CN110934723A - Foot sole driving walking training walking aid - Google Patents

Foot sole driving walking training walking aid Download PDF

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Publication number
CN110934723A
CN110934723A CN201911276175.4A CN201911276175A CN110934723A CN 110934723 A CN110934723 A CN 110934723A CN 201911276175 A CN201911276175 A CN 201911276175A CN 110934723 A CN110934723 A CN 110934723A
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CN
China
Prior art keywords
ankle joint
motor
rod
walking
ankle
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Pending
Application number
CN201911276175.4A
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Chinese (zh)
Inventor
卢旭华
王海滨
杨海松
郭群峰
王亮
孙钰岭
邹任玲
徐秀林
胡秀枋
刘二宁
徐言东
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Shanghai Changzheng Hospital
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Shanghai Changzheng Hospital
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Application filed by Shanghai Changzheng Hospital filed Critical Shanghai Changzheng Hospital
Priority to CN201911276175.4A priority Critical patent/CN110934723A/en
Publication of CN110934723A publication Critical patent/CN110934723A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Engineering & Computer Science (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Power Engineering (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a sole-driven walking training walking aid, which comprises a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device, wherein the walking aid frame is connected with the walking track simulation device through a connecting rod; the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting bottom plate, an outer wheel set and an inner wheel set are arranged on the walking aid frame, the outer wheel set can change the movement speed and direction of the walking aid frame, and the inner wheel set can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame; the walking track simulation device is installed on the walking aid frame, the ankle joint angle adjusting device is installed on the walking track simulation device, the pedal device is connected with the ankle joint angle adjusting device, and the walking track simulation device is used for driving the pedal device to complete an elliptical track simulating walking of a human; the ankle joint angle adjusting device is used for changing the angle of the ankle joint and is matched with the movement of a patient in the rehabilitation training process.

Description

Foot sole driving walking training walking aid
Technical Field
The invention belongs to the technical field of rehabilitation instruments, and particularly relates to a walking aid for foot sole driven walking training.
Background
Most patients with spinal injuries have healthy upper limbs and fully paralyzed lower limbs, which cause muscular atrophy of limbs due to prolonged lack of training, and usually undergo rehabilitation training during the recovery period in order to prevent further muscular atrophy of the patient during the recovery period. The walking aid is a walking appliance for assisting a patient with spinal injury or a person who is inconvenient to walk to carry out rehabilitation training in a recovery period. The walking aid can ensure the body balance of a user, reduce the bearing of the lower limbs, relieve pain and improve the gait through training.
At present, the walking aids at home and abroad can be divided into three categories according to the structure and the function: a non-powered walking aid, a functional electrical stimulation walking aid and a powered walking aid. The first type is mainly used for assisting a human body to support weight and keep balance, and can not carry out passive rehabilitation lower limb training in the true sense, the second type is mainly used for carrying out rehabilitation training by utilizing electric stimulation to help the walking aid, the third type is a power type exoskeleton lower limb rehabilitation training device, and the exoskeleton walking aid can effectively compensate the lower limb function of a patient to a certain extent and help the patient to stand and walk. However, the existing exoskeleton walking aid is restricted by driving force, and cannot ensure that patients with lower limb complete paralysis stand and walk to aid training when walking.
Disclosure of Invention
The invention aims to solve the technical problems and provide a foot sole driving walking training walking aid.
The invention discloses a sole-driven walking training walking aid, which is a medical instrument used for lower limb rehabilitation training and walking aid, and is particularly suitable for a sole-driven walking training walking aid which is used by a patient with spinal injury during rehabilitation training and adopts linkage of a pedal and wheel speeds.
The device drives the lower limbs of the spine injury patient to carry out rehabilitation training by the pedal plate, provides driving force for the spine injury patient who is difficult to walk independently, standardizes the gait of the patient, ensures that the patient has more sense of reality in the training process, and carries out the training of normal walking gait by the device.
The purpose of the invention can be realized by the following technical scheme:
a sole-driven walking training walking aid comprises a walking aid frame, a walking track simulation device, an ankle joint angle adjusting device and a pedal device;
the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting bottom plate, an outer wheel set and an inner wheel set are arranged on the walking aid frame, the outer wheel set can change the movement speed and direction of the walking aid frame, and the inner wheel set can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame;
the walking track simulator is arranged on a mounting base plate of the walking aid frame, the ankle joint angle adjusting device is arranged on the walking track simulator, the pedal plate device is connected with the ankle joint angle adjusting device and used for supporting feet of a patient, and the walking track simulator is used for driving the pedal plate device to simulate the movement of stepping and leg lifting of a human through the ankle joint angle adjusting device so that the pedal plate device completes an elliptical track simulating walking of the human; the ankle joint angle adjusting device is used for adjusting the angle of the pedal device, changing the angle of the ankle joint and matching the movement of a patient in the rehabilitation training process.
In one embodiment of the present invention, the walking trajectory simulation device includes a lead screw motor, a coupling, a lead screw, a gear, a lead screw nut, a rear slider fixing block, a pedal mounting seat, a slider, a linear guide, an ankle motor mounting plate, a link shaft, a rack motor, a link bearing, a link bracket, a link, a reduction motor, a front slider fixing block, and a rack,
the shaft of the screw rod motor is connected with a coupler, the coupler is connected with a screw rod, the screw rod is matched with a screw rod nut, the screw rod nut is fixed on a rear slide block fixing block, two slide blocks are fixedly arranged at the lower end of the rear slide block fixing block, a left slide block and a right slide block are respectively matched with two linear guide rails, the upper end of the rear slide block fixing block is matched with a pedal mounting seat,
the pedal mounting seat is fixed at the rear end of the bottom surface of the ankle motor mounting plate, a connecting rod bracket is fixedly mounted at the front end of the bottom surface of the ankle motor mounting plate, a connecting rod bearing is mounted on the connecting rod bracket, a connecting rod shaft is matched with the connecting rod bearing, the connecting rod shaft is connected with one end of a connecting rod, the other end of the connecting rod is also connected with the connecting rod bearing, the connecting rod bearing is mounted at the upper end of a front slider fixing block, a rack is fixedly mounted on the left side of the lower end of the front slider fixing block, the rack is fixedly connected with a left slider, the right side of the lower end of the front slider fixing block is fixedly connected with a right slider, the rack is meshed with a gear, the gear is mounted;
when the walking track simulation device is started, the screw rod motor drives the screw rod to rotate, the screw rod nut moves on the screw rod, the rear sliding block fixing block connected with the screw nut also moves on the screw, the rear end of the ankle motor mounting plate is connected with the rear sliding block fixing block, the rear end of the ankle motor mounting plate is connected with the gear through a gear motor in the same way as the rear sliding block fixing block, the gear and the rack are meshed, the rack is displaced, the rack is connected with the front sliding block fixing block, the front sliding block fixing block has the same speed and displacement as the rack, the front sliding block fixing block is connected with the front end of the ankle motor mounting plate through a connecting rod, therefore, the front end of the ankle motor mounting plate has the same displacement and speed as the rack, and because the moving speed of the front sliding block fixed block is different, the distance between the two sliding blocks can be changed, and when the two sliding blocks are close to each other, the front sliding block fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.
In one embodiment of the invention, a shaft of the screw motor is connected with a screw motor front bearing seat, the screw motor front bearing seat is mounted on a screw motor support, the screw motor support is fixedly mounted on a mounting base plate, the screw is connected with a screw shaft bearing, the screw shaft bearing is mounted on the screw motor front bearing seat, the tail end of the screw is connected with a screw rear bearing seat, the upper end of the rear slide block fixing block is connected with a pedal mounting shaft, two ends of the pedal mounting shaft are matched with the pedal mounting seat, the speed reduction motor is fixedly mounted on a speed reduction motor support, and the speed reduction motor support is mounted on the mounting base plate.
In one embodiment of the present invention, the ankle adjusting means comprises an ankle motor, an ankle motor bracket, a small bevel gear, a large bevel gear, an ankle shaft, an ankle bearing seat,
the ankle joint motor is arranged on the ankle joint motor mounting plate through an ankle joint motor support and is connected with a small bevel gear, the small bevel gear is meshed with a large bevel gear in an angle of 90 degrees, the large bevel gear is arranged on an ankle joint shaft, two ankle joint bearings are assembled on the ankle joint shaft, the ankle joint bearings are arranged on ankle joint bearing seats, the pedal plate device is connected with the ankle joint shaft,
when the ankle joint angle needs to be adjusted, the ankle joint motor is controlled, the ankle joint motor is enabled to rotate by a certain angle, the bevel pinion installed on the ankle joint motor is driven to rotate by a certain angle, the bevel pinion meshed with the bevel pinion also can rotate by a certain angle, the bevel pinion is assembled on the ankle joint shaft, so that the ankle joint shaft can also be driven to rotate by a certain angle, the angle of the pedal plate device is adjusted, the ankle joint angle is changed, and the ankle joint motor is matched with the motion of a patient in the rehabilitation training process.
In one embodiment of the present invention, the pedal device includes an upper pedal having a mounting groove formed on a bottom surface thereof for coupling with a protrusion on an ankle shaft of the ankle angle adjusting device, and a lower pedal for fixedly coupling with a bottom surface of the ankle shaft.
In one embodiment of the present invention, the front and rear portions of the top surface of the lower step plate are provided with sensor mounting areas, respectively, for mounting sensors.
In one embodiment of the invention, the walking aid frame comprises an outer wheel set, a vehicle bottom frame, a mounting bottom plate, a long supporting rod, a grab bar, a short supporting rod, an oxter supporting rod, a hand holding rod, a safety device rod and an inner wheel set,
the outer wheel set is arranged at four corners of the vehicle underframe, the mounting bottom plate is arranged on the vehicle underframe, the inner wheel set is connected below the mounting bottom plate, and the inner wheel set can be folded;
the utility model discloses a car body support, including vehicle bottom frame, support stock, grab bar, safety device pole, support quarter butt, grab bar and armpit support pole, support quarter butt and support quarter butt fixed connection are in the both sides of vehicle bottom frame, the grab bar is all connected with armpit support pole between support stock and the support quarter butt, the grab bar is under, the armpit support pole is last, the safety device pole is connected between two support stock of vehicle bottom frame both sides, be connected through the holding rod between support quarter butt and the armpit support pole.
The grab rail can be grasped by a patient in the training process, so that the stability is improved; the supporting short rod is connected with a section of holding rod, the shape of the holding rod conforms to the habit of a person in holding, and a patient can hold the holding rod and stand independently through the healthy upper limbs of the patient; the armpit supporting rod supports the armpit part of a patient when the patient stands, so that supporting force is provided for the patient, the patient training is assisted, and the patient standing is assisted by holding the rod, the grab bar and the like; the safety device rod can protect a patient in a training process and avoid the patient from falling forward due to unbalance.
In one embodiment of the invention, the mounting rods at the front and rear corners of the chassis are connected with wheel shafts through outer wheel mounting frames, the wheel shafts are connected with outer wheel sets, and the outer wheel sets can change the movement speed and direction of the walking aid chassis.
In one embodiment of the invention, the front part and the left and right sides of the mounting bottom plate are provided with hanging rod hooks which are fixedly hung on bottom rods at the front side and the left and right sides of the vehicle underframe, so that the mounting bottom plate can be stably mounted on the vehicle underframe;
the middle part of the mounting bottom plate is designed into a cross bar, so that the weight of the mounting bottom plate is reduced, and a patient can see the ground while performing rehabilitation training, so that the walking training of the patient is more realistic; the left and right complete bottom plates of the mounting bottom plate are used for arranging the walking track simulation device and have a supporting function.
In one embodiment of the invention, the bottom surface of the middle part of the mounting base plate is provided with four inner wheel foldable mounting frames, the inner wheel foldable mounting frames are connected with the inner wheel groups, the inner wheel groups can be put down to contact the ground during the movement of the walking aid frame, so that the walking aid frame can be assisted to move and support the frame, when the walking aid frame is not moved, the inner wheel foldable mounting frames can be adjusted to enable the inner wheel groups to be away from the ground, the folding rods of the inner wheel foldable mounting frames are contacted with the ground, so that the walking aid frame can be supported, the base plate of the walking aid frame can bear the weight of the walking track simulation device, and meanwhile, the walking aid frame can stably stay in place.
When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate to move so as to enable the mounting plate to complete an elliptical track simulating walking of a human, the ankle joint shaft mounted on the motor mounting plate also has the elliptical track simulating walking of the human, the pedal plate device is assembled with the ankle joint shaft and has the elliptical track simulating walking of the human, and a patient is driven to do rehabilitation training movement. Meanwhile, an ankle joint shaft of the ankle joint adjusting device is assembled with the pedal device, and the rotation angle of the ankle joint shaft is changed by changing the rotation angle of the ankle joint motor, so that the pedal device is driven to rotate by a certain angle. Under the combined action of the walking track simulation device and the ankle joint adjusting device, a patient completes an elliptical motion simulating the walking track of a human under the driving device, and simultaneously, the ankle joint motor is controlled according to different positions moved by the pedal device, so that the ankle joint is matched with the rehabilitation motion of the patient.
The sole driving walking training walking aid provided by the invention is used as follows:
when the patient uses the walking aid, the wheelchair in which the patient sits is pushed to the rear part of the walking aid under the assistance of medical personnel, the patient can place feet on the pedal of the walking track simulation device at a proper position independently or under the assistance of the medical personnel, or place hands on the holding rods independently, the patient stands by using upper limb strength, the armpit part is placed on the armpit supporting rod, and the hands can be placed on the armpits to grasp, so that the standing training posture is guaranteed. The outer wheel of the walking aid vehicle can change the movement speed and direction of the walking aid vehicle, the inner wheel can be folded or put down according to the folding rods, when the inner wheel is put down, the movement speed and direction of the walking aid vehicle can be changed together with the outer wheel, when the inner wheel is folded, the inner wheel leaves the ground, the folding rods contact the ground, the walking aid vehicle stops in place, and does not move along with the change of the movement state of the outer wheel. The armpit supporting rod and the armrests can bear most of the body weight of a patient, the walking track simulation device is started, the pedal plate starts to drive the footsteps of the patient to start rehabilitation training movement according to a set walking track, the distance between the front slider fixing block and the rear slider fixing block of the walking track simulation device can be changed due to different moving speeds of the front slider fixing block and the rear slider fixing block, and when the two sliders are close to each other, the front slider fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human. The ankle joint adjusting device controls a shaft between the upper foot pedal and the lower foot pedal through the motor to change the inclination angle of the foot pedals so as to adapt to the change of the ankle joint angle of a patient in the movement process, and the walking track and the foot joint state of the walking track simulating device are closer to the real state.
Therefore, the invention designs the vola-driven walking training walking aid device, the lower limb adopts the motor-controlled pedal walking driving device, the walking training of patients with lower limb disorder and even patients with full paralysis can be realized, the problems of gait distortion, small training moving range and the like of patients with spinal injury in the processes of standing and gait training are solved, the patients have more sense of reality in the process of exercise training, and the vola-driven walking aid device has great significance for the walking training of the patients with spinal injury.
Compared with the prior art, the invention has the following advantages:
1) the walking aid frame device is adopted, the moving speed and the moving direction are changed through an outer wheel, the moving or stopping state of the walking aid frame is adjusted through an inner wheel, and the walking track simulation device is supported through a mounting base plate.
2) The armpit supporting rod is adopted, the armpit part and the upper limb of the patient are healthy, the armrests and the holding rods are used together to support the patient, so that the patient can train in a standing state, the armpit stress of the upper limb is reduced, and the patient with the spine can be helped to realize standing training.
3) The walking track simulation device is adopted to realize the motion of the simulated walking track, provide driving force for the patient who can not walk independently and assist the patient to walk normally. Adopt unique spring assembly, through the adjustment of angle control boss, the angle has been avoided the patient to receive the injury at ankle joint in the training process of walking along with ankle joint pivoted change.
4) The ankle joint adjusting device is adopted, and the angle of the pedal plate is adjusted according to the positions of the steps when the walking track simulating device moves to different positions through the ankle joint motor, so that the ankle joint angle of a patient is changed, and the walking track of a human is simulated more truly.
Drawings
FIG. 1 is a schematic view of a sole-driven walking training aid according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a rollator frame according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a walking trajectory simulation apparatus according to embodiment 1 of the present invention;
FIG. 4 is a schematic configuration view of an ankle joint angle adjusting apparatus according to embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of a pedal device in embodiment 1 of the invention;
fig. 6 is a schematic structural view of an upper step plate of the step plate apparatus according to embodiment 1 of the present invention;
fig. 7 is a schematic view of the structure of the lower pedal of the pedal apparatus according to embodiment 1 of the present invention.
Reference numbers in the figures:
an outer wheel set 1, a wheel axle 2, an outer wheel mounting rack 3, a vehicle chassis 4, a long supporting rod 5, a mounting bottom plate 6, a grab bar 7, a short supporting rod 8, an underarm supporting rod 9, a holding rod 10, a safety device rod 11, an inner wheel foldable mounting rack 12, an inner wheel set 13, a screw motor 14, a screw motor bracket 15, a screw front bearing seat 16, a coupler 17, a screw bearing 18, a screw 19, a gear 20, a screw nut 21, a rear sliding block fixing block 22, a pedal mounting shaft 23, a pedal mounting seat 24, a slider 25, a screw rear bearing seat 26, a linear guide rail 27, an ankle motor mounting plate 28, a connecting rod shaft 29, a rack motor 30, a connecting rod bearing 31, a connecting rod bracket 32, a connecting rod 33, a speed reducing motor 34, a speed reducing motor bracket 35, a front sliding block fixing block 36, a rack 37, an ankle motor 38, an ankle motor bracket 39, a small bevel gear 40, a large bevel gear 41, an, An ankle bearing 43, an ankle bearing seat 44, a boss 45, an upper foot pedal 46, a sensor 47, a lower foot pedal 48, a mounting groove 49, a sensor mounting area 50.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
With reference to fig. 1-7, the present embodiment provides a sole-driven walking training aid, which comprises a aid frame, a walking track simulation device, an ankle joint angle adjustment device and a pedal device; the walking aid frame is used for providing supporting force for a patient and assisting the patient in training, a mounting base plate 6, an outer wheel set 1 and an inner wheel set 13 are arranged on the walking aid frame, the outer wheel set 1 can change the movement speed and direction of the walking aid frame, and the inner wheel set 13 can contact the ground in the movement process of the walking aid frame to play a role in assisting the movement of the walking aid frame and supporting the frame; the walking track simulator is installed on an installation bottom plate 6 of a walking aid frame, the ankle joint angle adjusting device is installed on the walking track simulator, the pedal plate device is connected with the ankle joint angle adjusting device and used for supporting feet of a patient, and the walking track simulator is used for driving the pedal plate device to simulate the movement of stepping and leg lifting of a human through the ankle joint angle adjusting device so that the pedal plate device completes an elliptical track simulating walking of the human; the ankle joint angle adjusting device is used for adjusting the angle of the pedal device, changing the angle of the ankle joint and matching the movement of a patient in the rehabilitation training process.
Referring to fig. 3 in a matching manner, the walking trajectory simulation device includes a lead screw motor 14, a lead screw motor bracket 15, a lead screw front bearing block 16, a coupler 17, a lead screw bearing 18, a lead screw 19, a gear 20, a lead screw nut 21, a rear sliding block fixing block 22, a pedal mounting shaft 23, a pedal mounting block 24, a sliding block 25, a lead screw rear bearing block 26, a linear guide 27, an ankle motor mounting plate 28, a link shaft 29, a rack motor 30, a link bearing 31, a link bracket 32, a link 33, a reduction motor 34, a reduction motor bracket 35, a front sliding block fixing block 36 and a rack 37.
The shaft of the screw motor 14 is connected with a screw motor front bearing block 16, the screw motor front bearing block 16 is installed on a screw motor support 15, the screw motor support 15 is fixedly installed on the installation bottom plate 6, the shaft of the screw motor 14 is connected with a coupler 17, the coupler 17 is connected with a screw 19, the screw 19 is connected with a screw bearing 18, the screw bearing 18 is installed on the screw front bearing block 16, the tail end of the screw 19 is connected with a screw rear bearing block 26, the screw 19 is matched with a screw nut 21, the screw nut 21 is fixed on a rear slider fixing block 22, two sliders 25 are fixedly installed at the lower end of the rear slider fixing block 22, respectively a left slider and a right slider are respectively matched with two linear guide rails 27, the upper end of the rear slider fixing block 22 is connected with a pedal installation shaft 23, two ends of the pedal installation shaft 23 are matched with a pedal installation seat 24, the pedal installation seat 24 is fixed at the rear end of the bottom, a connecting rod bracket 32 is fixedly arranged at the front end of the bottom surface of the ankle motor mounting plate 28, a connecting rod bearing 31 is arranged on the connecting rod bracket 32, a connecting rod shaft 29 is matched with the connecting rod bearing 31, the connecting rod shaft 29 is connected with one end of a connecting rod 33, the other end of the connecting rod 33 is also connected with the connecting rod bearing 31, the connecting rod bearing 31 is arranged at the upper end of a front slider fixing block 36, a rack 37 is fixedly arranged at the left side of the lower end of the front slider fixing block 36, the rack 37 is fixedly connected with a left slider 25, the right side of the lower end of the front slider fixing block 36 is fixedly connected with a right slider 25, the rack 37 is meshed with a gear 20, the gear 20 is arranged on the shaft of a speed reducing motor 34, the speed reducing motor 34 is fixedly arranged on a speed reducing motor;
the whole walking track simulation device is arranged on a mounting bottom plate 6 of the walking aid frame, when the walking track simulation device is started, a screw rod motor 14 drives a screw rod 19 to rotate, a screw rod nut 21 moves on the screw rod 19, a rear sliding block fixing block 22 connected with the screw rod nut 21 also moves on the screw rod 19, and the rear end of an ankle motor mounting plate 28 is connected to the rear sliding block fixing block 22, so that the rear end of the ankle motor mounting plate 28 and the rear sliding block fixing block 22 move on the screw rod 19; the rack motor 30 is connected with the gear 20 through the speed reducing motor 34, the gear 20 is meshed with the rack 37, the rack 37 is displaced, the rack 37 is connected with the front slide block fixing block 36, the front slide block fixing block 36 has the same speed and displacement as the rack 37, the front slide block fixing block 36 is connected with the front end of the ankle motor mounting plate 28 through the connecting rod 33, so that the front end of the ankle motor mounting plate 28 has the same displacement and speed as the rack 37, the distance between the front slide block fixing block 36 and the rack 37 can be changed due to different moving speeds of the front slide block fixing block 36, and when the two slides are close to each other, the front slide block fixing block 36 can lift the front end of the ankle motor mounting plate 28 through the connecting; when the two sliders are far away, the front slider fixing block 36 can enable the front end of the ankle motor mounting plate 28 to be put down through the connecting rod 33, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.
Referring to fig. 4 in combination, the ankle adjusting device includes an ankle motor 38, an ankle motor bracket 39, a small bevel gear 40, a large bevel gear 41, an ankle shaft 42, an ankle bearing 43, and an ankle bearing seat 44, the ankle motor 38 is disposed on the ankle motor mounting plate 28 through the ankle motor bracket 39, is connected to the small bevel gear 40, the small bevel gear 40 is engaged with the large bevel gear 41 at an angle of 90 °, the large bevel gear 41 is mounted on the ankle shaft 42, the ankle shaft 42 is provided with two ankle bearings 43, the ankle bearing 43 is mounted on the ankle bearing seat 44, the foot pedal device is connected to the ankle shaft 42,
when the ankle joint angle needs to be adjusted, the ankle joint motor 38 is controlled, the ankle joint motor 38 is enabled to rotate for a certain angle, the small bevel gear 40 mounted on the ankle joint motor is driven to rotate for a certain angle, the large bevel gear 41 meshed with the small bevel gear 40 also rotates for a certain angle, the large bevel gear 41 is assembled on the ankle joint shaft 42, the ankle joint shaft 42 is also driven to rotate for a certain angle, the angle of the pedal device is adjusted, the ankle joint angle is changed, and the ankle joint motor is matched with the movement of a patient in the rehabilitation training process.
Referring to fig. 4, 5, 6 and 7, the pedal device includes an upper pedal 46, a sensor 47 and a lower pedal 48, the upper pedal 46 has a mounting groove 49 on a bottom surface thereof for coupling with a protrusion 45 of an ankle joint shaft 42 of the ankle joint angle adjusting device, the lower pedal 48 is fixedly coupled with the bottom surface of the ankle joint shaft 42, and sensor mounting regions 50 are respectively provided on front and rear portions of a top surface of the lower pedal 48 for mounting the sensor 47.
Referring to fig. 2 in a matching manner, the walking aid frame comprises an outer wheel set 1, a vehicle chassis 4, an installation bottom plate 6, a long support rod 5, a grab bar 7, a short support rod 8, an underarm support rod 9, a holding rod 10, a safety device rod 11 and an inner wheel set 13, wherein the outer wheel set 1 is installed at the four corners of the vehicle chassis 4, the installation bottom plate 6 is installed on the vehicle chassis 4, the inner wheel set 13 is connected below the installation bottom plate 6, and the inner wheel set 13 is foldable; the supporting long rod 5 and the supporting short rod 8 are fixedly connected with two sides of the vehicle chassis 4, the grab bar 7 and the armpit supporting rods 9 are connected between the supporting long rod 5 and the supporting short rod 8, the grab bar 7 is under the armpit supporting rods 9, the safety device rod 11 is connected between the two supporting long rods 5 on two sides of the vehicle chassis 4, and the supporting short rod 8 and the armpit supporting rods 9 are connected through the holding rod 10. The grab bar 7 can be grasped by a patient in the training process, so that the stability is improved; the supporting short rod 8 is connected with a section of holding rod 10, the shape of the holding rod 10 conforms to the habit of people when holding, and a patient can hold the holding rod and stand independently through the healthy upper limbs of the patient; the armpit supporting rods 9 support armpit parts of a patient when the patient stands, so as to provide supporting force for the patient and assist the patient in training, and the holding rods 10, the grab bars 7 and the like provide assistance for the patient to stand; the safety device lever 11 can protect the patient during the training process and avoid the patient from falling forward due to unbalance.
The four corners's installation pole is connected the axletree 2 around the vehicle bottom frame 4 through outer wheel mounting bracket 3, and axletree 2 is connected with outer wheelset 1, and outer wheelset 1 can change the velocity of motion and the direction that helps the line frame. The front part and the left and right parts of the mounting bottom plate 6 are provided with hanging rod hooks which are fixedly hung on bottom rods at the front side and the left and right sides of the vehicle underframe 4, so that the mounting bottom plate 6 can be stably mounted on the vehicle underframe 4;
the middle part of the mounting bottom plate 6 is designed into a cross bar, so that the weight of the mounting bottom plate 6 is reduced, and a patient can see the ground while performing rehabilitation training, so that the walking training of the patient is more realistic; the left and right complete bottom plates of the mounting bottom plate 6 are used for arranging a walking track simulation device and have a supporting function.
The bottom surface of the middle part of the mounting bottom plate 6 is provided with four inner wheel foldable mounting frames 12, the inner wheel foldable mounting frames 12 are connected with inner wheel sets 13, the inner wheel sets 13 can be put down to be in contact with the ground in the movement process of the walking aid frame, the effects of assisting the movement of the walking aid frame and supporting the frame are achieved, when the walking aid frame is not moved, the inner wheel foldable mounting frames 12 can be adjusted, the inner wheel sets 13 are enabled to be away from the ground, the folding rods of the inner wheel foldable mounting frames 12 are in contact with the ground, the effect of supporting the walking aid frame is achieved, the bottom plate of the walking aid frame can bear the weight of the walking track simulation device, and meanwhile, the walking aid frame.
When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate 28 to move, so that the mounting plate completes an elliptical track simulating walking of a human, the ankle joint shaft 42 mounted on the motor mounting plate also has an elliptical track simulating walking of the human, the pedal device is assembled with the ankle joint shaft 42, has the same elliptical track simulating walking of the human as the ankle joint shaft 42, and drives a patient to do rehabilitation training movement. Meanwhile, the ankle joint shaft 42 of the ankle joint adjusting device is assembled with the pedal device, and the rotation angle of the ankle joint shaft 42 is changed by changing the rotation angle of the ankle joint motor 38, so that the pedal device is driven to rotate by a certain angle. Under the combined action of the walking track simulation device and the ankle joint adjusting device, a patient completes an elliptical motion simulating the walking track of a human under the driving device, and simultaneously, the ankle joint motor is controlled according to different positions moved by the pedal device, so that the ankle joint is matched with the rehabilitation motion of the patient.
The sole-driven walking training walking aid is used as follows:
when the patient uses the walking aid, the wheelchair in which the patient sits is pushed to the rear part of the walking aid under the assistance of medical personnel, the patient can place feet on the pedal of the walking track simulation device at a proper position independently or under the assistance of the medical personnel, or place hands on the holding rods independently, the patient stands by using upper limb strength, the armpit part is placed on the armpit supporting rod, and the hands can be placed on the armpits to grasp, so that the standing training posture is guaranteed. The outer wheel of the walking aid vehicle can change the movement speed and direction of the walking aid vehicle, the inner wheel can be folded or put down according to the folding rods, when the inner wheel is put down, the movement speed and direction of the walking aid vehicle can be changed together with the outer wheel, when the inner wheel is folded, the inner wheel leaves the ground, the folding rods contact the ground, the walking aid vehicle stops in place, and does not move along with the change of the movement state of the outer wheel. The armpit supporting rod and the armrests can bear most of the body weight of a patient, the walking track simulation device is started, the pedal plate starts to drive the footsteps of the patient to start rehabilitation training movement according to a set walking track, the distance between the front slider fixing block and the rear slider fixing block of the walking track simulation device can be changed due to different moving speeds of the front slider fixing block and the rear slider fixing block, and when the two sliders are close to each other, the front slider fixing block can lift the front end of the ankle motor mounting plate through the connecting rod; when the two sliding blocks are far away, the front sliding block fixing block can enable the front end of the ankle motor mounting plate to be put down through the connecting rod, so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human. The ankle joint adjusting device controls a shaft between the upper foot pedal and the lower foot pedal through the motor to change the inclination angle of the foot pedals so as to adapt to the change of the ankle joint angle of a patient in the movement process, and the walking track and the foot joint state of the walking track simulating device are closer to the real state.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (10)

1.一种足底驱动步行训练助行器，其特征在于，包括助行车架、步行轨迹模拟装置、踝关节角度调节装置和脚踏板装置；1. a foot-driven walking training walker, characterized in that, comprising a walker frame, a walking track simulation device, an ankle joint angle adjustment device and a foot pedal device; 所述助行车架用于为患者提供支承力，辅助患者训练，所述助行车架上设有安装底板(6)、外轮组(1)与内轮组(13)，所述外轮组(1)能够改变助行车架的运动速度和方向，所述内轮组(13)能够在助行车架运动过程中接触地面，起到辅助助行车架运动和支承车架的作用；The walker frame is used to provide support force for the patient and assist the patient in training. The walker frame is provided with a mounting bottom plate (6), an outer wheel group (1) and an inner wheel group (13), and the outer wheel group (1) The movement speed and direction of the rollator frame can be changed, and the inner wheel group (13) can contact the ground during the movement of the rollator frame, and play the role of assisting the movement of the rollator frame and supporting the frame; 所述步行轨迹模拟装置安装在助行车架的安装底板(6)上，所述踝关节角度调节装置安装在步行轨迹模拟装置上，所述脚踏板装置与所述踝关节角度调节装置连接，所述脚踏板装置用于支撑患者的脚，所述步行轨迹模拟装置用于通过踝关节角度调节装置带动脚踏板装置模拟人迈步和抬腿的运动，使得脚踏板装置完成模拟人步行的椭圆轨迹；所述踝关节角度调节装置用于调节脚踏板装置的角度，改变踝关节角度，配合患者在康复训练过程中的运动。The walking trajectory simulation device is installed on the installation bottom plate (6) of the walker frame, the ankle joint angle adjustment device is installed on the walking trajectory simulation device, and the foot pedal device is connected with the ankle joint angle adjustment device , the foot pedal device is used to support the patient's feet, and the walking trajectory simulation device is used to drive the foot pedal device to simulate the movement of a person's step and leg lift through the ankle joint angle adjustment device, so that the foot pedal device can simulate the movement of a human The elliptical trajectory of walking; the ankle joint angle adjustment device is used to adjust the angle of the foot pedal device, change the ankle joint angle, and cooperate with the movement of the patient during the rehabilitation training process. 2.根据权利要求1所述的一种足底驱动步行训练助行器，其特征在于，所述步行轨迹模拟装置包括丝杆电机(14)、联轴器(17)、丝杆(19)、齿轮(20)、丝杆螺母(21)、后滑块固定块(22)、踏板安装座(24)、滑块(25)、直线导轨(27)、踝部电机安装板(28)、连杆轴(29)、齿条电机(30)、连杆轴承(31)、连杆支架(32)、连杆(33)、减速电机(34)、前滑块固定块(36)及齿条(37)，2. A sole-driven walking training walker according to claim 1, wherein the walking trajectory simulation device comprises a screw motor (14), a coupling (17), a screw (19) , gear (20), screw nut (21), rear slider fixing block (22), pedal mounting seat (24), slider (25), linear guide rail (27), ankle motor mounting plate (28), Connecting rod shaft (29), rack motor (30), connecting rod bearing (31), connecting rod bracket (32), connecting rod (33), deceleration motor (34), front slider fixing block (36) and tooth Article (37), 所述丝杆电机(14)的轴与联轴器(17)连接，联轴器(17)与丝杆(19)连接，丝杆(19)与丝杆螺母(21)配合，丝杆螺母(21)固定在后滑块固定块(22)上，后滑块固定块(22)下端固定安装了两个滑块(25)，分别为左滑块与右滑块，分别与两个直线导轨(27)配合，后滑块固定块(22)的上端与踏板安装座(24)配合，The shaft of the screw motor (14) is connected with the coupling (17), the coupling (17) is connected with the screw (19), the screw (19) is matched with the screw nut (21), and the screw nut (21) is fixed on the rear sliding block fixing block (22), and two sliding blocks (25) are fixedly installed at the lower end of the rear sliding block fixing block (22), respectively a left sliding block and a right sliding block, which are respectively connected with two straight lines. The guide rail (27) is matched, and the upper end of the rear slider fixing block (22) is matched with the pedal mounting seat (24), 踏板安装座(24)固定在踝部电机安装板(28)底面后端，踝部电机安装板(28)底面前端固定安装了一个连杆支架(32)，连杆支架(32)上安装了连杆轴承(31)，连杆轴(29)与连杆轴承(31)配合，连杆轴(29)与连杆(33)一端连接，连杆(33)另一端也与连杆轴承(31)连接，连杆轴承(31)安装在前滑块固定块(36)的上端，前滑块固定块(36)的下端左侧固定安装了齿条(37)，齿条(37)与左滑块(25)固定连接，前滑块固定块(36)下端右侧与右滑块(25)固定连接，齿条(37)与齿轮(20)啮合，齿轮(20)安装在减速电机(34)的轴上，减速电机(34)与齿条电机(30)连接，整个步行轨迹模拟装置安装在安装底板(6)上；The pedal mounting seat (24) is fixed on the rear end of the bottom surface of the ankle motor mounting plate (28), a connecting rod bracket (32) is fixedly installed on the front end of the bottom surface of the ankle motor mounting plate (28), and a connecting rod bracket (32) is installed on the The connecting rod bearing (31), the connecting rod shaft (29) is matched with the connecting rod bearing (31), the connecting rod shaft (29) is connected with one end of the connecting rod (33), and the other end of the connecting rod (33) is also connected with the connecting rod bearing ( 31) connection, the connecting rod bearing (31) is installed on the upper end of the front slider fixing block (36), the lower end of the front slider fixing block (36) is fixedly installed on the left side with a rack (37), the rack (37) and the The left slider (25) is fixedly connected, the right side of the lower end of the front slider fixing block (36) is fixedly connected with the right slider (25), the rack (37) is meshed with the gear (20), and the gear (20) is installed on the deceleration motor On the shaft of (34), the deceleration motor (34) is connected with the rack motor (30), and the entire walking trajectory simulation device is installed on the installation base plate (6); 当步行轨迹模拟装置启动时，丝杆电机(14)带动丝杆(19)转动，丝杆螺母(21)在丝杆(19)上运动，与丝杆螺母(21)连接的后滑块固定块(22)也在丝杆(19)上运动，踝部电机安装板(28)后端连接在后滑块固定块(22)上，踝部电机安装板(28)后端和后滑块固定块(22)一样在丝杆(19上运动；齿条电机(30)通过减速电机(34)与齿轮(20)连接，齿轮(20)、齿条(37)啮合，齿条(37)发生位移，齿条(37)与前滑块固定块(36)连接，前滑块固定块(36)具有和齿条(37)一样的速度和位移，前滑块固定块(36)通过连杆(33)与踝部电机安装板(28)前端连接，所以踝部电机安装板(28)前端具有和齿条(37)一样的位移和速度，由于前滑块固定块(36)的移动速度不同，所以它们之间的距离会发生变化，当两滑块靠近时，前滑块固定块(36)会通过连杆(33)使踝部电机安装板(28)前端抬起；当两滑块远离时，前滑块固定块(36)会通过连杆(33)使踝部电机安装板(28)前端放下，使整个步行轨迹模拟装置能够实现模拟人迈步和抬腿的运动。When the walking trajectory simulation device is activated, the lead screw motor (14) drives the lead screw (19) to rotate, the lead screw nut (21) moves on the lead screw (19), and the rear slider connected with the lead screw nut (21) is fixed The block (22) also moves on the lead screw (19), the rear end of the ankle motor mounting plate (28) is connected to the rear slider fixing block (22), the rear end of the ankle motor mounting plate (28) and the rear slider The fixed block (22) moves on the lead screw (19) in the same way; the rack motor (30) is connected with the gear (20) through the deceleration motor (34), the gear (20) and the rack (37) mesh, and the rack (37) Displacement occurs, the rack (37) is connected with the front slider fixing block (36), the front slider fixing block (36) has the same speed and displacement as the rack (37), and the front slider fixing block (36) is connected through the connection. The rod (33) is connected with the front end of the ankle motor mounting plate (28), so the front end of the ankle motor mounting plate (28) has the same displacement and speed as the rack (37), due to the movement of the front slider fixing block (36) The speed is different, so the distance between them will change. When the two sliders are close, the front slider fixing block (36) will lift the front end of the ankle motor mounting plate (28) through the connecting rod (33). When the slider moves away, the front slider fixing block (36) will lower the front end of the ankle motor mounting plate (28) through the connecting rod (33), so that the entire walking trajectory simulation device can simulate the movement of a person's step and leg lift. 3.根据权利要求2所述的一种足底驱动步行训练助行器，其特征在于，所述丝杆电机(14)的轴与丝杆电机前轴承座(16)连接，所述丝杆电机前轴承座(16)安装在丝杆电机支架(15)上，所述丝杆电机支架(15)固定安装在安装底板(6)上，所述丝杆(19)与丝杆轴承(18)连接，丝杆轴承(18)安装在丝杆前轴承座(16)上，丝杆(19)尾端与丝杆后轴承座(26)连接，所述后滑块固定块(22)的上端与一个踏板安装轴(23)连接，踏板安装轴(23)两端与踏板安装座(24)配合，所述减速电机(34)固定安装在减速电机支架(35)上，减速电机支架(35)安装在安装底板(6)上。3. A foot-driven walking training walker according to claim 2, characterized in that the shaft of the screw motor (14) is connected to the front bearing seat (16) of the screw motor, and the screw The front bearing seat (16) of the motor is mounted on the lead screw motor bracket (15), the lead screw motor bracket (15) is fixedly mounted on the mounting base plate (6), and the lead screw (19) is connected to the lead screw bearing (18). ) connection, the screw bearing (18) is installed on the front bearing seat (16) of the screw rod, the tail end of the screw rod (19) is connected with the rear bearing seat (26) of the screw rod, the rear slider fixing block (22) is The upper end is connected with a pedal mounting shaft (23), the two ends of the pedal mounting shaft (23) are matched with the pedal mounting seat (24), the deceleration motor (34) is fixedly installed on the deceleration motor bracket (35), and the deceleration motor bracket ( 35) Install on the mounting base plate (6). 4.根据权利要求1或2所述的一种足底驱动步行训练助行器，其特征在于，所述踝关节调整装置包括踝关节电机(38)、踝关节电机支架(39)、小锥齿轮(40)、大锥齿轮(41)、踝关节轴(42)、踝关节轴承(43)、踝关节轴承座(44)，4. A sole-driven walking training walker according to claim 1 or 2, wherein the ankle joint adjustment device comprises an ankle joint motor (38), an ankle joint motor support (39), a small cone gear (40), large bevel gear (41), ankle joint shaft (42), ankle joint bearing (43), ankle joint bearing seat (44), 所述踝关节电机(38)通过踝关节电机支架(39)布置在踝关节电机安装板(28)上，与小锥齿轮(40)连接，小锥齿轮(40)与大锥齿轮(41)成90°啮合，大锥齿轮(41)安装在踝关节轴(42)上，踝关节轴(42)上装配了两个踝关节轴承(43)，踝关节轴承(43)安装在踝关节轴承座(44)上，所述脚踏板装置与踝关节轴(42)连接，The ankle joint motor (38) is arranged on the ankle joint motor mounting plate (28) through the ankle joint motor bracket (39), and is connected with the small bevel gear (40), and the small bevel gear (40) is connected with the large bevel gear (41) 90° meshing, the large bevel gear (41) is installed on the ankle joint shaft (42), two ankle joint bearings (43) are assembled on the ankle joint shaft (42), and the ankle joint bearing (43) is installed on the ankle joint bearing On the seat (44), the foot pedal device is connected with the ankle joint shaft (42), 当需要调整踝关节角度时，控制踝关节电机(38)，使踝关节电机(38)转动一定角度，带动安装在其上的小锥齿轮(40)转动一定角度，与小锥齿轮(40)啮合的大锥齿轮(41)也会转动一定角度，大锥齿轮(41)装配在踝关节轴(42)上，所以踝关节轴(42)也会被带动，转动一定角度，以此来调节脚踏板装置的角度，改变踝关节角度，配合患者在康复训练过程中的运动。When the ankle joint angle needs to be adjusted, the ankle joint motor (38) is controlled to make the ankle joint motor (38) rotate by a certain angle, which drives the bevel pinion gear (40) mounted on it to rotate by a certain angle, and is connected with the bevel pinion gear (40) The meshed large bevel gear (41) will also rotate at a certain angle, and the large bevel gear (41) is assembled on the ankle joint shaft (42), so the ankle joint shaft (42) will also be driven and rotated by a certain angle to adjust The angle of the foot pedal device changes the angle of the ankle joint to match the movement of the patient during the rehabilitation training process. 5.根据权利要求4所述的一种足底驱动步行训练助行器，其特征在于，所述脚踏板装置包括上脚踏板(46)、下脚踏板(48)，所述上脚踏板(46)的底面有一个安装槽(49)，用于和踝关节角度调节装置的踝关节轴(42)上的凸块(45)连接，所述下脚踏板(48)用于与踝关节轴(42)的底面固定连接。5. A sole-driven walking training walker according to claim 4, wherein the foot pedal device comprises an upper foot pedal (46), a lower foot pedal (48), and the upper foot pedal The bottom surface of the plate (46) is provided with an installation groove (49) for connecting with the projection (45) on the ankle joint shaft (42) of the ankle joint angle adjustment device, and the lower pedal (48) is used for connecting with the ankle joint The bottom surface of the shaft (42) is fixedly connected. 6.根据权利要求5所述的一种足底驱动步行训练助行器，其特征在于，所述下脚踏板(48)顶面的前后部分别设置了传感器安装区域(50)，用于安装传感器(47)。6 . The sole-driven walking training walker according to claim 5 , wherein the front and rear parts of the top surface of the lower footboard ( 48 ) are respectively provided with sensor installation areas ( 50 ) for installing sensors. 7 . (47). 7.根据权利要求1所述的一种足底驱动步行训练助行器，其特征在于，所述助行车架包括有外轮组(1)、车底架(4)、安装底板(6)、支承长杆(5)、扶手杆(7)、支承短杆(8)、腋下支承杆(9)、手握杆(10)、安全装置杆(11)及内轮组(13)，7. A sole-driven walking training walker according to claim 1, characterized in that the walker frame comprises an outer wheel set (1), a vehicle bottom frame (4), and an installation bottom plate (6) , support long rod (5), handrail rod (7), support short rod (8), armpit support rod (9), hand grip rod (10), safety device rod (11) and inner wheel group (13), 所述外轮组(1)安装在所述车底架(4)的四角处，所述安装底板(6)安装在车底架(4)上，所述内轮组(13)连接在安装底板(6)下方，且所述内轮组(13)可折叠；The outer wheel set (1) is mounted on the four corners of the vehicle underframe (4), the mounting base plate (6) is mounted on the vehicle underframe (4), and the inner wheel set (13) is connected to the mounting base plate (6) below, and the inner wheel set (13) can be folded; 所述支承长杆(5)与支承短杆(8)固定连接在车底架(4)的两侧，所述扶手杆(7)与腋下支承杆(9)均连接在所述支承长杆(5)与支承短杆(8)之间，所述扶手杆(7)在下，所述腋下支承杆(9)在上，所述安全装置杆(11)连接在车底架(4)两侧的两个支承长杆(5)之间，所述支承短杆(8)与腋下支承杆(9)之间通过手握杆(10)连接。The long support rod (5) and the short support rod (8) are fixedly connected to both sides of the vehicle underframe (4), and the handrail rod (7) and the underarm support rod (9) are both connected to the support rod. Between the rod (5) and the short supporting rod (8), the handrail rod (7) is at the bottom, the armpit support rod (9) is at the top, and the safety device rod (11) is connected to the underframe (4) ) between the two long supporting rods (5) on both sides of the ), the short supporting rod (8) and the armpit supporting rod (9) are connected by a hand-grip rod (10). 8.根据权利要求7所述的一种足底驱动步行训练助行器，其特征在于，所述车底架(4)前后四角的安装杆通过外轮安装架(3)连接车轮轴(2)，车轮轴(2)与外轮组(1)连接，外轮组(1)能够改变助行车架的运动速度和方向。8. A foot-driven walking training walker according to claim 7, characterized in that the mounting rods at the front and rear four corners of the vehicle underframe (4) are connected to the wheel axle (2) through the outer wheel mounting frame (3). , the wheel axle (2) is connected with the outer wheel group (1), and the outer wheel group (1) can change the moving speed and direction of the rollator frame. 9.根据权利要求7所述的一种足底驱动步行训练助行器，其特征在于，所述安装底板(6)前方和左右两方有挂杆勾，固定挂在车底架(4)的前侧和左右两侧的底杆上，使安装底板(6)能够稳定的安装在车底架(4)上；9. A foot-driven walking training walker according to claim 7, characterized in that, there are hanging rod hooks in front of and on the left and right sides of the installation bottom plate (6), which are fixedly hung on the vehicle bottom frame (4) On the bottom rods on the front side and the left and right sides of the vehicle, so that the mounting bottom plate (6) can be stably mounted on the vehicle bottom frame (4); 所述安装底板(6)中部是横杆设计，所述安装底板(6)的左右两块完整底板用于布置步行轨迹模拟装置，对其起到支承作用。The middle part of the installation base plate (6) is designed as a cross bar, and the left and right two complete base plates of the installation base plate (6) are used for arranging the walking track simulation device and play a supporting role for it. 10.根据权利要求7所述的一种足底驱动步行训练助行器，其特征在于，所述安装底板(6)的中部底面有四个内轮可折叠安装架(12)，内轮可折叠安装架(12)与内轮组(13)连接，内轮组(13)能够在助行车架运动过程中将内轮组(13)放下，接触地面，起到辅助助行车架运动和支承车架的作用，助行车架不动时，可调节内轮可折叠安装架(12)，使内轮组(13)离开地面，内轮可折叠安装架(12)的折叠杆接触地面，起到支承助行车架的作用。10. A sole-driven walking training walker according to claim 7, characterized in that, there are four inner wheel foldable mounting brackets (12) on the middle bottom surface of the installation bottom plate (6), and the inner wheel can be folded. The folding mounting frame (12) is connected with the inner wheel group (13), and the inner wheel group (13) can put down the inner wheel group (13) during the movement of the rollator frame and contact the ground to assist the movement of the rollator frame With the function of supporting the frame, when the rollator frame does not move, the inner wheel foldable mounting bracket (12) can be adjusted, so that the inner wheel group (13) leaves the ground, and the folding rod of the inner wheel foldable mounting bracket (12) contacts The ground plays the role of supporting the rollator frame.
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