CN110974620A

CN110974620A - Mechanical virtual walking training walking aid device

Info

Publication number: CN110974620A
Application number: CN201911288614.3A
Authority: CN
Inventors: 邹任玲; 李雨辰; 周小波; 曲春鸽; 刘二宁; 徐言东; 胡秀枋; 徐秀林; 卢旭华; 王海滨
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-04-10

Abstract

The invention relates to a mechanical virtual walking training walking aid device, which comprises a supporting weight-reducing vehicle, a walking track simulation device, an ankle joint angle adjusting device and a pedal device, wherein the supporting weight-reducing vehicle is connected with the walking track simulation device through a connecting rod; the supporting weight reduction vehicle comprises a mounting base plate, a front wheel steering device, a rear wheel linkage device, a movable supporting platform and a wearable stepping traction bandage, and is used for supporting a patient in cooperation with the movable supporting platform, assisting the patient to stand and performing rehabilitation training; the ankle joint angle adjusting device is used for driving the pedal device to rotate by a certain angle, the ankle joint angle adjusting device is installed on the walking track simulating device, and the walking track simulating device is used for driving the steps of the patient to perform rehabilitation training movement; the rear wheel linkage device is connected with the ankle joint angle adjusting device, the ankle joint angle adjusting device provides driving force for the rear wheel linkage device, synchronous rotation of the rear wheel and the pedal plate device is achieved, and the front wheel steering device is used for changing the rotation direction of the front wheel, so that the movement direction of the whole device is changed.

Description

Mechanical virtual walking training walking aid device

Technical Field

The invention belongs to the technical field of rehabilitation instruments, and particularly relates to a mechanical virtual walking training walking aid device.

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 mechanical walking aid for virtual walking training.

The invention relates to a mechanical virtual walking training aid, which is a medical instrument used for lower limb rehabilitation training and aiding, in particular to a mechanical virtual walking training aid used by a patient with spinal injury during rehabilitation training and adopting linkage of a pedal and wheel speeds.

The device adopts the linkage of the pedal plate and the wheel speed, provides driving force for the spine injury patient who is difficult to walk independently, standardizes the gait of the patient, enables the speed of the pedal plate to be matched with the wheel speed of the supporting weight-reducing vehicle, enables the patient to have more sense of reality in the training process, and trains the normal walking gait through the device.

The purpose of the invention can be realized by the following technical scheme:

a mechanical virtual walking training walking aid device comprises a supporting weight-reducing vehicle, a walking track simulation device, an ankle joint angle adjusting device and a pedal device;

the supporting weight reduction vehicle comprises an installation bottom plate, a front wheel steering device, a rear wheel linkage device, a movable supporting platform and a wearable stepping traction bandage, wherein the front wheel is connected with the front wheel steering device, the rear wheel is connected with the rear wheel linkage device, the front wheel steering device and the rear wheel linkage device are arranged on the installation bottom plate, the movable supporting platform is arranged on the installation bottom plate and can change the height of the movable supporting platform, the wearable stepping traction bandage is connected onto the movable supporting platform, and the wearable stepping traction bandage is used for supporting a patient together with the movable supporting platform, assisting the patient to stand and performing rehabilitation training;

the ankle joint angle adjusting device is arranged on the walking track simulating device and has an elliptical track simulating walking of a human; the walking track simulation device is used for driving the steps of the patient to carry out rehabilitation training movement;

the rear wheel linkage device is connected with the ankle joint angle adjusting device, the ankle joint angle adjusting device provides driving force for the rear wheel linkage device to realize synchronous rotation of the rear wheel and the pedal device,

the front wheel steering device is used for changing the rotating direction of the front wheel, so that the moving direction of the whole device is changed.

Further, the walking track simulation device comprises a screw rod motor, a screw rod motor bracket, a screw rod front bearing block, a coupling, a screw rod bearing, a screw rod, a gear, a screw rod nut, a rear sliding block fixing block, a pedal mounting shaft, a pedal mounting seat, a sliding block, a screw rod rear bearing block, a linear guide rail, an ankle motor mounting plate, a connecting rod shaft, a rack motor, a connecting rod bearing, a connecting rod bracket, a connecting rod, a speed reducing motor bracket, a front sliding block fixing block and a rack,

the shaft of the screw motor is connected with a front bearing seat of the screw motor, the front bearing seat of the screw motor is arranged on a screw motor bracket, the screw motor bracket is fixedly arranged on an installation bottom plate, the shaft of the screw motor is connected with a coupler, the coupler is connected with a screw, the screw is connected with a screw bearing, the screw bearing is arranged on the front bearing seat of the screw, the tail end of the screw is connected with a rear bearing seat of the screw, the screw is matched with a screw nut, the screw nut is fixed on a rear slide block fixing block, two sliders are fixedly arranged at the lower end of the rear slide block fixing block, respectively a left slider and a right slider, and are respectively matched with two linear guide rails, the upper end of the rear slide block fixing block is connected with a pedal installation shaft, the two ends of the pedal installation shaft are matched with pedal installation seats, the pedal installation seats are fixed at the rear end of the bottom, a connecting rod bearing is arranged on a 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 shaft, the connecting rod bearing is arranged at the upper end of a front sliding block fixing block, a rack is fixedly arranged on the left side of the lower end of the front sliding block fixing block, the rack is fixedly connected with a left sliding block, the right side of the lower end of the front sliding block fixing block is fixedly connected with a right sliding block, the rack is meshed with a gear, the gear is arranged on a shaft of a speed reducing motor, the speed reducing motor is fixedly arranged on a speed reducing;

the whole walking track simulator is arranged on a mounting bottom plate for supporting the weight-reducing vehicle, when the walking track simulator is started, a screw motor drives a screw rod to rotate, a screw rod nut moves on the screw rod, a rear sliding block fixed block connected with the screw rod nut also moves on the screw rod, the rear end of an ankle motor mounting plate is connected with the rear sliding block fixed block, so that the ankle motor mounting plate is connected with a gear through a speed reduction motor on the screw rod, the gear and a rack are meshed, the rack is displaced, the rack is connected with a front sliding block fixed block, the front sliding block fixed block has the same speed and displacement as the rack, the front sliding block fixed block is connected with the front end of the ankle motor mounting plate through a connecting rod, so that the front end of the ankle motor mounting plate has the same displacement and speed as the rack, and the distance between the front sliding block fixed block and the rack can be changed, when the two sliders approach, 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.

Further, the ankle joint adjusting device comprises an ankle joint motor, an ankle joint motor bracket, a second small bevel gear, a second large bevel gear, an ankle joint shaft, an ankle joint bearing and an ankle joint 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 second small bevel gear, the second small bevel gear is meshed with a second large bevel gear in an angle of 90 degrees, the second 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 device is connected with the ankle joint shaft,

when needs adjustment ankle joint angle, control ankle joint motor, make ankle joint motor rotate certain angle, the drive is installed the certain angle of second bevel pinion rotation on it, also can rotate certain angle with the big bevel gear of second bevel pinion meshing, the big bevel gear assembly of second is epaxial at the ankle joint, so the ankle joint axle also can be driven, rotate certain angle, with this angle of adjusting the running-board device, change ankle joint angle, the motion of cooperation patient in the rehabilitation training process.

Further, the pedal plate device comprises an upper pedal plate, a sensor and a lower pedal plate, wherein the bottom surface of the upper pedal plate is provided with a mounting groove used for being connected with a convex block on an ankle joint shaft of the ankle joint angle adjusting device, the lower pedal plate is used for being fixedly connected with the bottom surface of the ankle joint shaft, and the front part and the rear part of the top surface of the lower pedal plate are respectively provided with a sensor mounting area used for mounting the sensor.

Further, the rear wheel linkage device comprises an elliptical track plate, a sliding chute, a supporting rod, a sliding chute gear, a transmission gear 36), a rotating shaft, a bearing seat, a hub gear and a rear hub fixing bracket,

the elliptic orbit plate is installed on the installation bottom plate, the chute is installed on the support rod, the support rod is installed on the installation bottom plate, the part of the chute outside the support rod is fixedly connected with a chute gear, the chute gear rotates along with the chute in a circular motion, the chute gear is meshed with a transmission gear, the other side of the transmission gear is meshed with a hub gear, the hub gear is fixedly connected with a hub shaft, the hub shaft is connected with a rear wheel through a rear hub fixing support installed on the installation bottom plate, the transmission gear is installed on a rotating shaft, two ends of the rotating shaft are respectively provided with a bearing, the bearing is installed on a bearing seat, and the bearing seat is installed on the installation bottom plate;

when the chute gear rotates, the transmission gear rotates together through gear meshing, the transmission gear is installed on the rotating shaft, stable rotation can be achieved through the supporting effect of the bearing seat, when the transmission gear rotates, the hub gear can be driven to rotate through gear meshing, and the rear wheel can be driven to rotate together due to the fact that the hub gear is fixedly connected with the rear wheel.

Further, the ankle joint axle is located oval orbit board, and still is located the spout, and when the ankle joint motor moved, the ankle joint axle was made oval orbit motion in oval orbit board, still slides in the spout, and circular motion through the oval orbit motion output of ankle joint axle provides drive power for the rear wheel aggregate unit, finally can realize that rear wheel and running-board device realize synchronous rotation, made the patient experience in the rehabilitation training more closely the true motion condition.

The ankle joint axle can take the spout to move together when doing the oval orbit motion, and the spout makes circular motion around the bracing piece, and the circular motion is made along with the spout to the spout gear, and under the supporting role of transmission gear axis of rotation, bearing frame, along with the spout gear with it meshing rotates together, and the transmission gear can take the wheel hub gear with it meshing to rotate together simultaneously to it realizes synchronous rotation together to drive the rear wheel.

When the ankle joint shaft rotates a circle in the oval track plate, the supporting shaft drives the sliding groove to rotate the circle, the sliding groove gear fixedly connected to the sliding groove also rotates the circle, the parameters of the number of teeth, the modulus and the like of the sliding groove gear and the gear of the hub gear are the same, after the motion is transmitted through the transmission gear, the gear of the hub gear rotates the circle, the rear wheel fixedly connected with the gear of the hub gear rotates the circle, and therefore the pedal and the rear wheel rotate synchronously.

Furthermore, the front wheel steering device comprises a front wheel fixing support, a middle section rotating rod, a front wheel synchronous connecting platform, a front wheel synchronous connecting rod, a steering rocker arm, a steering connecting rod, a steering wheel, a bearing rod, a front section rotating rod, a front section universal joint, a tail section universal joint, a front wheel steering connecting platform, a tail section rotating rod, a first small bevel gear, a first large bevel gear and a bevel gear shaft, wherein the front wheel is connected with the front wheel fixing support, an internal thread hole is arranged at the upper end of the front wheel fixing support and is connected with the front wheel fixing support through an external thread at the upper end of the front wheel,

the front wheel synchronous connection platforms are arranged on the inner sides of the front wheels, the front wheel synchronous connection platforms on the inner sides of the two front wheels are connected together through a front wheel synchronous connection rod, and when one front wheel rotates for a certain angle, the other front wheel can rotate along with the front wheel due to the synchronous action of the front wheel synchronous connection rods;

the front wheel steering connecting table is connected to the inner side of one of the front wheel steering connecting tables, the front wheel steering connecting table is connected with the steering connecting rod through a rotating pair, the other end of the steering connecting rod is connected with the steering rocker arm through the rotating pair, the other end of the steering rocker arm is connected with the bevel gear shaft through the rotating pair, and when the bevel gear shaft controls the steering rocker arm to rotate within a certain range, the steering rocker arm drives the front wheel steering connecting table to rotate together through the steering connecting rod, so that the front wheel is controlled to rotate;

the bevel gear shaft is connected with a first large bevel gear through a shaft, the first large bevel gear is vertically arranged with a first small bevel gear, the first large bevel gear and the steering rocker arm synchronously rotate, the first small bevel gear is connected with a tail section rotating rod, when the tail section rotating rod rotates, the first small bevel gear is driven to synchronously rotate, so that the first large bevel gear is driven to rotate through the meshing of bevel gears, and the output of steering motion is realized through the connection of the first large bevel gear and the steering rocker arm;

the tail section rotating rod is connected with the middle section rotating rod through a tail section universal joint, the other end of the middle section rotating rod is connected with the front section rotating rod through a front section universal joint, the other end of the front section rotating rod is fixedly connected with a steering wheel, meanwhile, the front section rotating rod is installed on a bearing rod, and the bearing rod is installed on an installation bottom plate;

when the steering wheel is rotated, the front section rotating rod rotates along with the front section rotating rod, the transmission direction is changed through the front section universal joint, the middle section rotating rod rotates along with the front section rotating rod, the transmission direction is changed through the tail section universal joint through the middle section rotating rod, the tail section rotating rod rotates along with the tail section rotating rod, the tail section transmission rod drives the first small bevel gear to rotate, the first small bevel gear drives the first big bevel gear to rotate along with the first big bevel gear through meshing with the first big bevel gear, the first big bevel gear outputs steering motion through the steering rocker arm, and the steering rocker arm directly drives the front wheel to rotate through the steering connecting rod.

Further, the wearable striding traction bandage comprises striding trousers, a striding belt, a ring fixing belt, a bandage, a belt loop and a shaft fixing belt, wherein the striding trousers are connected with the striding belt and used for ensuring that the stress on the crotch of a patient is balanced and simultaneously drawing the patient to a standing posture, the belt loop is arranged above the striding trousers and the striding belt and fixed on the left side and the right side of the belt loop, the ring fixing belt is connected with the belt loop, one end of the bandage is connected with the ring fixing belt, the other end of the bandage is connected with the shaft fixing belt, and the shaft fixing belt is used for being connected with a movable support table of a supporting weight-reducing vehicle.

When the trousers are used, the striding trousers are well worn, the striding belt and the striding trousers protect the crotch of a patient, one end of the binding belt is connected with the ring fixing belt, the other end of the binding belt is connected with the shaft fixing belt and fixed on the binding belt fixing shaft of the supporting weight-reducing vehicle, the binding belt, the supporting weight-reducing vehicle and the handrail can assist the patient to stand together, the patient is protected in the training process, and secondary damage caused by unbalance is avoided.

Further, the supporting weight-reducing vehicle further comprises a supporting beam, the supporting beam is arranged on the left side and the right side of the rear portion of the mounting bottom plate, guide rails are installed on the supporting beam, the guide rails are connected with a movable supporting platform through sliding blocks, the movable supporting platform is used for supporting upper limbs of a patient, the sliding blocks are connected with electric cylinders, the positions of the electric cylinder control sliding blocks on the guide rails are changed, the heights of the movable supporting platform are changed, the electric cylinders are connected with motors, the motors and the electric cylinders are installed on motor electric cylinder mounting seats, the motors and the electric cylinders are located on the left side and the right side of the middle portion of the mounting bottom plate, side plates are arranged on the outer sides of the electric cylinders, and.

The movable supporting table is provided with a stainless steel cover, a main control computer is installed in the stainless steel cover, and the front end of the movable supporting table is connected with a handrail; the inner side of the stainless steel cover is provided with a bandage fixing shaft which is used for being connected with a wearable traction striding bandage, the wearable traction striding bandage is used for assisting a patient to stand together with the movable support table and the handrail, so that the patient can carry out lower limb rehabilitation training in a standing state, the patient is protected in the training process, secondary damage caused by unbalance is avoided, and the outer side of the stainless steel cover is provided with a lifting control button which is used for controlling the action of the electric cylinder and adjusting the height of the movable support table and the handrail; when the patient uses, can change the height that removes the saddle according to the electronic jar of patient's actual height control, cooperation patient's height will remove the saddle and adjust to suitable position, make the patient can stand the rehabilitation training in best supporting position.

Furthermore, a backrest guide rod is mounted on the rear side of the supporting beam, the backrest guide rod is connected with a backrest support through a backrest support sliding block, and the backrest support is connected with the backrest, so that the backrest can move up and down on the backrest guide rod to adjust the height and can be detached;

the outer side of the supporting beam is connected with an intermediate connecting rod in a hinge mode, the other side of the intermediate connecting rod is connected with the connecting end of the computer display through a revolute pair, free rotation can be achieved between the supporting beam and the intermediate connecting rod, and the intermediate connecting rod and the computer display can also achieve free rotation. When the patient needs to use, the computer display can rotate to the people's face the place ahead, provides supporting system software for provide visual page, realize man-machine interaction, the person of facilitating the use controlling means realizes suitable helping the capable function according to self needs, then can rotate to the side when not needing, does not influence patient's sight.

The system software provides patient information management and walking aid mode setting, and parameters such as step length, pace and the like can be set according to the self condition of the patient, so that the running track of the motor of the mechanical device is controlled, and proper gait walking aid is provided for the patient. In the using process of a patient, the signals of the sensors are collected in real time and are visually displayed in system software, closed-loop control is achieved, a user can conveniently monitor the self state and evaluate the walking assisting effect, and the using safety of the mechanical device is improved. The system software provides a virtual scene game, so that the patient can sense scene change in the using process, the enthusiasm of the patient can be improved while the interestingness is increased, and the rehabilitation of the walking function is promoted.

When a patient carries out rehabilitation training, the patient stands through the lifting function of the upper limb supporting weight reducing vehicle, when the walking track simulation device, the ankle joint angle adjusting device and the pedal plate device act in a cooperative mode, the rehabilitation training function of the patient can be achieved, meanwhile, the front wheel steering device and the rear wheel linkage device in the upper limb supporting weight reducing vehicle can help the patient to achieve the functions of free steering, rear wheel linkage and the like of the weight reducing vehicle, and the patient can obtain real walking experience.

When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate to move, so that the ankle motor mounting plate completes 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 device is assembled with the ankle joint shaft, has the elliptical track simulating walking of the human same as the ankle joint shaft, and drives a patient 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 mechanical virtual walking training walking aid device has the following use process:

when the patient uses the mechanical virtual walking training walking aid device, the wheelchair in which the patient sits is pushed to the rear part of the mechanical virtual walking training walking aid device under the assistance of medical personnel, after the detachable backrest device of the supporting weight-reducing vehicle is detached, the patient can wear the wearable traction striding bandage with the assistance of the medical personnel, and the shaft fixing belt of the bandage needs to be connected to the bandage fixing shaft on the supporting weight-reducing vehicle. The patient can place the foot on suitable position on the running-board of the walking track analogue means independently or under the assistance of medical personnel, also can place the upper limbs on removing the saddle by oneself, when the electronic jar that supports the weight-reducing vehicle operates, under the combined action of wearing formula tractive bandage and removing the saddle, can draw the patient from the wheelchair, the removal saddle that supports the weight-reducing vehicle can bear patient's most health weight this moment, start the walking track analogue means, the running-board begins to drive patient's step and begins to carry out the rehabilitation training motion according to the main control computer setting trace. The rear wheel of the supporting weight-reducing vehicle is connected with the ankle joint shaft through the linkage device, the movement speeds of the ankle joint shaft and the pedal are determined by the walking track simulation device, so that the speed of the rear wheel is matched with the movement speed of the pedal, and when the pedal moves fast, the rear wheel rotates fast; when the running speed of the pedal is slow, the rear wheel rotates slowly so as to control the running speed of the whole device; the front wheels of the supporting weight-reducing vehicle are connected with a steering device, the steering device is provided with a steering wheel, and a patient can change the rotating direction of the front wheels by rotating the steering wheel in the operation process, so that the moving direction of the whole device is changed. During the rehabilitation training process of a patient, the advancing direction and the moving speed of the supporting weight-reducing vehicle can be changed according to the advancing requirement, and the front wheel steering device, the rear wheel linkage device and other accessories are matched to complete the advancing, retreating and other movements of the whole walking aid, so that the patient can move in a certain moving range.

Therefore, the mechanical virtual walking training walking aid device is designed, the lower limbs are linked with the wheel speed by adopting the pedal controlled by the motor, so that the walking training of patients with lower limb obstacles and even patients with full paralysis can be realized, the wheel linkage can be adopted to drive the walking aid to move forwards, the walking training walking aid is synchronous, the daily life needs and the training needs of virtual and real movement are met, the gait distortion of patients with spinal injury in the standing and gait training process is compensated, the moving range is improved, the patients have more sense of reality in the movement training process, and the mechanical virtual walking training 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 front wheel steering device is connected with the device for adjusting the direction of the front wheel through the steering wheel, so that the patient can change the rotating direction of the front wheel by rotating the steering wheel by hands in the rehabilitation training process, and the moving direction of the whole device is controlled.

2) The ankle motor is connected with the speed reduction linkage device and linked with the rear wheel, and the speed of the pedal plate can control the speed of the rear wheel, so that the forward speed of the whole device is matched with the stepping speed of the pedal plate, and a patient has more sense of reality in the rehabilitation training process.

3) Adopt to support and subtract heavy car, through the healthy upper limbs of patient, through the handrail, with remove the saddle together, play the effect of supporting the patient, make the patient in the state training of standing, also satisfy different height patients' demand on foot.

4) The wearable traction striding bandage is adopted, and the wearable traction striding bandage and the movable support platform act together to increase stress points, reduce the stress of the armpits of the upper limbs and help the spine patient to realize standing training

5) The walking elliptical trajectory simulation device is adopted to realize the motion of the simulated walking trajectory, provide driving force for the patient who cannot walk independently and assist the patient to walk normally.

Drawings

FIG. 1 is a schematic structural diagram of a walking aid device for mechanical virtual walking training in embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of a support weight-reducing vehicle according to embodiment 1 of the present invention;

FIG. 3 is a schematic view showing the structure of the wearable step-by-step pulling-tying belt device in example 1 of the present invention;

FIG. 4 is a schematic structural view of a rear wheel linkage for supporting the truck in accordance with embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a front wheel steering apparatus for supporting a weight-reduction vehicle in embodiment 1 of the present invention;

fig. 6 is a schematic structural diagram of a walking trajectory simulation apparatus according to embodiment 1 of the present invention;

FIG. 7 is a schematic configuration view of an ankle joint angle adjusting apparatus according to embodiment 1 of the present invention;

FIG. 8 is a schematic structural view of a pedal device in embodiment 1 of the invention;

fig. 9 is a schematic structural view of an upper step plate of the step apparatus according to embodiment 1 of the present invention;

fig. 10 is a schematic view of the structure of the lower step of the step device according to embodiment 1 of the present invention.

Reference numbers in the figures: a front wheel fixing bracket 1, a front wheel 2, a middle section rotating rod 3, a mounting bottom plate 4, an electric cylinder 5, a motor electric cylinder mounting seat 6, a motor 7, a side plate 8, a rear wheel linkage device 10, a stainless steel cover 11, a supporting beam 12, a movable supporting platform 13, a lifting device adjusting button 14, a slide block 15, a guide rail 16, a wearable striding traction bandage 17, a backrest 18, a backrest bracket 19, a backrest bracket slide block 20, a backrest guide rod 21, a middle connecting rod 22 bandage fixing shaft 23, a computer display 24, an armrest 25, a shaft fixing belt 26, a ring fixing belt 27, a bandage 28, a belt ring 29, a striding belt 30, striding trousers 31, an oval track plate 32, a chute 33, a supporting rod 34, a chute gear 35, a transmission gear 36, a rotating shaft 37, a bearing 38, a bearing seat 39, a hub gear 40, a rear hub fixing bracket 41, a rear wheel 42, a front wheel synchronous connecting platform 43, a front wheel synchronous connecting rod 44, a, A steering rocker arm 45, a steering connecting rod 46, a steering wheel 47, a bearing rod 48, a front section rotating rod 49, a front section universal joint 50, a tail section universal joint 51, a front wheel steering connecting table 52, a tail section rotating rod 53, a first small bevel gear 54, a first large bevel gear 55, a bevel gear shaft 56, a lead screw motor 57, a lead screw motor bracket 58, a lead screw front bearing seat 59, a coupler 60, a lead screw bearing 61, a lead screw 62, a gear 63, a lead screw nut 64, a rear sliding block fixing block 65, a pedal mounting shaft 66, a pedal mounting seat 67, a sliding block 68, a lead screw rear bearing seat 69, a linear guide rail 70, an ankle motor mounting plate 71, a link shaft 72, a rack motor 73, a link bearing 74, a link bracket 75, a link 76, a reduction motor 77, a reduction motor bracket 78, a front sliding block fixing block 79, a rack 80, an ankle motor 81, an ankle motor bracket 82, a second small bevel gear 83, a second large, Ankle shaft 85, ankle bearing 86, ankle bearing seat 87, boss 88, upper foot plate 89, sensor 90, lower foot plate 91, mounting groove 92, sensor mounting area 93.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

With reference to fig. 1, 2, 3, 4 and 5, the present embodiment provides a walking aid device for mechanical virtual walking training, which comprises a supporting weight-reducing vehicle, a walking track simulator, an ankle joint angle adjusting device and a foot pedal device; the supporting weight-reducing vehicle comprises a mounting base plate 4, a front wheel 2, a front wheel steering device, a rear wheel 42, a rear wheel linkage device 10, a movable saddle 13 and a wearable striding traction bandage 17, wherein the front wheel 2 is connected with the front wheel steering device, the rear wheel 42 is connected with the rear wheel linkage device 10, the front wheel steering device and the rear wheel linkage device 10 are both arranged on the mounting base plate 4, the movable saddle 13 is arranged on the mounting base plate 4 and can change the height of the movable saddle 13, the wearable striding traction bandage 17 is connected onto the movable saddle 13, and the wearable striding traction bandage 17 is used for supporting a patient in cooperation with the movable saddle 13 to assist the patient in standing and performing rehabilitation training;

the rear wheel linkage 10 is connected with an ankle joint angle adjusting device which provides driving force for the rear wheel linkage to realize synchronous rotation of the rear wheel and the pedal device,

Referring to fig. 6 in a matching manner, the walking trajectory simulation device comprises a lead screw motor 57, a lead screw motor bracket 58, a lead screw front bearing seat 59, a coupler 60, a lead screw bearing 61, a lead screw 62, a gear 63, a lead screw nut 64, a rear sliding block fixing block 65, a pedal mounting shaft 66, a pedal mounting seat 67, a sliding block 68, a lead screw rear bearing seat 69, a linear guide rail 70, an ankle motor mounting plate 71, a connecting rod shaft 72, a rack motor 73, a connecting rod bearing 74, a connecting rod bracket 75, a connecting rod 76, a speed reduction motor 77, a speed reduction motor bracket 78, a front sliding block fixing block 79 and a rack 80,

the shaft of the screw motor 57 is connected with a screw motor front bearing seat 59, the screw motor front bearing seat 59 is arranged on a screw motor support 58, the screw motor support 58 is fixedly arranged on the mounting base plate 4, the shaft of the screw motor 57 is connected with a coupler 60, the coupler 60 is connected with a screw 62, the screw 62 is connected with a screw bearing 61, the screw bearing 61 is arranged on the screw front bearing seat 59, the tail end of the screw 62 is connected with a screw rear bearing seat 69, the screw 62 is matched with a screw nut 64, the screw nut 64 is fixed on a rear slider fixing block 65, the lower end of the rear slider fixing block 65 is fixedly provided with two sliders 68, namely a left slider and a right slider, which are respectively matched with two linear guide rails 70, the upper end of the rear slider fixing block 65 is connected with a pedal mounting shaft 66, the two ends of the pedal mounting shaft 66 are matched with the pedal mounting seat 67, the pedal mounting seat 67 is fixed at the rear end, a connecting rod bracket 75 is fixedly arranged at the front end of the bottom surface of the ankle motor mounting plate 71, a connecting rod bearing 74 is arranged on the connecting rod bracket 75, a connecting rod shaft 72 is matched with the connecting rod bearing 74, the connecting rod shaft 72 is connected with one end of a connecting rod 76, the other end of the connecting rod 76 is also connected with the connecting rod shaft 74, the connecting rod bearing 74 is arranged at the upper end of a front slider fixing block 79, a rack 80 is fixedly arranged at the left side of the lower end of the front slider fixing block 79, the rack 80 is fixedly connected with a left slider 68, the right side of the lower end of the front slider fixing block 79 is fixedly connected with a right slider 68, the rack 80 is meshed with a gear 63, the gear 63 is arranged on the shaft of a speed reducing motor 77, the speed reducing motor 77 is fixedly arranged on a speed reducing;

the whole walking track simulation device is arranged on the mounting base plate 4 for supporting the weight-reducing vehicle, when the walking track simulation device is started, the screw rod motor 57 drives the screw rod 62 to rotate, the screw rod nut 64 moves on the screw rod 62, the rear sliding block fixing block 65 connected with the screw rod nut 64 also moves on the screw rod 62, and the rear end of the ankle motor mounting plate 71 is connected with the rear sliding block fixing block 65, so that the rear end of the ankle motor mounting plate 71 and the rear sliding block fixing block 65 move on the screw rod 62; the rack motor 73 is connected with the gear 63 through the speed reducing motor 77, the gear 63 is meshed with the rack 80, the rack 80 is displaced, the rack 80 is connected with the front slide block fixing block 79, the front slide block fixing block 79 has the same speed and displacement as the rack 80, the front slide block fixing block 79 is connected with the front end of the ankle motor mounting plate 71 through the connecting rod 76, so that the front end of the ankle motor mounting plate 71 has the same displacement and speed as the rack 80, the distance between the front slide block fixing block 79 and the rack 80 can be changed due to different moving speeds of the front slide block fixing block 79, and when the two slides are close to each other, the front slide block fixing block 79 can lift the front end of the ankle motor mounting plate 71 through the connecting; when the two sliders are far away, the front slider fixing block 79 enables the front end of the ankle motor mounting plate 71 to be put down through the connecting rod 76, 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. 7 in combination, the ankle adjusting device includes an ankle motor 81, an ankle motor bracket 82, a second bevel pinion 83, a second bevel pinion 84, an ankle shaft 85, an ankle bearing 86, an ankle bearing housing 87,

the ankle motor 81 is arranged on the ankle motor mounting plate 71 through an ankle motor bracket 82 and connected with a second small bevel gear 83, the second small bevel gear 83 is engaged with a second large bevel gear 84 at an angle of 90 degrees, the second large bevel gear 84 is mounted on an ankle joint shaft 85, two ankle joint bearings 86 are assembled on the ankle joint shaft 85, the ankle joint bearings 86 are mounted on an ankle joint bearing seat 87, the foot pedal device is connected with the ankle joint shaft 85,

when the ankle joint angle needs to be adjusted, control ankle joint motor 81, make ankle joint motor 81 rotate certain angle, the second bevel pinion 83 that drives to install on it rotates certain angle, big bevel pinion 84 with the second bevel pinion 83 meshing also can rotate certain angle, the big bevel pinion 84 assembly of second is on ankle joint axle 85, so ankle joint axle 85 also can be driven, rotate certain angle, adjust the angle of running-board device with this, change ankle joint angle, the motion of cooperation patient in the rehabilitation training process.

Referring to fig. 7, 8, 9 and 10, the pedal device includes an upper pedal 89, a sensor 90 and a lower pedal 91, the lower surface of the upper pedal 89 has a mounting groove 92 for connecting with a protrusion 88 of an ankle joint shaft 85 of an ankle joint angle adjusting device, the lower pedal 91 is fixedly connected with the lower surface of the ankle joint shaft 85, and the front and rear parts of the top surface of the lower pedal 91 are respectively provided with a sensor mounting region 93 for mounting the sensor 90.

Referring to fig. 4, the rear wheel linkage 10 includes an elliptical track plate 32, a sliding chute 33, a support rod 34, a sliding chute gear 35, a transmission gear 36, a rotating shaft 37, a bearing 38, a bearing seat 39, a hub gear 40 and a rear hub fixing bracket 41,

the oval track plate 32 is mounted on the mounting base plate 4, the sliding chute 33 is mounted on the supporting rod 34, the supporting rod 34 is mounted on the mounting base plate 4, the part of the sliding chute 33 outside the supporting rod 34 is fixedly connected with a sliding chute gear 35, the sliding chute gear 35 rotates along with the sliding chute 33 in a circular motion, the sliding chute gear 35 is meshed with a transmission gear 36, the other side of the transmission gear 36 is meshed with a hub gear 40, the hub gear 40 is fixedly connected with a hub shaft, the hub shaft is connected with a rear wheel 42 through a rear hub fixing bracket 41 mounted on the mounting base plate 4, the transmission gear 36 is mounted on a rotating shaft 37, two ends of the rotating shaft 37 are respectively provided with a bearing 38, the bearing 38 is mounted on a bearing seat 39, and the bearing seat 39 is mounted on the mounting base plate;

when the chute gear 35 rotates, the transfer gear 36 rotates together through gear engagement, the transfer gear 36 is mounted on the rotating shaft, and can rotate stably under the supporting action of the bearing seat, when the transfer gear 36 rotates, the hub gear 40 is driven to rotate through gear engagement, and the hub gear 40 is fixedly connected with the rear wheel 42 to drive the rear wheel 42 to rotate together.

Referring to fig. 4 and 7 in a matching manner, the ankle joint shaft 85 is located in the elliptical track plate 32 and also located in the sliding groove 33, when the ankle joint motor 81 acts, the ankle joint shaft 85 performs elliptical track motion in the elliptical track plate 32 and also slides in the sliding groove 33, circular motion output by the elliptical track motion of the ankle joint shaft 85 provides driving force for the rear wheel linkage device, and finally synchronous rotation of the rear wheel and the pedal device can be realized, so that the experience of a patient in rehabilitation training is more appropriate for the real motion situation.

The ankle joint shaft 85 moves in an elliptic orbit and simultaneously drives the sliding chute 33 to move together, the sliding chute 33 moves circularly around the support rod 34, the sliding chute gear 35 moves circularly along with the sliding chute, the transmission gear 36 rotates along with the sliding chute gear 35 meshed with the transmission gear 36 under the supporting action of the rotating shaft 37, the bearing 38 and the bearing seat 39, and simultaneously the transmission gear 36 drives the hub gear 40 meshed with the transmission gear to rotate together, so that the rear wheel 42 is driven to rotate synchronously.

Referring to fig. 5, the front wheel steering apparatus includes a front wheel fixing bracket 1, a middle rotating rod 3, a front wheel synchronous connecting platform 43, a front wheel synchronous connecting rod 44, a steering rocker arm 45, a steering connecting rod 46, a steering wheel 47, a bearing rod 48, a front rotating rod 49, a front universal joint 50, a rear universal joint 51, a front wheel steering connecting platform 52, a rear rotating rod 53, a first small bevel gear 54, a first large bevel gear 55 and a bevel gear shaft 56, the front wheel 2 is connected with the front wheel fixing bracket 1, an internal threaded hole is formed at the upper end of the front wheel fixing bracket and is connected with the front wheel fixing bracket through an external thread at the upper end of the front wheel,

the front wheel synchronous connection platforms 43 are arranged at the inner sides of the front wheels 2, the front wheel synchronous connection platforms 43 at the inner sides of the two front wheels 2 are connected together through a front wheel synchronous connection rod 44, and when one front wheel 2 rotates for a certain angle, the other front wheel 2 can rotate along with the front wheel synchronous connection rod 44 due to the synchronous action of the front wheel synchronous connection rod 44;

the front wheel steering connecting platform 52 is connected to the inner side of one of the front wheels 2, the front wheel steering connecting platform 52 is connected with the steering connecting rod 46 through a rotating pair, the other end of the steering connecting rod 46 is connected with the steering rocker arm 45 through a rotating pair, the other end of the steering rocker arm 45 is connected with the bevel gear shaft 56 through a rotating pair, and when the bevel gear shaft 56 controls the steering rocker arm 45 to rotate in a certain range, the steering rocker arm 45 drives the front wheel steering connecting platform 52 to rotate together through the steering connecting rod 46, so that the front wheels 2 are controlled to rotate;

the bevel gear shaft 56 is connected with a first large bevel gear 55 through a shaft, the first large bevel gear 55 is vertically arranged with a first small bevel gear 54, the first large bevel gear 55 and the steering rocker arm 45 synchronously rotate, the first small bevel gear 54 is connected with a tail section rotating rod 53, when the tail section rotating rod 53 rotates, the first small bevel gear 54 is driven to synchronously rotate, so that the first large bevel gear 55 is driven to rotate through bevel gear meshing, and the output of steering motion is realized through the connection of the first large bevel gear 55 and the steering rocker arm 45;

the tail section rotating rod 53 is connected with the middle section rotating rod 3 through a tail section universal joint 51, the other end of the middle section rotating rod 3 is connected with the front section rotating rod 49 through a front section universal joint 50, the other end of the front section rotating rod 49 is fixedly connected with the steering wheel 47, meanwhile, the front section rotating rod 49 is installed on the bearing rod 48, and the bearing rod 48 is installed on the installation bottom plate 4;

when the steering wheel 47 is rotated, the front section rotating rod 49 rotates along with the front section rotating rod, the transmission direction is changed through the front section universal joint 50, the middle section rotating rod 3 rotates together, the middle section rotating rod 3 changes the transmission direction through the tail section universal joint 51, the tail section rotating rod 53 rotates together, the tail section driving rod 53 drives the first small bevel gear 54 to rotate, the first small bevel gear 54 drives the first large bevel gear 55 to rotate together through meshing with the first large bevel gear 55, the first large bevel gear 55 outputs steering motion through the steering rocker arm 45, and the steering rocker arm 45 directly drives the front wheel 2 to rotate through the steering connecting rod 46.

Referring to fig. 3 in a matching manner, the wearable striding pulling bandage 17 comprises striding pants 31, a striding belt 30, a ring fixing belt 27, a bandage 28, a belt loop 29 and a shaft fixing belt 26, wherein the striding pants 31 are connected with the striding belt 30 and used for pulling the patient to a standing posture while ensuring balanced stress on the crotch of the patient, belts are arranged above the striding pants 31 and the striding belt 30, the belt loop 29 is fixed on the left side and the right side of the belt, the ring fixing belt 27 is connected with the belt loop 29, one end of the bandage 28 is connected with the ring fixing belt 27, the other end of the bandage is connected with the shaft fixing belt 26, and the shaft fixing belt 26 is used for being connected with a movable support table of the supporting weight-reducing vehicle.

When the device is used, the striding trousers 31 are worn, the striding belt 30 and the striding trousers 31 protect the crotch of a patient, one end of the binding belt 28 is connected with the ring fixing belt 27, the other end of the binding belt is connected with the shaft fixing belt 26 and fixed on the binding belt fixing shaft 30 of the support weight-reducing vehicle, the device can assist the patient to stand together with the support weight-reducing vehicle and the handrail, and the patient is protected during training, so that secondary injury caused by unbalance is avoided.

With reference to fig. 2, the supporting and weight reducing vehicle further comprises a supporting beam 12, the supporting beam 12 is arranged on the left side and the right side of the rear portion of the mounting base plate 4, guide rails 16 are mounted on the supporting beam 12, the guide rails 16 are connected with a movable supporting platform 13 through sliders 15, the movable supporting platform 13 is used for supporting upper limbs of a patient, the sliders 15 are connected with the electric cylinders 5, the electric cylinders 5 control the positions of the sliders 15 on the guide rails 16, so that the height of the movable supporting platform 13 is changed, the electric cylinders 5 are connected with the motor 7, the motor 7 and the electric cylinders 5 are mounted on a motor electric cylinder mounting seat 6, the motor 7 and the electric cylinders 5 are located on the left side and the right side of the middle portion of the mounting base plate 4, side plates 8 are arranged on the outer sides of the electric.

The movable supporting platform 13 is provided with a stainless steel cover 11, a main control computer is arranged in the stainless steel cover 11, and the front end of the movable supporting platform 13 is connected with a handrail 25; the inner side of the stainless steel cover 11 is provided with a bandage fixing shaft 23, the bandage fixing shaft 23 is used for being connected with a wearable traction stepping bandage 17, the wearable traction stepping bandage 17 is used for assisting a patient to stand together with the movable support table 13 and the handrail 25, so that the patient can carry out lower limb rehabilitation training in a standing state and can be protected in the training process, and secondary damage caused by unbalance is avoided, the outer side of the stainless steel cover 11 is provided with a lifting control button 14, and the lifting control button 14 is used for controlling the action of the electric cylinder 5 and adjusting the height of the movable support table 13 and the handrail 25; when the patient uses, can change the height that removes saddle 13 according to the electronic jar 5 of patient's actual height control, cooperation patient's height will remove saddle 13 and adjust to suitable position, make the patient can stand the rehabilitation training in best supporting position.

Referring to fig. 2, a backrest guide rod 21 is installed at the rear side of the support beam 12, the backrest guide rod 21 is connected with a backrest bracket 19 through a backrest bracket slider 20, the backrest bracket 19 is connected with the backrest 18, so that the backrest 18 can move up and down on the backrest guide rod 21 to adjust the height and can be detached; an intermediate connecting rod 22 is connected with the outer side of the supporting beam 12 in a hinge mode, the other side of the intermediate connecting rod 22 is connected with the connecting end of a computer display 24 through a rotating pair, free rotation can be achieved between the supporting beam 12 and the intermediate connecting rod 22, and the intermediate connecting rod 22 and the computer display 24 can also achieve free rotation. When the patient needs to use, the computer display 24 can rotate to the front of the face to provide matched system software for providing a visual page, so that man-machine interaction is realized, the control device of the user can realize a proper walking aid function according to the self requirement, and the user can rotate to the side when not needed, so that the sight of the patient is not influenced.

When the walking track simulator is started, the walking track simulator drives the ankle motor mounting plate 71 to move, so that the ankle motor mounting plate 71 completes an elliptical track simulating walking of a human, the ankle joint shaft 85 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 85, has the same elliptical track simulating walking of the human as the ankle joint shaft 85, and drives a patient to do rehabilitation training movement. Meanwhile, an ankle joint shaft 85 of the ankle joint adjusting device is assembled with the pedal device, and the rotation angle of the ankle joint shaft 85 is changed by changing the rotation angle of the ankle joint motor 81 to drive the pedal device 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 mechanical virtual walking training walking aid device of the embodiment is used as follows:

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

1. A mechanical virtual walking training walking aid device is characterized by comprising a supporting weight-reducing vehicle, a walking track simulation device, an ankle joint angle adjusting device and a pedal device;

the supporting weight-reducing vehicle comprises a mounting base plate (4), front wheels (2), a front wheel steering device, rear wheels (42), a rear wheel linkage device (10), a movable saddle (13) and a wearable striding traction bandage (17), wherein the front wheels (2) are connected with the front wheel steering device, the rear wheels (42) are connected with the rear wheel linkage device (10), the front wheel steering device and the rear wheel linkage device (10) are arranged on the mounting base plate (4), the movable saddle (13) is arranged on the mounting base plate (4) and can change the height of the movable saddle (13), the wearable striding traction bandage (17) is connected to the movable saddle (13), and the wearable striding traction bandage (17) is used for being matched with the movable saddle (13) to support a patient together, assist the patient to stand and perform rehabilitation training;

the rear wheel linkage device (10) is connected with an ankle joint angle adjusting device, the ankle joint angle adjusting device provides driving force for the rear wheel linkage device to realize synchronous rotation of the rear wheel and the pedal device,

2. The mechanical virtual walking training walking aid device according to claim 1, wherein the walking track simulation device comprises a lead screw motor (57), a lead screw motor bracket (58), a lead screw front bearing seat (59), a coupler (60), a lead screw bearing (61), a lead screw (62), a gear (63), a lead screw nut (64), a rear sliding block fixing block (65), a pedal mounting shaft (66), a pedal mounting seat (67), a sliding block (68), a lead screw rear bearing seat (69), a linear guide rail (70), an ankle motor mounting plate (71), a connecting rod shaft (72), a rack motor (73), a connecting rod bearing (74), a connecting rod bracket (75), a connecting rod (76), a speed reducing motor (77), a speed reducing motor bracket (78), a front sliding block fixing block (79) and a rack (80),

the shaft of the screw rod motor (57) is connected with a screw rod motor front bearing seat (59), the screw rod motor front bearing seat (59) is installed on a screw rod motor support (58), the screw rod motor support (58) is fixedly installed on an installation base plate (4), the shaft of the screw rod motor (57) is connected with a coupler (60), the coupler (60) is connected with a screw rod (62), the screw rod (62) is connected with a screw rod bearing (61), the screw rod bearing (61) is installed on the screw rod front bearing seat (59), the tail end of the screw rod (62) is connected with a screw rod rear bearing seat (69), the screw rod (62) is matched with a screw rod nut (64), the screw rod nut (64) is fixed on a rear sliding block fixing block (65), two sliding blocks (68) are fixedly installed at the lower end of the rear sliding block fixing block (65), namely a left sliding block and a right sliding block and are respectively matched with two linear guide rails (70, the upper end of a rear sliding block fixing block (65) is connected with a pedal mounting shaft (66), two ends of the pedal mounting shaft (66) are matched with a pedal mounting seat (67), the pedal mounting seat (67) is fixed at the rear end of the bottom surface of an ankle motor mounting plate (71), a connecting rod bracket (75) is fixedly mounted at the front end of the bottom surface of the ankle motor mounting plate (71), a connecting rod bearing (74) is mounted on the connecting rod bracket (75), a connecting rod shaft (72) is matched with the connecting rod bearing (74), the connecting rod shaft (72) is connected with one end of a connecting rod (76), the other end of the connecting rod (76) is also connected with the connecting rod shaft (74), the connecting rod bearing (74) is mounted at the upper end of a front sliding block fixing block (79), a rack (80) is fixedly mounted on the left side of the lower end of the front sliding block fixing block (79), the rack (80) is fixedly connected with a left sliding block (68), the rack (80) is meshed with the gear (63), the gear (63) is arranged on a shaft of a speed reducing motor (77), the speed reducing motor (77) is fixedly arranged on a speed reducing motor bracket (78), the speed reducing motor (77) is connected with a rack motor (73), and the whole walking track simulation device is arranged on the installation bottom plate (4);

when the walking track simulation device is started, the screw motor (57) drives the screw (62) to rotate, the screw nut (64) moves on the screw (62), the rear sliding block fixing block (65) connected with the screw nut (64) also moves on the screw (62), the rear end of the ankle motor mounting plate (71) is connected with the rear sliding block fixing block (65), so that the rear end of the ankle motor mounting plate (71) and the rear sliding block fixing block (65) move on the screw (62), the rack motor (73) is connected with the gear (63) through the speed reduction motor (77), the gear (63) and the rack (80) are meshed, the rack (80) displaces, the rack (80) is connected with the front sliding block fixing block (79), the front sliding block fixing block (79) has the same speed and displacement as the rack (80), and the front sliding block fixing block (79) is connected with the front end of the ankle motor mounting plate (71) through the connecting rod (76), the front end of the ankle motor mounting plate (71) has the same displacement and speed as the rack (80), the distance between the front slider fixing block (79) and the rack is changed due to different moving speeds of the front slider fixing block, and when the two sliders are close to each other, the front slider fixing block (79) can lift the front end of the ankle motor mounting plate (71) through the connecting rod (76); when the two sliders are far away, the front slider fixing block (79) enables the front end of the ankle motor mounting plate (71) to be put down through the connecting rod (76), so that the whole walking track simulation device can realize the motion of simulating the stepping and leg lifting of a human.

3. The mechanical virtual walking training aid according to claim 1 or 2, wherein the ankle joint adjusting device comprises an ankle joint motor (81), an ankle joint motor bracket (82), a second small bevel gear (83), a second large bevel gear (84), an ankle joint shaft (85), an ankle joint bearing (86), an ankle joint bearing seat (87),

the ankle joint motor (81) is arranged on the ankle joint motor mounting plate (71) through an ankle joint motor bracket (82) and is connected with a second small bevel gear (83), the second small bevel gear (83) is meshed with a second large bevel gear (84) at an angle of 90 degrees, the second large bevel gear (84) is arranged on an ankle joint shaft (85), two ankle joint bearings (86) are assembled on the ankle joint shaft (85), the ankle joint bearings (86) are arranged on the ankle joint bearing seat (87), the pedal device is connected with the ankle joint shaft (85),

when the ankle joint angle needs to be adjusted, control ankle joint motor (81), make ankle joint motor (81) rotate certain angle, drive second bevel pinion (83) of installing on it and rotate certain angle, big bevel gear of second (84) with second bevel pinion (83) meshing also can rotate certain angle, big bevel gear of second (84) assembly is on ankle joint axle (85), so ankle joint axle (85) also can be driven, rotate certain angle, with this angle of adjusting the running-board device, change ankle joint angle, the motion of cooperation patient in the rehabilitation training process.

4. The mechanical virtual walking training aid device according to claim 3, wherein the pedal device comprises an upper pedal (89), a sensor (90) and a lower pedal (91), the bottom surface of the upper pedal (89) is provided with a mounting groove (92) for connecting with a bump (88) on an ankle joint shaft (85) of the ankle joint angle adjusting device, the lower pedal (91) is fixedly connected with the bottom surface of the ankle joint shaft (85), and the front part and the rear part of the top surface of the lower pedal (91) are respectively provided with a sensor mounting area (93) for mounting the sensor (90).

5. The mechanical virtual walking training walker device as claimed in claim 3, wherein the rear wheel linkage (10) comprises an oval track plate (32), a chute (33), a support bar (34), a chute gear (35), a transfer gear (36), a rotating shaft (37), a bearing (38), a bearing seat (39), a hub gear (40) and a rear hub fixing bracket (41),

the oval track board (32) is installed on an installation bottom plate (4), the sliding chute (33) is installed on a supporting rod (34), the supporting rod (34) is installed on the installation bottom plate (4), the part of the sliding chute (33) outside the supporting rod (34) is fixedly connected with a sliding chute gear (35), the sliding chute gear (35) rotates along with the sliding chute (33) in a circular motion mode, the sliding chute gear (35) is meshed with a transmission gear (36), the other side of the transmission gear (36) is meshed with a hub gear (40), the hub gear (40) is fixedly connected with a hub shaft, the hub shaft is connected with a rear wheel (42) through a rear hub fixing support (41) installed on the installation bottom plate (4), the transmission gear (36) is installed on a rotating shaft (37), two ends of the rotating shaft (37) are respectively provided with a bearing (38), and the bearing (38) is installed on a bearing seat (39), the bearing seat (39) is arranged on the mounting base plate (4);

when the chute gear (35) rotates, the transmission gear (36) rotates together through gear meshing, when the transmission gear (36) rotates, the transmission gear drives the hub gear (40) to rotate through gear meshing, and the hub gear (40) is fixedly connected with the rear wheel (42) and drives the rear wheel (42) to rotate together.

6. The mechanical virtual walking training aid according to claim 5, wherein the ankle joint axis (85) is located in the oval track plate (32) and further located in the chute (33),

when ankle joint motor (81) moved, ankle joint axle (85) made the oval orbit motion in oval orbit board (32), still slided in spout (33), through the circular motion of the oval orbit motion output of ankle joint axle (85), for the rear wheel aggregate unit provides drive power, can realize finally that rear wheel and running-board device realize synchronous rotation, make the experience of patient in the rehabilitation training more closely the true motion condition.

7. The mechanical virtual walking training walking aid device according to claim 1, wherein the front wheel steering device comprises a front wheel fixing support (1), a middle section rotating rod (3), a front wheel synchronous connecting platform (43), a front wheel synchronous connecting rod (44), a steering rocker arm (45), a steering connecting rod (46), a steering wheel (47), a bearing rod (48), a front section rotating rod (49), a front section universal joint (50), a tail section universal joint (51), a front wheel steering connecting platform (52), a tail section rotating rod (53), a first small bevel gear (54), a first large bevel gear (55) and a bevel gear shaft (56),

the front wheel (2) is connected with the front wheel fixing bracket (1),

the front wheel synchronous connection platforms (43) are arranged on the inner sides of the front wheels (2), the front wheel synchronous connection platforms (43) on the inner sides of the two front wheels (2) are connected together through front wheel synchronous connection rods (44), and when one front wheel (2) rotates for a certain angle, the other front wheel (2) can rotate along with the front wheel synchronous connection rods (44) due to the synchronous action of the front wheel synchronous connection rods;

the front wheel steering connecting table (52) is connected to the inner side of one of the front wheel steering connecting tables (2), the front wheel steering connecting table (52) is connected with the steering connecting rod (46) through a rotating pair, the other end of the steering connecting rod (46) is connected with the steering rocker arm (45) through a rotating pair, the other end of the steering rocker arm (45) is connected with the bevel gear shaft (56) through a rotating pair, when the bevel gear shaft (56) controls the steering rocker arm (45) to rotate in a certain range, the steering rocker arm (45) drives the front wheel steering connecting table (52) to rotate together through the steering connecting rod (46), and therefore the front wheel (2) is controlled to rotate;

the bevel gear shaft (56) is connected with a first large bevel gear (55) through a shaft, the first large bevel gear (55) is vertically arranged with a first small bevel gear (54), the first large bevel gear (55) and the steering rocker arm (45) synchronously rotate, the first small bevel gear (54) is connected with a tail section rotating rod (53), and when the tail section rotating rod (53) rotates, the first small bevel gear (54) is driven to synchronously rotate, so that the first large bevel gear (55) is driven to rotate through bevel gear meshing, and the output of steering motion is realized through the connection of the first large bevel gear (55) and the steering rocker arm (45);

the tail section rotating rod (53) is connected with the middle section rotating rod (3) through a tail section universal joint (51), the other end of the middle section rotating rod (3) is connected with a front section rotating rod (49) through a front section universal joint (50), the other end of the front section rotating rod (49) is fixedly connected with a steering wheel (47), meanwhile, the front section rotating rod (49) is installed on a bearing rod (48), and the bearing rod (48) is installed on an installation bottom plate (4);

when the steering wheel (47) is rotated, the front section rotating rod (49) rotates along with the steering wheel, the transmission direction is changed through the front section universal joint (50), the middle section rotating rod (3) rotates together, the middle section rotating rod (3) changes the transmission direction through the tail section universal joint (51), the tail section rotating rod (53) rotates together, the tail section transmission rod (53) drives the first small bevel gear (54) to rotate, the first small bevel gear (54) drives the first large bevel gear (55) to rotate together through meshing with the first large bevel gear (55), the first large bevel gear (55) outputs steering motion through the steering rocker arm (45), and the steering rocker arm (45) directly drives the front wheel (2) to rotate through the steering connecting rod (46).

8. The mechanical virtual walking training walking aid device according to claim 1, wherein the wearable walking pulling strap (17) comprises a walking pants (31), a walking belt (30), a ring fixing belt (27), a strap (28), a belt loop (29) and a shaft fixing belt (26), the walking pants (31) are connected with the walking belt (30) and used for pulling the patient to a standing posture while ensuring the crotch of the patient to be evenly stressed, a belt is arranged above the walking pants (31) and the walking belt (30), the belt loops (29) are fixed on the left side and the right side of the belt, the ring fixing belt (27) is connected with the belt loop (29), one end of the strap (28) is connected with the ring fixing belt (27), the other end of the strap is connected with the shaft fixing belt (26), and the shaft fixing belt (26) is used for being connected with a movable support table of a supporting weight-reducing vehicle.

9. The mechanical virtual walking training walking aid device according to claim 1, wherein the supporting weight-reducing vehicle further comprises supporting beams (12), the supporting beams (12) are arranged at the left and right sides of the rear part of the mounting base plate (4), guide rails (16) are arranged on the supporting beams, the guide rails (16) are connected with a movable supporting platform (13) through sliding blocks (15), the movable supporting platform (13) is used for supporting the upper limbs of a patient, the sliding blocks (15) are connected with electric cylinders (5), the electric cylinders (5) control the positions of the sliding blocks (15) on the guide rails (16) so as to change the height of the movable supporting platform (13), the electric cylinders (5) are connected with motors (7), the motors (7) and the electric cylinders (5) are arranged on motor electric cylinder mounting seats (6), and the motors (7) and the electric cylinders (5) are arranged at the left and right sides of the middle part of the mounting base plate (4), the outer side of the electric cylinder (5) is provided with a side plate (8), and the side plate (8) is provided with a circular hole matched with the installation of a rear wheel (42).

10. The mechanical virtual walking training walker device as claimed in claim 9, wherein a backrest guide rod (21) is installed at the rear side of the supporting beam (12), the backrest guide rod (21) is connected with a backrest bracket (19) through a backrest bracket sliding block (20), the backrest bracket (19) is connected with the backrest (18), so that the backrest (18) can move up and down on the backrest guide rod (21) to adjust the height and can be detached;

the outer side of the supporting beam (12) is connected with a middle connecting rod (22), and the other side of the middle connecting rod (22) is connected with the connecting end of a computer display (24).