Bionic stepping training robot

Abstract

The invention relates to a bionic stepping training robot which comprises a shell, a handrail mechanism, an X-direction cam mechanism, a pedal mechanism, a Y-direction cam mechanism and a base mechanism. The stroke of the driving terminal is amplified by reasonably designing the mounting position of each transmission rod piece, and the overall dimensions of the X-direction cam and the Y-direction cam are effectively reduced by 6 times; through gear disengagement of the ratchet wheel disc and the pawl disc, the foot cam is linked and is driven clockwise in the whole motion period, and the effect that a single motor drives six-terminal freedom degree linkage is achieved. According to the bionic kinematics principle, the mechanical structure is designed to be a proper restraint system, linkage driving is conducted on the positions of the two feet and the angle of the ankle joint of a user, and the pedal mechanisms of the left foot and the right foot complete human body gait bionic motion trails and pitching posture changes. The device can assist a user with stepping movement dysfunction in exercise training according to the benchmarking healthy human body stepping walking state, has clinical use value, is beneficial to commercial production, and fills the blank in the field.

Description

Technical Field

[0001] The invention belongs to the field of sports training robot equipment, and relates to a mechatronic bionic stepping training robot which can perform stepping exercise training on patients with lower limb motor dysfunction. Background Art

[0002] One of the most important behaviors of human movement is stepping. Clinical practice of rehabilitation medicine has proved that passive stepping training for non-permanent paraplegic patients can effectively stimulate the vitality of their neuromuscular system and is expected to recover in a beneficial direction. For patients with lower limb motor dysfunction, they cannot perform completely autonomous stepping training during the rehabilitation process, and passive stepping training requires the assistance of effective power equipment. At present, simple stepping training equipment at home and abroad is commonly found in the field of power equipment for fitness, such as elliptical machines, which makes it difficult for patients to achieve stepping training according to the bionic motion trajectory. However, non-bionic stepping training will cause different degrees of abnormal rehabilitation trends in the patient's muscles and bones. At present, the power equipment dedicated to bionic stepping training at home and abroad is basically a multi-degree-of-freedom mechanical system. The left and right leg motion auxiliary mechanism is driven and executed by multiple power sources, and then the hip, knee, thigh and calf are coordinated through the control system to form a bionic stepping effect. The mechanical structure and control system are complex, costly, and expensive, making it difficult to promote it in hospitals or rehabilitation institutions, and even more difficult to promote it for home use. Therefore, based on the freedom of movement of the hip, knee and ankle joints of healthy users when walking, and in accordance with the principles of bionics and ergonomics, a bionic stepping motion training robot with simple mechanical structure, low cost, easy use and lightweight is designed, which is of great significance in the research field of bionic rehabilitation equipment and market demand. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic stepping training robot to solve the above-mentioned technical problems, make the structure simple, and be convenient for home use and clinical application promotion. According to the bionic principles of human stepping motion, a machine equipment with good human-computer interaction experience when the user performs stepping walking training is designed, the number of motors used is reduced and the structure is lightweight. Through handrails and under-shoulder support rods, auxiliary force for fall protection is provided. The mechanical structure is designed based on the dynamic stability criterion of human stepping motion to prevent users from falling during stepping training. The pedal motion trajectory is designed based on the healthy human stepping walking bionic motion data under sufficient experimental statistics, so that patients can perform bionic motion rehabilitation training according to the stepping characteristics of the healthy human body. A pressure sensor is installed at the support rod under the shoulder to detect and analyze the pressure of the user's upper body on the lower limbs in real time. The real-time feedback of the human-computer interaction force is used to control the output load of the linear servo motor. The support rod is used to provide weight loss support to the patient upwards, sharing the load of the patient's upper body weight on the lower limbs, thereby achieving a weight loss effect. According to the patient's lower limb motor dysfunction case status and current walking ability, a customized stepping walking training plan is provided for patients with different lower limb motor dysfunctions to achieve targeted stepping exercise rehabilitation training.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0005] The bionic stepping training robot is characterized in that it includes a shell 1, an armrest mechanism 2, an X-direction cam mechanism 3, a pedal mechanism 4, a Y-direction cam mechanism 5, and a base mechanism 6. The armrest mechanism 2 is fixed downward at the middle position inside the shell 1. The left and right groups of the pedal mechanisms 4 are respectively fixed on both sides of the armrest mechanism 2 inside the shell 1, and their front ends are hinged and driven upward with the armrest mechanism 2. The left and right groups of the base mechanisms 6 are respectively hinged on the shafts outside the foot pedals of the pedal mechanisms 4 of the same group to drive them to change their spatial positions. The left and right groups of the X-direction cam mechanisms 3 and the left and right groups of the Y-direction cam mechanisms 5 are respectively fixed on the front ends of the base mechanisms 6 of the same group, and are also respectively hinged with the corresponding output shafts at the front ends of the pedal mechanisms 4 of the same group, so as to drive the corresponding base mechanisms 6 to move according to the bionic motion trajectory of the human gait and simultaneously link the corresponding pedal mechanisms 4 to form a synthetic motion in the horizontal and vertical directions. The design method includes the following two steps:

[0006] first step Based on the gait walking experiment of 50 healthy people with different heights, weights, ages and genders, the motion trajectory of the plantar reference point position and the pitch angle of the ankle in the sagittal plane during the movement were collected respectively. The data were post-processed to obtain the standardized plantar position motion trajectory when stepping and the toe-heel difference Δ change trajectory when the plantar posture changes, which are the two human gait bionic motion trajectories used to design the mechanical structure:

[0007] Firstly, a 7-segment human stepping walking model was established in the human sagittal plane. The left and right hip joints coincided in the human sagittal plane. It was assumed that the upper limbs remained vertical when the human body stepped, that is, the swing of the upper body of the rehabilitation patient during walking was ignored. In the calculation process, the right foot touched the ground as the starting moment of a stepping cycle, and the expected average forward speed of the patient's walking training was set as the stepping forward speed of the training. The real-time forward speed of the patient during training was subtracted from the average stepping forward speed, and the motion trajectory of the specified reference point on the sole of the foot in a stepping cycle in the sagittal plane was calculated. The trajectory was a closed curve, that is, the motion trajectory of the sole position in a stepping cycle. In order to calculate the standardized plantar position motion trajectory when stepping for designing mechanical structures that can perform bionic motion, based on gait walking experiments of 50 healthy testers with different heights, weights, ages, and genders, the position motion trajectory of the plantar reference points and the pitch and roll motion angles of the ankle in the sagittal plane during their exercise were collected, and the data were standardized and analyzed in depth: First, in order to enable the patient's feet to move according to the set trajectory during stepping exercise training, according to the relationship between the step length s and the tester's height h h = 0.54s + 1.321, the horizontal coordinate of the motion trajectory of each group of plantar reference points was divided by the step length s, and the vertical coordinate was divided by the height h, to obtain a standardized plantar position motion trajectory when stepping, which is the first human gait bionic motion trajectory used for designing mechanical structures. The fitting calculation formula is as follows:

[0008]

[0009] Where x and y are the fitting formulas of the standardized horizontal and vertical stepping motion trajectories of the plantar reference point in the human sagittal plane, respectively, and t represents the time proportion in a complete stepping cycle;

[0010] Secondly, in order to make the patient's foot move according to the set position trajectory during stepping exercise training, the ankle pitch angle changes according to the set plantar posture, the vertical height of the heel is set to y, and the toe height is set to h J =y-Δ, and a standardized trajectory of the difference between the toe and the heel Δ when the plantar posture changes during stepping is obtained, which is the second human gait bionic motion trajectory based on which the mechanical structure is designed. The fitting calculation formula is as follows:

[0011]

[0012] Step 2: Design the dimensions of key transmission components and the contour shapes of three key transmission cams in the mechanical structure of a bionic step training robot:

[0013] First, the movement position of the pedal is designed to move according to the first human gait bionic motion trajectory, that is, the slide bar is designed to slide in the slope slide groove to drive the pedal installed on the slide bar to move according to the standardized plantar position motion trajectory when stepping, and the motion trajectory of the right end of the slide bar in the sagittal plane of the human body is decomposed into displacement-time functions in the horizontal and vertical directions, and then the contour shape of the corresponding motion driving cam is designed according to the displacement-time function in this direction. The motion trajectory of the pedal driven by the rotation of the cam conforms to the bionic trajectory of human stepping. The calculation process is: the length of the slide bar AB is set The slope EC is designed to be 60cm, and the inclination angle of the slope EC is designed to be 10°. The point D, which is 15cm away from the left end point B of the slide bar, is the fixed axis position of the pedal. Its motion trajectory (Dx, Dy) should be set as the standardized motion trajectory of the foot during stepping. When the AB rod is in a horizontal posture, the absolute position of point D on the ground is the coordinate origin O(0,0). The ground coordinate system Oxy is established. The horizontal forward direction is the positive direction of the x-axis, and the vertical upward direction is the positive direction of the y-axis. The equation of the slope EC in the ground coordinate system Oxy should be 0.176x+y+2.55=0, and the length l of DE can be calculated. DE , the length of BE is l BE , and two angles θ 1 and θ 2 , and its calculation formula is as follows:

[0014]

[0015] θ 2 =10°-θ 1

[0016] Then the real-time trajectory coordinates of the right end point A of the slider in the ground coordinate system should be (Dx+45cosθ 2 ,Dy-45sinθ 2 ), its motion trajectory in the horizontal and vertical directions can be driven by the X-direction cam and the Y-direction cam respectively. Therefore, the contour curves of the X-direction cam and the Y-direction cam can be calculated according to the motion trajectory of the right end point A of the slider. In order to reduce the size of the overall mechanism, the trajectory is reduced by 6 times. Assuming that the minimum radius of the cam is 5 cm, the contour curve fitting formulas of the cams in these two directions are as follows:

[0017]

[0018]

[0019] Secondly, the rotation posture of the pedal is designed to rotate according to the second human gait bionic motion trajectory, that is, the pedal pitch angle driving mechanism is designed, and the toe-heel difference Δ change trajectory when the standardized plantar posture changes during stepping is referred to. The sole cam rotates to drive the pedal pitch motion, and the contour curve fitting formula of the sole cam is as follows:

[0020]

[0021] The bionic stepping training robot is characterized in that the armrest mechanism 2 includes a central control column 201, a bearing 202, an armrest pin 203, an armrest 204, an underarm support rod 205, a hinge 206, a bottom rod 207, and a foot pedal 208. The underarm support rod 205 is interference fixed in the corresponding opening of the central control column 201, the outer diameter of the bearing 202 is interference embedded in the circular hole opened in the central control column 201, the armrest pin 203 is interference embedded to the right in the circular hole opened at the corresponding position of the armrest 204, and then interference knocked into the inner diameter of the bearing 202 to the left to form a bearing constraint. The front end of the bottom rod 207 is hinged to the lower end of the armrest 204 through the hinge 206 to achieve rotation, and the rear end of the bottom rod 207 is connected to the outer convex shaft of the pedal 208.

[0022] The bionic stepping training robot is characterized in that: the X-direction cam mechanism 3 includes a first slide rail 301, a first connecting piece 302, a first slider 303, an intermediate rod 304, a second slide rail 305, a second slider 306, a first hinge block 307, a second bevel gear 308, a first bevel gear 309, a first coupling 310, a first bearing seat 311, a first cushion block 312, an X-direction cam 313, a first push rod 314, a first pin 315, a first scissor rod 316, a second hinge block 317, a third slider 318, a second pin 319, a third slide rail 320, a third bevel gear 321, a motor 322, and a fourth bevel gear 323. The first connecting piece 302 is welded to the right and fixed on the left side of the first slider 303. The first slider 303 is nested in the first slide rail 301 and can slide up and down along the slide rail. The first slide rail 301 and the second slide rail 305 are respectively welded and fixed on the left and right surfaces of the middle rod 304. The two groups of first hinge blocks 307 are welded to the left and fixed on the right side of the second slider 306, and then respectively nested in the upper and lower ends of the second slide rail 305 to slide in the opposite direction or in the opposite direction, and can slide up and down along the second slide rail 305. Similarly, the two groups of second hinge blocks 317 are welded to the right and fixed on the left surface of the corresponding third slider 318 of the same group, and then respectively nested in the plumb bob welding and fixed The upper and lower ends of the third slide rail 320 at the corresponding positions on the inner side of the shell 1 can slide toward or in the opposite direction along the third slide rail 320. The two first hinge blocks 307, the two second hinge blocks 317 and the two through holes of the six first scissor rods 316 are hinged by the corresponding second pins 319 to form a parallelogram scissor assembly to realize the transmission function of deformable left and right extension and retraction. The right end of the first pin 315 is clearance-fitted in the rightmost through hole at the three cross intersections of the six first scissor rods 316, and its left end is interference-fitted in the circular hole opened at the right end of the first push rod 314. The left end of the first push rod 314 rolls and meshes in the X On the outer contour of the direction cam 313, the first bevel gear 309 and the second bevel gear 308 are meshed with each other, the third bevel gear 321 and the fourth bevel gear 323 are meshed with each other, the second bevel gear 308 and the third bevel gear 321 are coaxially fixed in series through the first coupling 310, the center of the X-direction cam 313 and the first bevel gear 309 are coaxially fixed through the first coupling 310, and the four groups of first bearing seats 311 are coplanarly welded and fixed at corresponding positions through the first cushion block 312, which are used to support and constrain the axis of the X-direction cam 313, the first bevel gear 309, the second bevel gear 308, the third bevel gear 321 and the fourth bevel gear 323 to realize coplanar shaft transmission.

[0023] The bionic stepping training robot is characterized in that: the pedal mechanism 4 includes a third pin 401, a first curved rod 402, a second curved rod 403, a slot shell 404, a rack 405, a gear 406, a ratchet plate 407, a pawl plate 408, a foot cam 409, and a second push rod 410. The four third pins 401 are respectively inserted into the four through holes at both ends of the first curved rod 402 and the two ends of the second curved rod 403, the third pin 401 at the left end of the first curved rod 402 is inserted into the round through hole above the slot shell 404, and the third pin 401 at the right end of the first curved rod 402 is inserted into the leftmost through hole at the three cross-intersection positions of the six first scissor rods 316 to make a gap. The third pin 401 at the left end of the second curved rod 403 first passes through the slot opened at the horizontal line of the slot shell 404, and then is inserted into the axial hole of the gear 406 for clearance fit. The third pin 401 at the right end of the second curved rod 403 is knocked into the hole opened at the lower end of the intermediate rod 304 in the X-direction cam mechanism 3 for interference fixation. The left and right two pieces of the pawl plates 408 are coaxially embedded in the left and right two pieces of the same group of the ratchet plates 407, and then are coaxially mounted on the convex shafts on both sides of the sole cam 409. The left and right two pieces of the pawl plates 408 are coaxially welded and fixed on both sides of the sole cam 409, and the left and right two pieces of the ratchet plates 407 are coaxially welded and fixed on the left and right two pieces of the same group of the gears 406.

[0024] The bionic stepping training robot is characterized in that: the Y-direction cam mechanism 5 includes a second connecting piece 501, a fourth slider 502, a fourth slide rail 503, an intermediate rod 504, a fifth slider 505, a fifth slide rail 506, a third hinge block 507, a second scissor rod 508, a fourth pin 509, a fourth hinge block 510, a fifth bevel gear 511, a sixth bevel gear 512, a second bearing seat 513, a second coupling 514, a second cushion block 515, a seventh bevel gear 516, an eighth bevel gear 517, a sixth slider 518, a Y-direction cam 519, a third push rod 520, a fifth pin 521, a third push rod 522, a fourth push rod 523, a fifth push rod 524, a fifth push rod 525, a fifth push rod 526, a sixth push rod 527, a fifth push rod 528, a fifth push rod 529, a fifth push rod 530, a fifth push rod 531, a fifth push rod 532, a fifth push rod 533, a fifth push rod 534, a fifth push rod 535, a fifth push rod 536, a fifth push rod 537, a fifth push rod 538, a fifth push rod 539, a fifth push rod 540, a fifth push rod 541, a fifth push rod 542, a fifth push rod 543, a fifth push rod 544, a fifth push rod 545, a fifth push rod 546, a fifth push rod 547, a Six slide rails 522, the second connecting piece 501 is welded downward and fixed on the fourth slider 502, the fourth slider 502 is nested on the fourth slide rail 503, and can slide left and right along the fourth slide rail 503, the fourth slide rail 503 and the fifth slide rail 506 are welded and fixed on the upper and lower surfaces of the middle rod 504 respectively, the two groups of third hinge blocks 507 are welded upward and fixedly connected to the lower surface of the fifth slider 505 corresponding to the same group, and then respectively nested in the left and right ends of the fifth slide rail 507, and can slide towards or in the opposite direction along the fifth slide rail 507, similarly, the two groups of fourth hinge blocks 510 are welded downward and fixedly connected to the sixth slider corresponding to the same group 518, and then respectively nested in the left and right ends of the sixth slide rail 522 horizontally welded and fixed to the corresponding position of the inner bottom surface of the shell 1, and can slide towards or in the opposite direction along the sixth slide rail 522. The two third hinge blocks 507, the two fourth hinge blocks 510 and the two through holes of the six second scissor fork rods 508 are hinged by the corresponding fourth pins 509, and a parallelogram scissor assembly can be formed to realize the transmission function of deformable up and down extension and retraction. The left end of the fifth pin 521 is clearance-matched in the lowest through hole at the three cross intersections of the six second scissor fork rods 508, and the right end of the fifth pin 521 is clearance-matched in the lowest through hole at the three cross intersections of the six second scissor fork rods 508. The third push rod 520 has an interference fit in the circular hole opened at the lower end, and the upper end of the third push rod 520 is rollingly engaged with the outer contour of the Y-direction cam 519. The fifth bevel gear 511 is engaged with the sixth bevel gear 512, and the seventh bevel gear 516 is engaged with the eighth bevel gear 517. The three groups of second bearing seats 513 and second cushion blocks 515 are respectively welded and fixed at corresponding positions up and down, and are used to horizontally support the sixth bevel gear 512 and the seventh bevel gear 516 to be coaxially connected and fixed by the second coupling 514, and are also used to support the output shaft of the eighth bevel gear 517 to be interference fit into the central axis hole of the Y-direction cam 519 to drive it to rotate.

[0025] The bionic stepping training robot is characterized in that: the base mechanism 6 includes a hinge 601, a slide bar 602, a roller 603, and a ramp slide groove 604. The right end of the hinge 601 is welded and fixed to the corresponding contact surfaces of the first connecting piece 302 in the X-direction cam mechanism 3 and the second connecting piece 501 in the Y-direction cam mechanism 5. The left end of the hinge 601 is hinged to the right end of the slide bar 602. The lower convex shaft at the left end of the slide bar 602 is hinged to the roller 603. The roller 603 is nested in the groove body in the upper inclined surface of the ramp slide groove 604, which can support the slide bar 602 to reciprocate back and forth.

[0026] The beneficial effects of the present invention are as follows: the driving installation positions of the first push rod and the third push rod on the scissor-type quadrilateral mechanism are reasonably designed to realize displacement amplification, effectively realizing that the contour curves of the X-direction cam and the Y-direction cam are reduced by 6 times; the reciprocating driving displacement difference formed by the differential installation of the first and second crank rods at the head and end positions and the cooperation of the ratchet disc and the pawl disc are added, so that the sole cam is linked and the whole motion cycle is driven clockwise, effectively realizing the beneficial effect of the single motor driving six terminal linkage. Taking full account of the spatial motion trajectory of the sole of the foot and the pitch posture change of the ankle during the stepping walking process of a healthy human body, the mechanical structure is designed into a just constraint system according to the bionics principle, and through the effective linkage drive of the user's foot position and the corresponding ankle joint angle, it can assist users with stepping motion dysfunction to perform exercise training according to the stepping walking state of a healthy human body, and only a single motor is used with a transmission mechanism on the basis of ensuring the effective completion of the assisting human walking action, so that the pedal mechanism of the left and right feet can complete the bionic motion trajectory and pitch posture change of the human gait. The force sensor in the armpit support rod detects the support force on the human body in real time, and implements closed-loop control on the servo motor, so that the patient can receive real-time quantitative weight loss exercise training. The present invention can achieve the use effects of multiple body postures such as indoor stepping bionic exercise training and standing posture weight reduction, has clinical application value, and can also be used at home, filling the gap in the field and facilitating commercial production, popularization and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] Figure 1 Axonometric diagram of a bionic stepping training robot according to the present invention

[0029] Figure 2 The structural explosion diagram of the internal mechanical structure of the present invention is

[0030] Figure 3 The bionic motion trajectory of human gait and the height difference between heel and toe during walking of the present invention

[0031] Figure 4 The schematic diagram of the size design of each component in the base mechanism of the present invention

[0032] Figure 5 The X-direction cam profile track, the Y-direction cam profile track and the sole cam profile track diagram of the present invention are shown in FIG.

[0033] Figure 6 The structural exploded diagram of the handrail mechanism of the present invention is

[0034] Figure 7 The structural exploded diagram of the X-direction cam mechanism of the present invention is

[0035] Figure 8 The structural exploded diagram of the pedal mechanism of the present invention is

[0036] Fig. 9 The structural exploded diagram of the Y-direction cam mechanism of the present invention is

[0037] Fig.10 The structural exploded diagram of the base mechanism of the present invention is DETAILED DESCRIPTION

[0038] The system of the present invention is further described below in conjunction with the accompanying drawings. The system is implemented based on the technical solution of the present invention, and specific implementation methods and detailed operation processes are given. However, the protection scope of the present invention is not limited to the described implementation methods.

[0039] See also Figure 1 and Figure 2 As shown, the bionic stepping training robot comprises a shell 1, an armrest mechanism 2, an X-direction cam mechanism 3, a pedal mechanism 4, a Y-direction cam mechanism 5, and a base mechanism 6. The armrest mechanism 2 is fixed downward at the middle position inside the shell 1. The left and right groups of the pedal mechanisms 4 are respectively fixed on both sides of the armrest mechanism 2 inside the shell 1, and their front ends are hinged and driven upward with the armrest mechanism 2. The left and right groups of the base mechanisms 6 are respectively hinged on the shafts outside the foot pedals of the pedal mechanisms 4 of the same group to drive them to change their spatial positions. The left and right groups of the X-direction cam mechanisms 3 and the left and right groups of the Y-direction cam mechanisms 5 are respectively fixed on the front ends of the base mechanisms 6 of the same group, and are also respectively hinged with the corresponding output shafts at the front ends of the pedal mechanisms 4 of the same group, so as to drive the corresponding base mechanisms 6 to move according to the bionic motion trajectory of the human gait and simultaneously link the corresponding pedal mechanisms 4 to form a synthetic motion in the horizontal and vertical directions. The design method comprises the following two steps:

[0040] first step , see Figure 3As shown in the figure, based on the gait walking experiment of 50 healthy people with different heights, weights, ages and genders, the motion trajectory of the plantar reference point position and the pitch angle of the ankle in the sagittal plane during the movement are collected respectively. The data are post-processed to obtain the standardized plantar position motion trajectory when stepping and the toe-heel difference Δ change trajectory when the plantar posture changes, which are the two human gait bionic motion trajectories used to design the mechanical structure:

[0041] Firstly, a 7-segment human stepping walking model was established in the human sagittal plane. The left and right hip joints coincided in the human sagittal plane. It was assumed that the upper limbs remained vertical when the human body stepped, that is, the swing of the upper body of the rehabilitation patient during walking was ignored. In the calculation process, the right foot touched the ground as the starting moment of a stepping cycle, and the expected average forward speed of the patient's walking training was set as the stepping forward speed of the training. The real-time forward speed of the patient during training was subtracted from the average stepping forward speed, and the motion trajectory of the specified reference point on the sole of the foot in a stepping cycle in the sagittal plane was calculated. The trajectory was a closed curve, that is, the motion trajectory of the sole position in a stepping cycle. In order to calculate the standardized plantar position motion trajectory when stepping for designing mechanical structures that can perform bionic motion, based on gait walking experiments of 50 healthy testers with different heights, weights, ages, and genders, the position motion trajectory of the plantar reference points and the pitch and roll motion angles of the ankle in the sagittal plane during their exercise were collected, and the data were standardized and analyzed in depth: First, in order to enable the patient's feet to move according to the set trajectory during stepping exercise training, according to the relationship between the step length s and the tester's height h h = 0.54s + 1.321, the horizontal coordinate of the motion trajectory of each group of plantar reference points was divided by the step length s, and the vertical coordinate was divided by the height h, to obtain a standardized plantar position motion trajectory when stepping, which is the first human gait bionic motion trajectory used for designing mechanical structures. The fitting calculation formula is as follows:

[0042]

[0043] Where x and y are the fitting formulas of the standardized horizontal and vertical stepping motion trajectories of the plantar reference point in the human sagittal plane, respectively, and t represents the time proportion in a complete stepping cycle;

[0044] Secondly, in order to make the patient's foot move according to the set position trajectory during stepping exercise training, the ankle pitch angle changes according to the set plantar posture, the vertical height of the heel is set to y, and the toe height is set to h J =y-Δ, and a standardized trajectory of the difference between the toe and the heel Δ when the plantar posture changes during stepping is obtained, which is the second human gait bionic motion trajectory based on which the mechanical structure is designed. The fitting calculation formula is as follows:

[0045]

[0046] Step 2 , see Figure 4 and Figure 5 As shown, the dimensions of key transmission components and the contour shapes of three key transmission cams in the mechanical structure of a bionic step training robot are designed:

[0047] First, the movement position of the pedal is designed to move according to the first human gait bionic motion trajectory, that is, the slide bar is designed to slide in the slope slide groove to drive the pedal installed on the slide bar to move according to the standardized plantar position motion trajectory when stepping, and the motion trajectory of the right end of the slide bar in the sagittal plane of the human body is decomposed into displacement-time functions in the horizontal and vertical directions, and then the contour shape of the corresponding motion driving cam is designed according to the displacement-time function in this direction. The motion trajectory of the pedal driven by the rotation of the cam conforms to the bionic trajectory of human stepping. The calculation process is: the length of the slide bar AB is set The slope EC is designed to be 60cm, and the inclination angle of the slope EC is designed to be 10°. The point D, which is 15cm away from the left end point B of the slide bar, is the fixed axis position of the pedal. Its motion trajectory (Dx, Dy) should be set as the standardized motion trajectory of the foot during stepping. When the AB rod is in a horizontal posture, the absolute position of point D on the ground is the coordinate origin O(0,0). The ground coordinate system Oxy is established. The horizontal forward direction is the positive direction of the x-axis, and the vertical upward direction is the positive direction of the y-axis. The equation of the slope EC in the ground coordinate system Oxy should be 0.176x+y+2.55=0, and the length l of DE can be calculated. DE , the length of BE is l BE , and two angles θ 1 and θ 2 , and its calculation formula is as follows:

[0048]

[0049] θ 2 =10°-θ 1

[0050] Then the real-time trajectory coordinates of the right end point A of the slider in the ground coordinate system should be (Dx+45cosθ 2 ,Dy-45sinθ 2 ), its motion trajectory in the horizontal and vertical directions can be driven by the X-direction cam and the Y-direction cam respectively. Therefore, the contour curves of the X-direction cam and the Y-direction cam can be calculated according to the motion trajectory of the right end point A of the slider. In order to reduce the size of the overall mechanism, the trajectory is reduced by 6 times. Assuming that the minimum radius of the cam is 5 cm, the contour curve fitting formulas of the cams in these two directions are as follows:

[0051]

[0052]

[0053] Secondly, the rotation posture of the pedal is designed to rotate according to the second human gait bionic motion trajectory, that is, the pedal pitch angle driving mechanism is designed, and the toe-heel difference Δ change trajectory when the standardized plantar posture changes during stepping is referred to. The sole cam rotates to drive the pedal pitch motion, and the contour curve fitting formula of the sole cam is as follows:

[0054]

[0055] See also Figure 6 As shown, the bionic stepping training robot is characterized in that: the armrest mechanism 2 includes a central control column 201, a bearing 202, an armrest pin 203, an armrest 204, an underarm support rod 205, a hinge 206, a bottom rod 207, and a foot pedal 208. The underarm support rod 205 is fixed in the corresponding opening of the central control column 201 by interference, the outer diameter of the bearing 202 is inserted in the circular hole opened in the central control column 201 by interference, the armrest pin 203 is inserted in the circular hole opened in the corresponding position of the armrest 204 by interference to the right, and then knocked to the left by interference. The inner diameter of the bearing 202 forms a bearing constraint. The front end of the bottom rod 207 is hinged to the lower end of the armrest 204 through the hinge 206 to realize rotation. The rear end of the bottom rod 207 is hinged to the outer convex shaft of the pedal 208. After the pedal 208 is driven, the bottom rod 207 can be driven to move according to a predetermined motion trajectory, and the armrest 204 can be further driven to realize fixed-axis reciprocating swing through the hinge 206. During the stepping process, the user can grasp the upper end of the armrest 204 on the corresponding side with his left and right hands respectively to realize arm swinging movement.

[0056] See also Figure 7As shown, the bionic stepping training robot is characterized in that: the X-direction cam mechanism 3 includes a first slide rail 301, a first connecting piece 302, a first slider 303, an intermediate rod 304, a second slide rail 305, a second slider 306, a first hinge block 307, a second bevel gear 308, a first bevel gear 309, a first coupling 310, a first bearing seat 311, a first cushion block 312, an X-direction cam 313, a first push rod 314, a first pin 315, a first scissor rod 316, a second hinge block 317, a third slider 318, a second pin 319, a third slide rail 320, a third bevel gear 321, a motor 322, and a fourth bevel gear 323, and the first connecting piece 302 is welded to the right and fixed on the first slider On the left side of 303, the first slider 303 is nested on the first slide rail 301 and can slide up and down along the slide rail. The first slide rail 301 and the second slide rail 305 are respectively welded and fixed on the left and right surfaces of the middle rod 304. The two groups of first hinge blocks 307 are both welded to the left and fixedly connected to the right side of the second slider 306, and then respectively nested in the upper and lower ends of the second slide rail 305 to achieve sliding toward or in the opposite direction, and can slide up and down along the second slide rail 305. Similarly, the two groups of second hinge blocks 317 are both welded to the right and fixedly connected to the left surface of the corresponding third slider 318 of the same group, and then respectively nested in the upper and lower ends of the third slide rail 320 that is plumb-welded and fixed to the corresponding position of the inner side of the shell 1, and can achieve sliding toward or in the opposite direction along the third slide rail 320. The two The first hinge block 307, the two second hinge blocks 317 and the two through holes of the six first scissor rods 316 are hinged by the corresponding second pins 319, which can form a parallelogram scissor assembly to realize the deformable left and right extension and retraction transmission function. The right end of the first pin 315 is clearance-fitted in the rightmost through hole at the three cross intersections of the six first scissor rods 316, and the left end thereof is interference-fitted in the circular hole opened at the right end of the first push rod 314. The left end of the first push rod 314 rolls and meshes on the outer contour of the X-direction cam 313. The first bevel gear 309 is meshed with the second bevel gear 308, the third bevel gear 321 is meshed with the fourth bevel gear 323, and the second bevel gear 308 is meshed with the third bevel gear 32 The first bevel gear 309 is coaxially fixed in series through the first coupling 310, and the center of the X-direction cam 313 is coaxially fixed with the first bevel gear 309 through the first coupling 310. The four groups of first bearing seats 311 are coplanarly welded and fixed at corresponding positions through the first cushion block 312, which are used to support and constrain the axis of the X-direction cam 313, the first bevel gear 309, the second bevel gear 308, the third bevel gear 321 and the fourth bevel gear 323 to realize coplanar shaft transmission. After the bionic stepping training robot is turned on, the motor 322 rotates to drive the coaxially fixed fourth bevel gear 323 to rotate, and the third bevel gear 321 starts to rotate after receiving the meshing transmission, and then the coaxially fixed second bevel gear 308 starts to rotate and drives the meshed first bevel gear 309 to rotate.Then the X-direction cam 313 of the connected shaft starts to rotate, and its profile drives the first push rod 314 to pull the rightmost through hole of the three through holes at the intersection of the six first scissor rods 316 to start moving left and right. Through the telescopic deformation of the scissor structure, the horizontal displacement is amplified by 6 levels, so that the trajectory of the left and right movement of the first slide rail 301 is the displacement of the first preset human gait bionic motion trajectory in the X direction, and finally the hinge 601 fixedly connected to the first connecting piece 302 drives the slide bar 602 to obtain the displacement of the first human gait bionic motion trajectory in the X direction.

[0057] See also Figure 8As shown, the bionic stepping training robot is characterized in that: the pedal mechanism 4 includes a third pin 401, a first curved rod 402, a second curved rod 403, a slot shell 404, a rack 405, a gear 406, a ratchet plate 407, a pawl plate 408, a foot cam 409, and a second push rod 410. The four third pins 401 are respectively inserted into the four through holes at both ends of the first curved rod 402 and the two ends of the second curved rod 403, the third pin 401 at the left end of the first curved rod 402 is inserted into the round through hole above the slot shell 404, the third pin 401 at the right end of the first curved rod 402 is inserted into the leftmost through hole at the three cross-intersection positions of the six first scissor rods 316 for clearance fit, and the second curved rod The third pin 401 at the left end of 403 first passes through the slot opened at the horizontal line of the slot shell 404, and then is inserted into the axial hole of the gear 406 for clearance fit. The third pin 401 at the right end of the second curved rod 403 is knocked into the hole opened at the lower end of the intermediate rod 304 in the X-direction cam mechanism 3 for interference fixation. The left and right two pieces of the ratchet plates 408 are coaxially embedded in the left and right two pieces of the same group of ratchet plates 407, and then coaxially mounted on the convex shafts on both sides of the sole cam 409. The left and right two pieces of the ratchet plates 408 are coaxially welded and fixed on both sides of the sole cam 409, and the left and right two pieces of the ratchet plates 407 are coaxially welded and fixed on the left and right two pieces of the same group of gears 406. After the bionic stepping training robot is turned on, the pedal mechanism 4 is completely When the body is pulled forward by the first curved rod 402, the upper and lower racks 405 fixedly connected to the inner side walls of the left and right groups of slot hole shells 404 also move forward as a whole. At the same time, the left and right groups of gears 406 are pulled forward by the corresponding second curved rods 403. Because the first curved rod 402 and the second curved rod 403 are driven forward after receiving the transmission, the displacement difference causes the pulled gear 406 and the rack 405 to have a displacement difference in the horizontal forward direction. The right gear 406 meshes with the lower rack 405 and rotates forward clockwise, while the left gear 406 meshes with the upper rack 405 and rotates forward counterclockwise. At this time, the ratchet plate 407 and the pawl plate 408 in the same group as the right gear 406 mesh to realize the gear shifting linkage, while the left gear 406 in the same group as the left gear 406 If the ratchet plate 407 and the pawl plate 408 are not meshed, the gear is disengaged and the movement is lost. The foot cam 409 of this half cycle is driven clockwise. Conversely, when the left and right groups of gears 406 are pushed backward by the second crank rod 403, the left gear 406 meshes with the upper rack 405 and rotates backward clockwise, while the right gear 406 meshes with the lower rack 405 and rotates backward counterclockwise. At this time, the ratchet plate 407 and the pawl plate 408 of the same group as the left gear 406 are meshed to realize the gear engagement linkage, while the ratchet plate 407 and the pawl plate 408 of the same group as the right gear 406 are not meshed, the gear is disengaged and the movement is lost. The foot cam 409 of this half cycle is still driven clockwise, and this reciprocating cycle is repeated. Finally, the foot cam 409 is driven to rotate clockwise in the full motion cycle.The second push rod 410 tightly meshed with the outer contour of the sole cam 409 moves up and down in the whole motion cycle, and then pushes the foot pedal 208 in the armrest mechanism 2 to achieve periodic pitching motion in each motion cycle, that is, the spatial position of the foot pedal 208 is driven by the slide bar 602 to conform to the first human gait bionic motion trajectory, and the pitching posture of the foot pedal 208 also conforms to the second human gait bionic motion trajectory.

[0058] See also Fig. 9As shown, the bionic stepping training robot is characterized in that: the Y-direction cam mechanism 5 includes a second connecting piece 501, a fourth slider 502, a fourth slide rail 503, an intermediate rod 504, a fifth slider 505, a fifth slide rail 506, a third hinge block 507, a second scissor rod 508, a fourth pin 509, a fourth hinge block 510, a fifth bevel gear 511, a sixth bevel gear 512, a second bearing seat 513, a second coupling 514, a second cushion block 515, a seventh bevel gear 516, an eighth bevel gear 517, a sixth slider 518, a Y-direction cam 519, a third push rod 520, a fifth pin 521, and a sixth slide rail 522, and the second connecting piece 501 is welded downward and fixed on the fourth slide The fourth slider 502 is mounted on the fourth slide rail 503, and can slide left and right along the fourth slide rail 503. The fourth slide rail 503 and the fifth slide rail 506 are respectively welded and fixed on the upper and lower surfaces of the middle rod 504. The third hinge blocks 507 of the two groups are welded upward and fixedly connected to the lower surface of the fifth slider 505 corresponding to the same group, and then respectively nested in the left and right ends of the fifth slide rail 507, and can slide towards or in the opposite direction along the fifth slide rail 507. Similarly, the fourth hinge blocks 510 of the two groups are welded downward and fixedly connected to the upper surface of the sixth slider 518 corresponding to the same group, and then respectively nested in the left and right ends of the sixth slide rail 522 horizontally welded and fixed to the corresponding position of the inner bottom surface of the shell 1, and can slide towards or in the opposite direction along the sixth slide rail 522. Sliding in the opposite direction, the two third hinge blocks 507, the two fourth hinge blocks 510 and the two through holes of the six second scissor rods 508 are hinged by the corresponding fourth pins 509, and a parallelogram scissor assembly can be formed to realize the deformable transmission function of extending and retracting up and down. The left end of the fifth pin 521 is clearance-fitted in the lowest through hole at the three cross intersections of the six second scissor rods 508, and the right end of the fifth pin 521 is interference-fitted in the circular hole opened at the lower end of the third push rod 520. The upper end of the third push rod 520 rolls and meshes on the outer contour of the Y-direction cam 519, the fifth bevel gear 511 and the sixth bevel gear 512 are meshed with each other, and the seventh bevel gear 516 and the eighth bevel gear 517 are meshed with each other. The three groups of second bearing seats 513 and second cushion blocks 515 are welded and fixed at corresponding positions respectively, and are used to horizontally support the sixth bevel gear 512 and the seventh bevel gear 516 to be coaxially fixed by the second coupling 514 after being coaxially connected, and are also used to support the output shaft of the eighth bevel gear 517 to be interference-fitted into the central axis hole of the Y-direction cam 519 to drive it to rotate. After the bionic stepping training robot is turned on, the motor 322 rotates to drive the fifth bevel gear 511 fixed to rotate, and the sixth bevel gear 512 starts to rotate after receiving the meshing transmission, and then the coaxially fixed seventh bevel gear 516 starts to rotate and drives the meshed eighth bevel gear 517 to rotate, and then the Y-direction cam 519 of the connected shaft starts to rotate.Its profile drives the third top rod 520 to pull the bottom through hole of the three through holes at the intersection of the six second scissor rods 508 up and down to start moving up and down. Through the expansion and contraction of the scissor structure, the vertical displacement is amplified by 6 levels, so that the up and down movement trajectory of the fourth slide rail 503 is the displacement in the Y direction of the preset first human gait bionic motion trajectory, and the hinge 601 fixed by the second connecting piece 501 drives the slide bar 602 to obtain the displacement in the Y direction of the first human gait bionic motion trajectory. Finally, the slide bar 602 is driven according to the synthetic motion trajectory of the X direction and the Y direction, that is, the human gait bionic motion trajectory, to achieve the preset motion effect, and then the foot pedal 208 and the bottom rod 207 are both driven step by step.

[0059] See also Fig.10 As shown, the bionic stepping training robot is characterized in that: the base mechanism 6 includes a hinge 601, a slide bar 602, a roller 603, and a slope slide groove 604. The right end of the hinge 601 is welded and fixed to the corresponding contact surfaces of the first connecting piece 302 in the X-direction cam mechanism 3 and the second connecting piece 501 in the Y-direction cam mechanism 5. The left end of the hinge 601 is hinged to the right end of the slide bar 602, and the lower convex shaft at the left end of the slide bar 602 is hinged to the roller 603. The roller 603 is nested in the groove body in the upper inclined surface of the slope slide groove 604, which can support the slide bar 602 to move back and forth and bear most of the user's weight.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the present invention shall be included in the protection scope of the present invention.

Claims

1. A bionic stepping training robot, characterized in that: The invention comprises a shell (1), an armrest mechanism (2), an X-direction cam mechanism (3), a pedal mechanism (4), a Y-direction cam mechanism (5), and a base mechanism (6); the armrest mechanism (2) is fixed downward at a middle position inside the shell (1); two groups of left and right pedal mechanisms (4) are respectively fixed at two sides of the armrest mechanism (2) inside the shell (1); their front ends are hingedly connected with the armrest mechanism (2) for transmission upward; the two groups of left and right base mechanisms (6) are respectively hingedly connected to the shafts outside the foot pedals of the same group of pedal mechanisms (4) to drive them to change their spatial positions; the two groups of left and right X-direction cam mechanisms (3) and the two groups of left and right Y-direction cam mechanisms (5) are respectively fixed at the front ends of the same group of base mechanisms (6); and they are also respectively hingedly connected to the corresponding output shafts at the front ends of the same group of pedal mechanisms (4) to drive the corresponding base mechanisms (6) to move according to the bionic motion trajectory of human gait and simultaneously link the corresponding pedal mechanisms (4) to form a synthetic motion in the horizontal and vertical directions; and its design method It includes the following two steps: The first step is to analyze and calculate two human gait bionic motion trajectories: Firstly, a 7-segment human stepping walking model was established in the human sagittal plane. The left and right hip joints coincided in the human sagittal plane. It was assumed that the upper limbs were kept vertical when the human body stepped, that is, the swing of the upper body of the rehabilitation patient during walking was ignored. In the calculation process, the right foot touched the ground as the starting moment of a stepping cycle, and the expected average forward speed of the patient's walking training was set as the stepping forward speed of the training. The real-time forward speed of the patient during training was subtracted from the stepping forward speed to obtain the motion trajectory of the specified reference point of the sole in the sagittal plane within a stepping cycle. The trajectory was a closed curve, that is, the motion trajectory of the sole position within a stepping cycle. In order to calculate the standardized motion trajectory of the sole position during stepping, it was used to design executable bionic motion. Mechanical structure, based on gait walking experiments of 50 healthy testers of different heights, weights, ages, and genders, the position motion trajectory of the plantar reference points and the pitch motion angle of the ankle in the sagittal plane during the movement process were collected respectively, and the data were standardized and analyzed in depth: First, in order to enable the patient's feet to move according to the set trajectory during the stepping exercise training, according to the relationship between the step length s and the tester's height h h=0.54s+1.321, the horizontal coordinate of the motion trajectory of each group of plantar reference points was divided by the step length s, and the vertical coordinate was divided by the height h, to obtain a standardized plantar position motion trajectory when stepping, that is, the first human gait bionic motion trajectory based on which the mechanical structure is designed. The fitting calculation formula is as follows, Where x and y are the fitting formulas of the standardized horizontal and vertical stepping motion trajectories of the plantar reference points in the human sagittal plane, respectively, and t represents the time proportion in a complete stepping cycle; Secondly, in order to make the patient's foot move according to the set position trajectory during stepping exercise training, the ankle pitch angle changes according to the set plantar posture, the vertical height of the heel is set to y, and the toe height is set to h J =y-Δ, and a standardized trajectory of the difference between the toe and the heel Δ when the plantar posture changes during stepping is obtained, which is the second human gait bionic motion trajectory based on which the mechanical structure is designed. The fitting calculation formula is as follows: The second step is to design the dimensions of the key transmission components and the contour shapes of the three key transmission cams in the mechanical structure of a bionic step training robot: First, the movement position of the pedal is designed to move according to the first human gait bionic motion trajectory, that is, the slide bar is designed to slide in the slope slide groove to drive the pedal installed on the slide bar to move according to the standardized plantar position motion trajectory when stepping, and the motion trajectory of the right end of the slide bar in the sagittal plane of the human body is decomposed into displacement-time functions in the horizontal and vertical directions. Then, according to the displacement-time function in this direction, the contour shape of the corresponding motion driving cam is designed. The motion trajectory of the pedal driven by the rotation of the cam conforms to the bionic trajectory of human stepping. The calculation process is: the length design of the slide bar AB The slope EC is designed to be 60cm, and the inclination angle of the slope EC is designed to be 10°. The point D, which is 15cm away from the left end point B of the slide bar, is the fixed axis position of the pedal. Its motion trajectory (Dx, Dy) should be set as the standardized motion trajectory of the foot during stepping. When the AB rod is in a horizontal posture, the absolute position of point D on the ground is the coordinate origin O(0,0). The ground coordinate system Oxy is established. The horizontal forward direction is the positive direction of the x-axis, and the vertical upward direction is the positive direction of the y-axis. The equation of the slope EC in the ground coordinate system Oxy should be 0.176x+y+2.55=0, and the length l of DE can be calculated. DE , the length of BE is l BE , and two angles θ1 and θ2, which are calculated as follows: θ2=10°-θ1 Then the real-time trajectory coordinates of the right end point A of the slider in the ground coordinate system should be (Dx+45cosθ2,Dy-45sinθ2). Its motion trajectory in the horizontal and vertical directions can be driven by the X-direction cam and the Y-direction cam respectively. Therefore, the contour curves of the X-direction cam and the Y-direction cam can be calculated according to the motion trajectory of the right end point A of the slider. In order to reduce the size of the overall mechanism, the trajectory is reduced by 6 times as a whole. Assuming that the minimum radius of the cam is 5cm, the contour curve fitting formulas of the cams in these two directions are as follows: Secondly, the rotation posture of the pedal is designed to rotate according to the second human gait bionic motion trajectory, that is, the pedal pitch angle driving mechanism is designed. Referring to the change trajectory of the toe-heel difference Δ when the standardized plantar posture changes during stepping, the sole cam rotates to drive the pedal pitch motion. The contour curve fitting formula of the sole cam is as follows:

2. A bionic stepping training robot according to claim 1, characterized in that: The armrest mechanism (2) comprises a central control column (201), a bearing (202), an armrest pin (203), an armrest (204), an underarm support rod (205), a hinge (206), a bottom rod (207), and a foot pedal (208). The underarm support rod (205) is fixed in a corresponding opening of the central control column (201) by interference fit. The outer diameter of the bearing (202) is inserted in a circular hole opened in the central control column (201) by interference fit. The armrest pin (203) is inserted in a circular hole opened at a corresponding position of the armrest (204) by interference fit to the right, and then is knocked into the inner diameter of the bearing (202) by interference fit to the left to form a bearing constraint. The front end of the bottom rod (207) is hinged to the lower end of the armrest (204) through the hinge (206) to realize rotation, and the rear end of the bottom rod (207) is connected to the outer convex shaft of the pedal (208).

3. The bionic stepping training robot according to claim 1, characterized in that: The X-direction cam mechanism (3) comprises a first slide rail (301), a first connecting piece (302), a first slider (303), an intermediate rod (304), a second slide rail (305), a second slider (306), a first hinge block (307), a second bevel gear (308), a first bevel gear (309), a first coupling (310), a first bearing seat (311), a first cushion block (312), an X-direction cam (313), a first push rod (314), a first pin (315), a first scissor rod (316), a second hinge block (317), a third slider (318), a second pin (319), a third slide rail (320), a third bevel gear (321), a motor 322), and a fourth bevel gear (323). The first connecting piece (302) is welded to the right and fixed on the left side of the first sliding block (303). The first sliding block (303) is nested on the first sliding rail (301) and can slide up and down along the sliding rail. The first sliding rail (301) and the second sliding rail (305) are respectively welded and fixed on the left and right surfaces of the middle rod (304). The two groups of first hinge blocks (307) are both welded to the left and fixed on the right side of the second sliding block (306), and then respectively nested in the upper and lower ends of the second sliding rail (305) to achieve sliding in the opposite direction or in the opposite direction, and can slide up and down along the second sliding rail (305). Similarly, the two groups of second hinge blocks (317) are both welded to the right and fixed on the left surface of the corresponding third sliding block (318) of the same group, and then respectively nested in the plumb bob welded and fixed on the outer The upper and lower ends of the third slide rail (320) at the corresponding positions on the inner side of the shell (1) can slide towards or in the opposite directions along the third slide rail (320), and the two first hinge blocks (307), the two second hinge blocks (317) and the two through holes of the six first scissor rods (316) are hinged by corresponding second pins (319), so as to form a parallelogram scissor assembly to realize the transmission function of deformable left and right extension and retraction, and the right end of the first pin (315) is clearance-fitted in the rightmost through hole at the three cross intersections of the six first scissor rods (316), and the left end thereof is interference-fitted in the circular hole opened at the right end of the first push rod (314), and the left end of the first push rod (314) is rollingly engaged with the X-direction cam (31 3) On the outer contour, the first bevel gear (309) and the second bevel gear (308) are meshed with each other, the third bevel gear (321) and the fourth bevel gear (323) are meshed with each other, the second bevel gear (308) and the third bevel gear (321) are coaxially fixed in series through a first coupling (310), the center of the X-direction cam (313) and the first bevel gear (309) are coaxially fixed through the first coupling (310), and the four groups of first bearing seats (311) are coplanarly welded and fixed at corresponding positions through a first cushion block (312), and are used to support and constrain the axis of the X-direction cam (313), the first bevel gear (309), the second bevel gear (308), the third bevel gear (321) and the fourth bevel gear (323) to realize coplanar shaft transmission.

4. The bionic stepping training robot according to claim 1, characterized in that: The pedal mechanism (4) comprises a third pin (401), a first curved rod (402), a second curved rod (403), a slotted hole shell (404), a rack (405), a gear (406), a ratchet plate (407), a pawl plate (408), a foot cam (409), and a second push rod (410). The four third pins (401) are respectively inserted into four through holes at both ends of the first curved rod (402) and at both ends of the second curved rod (403). The third pin (401) at the left end of the first curved rod (402) is inserted into the round through hole above the slotted hole shell (404). The third pin (401) at the right end of the first curved rod (402) is inserted into the leftmost through hole at three cross-intersecting positions of the six first scissor rods (316) to make a clearance fit. The third pin (401) at the left end of the second curved rod (403) first passes through the slot opened at the horizontal line of the slot shell (404), and then is inserted into the axial center hole of the gear (406) for clearance fit. The third pin (401) at the right end of the second curved rod (403) is knocked into the hole opened at the lower end of the middle rod (304) in the X-direction cam mechanism (3) for interference fixation. The left and right two pieces of the ratchet plates (408) are coaxially embedded in the inside of the left and right two pieces of the same group of ratchet plates (407), and then are coaxially sleeved on the convex shafts on both sides of the sole cam (409), wherein the left and right two pieces of the ratchet plates (408) are coaxially welded and fixed on both sides of the sole cam (409), and the left and right two pieces of the ratchet plates (407) are coaxially welded and fixed on the left and right two pieces of the same group of gears (406).

5. The bionic stepping training robot according to claim 1, characterized in that: The Y-direction cam mechanism (5) comprises a second connecting piece (501), a fourth slider (502), a fourth slide rail (503), an intermediate rod (504), a fifth slider (505), a fifth slide rail (506), a third hinge block (507), a second scissor rod (508), a fourth pin (509), a fourth hinge block (510), a fifth bevel gear (511), a sixth bevel gear (512), a second bearing seat (513), a second coupling (514), a second cushion block (515), a seventh bevel gear (516), an eighth bevel gear (517), a sixth slider (518), a Y-direction cam (519), a third push rod (520), a fifth pin (521), a sixth ... The second connecting piece (501) is welded downwardly and fixed on the fourth slider (502), the fourth slider (502) is nested on the fourth slide rail (503), and can slide left and right along the fourth slide rail (503), the fourth slide rail (503) and the fifth slide rail (506) are respectively welded and fixed on the upper and lower surfaces of the middle rod (504), the two groups of third hinge blocks (507) are welded upwardly and fixedly connected to the lower surface of the fifth slider (505) corresponding to the same group, and then respectively nested on the left and right ends of the fifth slide rail (507), and can slide towards or in the opposite direction along the fifth slide rail (507), similarly, the two groups of fourth hinge blocks (510) are welded downwardly and fixedly connected to the sixth slider (505) corresponding to the same group. The upper surface of the block (518) is respectively nested in the left and right ends of the sixth slide rail (522) horizontally welded and fixed to the corresponding position of the inner bottom surface of the shell (1), and can slide towards or in the opposite direction along the sixth slide rail (522). The two third hinge blocks (507), the two fourth hinge blocks (510) and the two through holes of the six second scissor rods (508) are hinged by corresponding fourth pins (509), so as to form a parallelogram scissor assembly to realize the transmission function of deformable upward and downward extension and retraction. The left end of the fifth pin (521) is clearance-matched in the lowest through hole at the three cross intersections of the six second scissor rods (508), and the right end of the fifth pin (521) is clearance-matched in the third The lower end of the push rod (520) is interference fit in the circular hole opened, the upper end of the third push rod (520) is rollingly meshed on the outer contour of the Y-direction cam (519), the fifth bevel gear (511) and the sixth bevel gear (512) are meshed with each other, and the seventh bevel gear (516) and the eighth bevel gear (517) are meshed with each other. The three groups of second bearing seats (513) and second cushion blocks (515) are respectively welded and fixed at corresponding positions up and down, and are used to horizontally support the sixth bevel gear (512) and the seventh bevel gear (516) to be coaxially fixed by the second coupling (514) after coaxial docking, and are also used to support the output shaft of the eighth bevel gear (517) to be interference fit into the central axis hole of the Y-direction cam (519) to drive it to rotate.

6. The bionic stepping training robot according to claim 1, characterized in that: The base mechanism (6) comprises a hinge (601), a slide bar (602), a roller (603), and an inclined slide groove (604). The right end of the hinge (601) is welded and fixedly connected with the corresponding contact surfaces of the first connecting piece (302) in the X-direction cam mechanism (3) and the second connecting piece 501 in the Y-direction cam mechanism (5). The left end of the hinge (601) is hingedly connected with the right end of the slide bar (602). The lower convex shaft at the left end of the slide bar (602) is hingedly connected with the roller (603). The roller (603) is nested in the groove body in the upper inclined surface of the inclined slide groove (604), so as to support the slide bar (602) to reciprocate forward and backward.

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