CN110947158B - A walking aid training device based on elliptical motion - Google Patents

Abstract

The present invention relates to a walking aid training device based on elliptical motion, comprising a supporting weight-reducing unit, a walking elliptical trajectory simulation unit arranged on the supporting weight-reducing unit, and a foot pedal unit arranged on the walking elliptical trajectory simulation unit, wherein the supporting weight-reducing unit comprises a mounting base plate, a traveling mechanism, a lifting platform mechanism, a wearable stride traction mechanism, and a backrest mechanism, wherein the traveling mechanism, the lifting platform mechanism, the backrest mechanism, and the walking elliptical trajectory simulation unit are all arranged on the mounting base plate, and the wearable stride traction mechanism is arranged on the lifting platform mechanism. Compared with the prior art, the present invention is used for rehabilitation training of patients with spinal injuries, provides driving force for patients with spinal injuries who have difficulty walking independently, standardizes the gait of patients, enables patients to train their normal walking gait through the present invention, and assists patients to walk normally.

Description

A walking aid training device based on elliptical motion

Technical Field

The invention belongs to the technical field of medical rehabilitation equipment and relates to a walking aid training device based on elliptical motion.

Background Art

Most patients with spinal injuries have intact upper limbs and complete paralysis of the lower limbs. The lower limbs suffer from muscle atrophy due to long-term lack of training. In order to prevent further muscle atrophy during the recovery process, rehabilitation training is usually given during the recovery period. A walker is a walking device that assists patients with spinal injuries or people with walking difficulties in rehabilitation training during the recovery period. The use of a walker can ensure the user's body balance, reduce the weight on the lower limbs, relieve pain, and improve gait through training.

At present, walkers at home and abroad mainly include the following categories: the first category only plays a simple role of supporting the patient's upper limbs, has no driving device, and needs to rely on the patient's remaining physical strength to walk independently. This will cause the patient's gait to be seriously distorted, causing a large loss of physical energy, and is not suitable for most patients with lower limb paralysis due to spinal injuries; the second category includes some manually driven walkers, which have the advantage that patients can control the speed of the walker by hand, but cannot directly drive the legs, the leg muscle strength cannot be exercised, and the patient's gait cannot be trained in a standardized manner; the third category is a powered exoskeleton lower limb rehabilitation training device. The exoskeleton walker can effectively compensate for the patient's lower limb function and enable the patient to stand and walk, but the current exoskeleton walkers at home and abroad are restricted by the driving force and cannot ensure that patients with lower limb paralysis can stand.

Therefore, designing a walker driven by an elliptical trackpad controlled by a motor for the lower limbs, with the support of a healthy upper limb, can solve the problems of gait distortion and how to improve the range of motion during standing and gait training for patients with spinal injuries, which is of great significance for the walking training of patients with spinal injuries.

Summary of the invention

The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a walking assistance training device based on elliptical motion for the rehabilitation training of patients with spinal injuries, to provide driving force for patients with spinal injuries who have difficulty walking independently, to standardize the gait of patients, so that patients can train their normal walking gait through the present invention, and to assist patients in walking normally.

The purpose of the present invention can be achieved by the following technical solutions:

A walking assistance training device based on elliptical motion, the device comprises a supporting weight-reducing unit, a walking elliptical trajectory simulation unit arranged on the supporting weight-reducing unit, and a pedal unit arranged on the walking elliptical trajectory simulation unit. The supporting weight-reducing unit comprises a mounting base plate, a traveling mechanism, a lifting support platform mechanism, a wearable stride traction mechanism and a backrest mechanism. The traveling mechanism, the lifting support platform mechanism, the backrest mechanism and the walking elliptical trajectory simulation unit are all arranged on the mounting base plate, and the wearable stride traction mechanism is arranged on the lifting support platform mechanism.

Furthermore, the travel mechanism includes a pair of front wheel assemblies arranged in parallel on the mounting base plate and a pair of rear wheel assemblies arranged in parallel on the mounting base plate, the front wheel assembly includes a front wheel fixing bracket arranged on the mounting base plate and located in the front part of the mounting base plate and a front wheel arranged in the front wheel fixing bracket, the rear wheel assembly includes a rear wheel hub motor support seat arranged on the mounting base plate and located in the rear part of the mounting base plate and a rear wheel arranged on the rear wheel hub motor support seat, and the rear wheel is provided with a rear wheel hub motor matched with the rear wheel hub motor support seat. A pair of side plates are arranged in parallel on the mounting base plate, and a circular hole is provided at the lower part of the side plate, which is matched with the rear wheel on the corresponding side to cooperate with the installation of the rear wheel.

Furthermore, a pair of support beams are arranged in parallel on the mounting base plate, the lifting platform mechanism includes a pair of mobile platform assemblies arranged in parallel on the mounting base plate and an armrest arranged between the two mobile platform assemblies, the mobile platform assembly includes a vertical linear guide rail arranged on the corresponding side support beam, a platform slider arranged on the vertical linear guide rail, a mobile platform arranged on the platform slider and an electric cylinder arranged on the mounting base plate along the vertical direction, a cover plate is provided on the side of the mobile platform, and the bottom of the mobile platform is transmission connected to the electric cylinder.

The electric cylinder and its lifting drive motor are both installed on the motor mounting seat on the mounting base. The cover is made of stainless steel, with a main control computer installation space inside the cover, and an electric cylinder lifting button on the outside of the cover, which can adjust the height of the mobile support and armrest. The armrest is connected to the front end of the mobile support to provide support for the patient's upper limbs. A main control computer display is installed in the middle of the armrest to provide a visual page, realize human-computer interaction, and facilitate the user to control the device to achieve appropriate walking assistance functions according to their own needs.

Furthermore, the wearable stride traction mechanism includes stride pants, a stride belt arranged on the stride pants, a waist belt arranged on the top of the stride pants and a pair of waist belt connecting components, the waist belt connecting components include a waist belt ring arranged on the waist belt, a strap connected to the waist ring fixing belt at one end and an axis fixing belt arranged at the other end of the strap, and a strap fixing shaft connected to the axis fixing belt is provided on the inner side of the cover plate.

Furthermore, the backrest mechanism includes a pair of backrest guide rods respectively arranged on the corresponding side support beams, and a backrest arranged between the two backrest guide rods, the backrest is provided with a backrest bracket, and the backrest guide rods are provided with a backrest bracket buckle adapted to the backrest bracket.

Furthermore, the walking elliptical trajectory simulation unit includes a pair of elliptical trajectory simulation mechanisms arranged in parallel on a mounting base plate, the elliptical trajectory simulation mechanism includes a pair of pedal brackets arranged in parallel on the mounting base plate, a motor mounting plate arranged between the two pedal brackets and hinged to the pedal brackets, a screw drive assembly arranged at the bottom of the motor mounting plate, and a screw nut fixing block arranged on the screw drive assembly, both sides of the motor mounting plate are provided with elliptical trajectory plates fixedly connected to the mounting base plate, and an elliptical trajectory guide assembly is provided between the elliptical trajectory plate and the screw nut fixing block.

A bracket shaft is provided between the two pedal brackets, and the front end of the motor mounting plate is hinged to the pedal bracket through the bracket shaft. An elliptical groove is provided on the side of the elliptical track plate, and the elliptical track guide assembly includes a pedal shaft penetrating the screw nut fixing block and pedal bearings respectively provided at both ends of the pedal shaft, and the pedal bearings are adapted to the elliptical groove.

Furthermore, the screw drive assembly includes a pair of screw bearing seats arranged in parallel at the bottom of the motor mounting plate, a screw arranged between the two screw bearing seats, and a screw nut sleeved on the screw. A coupling is provided at the bottom of the motor mounting plate, one end of the coupling is provided with a screw drive motor, and the other end is connected to the end of the screw, and the screw nut fixing block is provided on the screw nut.

Furthermore, at least one slider guide rail is provided at the bottom of the motor mounting plate, a guide slider is sleeved on the slider guide rail, and the guide slider is fixedly connected to the top of the screw nut fixing block.

Furthermore, the pedal unit comprises a lower pedal and an upper pedal respectively arranged above the motor mounting plate, and both sides of the lower pedal are provided with connecting plates, which are fixedly connected to the screw nut fixing block through the connecting plates. A foot pad is provided on the upper pedal.

Furthermore, a pair of springs are respectively provided on the lower foot pedal, one in front and one in the back, and sensors are provided on the springs. An angle control block fixedly connected to the lower foot pedal is provided between the two sensors, and an angle control block through hole is provided on the angle control block.

The upper pedal is provided with a sensor installation through hole matched with the sensor and an angle control block installation through hole matched with the angle control block. The upper pedal is also provided with an upper pedal middle through hole matched with the angle control block through hole.

In the present invention, the supporting weight-reducing unit can change the position of the mobile support platform by adjusting the lifting of the electric cylinder to support the patient's healthy upper limbs, reduce the load of the patient's lower limbs, assist the patient to stand and perform rehabilitation training, and can also adjust the support height to suit patients of different heights, so that the patient can perform standing rehabilitation training at the best supporting position; the rear wheel hub motor is the driving wheel of the entire device, and can control the movement state of the entire supporting weight-reducing unit by changing its movement direction and speed, so that the patient can change the movement direction of the supporting weight-reducing unit according to his own travel needs during the rehabilitation training process, and the front wheel cooperates with the rear wheel hub motor to complete the forward and backward movements, so as to realize the patient's daily activities and training within a certain range. The backrest mechanism is installed on the back side of the support beam. Because the patient has insufficient muscle strength in the lower limbs due to spinal injury and cannot exert force, he may lose balance and fall backward during the training process. The backrest mechanism is a protective measure that can ensure the safety of the patient during the exercise process and effectively improve the safety of the exercise. In the wearable stride traction mechanism, the stride belt is connected to the stride pants, which can ensure that the patient's crotch is balanced while pulling the patient to a standing position. The wearable stride traction mechanism is a traction, weight loss and protection measure. When used by patients, they need to wear it with the assistance of medical staff so that the straps can move with the mobile support. Its function is to assist lower limb patients of the spine to stand up at the same time as the mobile support, and train in a weight-reducing state, ensuring that patients will not be injured due to loss of balance during standing rehabilitation training.

The main control computer and its display are used to provide visual pages, realize human-computer interaction, and facilitate users to control the device to realize appropriate walking assistance functions according to their own needs. The internal system of the main control computer provides patient information management and walking assistance mode settings. It can set parameters such as step length and speed according to the patient's own situation, and then control the motor running trajectory of the mechanical device to provide patients with appropriate gait assistance. During the patient's use, sensor signals are collected in real time and intuitively displayed in the system software to achieve closed-loop control, which is convenient for users to monitor their own status and evaluate the walking assistance effect, and improve the safety of the use of mechanical devices. The system provides virtual scene games, and patients can perceive scene changes during use. While increasing the fun, it can also improve the patient's enthusiasm and promote the rehabilitation of the patient's walking function.

In the walking elliptical trajectory simulation unit, the lead screw drive motor drives the lead screw to rotate, and the lead screw cooperates with the lead screw nut installed on the lead screw nut fixing block, so that the lead screw nut fixing block has a back and forth movement on the lead screw, and the lower end of the lead screw nut fixing block is connected to the pedal bearing through the pedal shaft, and the pedal bearing moves in the elliptical groove of the elliptical trajectory plate, so that the lead screw nut fixing block has an elliptical trajectory movement, and the guide slider fixed on the lead screw nut fixing block will move back and forth on the slider guide rail while completing the elliptical motion, which will drive the motor mounting plate to have a lifting and lowering movement, simulating the movement of lifting and lowering legs when people walk.

The pedal unit includes an upper pedal and a lower pedal, etc. The lower pedal is fixedly connected to the screw nut fixing block of the walking elliptical trajectory simulation unit. There is a through hole on the angle control block in the middle of the lower pedal, which is hinged to the through hole in the middle of the upper pedal. Springs and sensors are also installed in front and behind the lower pedal to collect some pressure and other information during the patient's exercise, reflect the training status, provide diagnostic reference, and further provide control range for walking training. The upper pedal can change the inclination angle under the adjustment of the angle control block, thereby adjusting the patient's ankle joint angle. The screw nut fixing block of the walking elliptical trajectory simulation unit realizes an elliptical trajectory movement. The connecting plate on the lower pedal is installed on the screw nut fixing block. The entire pedal unit follows the screw nut fixing block to complete an elliptical trajectory movement, simulates the walking trajectory, and realizes the patient's standing rehabilitation training. The entire pedal unit moves with the screw nut fixing block, and adjusts the patient's ankle joint angle through the angle control block, simulating the walking gait of a normal person, and performing certain rehabilitation training for the patient. During the exercise, under the influence of human gravity, when the pedal unit moves to the front upper part of the elliptical track board, the spring at the rear of the lower pedal is compressed, the spring at the front is stretched, and the upper pedal contacts the rear inclined surface of the angle control block, which can effectively adjust the movement of the patient's ankle joint. Correspondingly, when the pedal unit moves to other positions of the elliptical track board, the movement of the patient's ankle joint can also be effectively adjusted.

Compared with the prior art, the present invention has the following characteristics:

1) The supporting weight-reducing unit is used to support the patient's healthy upper limbs through the armrests and the mobile support platform, so that the patient can train in a standing state and also meet the walking needs of patients of different heights.

2) A wearable stride traction mechanism is used to work together with a mobile support to increase the force points, reduce the force on the armpits of the upper limbs, and help spinal patients achieve standing training.

3) A walking elliptical trajectory simulation unit is used to simulate the movement of the walking trajectory, provide driving force for patients who cannot walk independently, and assist patients to walk normally.

4) The pedal unit adopts a unique spring method, and through the adjustment of the angle control block, the angle of the upper pedal changes with the rotation of the ankle joint, avoiding injuries to the ankle joint during walking training.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of the present invention;

FIG2 is a schematic structural diagram of a supporting weight reduction unit in the present invention;

FIG3 is a schematic diagram of the structure of a walking elliptical trajectory simulation unit in the present invention;

FIG4 is a schematic structural diagram of a foot pedal unit in the present invention;

FIG5 is a schematic diagram of the structure of the lower foot pedal of the present invention;

FIG6 is a schematic diagram of the structure of the upper foot pedal of the present invention;

FIG7 is a schematic structural diagram of a wearable stride pulling mechanism according to the present invention;

Description of the markings in the figure:

1-front wheel, 2-front wheel fixing bracket, 3-mounting base plate, 4-motor mounting seat, 5-lifting drive motor, 6-electric cylinder, 7-rear wheel hub motor support seat, 8-armrest, 9-main control computer display, 10-binding belt fixing shaft, 11-backrest guide rod, 12-backrest bracket buckle, 13-backrest bracket, 14-backrest, 15-vertical linear guide rail, 16-waist belt, 17-support platform slider, 18-electric cylinder lifting button, 19-mobile support platform, 20-cover plate, 21-support beam, 22-side plate, 23-rear wheel, 24-screw drive motor, 25-pedal bracket, 26-bracket shaft, 27-elliptical track plate, 28-coupling, 29 —Slider guide rail, 30—screw nut, 31—guide slider, 32—screw nut fixing block, 33—screw, 34—elliptical groove, 35—screw bearing seat, 36—motor mounting plate, 37—lower pedal, 38—upper pedal, 39—sensor, 40—angle control block, 41—angle control block through hole, 42—angle control block forward inclined surface, 43—spring, 44—angle control block rearward inclined surface, 45—angle control block mounting through hole, 46—upper pedal middle through hole, 47—sensor mounting through hole, 48—stride pants, 49—stride belt, 50—ring fixing belt, 51—binding belt, 52—belt ring, 53—axis fixing belt, 54—connecting plate.

DETAILED DESCRIPTION

The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

Embodiment 1:

As shown in Fig. 1, the walking aid training device based on elliptical motion comprises a supporting weight-reducing unit, a walking elliptical trajectory simulation unit, and a pedal unit. The walking elliptical trajectory simulation unit and the pedal unit are both installed on the mounting base plate 3 of the supporting weight-reducing unit.

As shown in Fig. 2, the supporting weight reduction unit includes a mounting base plate 3 and a front wheel fixing bracket 2 fixed on the mounting base plate 3, an electric cylinder 6, a side plate 22, a rear wheel hub motor support seat 7, and a support beam 21. The upper end of the front wheel fixing bracket 2 has an internal thread hole, which is connected to the front wheel 1 through the external thread at the upper end; the side plate 22 is fixedly mounted on the left and right sides of the rear end of the mounting base plate 3, and a circular hole is provided at the lower part of the side plate 22 to cooperate with the installation of the rear wheel 23; the rear wheel 23 is mounted on the rear wheel hub motor support seat 7, and the rear wheel hub motor support seat 7 is fixedly mounted on the mounting base plate 3 of the supporting weight reduction unit; the support beam 21 is mounted on the left and right sides of the rear end of the mounting base plate 3, and a vertical linear guide 15 is provided on its outer side, and the vertical linear guide 15 is connected to the support slide 17 on the mobile support 19. The lifting drive motor 5 and the electric cylinder 6 are both fixed on the motor mounting seat 4. The electric cylinder 6 is driven by the lifting drive motor 5. The lower end of the mobile support 19 is connected to the electric cylinder 6, which can drive the support slider 17 and the mobile support 19 to move on the vertical linear guide 15. The patient's upper limbs are supported on the mobile support 19. The mobile support 19 is provided with a stainless steel cover plate 20, and a main control computer installation space is set inside the stainless steel cover plate 20. The inner side of the stainless steel cover plate 20 is provided with a strap fixing shaft 10 for fixing the belt 16 in the wearable stride traction mechanism, and the outer side is provided with an electric cylinder lifting button 18, which can adjust the height of the mobile support 19 and the armrest 8. The front end of the mobile support 19 is connected to an armrest 8 to provide support for the patient's upper limbs. The mobile support 19 is connected to the armrest 8, and a main control computer display 9 is installed in the middle of the armrest 8 to provide a visual page to realize human-computer interaction, so that the user can control the device to realize the appropriate walking assistance function according to their own needs.

There is a backrest guide rod 11 at the rear side of the support beam 21, and the backrest 14 is connected to the backrest bracket buckle 12 through the backrest bracket 13 and cooperates with the backrest guide rod 11 to form a reliable detachable backrest. The travel function of the supporting weight reduction unit is realized by controlling the rear wheel 23 through the rear wheel hub motor to realize rear-drive travel. The front wheel 1 supporting the weight reduction unit does not generate power during driving, but only plays the role of load bearing and steering. The rear wheel hub motor only drives the rear wheel 23 to control its forward and backward movement and steering functions.

As shown in FIG3 , the pedal bracket 25 of the walking elliptical trajectory simulation unit is fixedly mounted on the mounting base plate 3 supporting the weight reduction unit. The left and right pedal brackets 25 are connected to the front end of a motor mounting plate 36 through a bracket shaft 26. The front end of the motor mounting plate 36 is respectively connected to a screw 33 and a screw drive motor 24 through a coupling 28. A screw nut 30 is connected to the screw 33. The screw nut 30 is mounted on a screw nut fixing block 32. The screw nut fixing block 32 can move on the screw 33 together with the screw nut 30. The other end of the screw 33 is connected to a screw bearing seat 35. The screw bearing seat 35 is mounted at the rear end of the motor mounting plate 36. A slider guide rail group is installed at the bottom of the motor mounting plate 36. The slider guide rail 29 cooperates with the guide slider 31. The guide slider 31 is fixedly mounted on the upper end surface of the screw nut fixing block 32. As the screw nut fixing block 32 moves, it moves on the slider guide rail 29. The linear motion on the lead screw 33 and the elliptical motion in the elliptical groove 34 of the elliptical track plate 27 are combined to form an elliptical track, which simulates human walking motion and drives the patient's lower limbs for rehabilitation training.

As shown in Figures 4, 5 and 6, the lower foot pedal 37 of the foot pedal unit is fixedly mounted on the screw nut fixing block 32 of the walking elliptical trajectory simulation unit, and two springs 43 are respectively installed on the upper and rear ends of the top surface of the lower foot pedal 37. The sensor 39 is connected to the spring 43. There is an angle control block 40 in the middle of the lower foot pedal 37, and the angle control block through hole 41 is connected to the middle through hole 46 of the upper foot pedal 38 through a hinge, so that the upper foot pedal 38 can change the inclination angle under the adjustment of the angle control block 40, thereby adjusting the patient's ankle joint angle.

A sensor installation through hole 47 is reserved at the bottom of the upper foot pedal 38, and an angle control block installation through hole 45 is set in the middle position. The angle control block 40 has an angle control block forward inclined surface 42 and an angle control block rearward inclined surface 44. The angle control block installation through hole 45 of the upper foot pedal 38 is connected to the angle control block through hole 41 of the lower foot pedal 37 through a hinge. When the foot pedal unit moves to the front upper part, the upper foot pedal 38 contacts the angle control block rearward inclined surface 44; when the foot pedal unit moves to the front lower part, the upper foot pedal 38 contacts the angle control block forward inclined surface 42, so as to adjust the patient's ankle joint angle and make the simulated walking rehabilitation training closer to the real walking movement.

As shown in Figure 7, the axis fixing belt 53 of the wearable stride traction mechanism is connected to the strap fixing axis 10 of the supporting weight loss unit. The wearable stride traction mechanism includes stride pants 48, stride belt 49, ring fixing belt 50, strap 51, belt loop 52, and axis fixing belt 53. When the patient uses it, the stride pants 48 are put on. The stride belt 49 and the stride pants 48 together protect the patient's crotch. One end of the strap 51 is connected to the ring fixing belt 50, and the other end is connected to the axis fixing belt 53 and fixed on the strap fixing axis 10 of the supporting weight loss unit. Together with the supporting weight loss unit and the armrest 8, it can assist the patient to stand up, and protect the patient during training to prevent the patient from suffering secondary injuries due to loss of balance.

The process of using this device is as follows:

When the patient uses the device, the wheelchair in which the patient sits is pushed to the rear of the device with the assistance of medical staff. After the backrest mechanism of the device supporting the weight loss unit is disassembled, the patient can wear the wearable stepping traction mechanism with the help of medical staff, and the shaft fixing belt 53 of the strap 51 needs to be connected to the strap fixing shaft 10 on the supporting weight loss unit. The patient can place his feet on the upper foot pedal 38 of the walking elliptical trajectory simulation unit at a suitable position independently or with the assistance of medical staff, and can also place his upper limbs on the mobile support platform 19 independently. When the electric cylinder 6 supporting the weight loss unit is in operation, the patient can be pulled up from the wheelchair under the joint action of the wearable stepping traction mechanism and the mobile support platform 19. At this time, the mobile support platform 19 supporting the weight loss unit will bear most of the patient's body weight, and then the walking elliptical trajectory simulation unit is started, and the foot pedal unit will start to drive the patient's footsteps to start rehabilitation training according to the steps set by the main control computer. Patients and medical staff use computers to control the movement direction and speed of the support and weight-reducing unit to control the movement state of the entire support and weight-reducing unit, so that patients can change the forward direction of the support and weight-reducing unit according to their travel needs during rehabilitation training. The rear wheel hub motor cooperates with hub motor bearings and other accessories to complete the forward and backward movements of the entire device, helping patients to walk within a certain range of motion and complete lower limb rehabilitation training at the same time.

Embodiment 2:

As shown in FIG1 , a walking aid training device based on elliptical motion includes a supporting weight-reducing unit, a walking elliptical trajectory simulation unit arranged on the supporting weight-reducing unit, and a pedal unit arranged on the walking elliptical trajectory simulation unit. As shown in FIG2 , the supporting weight-reducing unit includes a mounting base plate 3, a traveling mechanism, a lifting platform mechanism, a wearable stride traction mechanism, and a backrest mechanism. The traveling mechanism, the lifting platform mechanism, the backrest mechanism, and the walking elliptical trajectory simulation unit are all arranged on the mounting base plate 3, and the wearable stride traction mechanism is arranged on the lifting platform mechanism.

The traveling mechanism includes a pair of front wheel assemblies arranged in parallel on the mounting base plate 3 and a pair of rear wheel assemblies arranged in parallel on the mounting base plate 3. The front wheel assembly includes a front wheel fixing bracket 2 arranged on the mounting base plate 3 and located in the front part of the mounting base plate 3 and a front wheel 1 arranged in the front wheel fixing bracket 2. The rear wheel assembly includes a rear wheel hub motor support seat 7 arranged on the mounting base plate 3 and located in the rear part of the mounting base plate 3 and a rear wheel 23 arranged on the rear wheel hub motor support seat 7. The rear wheel 23 is provided with a rear wheel hub motor matched with the rear wheel hub motor support seat 7. A pair of side plates 22 are arranged in parallel on the mounting base plate 3. A circular hole is provided at the lower part of the side plate 22, which is matched with the rear wheel 23 on the corresponding side to cooperate with the installation of the rear wheel 23.

A pair of support beams 21 are arranged side by side on the mounting base plate 3, and the lifting platform mechanism includes a pair of mobile platform assemblies arranged side by side on the mounting base plate 3 and a handrail 8 arranged between the two mobile platform assemblies. The mobile platform assembly includes a vertical linear guide rail 15 arranged on the corresponding side support beam 21, a platform slider 17 arranged on the vertical linear guide rail 15, a mobile platform 19 arranged on the platform slider 17, and an electric cylinder 6 arranged on the mounting base plate 3 along the vertical direction. A cover plate 20 is provided on the side of the mobile platform 19, and the bottom of the mobile platform 19 is transmission connected to the electric cylinder 6.

The electric cylinder 6 and its lifting drive motor 5 are both arranged on the motor mounting seat 4 on the mounting base 3. The cover plate 20 is made of stainless steel, and a main control computer installation space is arranged inside the cover plate 20. The electric cylinder lifting button 18 is arranged on the outside of the cover plate 20, which can adjust the height of the mobile support 19 and the armrest 8. The armrest 8 is connected to the front end of the mobile support 19 to provide support for the patient's upper limbs. A main control computer display 9 is installed in the middle of the armrest 8 to provide a visual page, realize human-computer interaction, and facilitate the user to control the device to realize the appropriate walking aid function according to their own needs.

As shown in Figure 7, the wearable stride traction mechanism includes a stride pants 48, a stride belt 49 arranged on the stride pants 48, a belt 16 arranged on the top of the stride pants 48, and a pair of belt connecting components. The belt connecting components include a belt ring 52 arranged on the belt 16, a ring fixing belt 50 arranged on the belt ring 52, one end of which is connected to the ring fixing belt 50, and a shaft fixing belt 53 arranged at the other end of the strap 51. The inner side of the cover plate 20 is provided with a strap fixing shaft 10 connected to the shaft fixing belt 53.

The backrest mechanism includes a pair of backrest guide rods 11 respectively arranged on the corresponding side support beams 21, and a backrest 14 arranged between the two backrest guide rods 11. A backrest bracket 13 is provided on the backrest 14, and a backrest bracket buckle 12 adapted to the backrest bracket 13 is provided on the backrest guide rods 11.

As shown in FIG3 , the walking elliptical trajectory simulation unit includes a pair of elliptical trajectory simulation mechanisms arranged in parallel on the mounting base plate 3, the elliptical trajectory simulation mechanism includes a pair of pedal brackets 25 arranged in parallel on the mounting base plate 3, a motor mounting plate 36 arranged between the two pedal brackets 25 and hinged to the pedal bracket 25, a screw drive assembly arranged at the bottom of the motor mounting plate 36, and a screw nut fixing block 32 arranged on the screw drive assembly, both sides of the motor mounting plate 36 are provided with an elliptical trajectory plate 27 fixedly connected to the mounting base plate 3, and an elliptical trajectory guide assembly is arranged between the elliptical trajectory plate 27 and the screw nut fixing block 32. A bracket shaft 26 is arranged between the two pedal brackets 25, and the front end of the motor mounting plate 36 is hinged to the pedal bracket 25 through the bracket shaft 26. An elliptical groove 34 is arranged on the side of the elliptical trajectory plate 27, and the elliptical trajectory guide assembly includes a pedal shaft passing through the screw nut fixing block 32 and pedal bearings respectively arranged at both ends of the pedal shaft, and the pedal bearings are adapted to the elliptical groove 34.

The screw drive assembly includes a pair of screw bearing seats 35 arranged in parallel at the bottom of the motor mounting plate 36, a screw 33 arranged between the two screw bearing seats 35, and a screw nut 30 sleeved on the screw 33. A coupling 28 is provided at the bottom of the motor mounting plate 36. One end of the coupling 28 is provided with a screw drive motor 24, and the other end is connected to the end of the screw 33. A screw nut fixing block 32 is provided on the screw nut 30. At least one slider guide rail 29 is also provided at the bottom of the motor mounting plate 36. A guide slider 31 is sleeved on the slider guide rail 29. The guide slider 31 is fixedly connected to the top of the screw nut fixing block 32.

As shown in Fig. 4, the pedal unit includes a lower pedal 37 and an upper pedal 38 respectively arranged above the motor mounting plate 36. Both sides of the lower pedal 37 are provided with connecting plates 54, and are fixedly connected to the screw nut fixing block 32 through the connecting plates 54. The upper pedal 38 is provided with a foot pad.

As shown in FIG5 , a pair of springs 43 are provided on the lower foot pedal 37 , one in front and one in the back. A sensor 39 is provided on the spring 43 . An angle control block 40 fixedly connected to the lower foot pedal 37 is provided between the two sensors 39 . An angle control block through hole 41 is provided on the angle control block 40 .

As shown in Figure 6, the upper pedal 38 is provided with a sensor mounting through hole 47 compatible with the sensor 39 and an angle control block mounting through hole 45 compatible with the angle control block 40. The upper pedal 38 is also provided with an upper pedal middle through hole 46 compatible with the angle control block through hole 41.

The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims (7)

1. The walking training device based on elliptical motion is characterized by comprising a supporting weight-reducing unit, a walking elliptical track simulation unit and a foot pedal unit, wherein the walking elliptical track simulation unit is arranged on the supporting weight-reducing unit, the supporting weight-reducing unit comprises an installation bottom plate (3), a travelling mechanism, a lifting supporting platform mechanism, a wearable type stepping traction mechanism and a backrest mechanism, the travelling mechanism, the lifting supporting platform mechanism, the backrest mechanism and the walking elliptical track simulation unit are all arranged on the installation bottom plate (3), and the wearable type stepping traction mechanism is arranged on the lifting supporting platform mechanism;

The walking elliptical track simulation unit comprises a pair of elliptical track simulation mechanisms which are arranged on the mounting bottom plate (3) in parallel, wherein each elliptical track simulation mechanism comprises a pair of pedal supports (25) which are arranged on the mounting bottom plate (3) in parallel, a motor mounting plate (36) which is arranged between the two pedal supports (25) and is hinged with the pedal supports (25), a screw rod driving assembly which is arranged at the bottom of the motor mounting plate (36) and a screw rod nut fixing block (32) which is arranged on the screw rod driving assembly, elliptical track plates (27) which are fixedly connected with the mounting bottom plate (3) are arranged on two sides of the motor mounting plate (36), and an elliptical track guide assembly is arranged between each elliptical track plate (27) and each screw rod nut fixing block (32);

The screw driving assembly comprises a pair of screw bearing seats (35) which are arranged at the bottom of the motor mounting plate (36) in parallel, a screw (33) which is arranged between the two screw bearing seats (35) and a screw nut (30) which is sleeved on the screw (33), a coupler (28) is arranged at the bottom of the motor mounting plate (36), a screw driving motor (24) is arranged at one end of the coupler (28), the other end of the coupler is connected with the end part of the screw (33), and a screw nut fixing block (32) is arranged on the screw nut (30);

The pedal unit comprises a lower pedal (37) and an upper pedal (38) which are respectively arranged above the motor mounting plate (36), wherein connecting plates (54) are arranged on two sides of the lower pedal (37), and the connecting plates (54) are fixedly connected with the screw nut fixing blocks (32).

2. The elliptical exercise-based walker training device as claimed in claim 1, wherein the travelling mechanism comprises a pair of front wheel assemblies arranged on the mounting base plate (3) in parallel and a pair of rear wheel assemblies arranged on the mounting base plate (3) in parallel, the front wheel assemblies comprise front wheel fixing brackets (2) arranged on the mounting base plate (3) and positioned in front of the mounting base plate (3) and front wheels (1) arranged in the front wheel fixing brackets (2), the rear wheel assemblies comprise rear wheel hub motor supporting seats (7) arranged on the mounting base plate (3) and positioned at the rear of the mounting base plate (3) and rear wheels (23) arranged on the rear wheel hub motor supporting seats (7), and rear wheel hub motors matched with the rear wheel hub motor supporting seats (7) are arranged on the rear wheels (23).

3. The elliptical exercise-based walking training device of claim 1, wherein the mounting base plate (3) is provided with a pair of supporting beams (21) in parallel, the lifting type supporting table mechanism comprises a pair of movable supporting table components which are arranged on the mounting base plate (3) in parallel and handrails (8) which are arranged between the two movable supporting table components, the movable supporting table components comprise vertical linear guide rails (15) which are arranged on the supporting beams (21) on the corresponding side, supporting table sliding blocks (17) which are arranged on the vertical linear guide rails (15), movable supporting tables (19) which are arranged on the supporting table sliding blocks (17) and electric cylinders (6) which are arranged on the mounting base plate (3) along the vertical direction, the side surfaces of the movable supporting tables (19) are provided with cover plates (20), and the bottoms of the movable supporting tables (19) are in transmission connection with the electric cylinders (6).

4. A walking training aid based on elliptical motion according to claim 3, wherein the wearable stride traction mechanism comprises a stride pants (48), a stride belt (49) arranged on the stride pants (48), a waistband (16) arranged on the top of the stride pants (48) and a pair of waistband connecting components, the waistband connecting components comprise a waistband ring (52) sleeved on the waistband (16), a binding belt (51) with one end of a ring fixing belt (50) arranged on the waistband ring (52) connected with the ring fixing belt (50) and a shaft fixing belt (53) arranged on the other end of the binding belt (51), and a binding belt fixing shaft (10) connected with the shaft fixing belt (53) is arranged on the inner side of the cover plate (20).

5. A walking aid training device based on elliptical motion according to claim 3, characterized in that the backrest mechanism comprises a pair of backrest guide rods (11) respectively arranged on the corresponding side support beams (21), and a backrest (14) arranged between the two backrest guide rods (11), wherein the backrest (14) is provided with a backrest bracket (13), and the backrest guide rods (11) are provided with backrest bracket buckles (12) matched with the backrest bracket (13).

6. The elliptical exercise-based walking aid training device according to claim 1, wherein at least one slide block guide rail (29) is further arranged at the bottom of the motor mounting plate (36), a guide slide block (31) is sleeved on the slide block guide rail (29), and the guide slide block (31) is fixedly connected with the top of the screw nut fixing block (32).

7. An elliptical exercise based walker training device as claimed in claim 1 wherein,

A pair of springs (43) are respectively arranged on the lower pedal plate (37) in front and behind, a sensor (39) is arranged on the springs (43), an angle control block (40) fixedly connected with the lower pedal plate (37) is arranged between the two sensors (39), and an angle control block through hole (41) is formed in the angle control block (40);

the upper pedal plate (38) is provided with a sensor mounting through hole (47) matched with the sensor (39) and an angle control block mounting through hole (45) matched with the angle control block (40), and the upper pedal plate (38) is also provided with an upper pedal plate middle through hole (46) matched with the angle control block through hole (41).