card. If the established safety threshold is exceeded, the vehicle will automatically stop and check before restarting, and return to step 6;

[0036] Step 8: After the rehabilitation training is completed, the elastic bandages on the legs are manually removed, and the patient walks down from the standing platform;

[0037] Step 9: Reset the standing platform and turn off each motor unit and pneumatic artificial muscle unit.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. A training mode platform conversion mechanism designed by the present invention realizes that multiple rehabilitation modes can be realized simultaneously on one rehabilitation device. The mechanism is easy to select different rehabilitation devices and place them separately according to the actual situation and needs of the patients. It adopts a modular design concept, is easy to disassemble and assemble, and is more convenient for moving and transporting the devices.

[0040] 2. The dual-control rope winding mechanism designed by the present invention can compensate for the error in the length of the rope caused by the change in the winding radius when the rope is wound by the drum, and can solve the problem of rope shaking caused by the axial movement of the rope along the drum when the rope is released. This ensures that the platform remains stable during initialization, and the center of rotation of the waist of the person and the platform are on the same vertical line, thereby ensuring the accuracy and effectiveness of the rehabilitation process.

[0041] 3. The present invention can not only provide patients with flexion and extension of the hip joint in the sagittal plane (through normal walking rehabilitation training and inverted walking rehabilitation training), but most importantly, it can achieve two degrees of freedom of movement of the patient's hip joint in the coronal plane through a split mobile hip joint rehabilitation mechanism, thereby realizing multi-degree-of-freedom rehabilitation training of the hip joint.

[0042] 4. The present invention designs a knee joint rotation mechanism based on gear meshing. Since the gear transmission ratio is fixed, the movement accuracy and working stability can be guaranteed. At the same time, an encoder is installed on the rotating joint for real-time detection, which can control the precise rotation of the knee joint.

[0043] 5. The present invention can change different rehabilitation modes according to the needs of patients. For initial rehabilitation training, patients can first perform rehabilitation training for single joints such as waist, knee joints, hip joints, etc., and then perform walking training involving multiple joints. In addition, during lower limb walking rehabilitation training, the training stride can be adjusted according to the needs of patients. The present invention can achieve multi-purpose use of one machine and meet the rehabilitation training needs of patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0045] Figure 2 It is a schematic diagram of the overall structure of the inner and outer frames of the present invention.

[0046] Figure 3 It is a structural schematic diagram of the lower limb wearing mechanism of the present invention.

[0047] Figure 4 It is a partial exploded view of the knee joint rotation mechanism of the present invention.

[0048] Figure 5 It is a structural schematic diagram of the double-control type winding rope mechanism of the present invention.

[0049] Figure 6 This is another schematic view of the dual-control rope winding mechanism of the present invention.

[0050] Figure 7 It is a schematic structural diagram of the upper limb weight reduction device of the present invention.

[0051] Figure 8 It is a structural schematic diagram of the rehabilitation mode four training mode conversion platform mechanism.

[0052] Fig. 9 This is a schematic diagram of the rehabilitation mode three training mode conversion platform mechanism.

[0053] Fig.10 It is a schematic diagram of the structure of the variable stride simulation walking mechanism of the present invention.

[0054] Fig.11 It is a partial exploded view of the variable stride simulation walking mechanism of the present invention.

[0055] Fig.12 It is a schematic structural diagram of the gear-type hip joint rehabilitation mechanism of the present invention.

[0056] Fig.13 This is the working flow chart of the double-control rope winding mechanism.

[0057] Fig.14 This is the working flow chart of the rehabilitation training device.

[0058] Reference numerals:

[0059] 1-Aluminum alloy rectangular inner frame, 2-Aluminum alloy rectangular outer frame, 3-Training mode conversion platform mechanism, 4-Upper limb weight reduction device, 5-Knee joint rotation mechanism, 6-Lower limb wear mechanism, 7-Variable stride simulation walking mechanism, 8-Dual control winding rope mechanism, 9-Hip joint rehabilitation mechanism, 10-Soft cable drive mechanism, 11-Sensor unit

[0060] 201-external frame top plate, 202-external frame partition plate, 203-external frame bottom plate;

[0061] 301-gear rack longitudinal sliding device. 3011-longitudinal slide rail, 3012-sliding block, 3013-intermediate connecting piece, 3014-stepping motor, 3015-placing platform 1, 3016-gear, 3017-rack, 3018-limiting device;

[0062] 302-scissor type hydraulic lifting mechanism. 3021-hydraulic cylinder, 3022-telescopic rod, 3023-fixed bracket, 3024-connecting piece, 3025-horizontal sliding rod, 3026-scissor type lifting rod, 3027-rotating connection pair, 3028-placing platform 2;

[0063] 401-adjustable button, 402-wearable vest, 403-load-bearing flexible rope, 404-reel, 405-dual-axis motor;

[0064] 501-sliding rod spring, 502-sliding rod cable, 503-sliding rod, 504-internal gear, 505-limiting half ring, 506-roller bearing, 507-external gear end cover, 508-crankshaft, 509-flat key, 510-roller bearing;

[0065] 601-electromagnetic detachable standing platform, 602-pedal module, 603-calf support, 604-calf area pneumatic artificial muscle, 605-calf area soft rope, 606-calf area spring, 607-calf movable frame, 608-thigh support, 609-thigh area spring, 610-thigh movable frame, 611-thigh elastic strap, 612-armrest, 613-thigh area pneumatic artificial muscle, 614-calf elastic strap;

[0066] 701-hand wheel, 702-motor, 703-bracket, 704-rotating shaft, 705-magnetic foot pedal 1, 706-synchronous pulley, 707-synchronous belt, 708-eccentric wheel 1, 709-screw mechanism, 710-screw slider, 711-eccentric wheel 2, 712-rocker arm;

[0067] 801-speed regulating motor, 802-coupling 1, 803-gear 1, 804-gear 2, 805-box, 806-box transverse partition, 807-box vertical partition, 808-spring, 809-left photoelectric switch, 810-right photoelectric switch, 811-tensioning wheel support frame, 812-fixed pulley unit 1, 813-single winding drum, 815-fixed speed motor, 816-fixed pulley unit 2, 817-mounting plate, 818-fixed pulley unit 3, 819-fixed pulley unit 4, 820-screw mounting frame, 821-screw, 822-multi-winding drum, 823-bolt;

[0068] 901- transverse slide rail, 902- position limiting support device, 903- transmission shaft, 904- lead screw, 905- tray, 906- magnetic foot pedal 2, 907- large gear, 908- circumferential small gear, 909- right angle frame, 910- slide block, 911- fixing rod, 912- transverse bevel gear, 913- longitudinal bevel gear;

[0069] 1001- flexible rope, 1002- pulley unit;

[0070] 1101-tension sensor, 1102-plantar pressure sensor, 1103-absolute encoder, 1104-infrared rangefinder, 1105-pressure sensor; DETAILED DESCRIPTION

[0071] The structural features of the present invention will now be described in detail with reference to the accompanying drawings.

[0072] See also Figure 1 and Figure 2 The device for lower limb rehabilitation training comprises an aluminum alloy rectangular inner frame 1 and an aluminum alloy rectangular outer frame 2. The aluminum alloy rectangular inner frame comprises a lower limb wearing mechanism 6, a knee joint rotation mechanism 5, and a flexible cable driving mechanism 10; the aluminum alloy rectangular outer frame comprises a double-control winding rope mechanism 8, an upper limb weight reduction device 4, a training mode conversion platform mechanism 3 and a variable stride simulation walking mechanism 7 and a gear-type hip joint rehabilitation mechanism 9 located on the training mode conversion platform mechanism.

[0073] See also Figure 2 The aluminum alloy rectangular outer frame is composed of an outer frame top plate 201, an outer frame partition plate 202, an outer frame bottom plate 203 and a plurality of supporting frames and supporting columns, and the aluminum alloy rectangular outer frame is fixed on the foundation.

[0074] See also Figure 2, further, 4 groups of pulley units 1002 are evenly distributed at the top four corners of the aluminum alloy rectangular inner frame 1, and the pulley units 1002 are rotatably installed in the pulley base through respective cotter pins, and the roller base is interference fit with the inner ring of the bearing, and the outer ring of the bearing is installed at the top four corners of the aluminum alloy rectangular inner frame 1 through a bracket, so that the pulley unit can rotate freely. One end of the flexible rope 1001 is wound out by the double-controlled winding rope mechanism 8, and after passing the corresponding pulley unit 1002 upward, the other end is fixed to the rope buckle on the electromagnetic detachable standing platform 601, thereby realizing the posture change of the electromagnetic detachable standing platform 601.

[0075] Furthermore, a visual motion capture system is installed on the aluminum alloy rectangular outer frame 2 and connected to the host computer. The present invention selects the Nokov visual camera motion capture system, and fluorescent positioning points are respectively affixed to the electromagnetic detachable standing platform 601 and the upper and lower leg modules, that is, the real-time posture of the lower limbs and the electromagnetic detachable standing platform 601 can be obtained in the host computer.

[0076] See also Figure 3 and Figure 4 , a lower limb wearing mechanism 6 is arranged above the electromagnetic detachable standing platform 601, including a pedal module 602, a calf module and a thigh module. The electromagnetic detachable standing platform 601 uses a detachable connection. The preferred solution is: the detachable connection in the present invention uses a snap connection, which can be combined into a full-circle platform after the snap connection. The pedal module 602 includes an ankle clip and a foot pedal, and the foot pedal is fixedly connected to the electromagnetic detachable standing platform 601 by bolts, and the patient's ankle joint is worn on the foot through the ankle clip. The ankle clip and the foot pedal are connected by a revolute pair. When the standing platform swings along the patient's coronal axis, the pitch freedom of the ankle joint relative to the standing platform can be realized. Two symmetrical plantar pressure sensors 1102 are installed at the bottom of the pedal module 602, which can be transmitted to the host computer through a data acquisition card to observe the plantar pressure data in real time. When an abnormal trend is found in the data curve, the system will automatically stop.

[0077] See also Figure 3The calf module includes a calf support 603, a calf movable frame 607, a calf area pneumatic artificial muscle 604, a calf area spring 606, and a calf area flexible cable 605. The top structure of the calf support 603 is a slot, and the bottom end of the calf movable frame 607 is made into a structure corresponding to the slot, which can be inserted into the slot, and the length-adjustable structure of the calf module can be realized by cooperating with the calf area pneumatic artificial muscle 604. The thigh module includes a thigh support 608, a thigh movable frame 610, a thigh area pneumatic artificial muscle 613, and a thigh area spring 609. The thigh support 608 and the calf movable frame 607 are rotatably connected by a rotating shaft to realize the flexion and extension freedom of the knee joint. The two thigh area pneumatic artificial muscles 613 are connected in series by the thigh area spring 609, and the ends of the thigh area pneumatic artificial muscles 613 away from the thigh area spring 609 are respectively fixed to the bottom of the thigh support 608 and the top of the thigh movable frame 610.

[0078] See also Figure 3 The armrest 612 is installed on the thigh movable frame, and the middle ends of the calf and thigh modules are respectively provided with thigh elastic straps 611 and calf elastic straps 614, which are tied to the patient's calves and thighs to support the patient's lower limbs. The elastic straps can be adjusted according to the patient's leg circumference.

[0079] Furthermore, a pressure sensor 1105 is installed at the valve of the artificial muscle air inlet pipe in the calf area, and an infrared rangefinder 1104 is installed on the calf module respectively, which can detect the pressure value and the length of the calf module in real time and communicate it to the host computer. After analyzing the detection data, the host computer compares it with the input preset value, controls the opening and closing of the valve, and continuously adjusts the muscle pressure to achieve the purpose of adapting the patient's lower limbs.

[0080] See also Figure 4 The knee joint rotation mechanism 5 connects the calf movable frame 607 and the thigh support 608 in rotation, and includes a crankshaft 508, a pair of internal meshing gear modules, a slide bar 503, a slide bar spring 501 and a slide bar cable 502. The internal meshing gear module includes an outer gear end cover 507 and an inner gear 504. A limiting semi-ring 505 is installed on the tooth side of the outer gear end cover 507 to limit the range of the inner gear 504 rotating around the outer gear to ensure the safety of the human knee joint movement. A flat key 509 is set at one end of the crankshaft 508, and a corresponding keyway is processed in the circular hole at the bottom of the thigh support 608, which is connected to the thigh module through the flat key 509.

[0081] See also Figure 4Taking the patient's right leg module as an example, the right extension shaft of the crankshaft 508 and the thigh bracket 608 are connected by a flat key, the right extension shaft of the crankshaft 508 and the inner ring of the tapered roller bearing are interference fit, the outer ring of the bearing and the outer gear end cover are matched, and the right second section shaft of the crankshaft and the pinion hub are connected by a flat key. The slide bar 503 and the right third section shaft of the crankshaft are rotatably connected through a rotating pair. The slide bar 503 slides up and down in the slide groove on the calf movable frame 607, one end of the slide bar soft cable 502 is fixed to the rope buckle on one side of the slide bar 503, and the other end is wound on the reel driven by the stepper motor (not marked in the figure). The slide bar spring 501 is sleeved on the outside of the slide bar soft cable 502, and the two ends are respectively fixed to one side of the slide bar 503 and the electromagnetic detachable standing platform 601.

[0082] Furthermore, when the spring is in a natural state, the knee joint is in a 90-degree bending state. When initializing the platform, the patient is required to be in an upright state to facilitate leveling the electromagnetic detachable standing platform 601. At this time, the upper computer controls the motor to drive the slide bar soft rope 502 to retract the rope, and the slide bar spring 501 is in a compressed state. The bottom of the slide bar 503 and the electromagnetic detachable standing platform 601 are respectively installed with the transmitting unit and the receiving unit of the infrared rangefinder 1104, which can measure the length value of the slide bar spring 501. When the knee joint is required to bend, the upper computer controls the motor to release the slide bar soft rope 502, and the slide bar 503 moves upward along the slide groove by relying on the rebound force of the slide bar spring 501, (taking the right leg as an example) and then drives the inner gear 504 to mesh and rotate along the outer gear end cover 507 in a counterclockwise direction, thereby driving the crankshaft 508 to rotate counterclockwise, and then driving the knee joint to bend. Since the gear transmission ratio is fixed, the motion accuracy, working stability, and contact accuracy can be guaranteed, thereby achieving the precise rotation of the knee joint. At the same time, an absolute encoder 1103 is installed at the crankshaft 508 to detect the rotation angle of the crankshaft 508, that is, the rotation angle of the knee joint in real time, and transmit it to the host computer through the data acquisition card.

[0083] See also Figure 5 and Figure 6The double-control type winding and arranging rope mechanism 8 is fixedly placed on the bottom plate 203 on the aluminum alloy rectangular outer frame 2, and includes a speed regulating motor 801, a fixed speed motor 815, a box 805, a gear arranging device and a dynamic rope control device. The gear arranging mechanism includes a pair of mutually meshing gears 1 803 and 2 804, a multi-winding reel 822, a set of lead screw sliding units, two sets of fixed pulley units 3 818 and fixed pulley units 4 819. The lead screw 821 and the gear 2 804 in the lead screw sliding unit are connected by a flat key, and a lead screw mounting frame 820 is installed on the lead screw 821. Two fixed pulley support frames are fixed on the lead screw mounting frame 820 to guide the rope wound by the multi-winding reel 822. The reel shaft is connected to the gear 1 and the multi-winding reel 822 with a flat key and interference fit. The speed regulating motor 801 drives the reel shaft to rotate through the coupling 802, and then drives the multi-winding reel 822 and the lead screw 821 to rotate through the gear meshing. The wire arrangement speed can be controlled by adjusting the gear tooth ratio, thereby preventing the mechanism from malfunctioning and stopping due to rope tangling.

[0084] The dynamic rope control device 808 includes a tensioning mechanism 811, two fixed pulley units 1 812 and fixed pulley unit 2 816, and a spiral single winding reel 813. The tensioning mechanism includes a tensioning wheel, a tensioning wheel support frame 811, a left photoelectric switch 809 and a right photoelectric switch 810, and a spring 808. One end of the left photoelectric switch 809 and the spring 808 are fixedly mounted on the vertical partition 807 of the box body, and the other end of the spring 808 is fixed to one side of the tensioning wheel support frame 811. The fixed pulley unit and the reel are fixed to the right side wall of the box body through their respective support frames via bolts 823. The side wall of the box body 805 is processed with a cylindrical slot corresponding to the cross-sectional circular surface of the tensioning wheel support frame, and the tensioning wheel support frame can move left and right in the slot. The flexible rope passing through the gear wire arrangement mechanism is guided by the fixed pulley unit 2 816 and then wound around the tensioning wheel. One side of the tensioning wheel support frame 811 is made into a rectangular baffle corresponding to the notch of the photoelectric switch. When the flexible cable 1001 is in the leveling pre-tightening state, the left file of the tension wheel support frame 811 is parked between the left photoelectric switch 809 and the right photoelectric switch 810. At this time, the spring 808 is in a stretched state and is balanced with the tension of the flexible cable. At this time, the left photoelectric switch 809 and the right photoelectric switch 810 are not triggered. The flexible cable 1001 is installed with a tension sensor 1101, and the upper computer can obtain the tension of the flexible cable in real time. At this time, the flexible cable is within the pre-set reference value pre-tightening range.

[0085] When the flexible cable 1001 passing around the tension wheel tends to relax, the spring 808 will return to its original position from the stretched state, thereby driving the left baffle of the tension wheel support frame 811 to move to the left, thereby triggering the left photoelectric switch 809. When the flexible cable 1001 passing around the tension wheel tends to be gradually tightened, the tension wheel support frame will move to the right, and the right photoelectric switch 810 will be triggered. The triggering state of the photoelectric switch will be transmitted to the host computer.

[0086] Furthermore, in the actual working process, the upper computer will convert the length of the soft rope 1001 according to the inputted electromagnetic detachable standing platform 601 posture, and then control the fixed speed motor 815 to drive the single winding drum 813 to retract and release the soft rope accordingly, and judge the tightness of the soft rope 1001 by the triggering state of the left photoelectric switch 809 and the right photoelectric switch 810, and then the upper computer controls the speed of the speed regulating motor 801 to drive the multi-winding drum 822 to cooperate with the retraction and release of the soft rope 1001 to achieve dynamic tensioning of the soft rope. In other words, the dual-control winding rope mechanism 8 can eliminate the influence of the deviation and jitter of the soft rope 1001 caused by the axial width of the drum, and at the same time, because the fixed speed motor 815 actually drives the single winding drum 813 to realize the posture control of the electromagnetic detachable standing platform 601, the radius cumulative rope length error caused by multi-layer rope winding is compensated.

[0087] See also Figure 7 The upper limb weight reduction device 4 includes a wearable vest 402, an adjustment button 401, a "Y"-shaped load-bearing flexible cable 403, and a dual-axis motor 405 fixed on the top plate 201 of the outer frame. The wearable vest 402 is worn above the waist of the human body. The vest is made of elastic material, and the circumferential length can be adjusted by adjusting the button 401. The patient wears the vest to support the upper limb of the patient. The dual-axis motor 405 is controlled by the host computer to adjust the height of the wearable vest 402 from the electromagnetic detachable standing platform 601 according to the patient's height to adapt to the height of different patients.

[0088] See also Figure 8 and Fig. 9 The training mode conversion platform mechanism 3 includes a scissor-type hydraulic jacking mechanism 302 fixed on the outer frame bottom plate 203 and a pair of gear rack longitudinal sliding devices 301 fixed on the outer frame partition plate 202.

[0089] When the patient chooses to use the rehabilitation device fixed on the placement platform 1 3015 to perform mode 1 rehabilitation training, the training mode conversion platform mechanism 3 is Figure 8The upper computer controls the scissor-type hydraulic lifting mechanism 302 to drive the placement platform 2 3028 to descend to the lowest point, and at the same time controls the stepper motor 3014 to drive the gear 3016 to mesh along the rack 3017, and drives the intermediate connector 3013 to move along the longitudinal slide rail 3011 to the center position, that is, directly below the magnetic detachable standing platform 601. When the patient chooses to use the rehabilitation device fixed on the placement platform 2 3028 to perform mode 2 rehabilitation training, the upper computer controls the stepper motor 3014 to drive the connected placement platform 1 3015 to move along the longitudinal slide rail 3011 to the slide rail limit device 3018, and then controls the hydraulic cylinder 3021 to make the scissor-type hydraulic lifting mechanism 302 lift the placement platform 2 3028 to the highest point, flush with the placement platform 1 3015. At this time, the placement platform 2 3028 is located directly below the standing platform 601.

[0090] Furthermore, the training mode conversion platform mechanism 3 provides a variety of options for the training mode of the present invention. By fixing different rehabilitation training modules on the two placement platforms 1 3015 and 2 3028, respectively, and combining the electromagnetic detachable standing platform 601, a variety of rehabilitation modes can be provided for the patient. The rehabilitation devices placed on the conversion platform mechanism are not limited to the two sets of rehabilitation training devices of the present invention. The mechanism is easy to select different rehabilitation devices and place them separately according to the actual situation and needs of the patient, and uses a modular design concept, which is convenient for disassembly and reorganization;

[0091] The present invention designs a variable stride simulation walking mechanism 7 fixed on a placement platform 3015 on a gear rack sliding device 301.

[0092] See also Fig.10 and Fig.11 The variable stride simulated walking mechanism 7 includes a magnetic foot pedal 705, two sets of eccentric wheels 1 711 and eccentric wheels 2 708, two sets of slotted rocker arms 712, four sets of lead screw mechanisms 709, a bracket 703 and a synchronous belt device 707. The magnetic foot pedal 705 is connected to the lower end rod bodies of two symmetrical rocker arms 712 respectively through interference fit with the rotating shaft. The lead screw mechanism includes a lead screw 709 and a lead screw slider 710. One side of the lead screw slider 710 is made into a cylindrical shaft, and the lower part of the rod body at the lower end of the rocker arm is processed into a slot opening that just fits the shaft, and the groove shaft fits to limit the rotation of the rocker arm. The synchronous belt device includes a motor 702, a synchronous belt 707, a synchronous pulley 706 and a rotating shaft 704. The rotating shaft 704 and the four cam mechanisms are connected by a flat key. Two double-sided brackets 703 are used to support the rotating shaft 704.

[0093] The upper computer controls the motor 702 to rotate, driving the synchronous pulley 706 to rotate, thereby driving the eccentric wheel 1 711 and the eccentric wheel 2 708 to rotate, so that the rocker arm 712 swings around the extension axis of the lead screw slider 710 and the guide groove slides along the slider 710, so that the magnetic foot pedal 705 can achieve a gait motion trajectory similar to an ellipse, and the rotation centers of the two sets of cam mechanisms are 180 degrees apart. When working, the two sets of magnetic foot pedals 705 are energized and magnetized, and are respectively fixed to the two semicircular platforms of the electromagnetic detachable standing platform 601 in a one-to-one correspondence, which can ensure that the trajectory shape of the two foot movement points is the same, and the two feet perform isochronous alternating movements. In addition, the height of the lead screw slider 710 can be manually adjusted by the hand wheel, so that the diameter of the gait walking trajectory ellipse simulated by the magnetic foot pedal 705 can be adjusted, thereby changing the stride size during rehabilitation training, so that the patient can adjust it by himself according to rehabilitation needs.

[0094] Furthermore, by changing the direction of the motor 702, the patient's walking and backward movement modes can be simulated, and the flexion and extension degrees of freedom of the lower limb hip joint, knee joint and ankle joint can be realized, thereby achieving the purpose of lower limb multi-joint rehabilitation training.

[0095] A gear-type hip joint rehabilitation mechanism 9 designed by the present invention is fixed on a placement platform 2 3028 on the gear rack sliding device 301 .

[0096] See also Fig.12 The gear-type hip joint rehabilitation mechanism 9 includes two pairs of magnetic foot pedals 906, two pairs of planetary gear train mechanisms, a transmission shaft 903, a pair of bevel gear mechanisms 911 and two sets of transverse slide rails 901. The outer rings of the large and small gear hubs in the planetary gear train mechanism are specially made in a "U" shape, the tray 905 is located in the concave part in the middle of the hub, and the inner ring of the central gear hub is processed into a flat key slot hole that matches the protruding rectangular block of the transmission shaft 903, so that the large gear 907 can move axially. The two pairs of magnetic foot pedals 906 are fixed above the tray 905 by bolts.

[0097] The bevel gear mechanism includes a transverse bevel gear 912 and two longitudinal symmetrical bevel gears 913. The longitudinal bevel gear 913 meshes with the left and right sides of the transverse bevel gear 912 respectively. The longitudinal bevel gear 913 and the transmission shaft 903 are connected by a flat key and axially positioned by a shaft shoulder. The inner ring of the hub of the circumferential pinion 908 is made into a spiral shape to match the three sets of lead screws 904. The limited support devices 902 are also installed on both sides of the lead screws 904 to ensure that the magnetic foot pedal 906 will not be separated from the mechanism. The transverse bevel gear hub 912 and the outer ring of the tapered roller bearing are interference fit, and the inner ring of the bearing is matched with the fixed rod 911 sleeved in the middle of the shaft 903. The tray 905 and the slider 910 are connected by bolts through the right-angle frame 909 as an intermediate piece, and the slider 910 is driven by the tray 905 to slide on the transverse slide rail 901.

[0098] Furthermore, during operation, the upper computer can control the on and off of the built-in current of the magnetic foot pedal 906 to control the magnetism. After magnetization, the two magnetic foot pedals 906 are attracted to the two semicircular platforms of the electromagnetic detachable motion platform 601 after disassembly. Specifically, when the mechanism is required to work, the upper computer controls the motor to rotate to drive the two bevel gears to rotate, thereby driving the transmission shaft 903 to rotate, and then driving the large gear 907 in the two pairs of planetary gear trains to rotate, and the circumferential pinion 908 meshing with the large gear also rotates. Since the circumferential pinion 908 is connected to the lead screw 904, the circumferential pinion 908 will drive the tray 905 to move axially along the lead screw 904, and then drive the magnetic foot pedal 906 to do split axial movement. This mechanism can provide patients with two degrees of freedom training of the hip joint on the coronal plane.

[0099] See also Fig.13 The control method of the dual-control rope winding mechanism 8 of the present invention is carried out according to the following steps:

[0100] Step 1: Turn on the host computer, test whether the tension sensor 1101, the left photoelectric switch 809 and the right photoelectric switch 810, the motors 801 and 815 communicate with the host computer normally, and initialize the system.

[0101] Step 2: Adjust the preload force of the flexible cable 1001 by the speed regulating motor 801 until the left baffle of the tensioning wheel support frame 811 is between the left photoelectric switch 809 and the right photoelectric switch 810. Record the preload force as a reference value.

[0102] Step 3: The constant speed motor 815 is used as the main control component for the position control of the electromagnetic detachable standing platform 601, and the speed regulating motor 801 is used as the auxiliary control component. The rope retracting and releasing work is completed by dynamically tensioning the rope at the tensioning wheel.

[0103] Step 4: When the host computer controls the fixed speed motor to release or retract the soft rope:

[0104] 1. When the host computer controls the constant speed motor 815 to release the soft rope 1001

[0105] 1) If the host computer detects that the right photoelectric switch 810 is triggered, indicating that the rope tends to be tight, the speed regulating motor 801 is controlled to release the rope at a speed slightly greater than that of the fixed speed motor 815 until the pre-tension of the rope returns to the initialization speed and then the speed is adjusted to the same speed as that of the fixed speed motor;

[0106] 2) If the host computer detects that the left photoelectric switch 809 is triggered, indicating that the rope tends to be loose, the speed regulating motor 801 is controlled to release the rope at a speed slightly lower than that of the fixed speed motor until the pre-tensioning force of the rope returns to the initialization speed and then the speed is adjusted to the same speed as the fixed speed motor.

[0107] 2. When the host computer controls the constant speed motor 815 to retract the soft rope 1001

[0108] 1) If the host computer detects that the right photoelectric switch 810 is triggered, indicating that the rope tends to be tight, the speed regulating motor 801 is controlled to retract the rope at a speed slightly lower than that of the fixed speed motor 815 until the pre-tightening force of the rope returns to the same speed as that of the fixed speed motor during initialization;

[0109] 2) If the host computer detects that the left photoelectric switch 809 is triggered, indicating that the rope tends to be loose, the speed regulating motor 801 is controlled to retract the rope at a speed slightly greater than that of the fixed speed motor until the pre-tightening force of the rope returns to the same speed as that of the fixed speed motor during initialization.

[0110] After the planned trajectory of the standing platform is input, the upper computer controls the fixed-speed motor 815 in the dual-control rope winding mechanism 8 to rotate and retract the corresponding rope length. The upper computer also monitors the on-off status of the photoelectric switch and the comparison between the preload force of the tension sensor 1101 and the initial reference value in real time, and controls the speed regulating motor 801 to adjust the corresponding speed to retract and release the soft rope. The rope winding mechanism not only avoids the disadvantage of easy axial movement of the soft rope during retraction and release, causing rope tangling or mechanism shutdown, but also compensates for the error in rope retraction and release caused by changes in the rope winding radius, thereby ensuring the initial horizontality of the electromagnetic detachable standing platform 601 and reducing the error with the preset trajectory.

[0111] See also Fig.14 The training method of the multi-mode upper limb multi-joint rehabilitation training device of the present invention is carried out according to the following steps:

[0112] Step 1: Power on and start the system to initialize. Check whether the communication between each motor and sensor module and the host computer is normal. During initialization, the detachable standing platform is connected into a full circle platform through the snap connection.

[0113] Step 2: Input the patient's body shape information, calf length, etc. into the host computer. The infrared rangefinder 1104 collects information in real time and feeds it back to the host computer to adjust the circumferential length of the weight loss vest and control the inflation or deflation of the artificial muscles of the calf modules until it adapts to the patient's body shape.

[0114] Step 3: The infrared rangefinder 1104 detects the length value of the sliding rod spring of the knee rotation mechanism in real time, and transmits the value to the host computer for calculation and judgment until the upper and lower leg modules are both in an upright state, and records the length of the sliding rod spring at this time, which is used as a reference value 1.

[0115] Step 4: The upper computer controls the motor of the rope winding machine to adjust the distance between the standing platform and the vest to adapt to the patient's height, level the standing platform, and adjust the pre-tightening force of the flexible rope until the two photoelectric switches are not triggered.

[0116] Step 5: Start rehabilitation training. Ask the patient to step onto the standing platform and tie the elastic straps of the calf and calf modules on the patient's thighs and calves respectively, preparing for rehabilitation exercises.

[0117] Step 6: Select the rehabilitation mode. You can choose single joint rehabilitation training such as waist rehabilitation training, hip rehabilitation training, knee rehabilitation training or composite multi-joint rehabilitation training, i.e. variable stride simulated walking rehabilitation training. Select according to the patient's current rehabilitation needs, and after selection, the upper machine will control the corresponding motor to work.

[0118] Step 7: By using the plantar pressure sensor 1102 and the pressure sensor 1105, the tension sensor 1101, the infrared rangefinder 1104 and the visual motion capture system to detect the artificial muscle pressure and the tension of the flexible cable in real time, the posture information of the standing platform is detected in real time, and the above information is communicated to the host computer in real time through the data acquisition card. If the established safety threshold is exceeded, the vehicle will automatically stop and check before restarting, and return to step 6.

[0119] Step 8: After the rehabilitation training is completed, the elastic bandages on the legs are manually removed and the patient walks down from the standing platform.

[0120] Step 9: Reset the standing platform and turn off each motor unit and pneumatic artificial muscle unit.

[0121] In summary, the present invention proposes a multi-mode lower limb multi-joint rehabilitation training device and training method. Those skilled in the art will readily understand that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-mode upper limb multi-joint rehabilitation training device, characterized in that: It includes a support and erection unit, and the space in the support and erection unit is provided with a liftable upper limb weight reduction device and a lower limb wearable mechanism from top to bottom, and the lower limb wearable mechanism includes a pedal module, a calf module and a thigh module, and the lower limb wearable mechanism is arranged on an electromagnetic detachable standing platform, and the lifting and lowering of the electromagnetic detachable standing platform is driven by a soft cable driving mechanism, and the soft cable of the soft cable driving mechanism is retracted and released by a double-controlled winding rope mechanism below, and a training mode conversion platform mechanism is arranged below the electromagnetic detachable standing platform, and the training mode conversion platform mechanism gathers a variety of motion platform modes, including a movable placement platform 1 and a liftable placement platform 2, and a variable stride simulation walking mechanism is arranged on the placement platform 1, and a gear-type hip joint rehabilitation mechanism is arranged on the placement platform 2; The lifting and lowering of the upper limb weight loss device is driven by a rope winding mechanism controlled by a host computer above it, and the height between the upper limb weight loss device and the electromagnetic detachable standing platform is driven by a flexible rope to meet the height requirement of the patient, and the electromagnetic detachable standing platform is driven by the flexible rope of the dual-control rope winding mechanism to move along a preset trajectory to achieve waist rehabilitation training; the calf module and the thigh module of the lower limb wearable mechanism are connected by a knee joint rotation mechanism, and the flexible rope of the calf module is controlled by the host computer on the electromagnetic detachable standing platform to drive the knee joint rotation mechanism to bend to achieve knee joint rehabilitation training; when the electromagnetic detachable standing platform corresponds to the second placement platform, the hip joint rehabilitation training is achieved by the action of the gear-type hip joint rehabilitation mechanism, and when the electromagnetic detachable standing platform corresponds to the first placement platform, the walking compound lower limb multi-joint rehabilitation training is achieved by the variable stride simulation walking mechanism action; The double-control type winding and arranging rope mechanism is fixedly placed on the bottom plate of the aluminum alloy rectangular outer frame, including a speed regulating motor, a fixed speed motor, a box, a gear arranging device and a dynamic rope control device; The dynamic rope control device comprises a tensioning mechanism, two sets of fixed pulley units 1 and 2, a spiral single winding drum, and the tensioning mechanism comprises a tensioning wheel, a tensioning wheel support frame, a left photoelectric switch and a right photoelectric switch, and a spring; When the flexible cable is in the leveling preload state, the left file of the tension wheel support frame stops between the left photoelectric switch and the right photoelectric switch. At this time, the spring is in a stretched state and keeps balance with the tension of the flexible cable. At this time, the photoelectric switch and are not triggered. The flexible cable is installed with a tension sensor. The upper computer can obtain the tension of the flexible cable in real time. At this time, the flexible cable is within the pre-set reference value preload range; When the flexible rope bypassing the tensioning wheel tends to relax, the spring will return to its original position from the stretched state, thereby driving the left baffle of the tensioning wheel support frame to move to the left, thereby triggering the left photoelectric switch. When the flexible rope bypassing the tensioning wheel tends to gradually tighten, the tensioning wheel bracket will move to the right, at this time the right photoelectric switch will be triggered, and the triggering state of the photoelectric switch will be transmitted to the host computer.

2. The multi-mode upper limb multi-joint rehabilitation training device according to claim 1, characterized in that: The support and installation unit is an aluminum alloy rectangular inner and outer frame, including an aluminum alloy inner rectangular frame and an aluminum alloy outer rectangular frame. A lifting and winding mechanism for suspending the upper limb weight reduction device is installed on the aluminum alloy outer rectangular frame. Pullway units for the flexible cable driving mechanism to bypass are arranged at the top four corners of the aluminum alloy inner rectangular frame. The flexible cable driving mechanism includes four flexible cables. One end of the flexible cable is respectively released by its corresponding double-control winding rope mechanism, and after bypassing the corresponding pulley unit upward, the other end is connected to the rope buckle on the electromagnetic detachable standing platform and fixed.

3. The multi-mode upper limb multi-joint rehabilitation training device according to claim 2, characterized in that: The upper limb weight reduction device includes a wearable vest, which is provided with adjustment buttons. The upper end of the wearable vest is connected with a Y-shaped load-bearing flexible cable, and the load-bearing flexible cable is fixed on a double-axis motor driven reel of a lifting and winding mechanism on an aluminum alloy outer rectangular frame.

4. The multi-mode upper limb multi-joint rehabilitation training device according to claim 1, characterized in that: The electromagnetic detachable standing platform comprises two semicircular standing platforms, which are connected by buckles to form a full-circular standing platform, and an electromagnet is built in the center of the two semicircular standing platforms. After power is turned on, the electromagnet is magnetically energized and has magnetic attraction; the foot pedal module comprises an ankle clip and a foot pedal connected by a rotating pair, and two symmetrically arranged plantar pressure sensors are installed at the bottom of the foot pedal, which can be transmitted to the host computer through a data acquisition card to observe plantar pressure data in real time, and the foot pedal is fixedly connected to the electromagnetic detachable standing platform by bolts; The calf module comprises a calf support fixedly mounted on an electromagnetically detachable standing platform, a calf movable frame is guided and mounted on the calf support, a calf area pneumatic artificial muscle for driving the calf movable frame to move is arranged in the calf support, a calf area flexible cable for extension and retraction is installed in the calf movable frame, the bottom end of the calf area flexible cable passes through a guide hole on the calf support and is connected to the upper end of the calf area pneumatic artificial muscle, and the upper end is connected to the bottom end of the calf movable frame, and a calf area spring is sleeved on the calf movable frame and the calf area flexible cable of the calf support; The thigh module includes a thigh support, the bottom end of which is rotatably connected to the calf movable frame via a rotating shaft, a thigh movable frame matched with the thigh support is installed on a guide, two upper and lower thigh area pneumatic artificial muscles are installed in the middle of the thigh support, and the two thigh area pneumatic artificial muscles are connected by a spring, and the other ends of the thigh area pneumatic artificial muscles are respectively fixed to the bottom of the thigh support and the top of the thigh movable frame; elastic leg straps for binding the patient's calves and calves are respectively arranged in the middle of the thigh module and the calf module, and air inlet pipes for ventilation are respectively installed on the calf area pneumatic artificial muscles and the thigh area pneumatic artificial muscles, and pressure sensors are installed at the valves of the air inlet buckle pipes.

5. The multi-mode upper limb multi-joint rehabilitation training device according to claim 4, characterized in that: The knee joint rotation mechanism includes a crankshaft that provides rotational power for rotation between the thigh support and the calf movable frame. The crankshaft is a three-section stepped structure. An external gear end cover is rotatably installed on the first section of the crankshaft, and an absolute encoder for real-time detection of the crankshaft rotation angle is installed. The external gear end cover is provided with an internal gear meshing with it, and the internal gear is fixedly rotatably installed on the second section of the crankshaft. A sliding rod is rotatably installed on the third section of the crankshaft. A sliding rod spring is provided below the sliding rod, and a sliding rod cable for driving the sliding rod spring to retract and retract is provided in the sliding rod spring. The retraction and extension of the sliding rod cable is driven by a rope winding mechanism arranged at the bottom end on the electromagnetic detachable standing platform; infrared rangefinders are respectively installed at the bottom ends of the thigh support and the calf support, and the transmitting unit and receiving unit of the infrared rangefinder are respectively installed at the bottom of the sliding rod and the electromagnetic detachable standing platform.

6. The multi-mode upper limb multi-joint rehabilitation training device according to claim 2, characterized in that: The double-control type winding and arranging rope mechanism is a corresponding cooperation of multiple groups of pulley units, including a box body fixedly mounted on the bottom plate of the aluminum alloy outer frame, a gear wire arrangement device and a dynamic rope control device are installed in the box body, the gear wire arrangement device includes a drum rotatably mounted at the bottom end of the box body, the drum is driven by a speed regulating motor at the end, a movable lead screw sliding unit is mounted above the drum, the lead screw sliding unit includes a lead screw, a lead screw mounting frame is screwed on the lead screw, and two vertical fixed pulleys are installed on the lead screw mounting frame; the dynamic rope control device includes a group of tensioning mechanisms, two groups of fixed pulley units, and a single winding drum, the tensioning mechanism includes a tensioning wheel, a tensioning wheel support frame, A left photoelectric switch, a right photoelectric switch and a spring assembly, one end of the left photoelectric switch and the spring are fixedly mounted on the vertical partition of the box, the other end of the spring is fixedly buckled on one side of the tensioning wheel support frame, the fixed pulley unit and the single winding reel are respectively fixed to the right side wall of the box through their respective support frames by bolts, the single winding reel is driven by a constant speed motor at the end, a cylindrical slot corresponding to the cross-sectional circular surface of the tensioning wheel support frame is processed on the side wall of the box, the tensioning wheel support frame can move left and right in the slot, the flexible cable passing through the gear wiring mechanism is guided by the fixed pulley group and then wound around the tensioning wheel, and then wound on the single winding reel, and then output through the fixed pulley unit above, and a tension sensor is installed on the flexible cable.

7. The multi-mode upper limb multi-joint rehabilitation training device according to claim 6, characterized in that: The control method of the dual-control type winding rope mechanism is carried out according to the following steps: Step 1: Turn on the host computer, test whether the communication between the tension sensor, left photoelectric switch, right photoelectric switch, speed regulating motor and the host computer is normal, and initialize the system; Step 2: Adjust the preload force of the flexible cable by means of the speed regulating motor until the left baffle of the tensioning wheel support frame is between the left photoelectric switch and the right photoelectric switch, and record the preload force as a reference value; Step 3: The fixed speed motor is used as the main control component for the posture control of the standing platform, and the speed regulating motor is used as the auxiliary control component to complete the rope retraction and release work by dynamically tensioning the rope at the tensioning wheel; Step 4: When the host computer controls the fixed speed motor to release or retract the soft rope: 1) When the host computer controls the fixed speed motor to release the soft rope If the host computer detects that the right photoelectric switch is triggered, it means that the rope tends to be tight, then the speed regulating motor is controlled to release the rope at a speed slightly higher than that of the fixed speed motor, until the pre-tension of the rope returns to the initialization state and then the speed is adjusted to the same speed as that of the fixed speed motor; If the host computer detects that the left photoelectric switch is triggered, it means that the rope tends to be loose, and then the speed regulating motor is controlled to release the rope at a speed slightly lower than that of the fixed speed motor, until the preload force of the rope returns to the initialization speed and then the speed is adjusted to the same speed as the fixed speed motor; 2) When the host computer controls the fixed speed motor to retract the flexible rope If the host computer detects that the right photoelectric switch is triggered, it means that the rope tends to be tight, and then the speed regulating motor is controlled to retract the rope at a speed slightly lower than that of the fixed speed motor, until the pre-tension of the rope returns to the same speed as that of the fixed speed motor during initialization; If the host computer detects that the left photoelectric switch is triggered, it means that the rope tends to be loose, and then the speed regulating motor is controlled to retract the rope at a speed slightly faster than the fixed speed motor until the preload of the rope returns to the same speed as the fixed speed motor at the time of initialization. After the planned trajectory of the standing platform is input, the upper computer controls the fixed-speed motor in the rope winding mechanism to rotate and retract the corresponding rope length. The upper computer also monitors the on-off status of the photoelectric switch and the comparison between the preload force of the tension sensor and the initial reference value in real time, and controls the speed regulating motor to adjust the corresponding speed to retract and release the soft rope. The rope winding mechanism not only avoids the disadvantage of easy axial movement of the soft rope during retraction and release, causing rope disorder or mechanism shutdown, but also compensates for the error in rope retraction and release caused by changes in the rope winding radius, ensuring the initial horizontality of the standing platform and reducing the error with the preset trajectory.

8. The multi-mode upper limb multi-joint rehabilitation training device according to claim 1, characterized in that: The movement of the placement platform 1 is driven by a gear rack longitudinal sliding mechanism, and the gear rack longitudinal sliding mechanism includes two groups of longitudinal guide rails arranged in parallel on the outer frame partition. The placement platform 1 is provided with a slider that guides and slides with the longitudinal guide rails, and a rack is distributed on the inner side surface of one side of each group of longitudinal guide rails. The placement platform is installed with a gear that meshes with the rack for transmission, and the rotation of the gear is driven by a stepping motor. A variable stride simulation walking mechanism is installed in the middle of the placement platform 1, and the variable stride simulation walking mechanism includes a rotating Axle, the rotating shaft is equipped with eccentric wheels 1 and 2, which are spaced apart and form a group of two. The upper end of the eccentric wheel 1 is provided with a fixed mounting hole 1, and the upper end of the eccentric wheel 2 is provided with a fixed mounting hole 2. The eccentric wheels 1 and 2 are both equipped with rocker arms, and the upper and lower ends of the rocker arms are rod body structures respectively. Magnetic foot pedals are installed between the ends of the upper rod bodies of the rocker arms on both sides. Guide grooves are provided on the lower rod bodies of the rocker arms on both sides, and screw sliders for limiting the step size are respectively provided on the outer sides of the lower rod bodies, and the movement of the screw sliders is driven by corresponding screws.

9. The multi-mode upper limb multi-joint rehabilitation training device according to claim 1, characterized in that: The lifting of the placement platform 2 is driven by the scissor-type hydraulic lifting mechanism below it. The gear-type hip joint rehabilitation mechanism includes two corresponding transverse slide rails laid on the placement platform 2. A planetary gear train mechanism is set up just above the transverse slide rails. The planetary gear train mechanism includes a tray. The inner side of the tray is respectively installed with a right angle frame. The right angle frame is installed on a slider matched with the transverse slide rail. The middle of the tray is respectively penetrated by a transmission shaft, and the corresponding ends of the two transmission shafts are rotatably installed on the connecting seat in the middle. The inner side of the tray is respectively clamped with a gear mounted on the transmission shaft. The large gear has three lead screws which synchronously penetrate the two trays distributed in the circumferential direction of the large gear, and transmission pinions which are located on the inner side of the large gear and mesh with the large gear are respectively installed on the lead screws, and the two lead screws at the bottom ends are supported and mounted by limit bearings, and a magnetic foot pedal is installed on the upper lead screw, and the bottom end of the magnetic foot pedal is connected and fixed to the upper end of the tray, and bevel gears are respectively installed on the inner ends of the two transmission shafts, and a transverse bevel gear for synchronously driving the two bevel gears is installed directly below the bevel gears, and the transverse bevel gear is driven by a motor controlled by the upper computer at the bottom.

10. A training method based on the multi-mode upper limb multi-joint rehabilitation training device according to any one of claims 1 to 9, characterized in that: Proceed as follows: Step 1: Power on and start the system to initialize and check whether the communication between each motor and sensor module and the host computer is normal. During initialization, the detachable standing platform is connected into a full circle platform through the snap connection; Step 2: Input the patient's body shape information, calf length and other information into the host computer. The rangefinder collects information in real time and feeds it back to the host computer to adjust the circumferential length of the weight loss vest and control the inflation or deflation of the artificial muscles of the calf modules until it adapts to the patient's body shape. Step 3: The infrared rangefinder detects the length of the sliding rod spring of the knee rotation mechanism in real time, and transmits the value to the host computer for calculation and judgment until the upper and lower leg modules are both in an upright state, and records the length of the sliding rod spring at this time, which is used as a reference value; Step 4: The upper computer controls the motor of the rope winding machine to adjust the distance between the standing platform and the vest to suit the patient's height, level the standing platform, and adjust the pre-tightening force of the flexible rope until the two photoelectric switches are not triggered; Step 5: Start rehabilitation training. Ask the patient to walk onto the standing platform and tie the elastic straps of the calf and thigh modules on the patient's thighs and calves respectively, and prepare for rehabilitation exercises. Step 6: Select the rehabilitation mode. You can choose single joint rehabilitation training such as waist rehabilitation training, hip rehabilitation training, knee rehabilitation training or compound multi-joint rehabilitation training, that is, variable stride simulated walking rehabilitation training. Select according to the patient's current rehabilitation needs. After selection, the upper machine will control the corresponding motor to work; Step 7: Use pressure sensors, tension sensors, infrared rangefinders and visual motion capture systems to detect artificial muscle pressure and cable tension in real time, detect the posture information of the standing platform in real time, and communicate the above information to the host computer in real time through the data acquisition card. If the established safety threshold is exceeded, the vehicle will automatically stop and check before restarting, and return to step 6; Step 8: After the rehabilitation training is completed, the elastic bandages on the legs are manually removed, and the patient walks down from the standing platform; Step 9: Reset the standing platform and turn off each motor unit and pneumatic artificial muscle unit.

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