CN211676083U - Walking aid training device based on elliptical motion - Google Patents

Abstract

The utility model relates to a help capable trainer based on elliptical motion, subtract heavy unit including the supporting, set up walking elliptical orbit analog unit and the running-board unit of setting on walking elliptical orbit analog unit on the heavy unit is subtracted in the supporting, the supporting subtracts heavy unit and includes mounting plate, advancing mechanism, over-and-under type saddle mechanism, wearing formula traction mechanism and the back mechanism of striding, advancing mechanism, over-and-under type saddle mechanism, back mechanism and walking elliptical orbit analog unit all set up on mounting plate, wearing formula traction mechanism of striding sets up on over-and-under type saddle mechanism. Compared with the prior art, the utility model is used for backbone damage patient rehabilitation training provides drive power for the backbone damage patient who is difficult to independently walk, standardizes patient's gait, makes the patient can pass through the utility model discloses carry out the training of normal walking gait to supplementary patient's normal walking.

Description

A walking aid training device based on elliptical motion

technical field

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

Background technique

Most spinal injury patients have healthy upper limbs and total paralysis of lower limbs. Long-term lack of training causes limb muscle atrophy in the lower limbs. 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 cord injury or those who have difficulty walking to perform rehabilitation training during the recovery period. The use of walkers can ensure the balance of the user's body, reduce the weight of the lower limbs, relieve pain, and improve gait through training.

At present, the walkers at home and abroad mainly include the following categories: the first type only plays the role of simply supporting the patient's upper limbs, without a driving device, and needs to rely on the patient's remaining physical ability to walk independently, which will seriously distort the patient's gait , resulting in a lot of physical energy loss, not suitable for most patients with spinal injuries and lower extremity paraplegia; the second category includes some manual drive walkers, the advantage of which is that patients can control the speed of the walker through their hands, but they cannot directly It has a driving effect on the legs, the muscle strength of the legs cannot be exercised, and the patient's gait cannot be properly trained; the third type is the powered exoskeleton lower limb rehabilitation training device, and the exoskeleton walker can effectively compensate the patient's gait. The function of the lower extremity can realize the patient's standing and walking, but the current exoskeleton-type walkers at home and abroad are restricted by the driving force and cannot guarantee the standing of the lower extremity paraplegic patient.

Therefore, a motor-controlled elliptical track board-driven walker was designed for the lower limbs. With the help of sound upper limb support, it can solve the problems of gait distortion and how to improve the range of motion of patients with spinal injuries during standing and gait training. It is of great significance to the training of walking assistance for injured patients.

Utility model content

The purpose of this utility model is to provide a walking aid training device based on elliptical motion in order to overcome the above-mentioned defects in the prior art. The gait enables the patient to carry out the training of the normal walking gait through the utility model, and assists the patient to walk normally.

The purpose of the present utility model can be achieved through the following technical solutions:

A walking aid training device based on elliptical motion, the device comprises a support weight reduction unit, a walking elliptical trajectory simulation unit arranged on the support weight reduction unit, and a foot pedal unit arranged on the walking elliptical trajectory simulation unit. The supporting and weight-reducing unit includes an installation bottom plate, a traveling mechanism, a lifting platform mechanism, a wearable step-pulling mechanism and a backrest mechanism. The traveling mechanism, the lifting platform mechanism, the backrest mechanism and the walking elliptical trajectory simulation unit are all set On the installation base plate, the wearable step-pulling mechanism is arranged on the elevating platform mechanism.

Further, the traveling mechanism includes a pair of front wheel assemblies arranged on the installation base plate in parallel and a pair of rear wheel assemblies arranged in parallel on the installation base plate. The front wheel fixing bracket at the front of the base plate and the front wheel arranged in the front wheel fixing bracket, the rear wheel assembly includes a rear wheel hub motor support seat arranged on the installation base plate and located at the rear of the installation base plate, and a rear wheel hub motor support seat arranged on the rear wheel The rear wheel on the hub motor support seat is provided with a rear wheel hub motor matched with the rear wheel hub motor support seat. A pair of side plates are arranged side by side on the installation bottom plate, and a circular hole is arranged at the lower part of the side plate, which is matched with the rear wheel on the corresponding side and is used for the installation of the rear wheel.

Further, a pair of supporting beams are arranged on the installation base plate in parallel, and the lift-type pallet mechanism includes a pair of movable pallet assemblies arranged on the installation base plate in parallel and an armrest arranged between the two movable pallet assemblies. The mobile pallet assembly includes a vertical linear guide rail arranged on the corresponding side support beam, a pallet slider set on the vertical linear guide rail, a mobile pallet set on the pallet slider, and a vertical linear guide rail arranged on the vertical linear guide rail. The electric cylinder is arranged on the installation base plate in a straight direction, the side of the movable pallet is provided with a cover plate, and the bottom of the movable pallet is connected with the electric cylinder in a driving manner.

The electric cylinder and its elevating driving motor are all arranged on the motor mounting seat on the mounting base plate. The cover plate is made of stainless steel. There is a main control computer installation space inside the cover plate, and an electric cylinder lifting button is arranged on the outside of the cover plate, which can adjust the height of the mobile platform and the handrail. The armrest is attached to the front end of the mobile platform to provide support for the patient's upper limbs. A main control computer display is installed in the middle of the armrest, which is used to provide a visual page, realize human-computer interaction, and facilitate the user to control the device to realize the appropriate walking assistance function according to his own needs.

Further, the wearable step-pulling mechanism includes step-pants, a step-belt arranged on the step-pants, a waistband disposed on the top of the step-pants, and a pair of waistband connecting components, the waistband connecting components. It includes a belt loop sleeved on the waist belt, a strap with one end of the loop fixing belt set on the belt loop connected to the loop fixing strap, and a shaft fixing strap set at the other end of the strap, and the inner side of the cover plate is provided with a A strap to which the shaft fixing strap is attached secures the shaft.

Further, 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 support is provided on the backrest. The backrest guide rod is provided with a backrest bracket buckle which is matched with the backrest bracket.

Further, the walking elliptical trajectory simulation unit includes a pair of elliptical trajectory simulation mechanisms arranged in parallel on the installation base plate, and the elliptical trajectory simulation mechanism includes a pair of pedal brackets arranged in parallel on the installation base plate, and two pedals are arranged in parallel on the installation base plate. A motor mounting plate between the brackets and hinged with the pedal bracket, 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 There is an elliptical track board fixedly connected with the mounting base plate, and an elliptical track guide assembly is arranged between the elliptical track board and the screw nut fixing block.

A bracket shaft is arranged between the two pedal brackets, and the front end of the motor mounting plate is hinged with the pedal bracket through the bracket shaft. The side of the elliptical track board is provided with an elliptical groove. The elliptical track guide assembly includes a pedal shaft passing through the screw nut fixing block and pedal bearings respectively arranged at both ends of the pedal shaft. The pedal bearings are matched with the elliptical groove.

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

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

Further, the foot pedal unit includes a lower foot pedal and an upper foot pedal, which are respectively arranged above the motor mounting plate. The lower foot pedal is provided with connecting plates on both sides, and the connecting plates are connected with the wires through the connecting plates. Rod nut fixing block fixed connection. There is a foot pad on the upper footboard.

Further, a pair of springs are respectively provided on the lower footboard, one in front and the other behind, a sensor is arranged on the spring, and an angle control block fixedly connected with the lower footboard is arranged between the two sensors. There is a through hole for the angle control block on the upper part;

The upper footboard is provided with a sensor installation through hole matching the sensor and an angle control block installation through hole matching with the angle control block, and the upper footboard is also provided with an angle control hole. The through hole in the middle of the upper foot pedal is matched with the through hole of the block.

In the utility model, the weight-reducing unit can support the healthy upper limbs of the patient by adjusting the lifting and lowering of the electric cylinder to change the position of the mobile platform, thereby reducing the load-bearing of the lower limbs of the patient, assisting the patient to stand up and perform rehabilitation training, and can also adjust the support height, suitable for For patients with different heights, the patients can perform standing rehabilitation training in the best support position; the rear wheel hub motor is the driving wheel of the whole device, and the movement state of the whole support weight reduction unit can be controlled by changing its movement direction and speed, so that the In the process of rehabilitation training, patients can change the direction of movement of the weight-reducing unit according to their own travel needs. 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 in a certain range. The backrest mechanism is installed on the back side of the support beam. Due to the spinal injury, the patient cannot exert force due to insufficient lower limb muscle strength. During the training process, it may lose balance and fall backward. As a protective measure, the backrest mechanism can ensure that the patient Safety during exercise, effectively improve exercise safety. In the wearable step pulling mechanism, the step belt is connected with the step pants, which can ensure the balanced force on the crotch of the patient, while pulling the patient to a standing position. The wearable step-stretching mechanism is a traction weight reduction and protection measure. When using it, the patient needs to wear it with the assistance of medical staff, so that the strap can move with the mobile platform. At the same time, the mobile platform assists patients with lower extremities of the spine to stand and train in a weight-reduced state to ensure that patients will not be injured due to loss of balance during the standing rehabilitation training process.

The main control computer and its display are used to provide a visual page, realize human-computer interaction, and facilitate the user to control the device to realize the appropriate walking assistance function according to his own needs. The internal system of the main control computer provides patient information management and walking assistance mode settings, and parameters such as step size and pace can be set according to the patient's own conditions, and then control the motor running track of the mechanical device to provide patients with appropriate gait assistance. During the use of the patient, the sensor signals are collected in real time and displayed in the system software to realize closed-loop control, which is convenient for users to monitor their own status and evaluate the effect of walking assistance, and improve the safety of the mechanical device. The system provides virtual scene games, and patients can perceive scene changes during use, which can increase the fun and improve the enthusiasm of patients and promote the rehabilitation of patients' 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 fixed block moves forward and backward on the lead screw, and the lead screw The lower end of the nut fixing block is connected with the pedal bearing through the pedal shaft, and the pedal bearing moves in the elliptical groove of the elliptical track plate, so that the screw nut fixing block has an elliptical track movement, and the guide slider fixed on the screw nut fixing block While completing the elliptical motion, it will also move back and forth on the slider guide rail, which will drive the motor mounting plate to have a lifting and lowering movement, simulating the movement of lifting and lowering the leg when a person walks.

The foot pedal unit includes an upper foot pedal and a lower foot pedal. The lower foot pedal is fixedly connected with 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 foot pedal and the through hole in the middle of the upper foot pedal. It is hinged, and springs and sensors are also installed before and after the lower foot pedal, which is used to collect some pressure and other information during the patient's movement, reflect the training status, provide diagnostic reference, and further provide control for walking training. The upper foot pedal can change the inclination angle under the adjustment of the angle control block, so as to adjust the angle of the patient's ankle joint. 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, and the entire pedal unit follows the screw nut fixing block to complete an elliptical trajectory. Exercise, simulate the walking trajectory, and realize the patient's standing rehabilitation training. The entire foot 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 carrying out certain rehabilitation training for the patient. Affected by human gravity during exercise, when the pedal unit moves to the front and top 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 is in contact with the backward inclined surface of the angle control block. Able to regulate the movement of the patient's ankle very effectively. Correspondingly, when the foot pedal unit moves to other positions of the elliptical track board, the motion of the patient's ankle joint can also be effectively adjusted.

Compared with the prior art, the utility model has the following characteristics:

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

2) The wearable striding and pulling mechanism is used to work together with the mobile platform to increase the force point, reduce the force of the armpit of the upper limb, and help patients with the spine to achieve standing training.

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

4) The foot pedal unit adopts a unique spring method, and through the adjustment and cooperation of the angle control block, the angle of the upper foot pedal changes with the rotation of the ankle joint, which avoids the injury of the ankle joint of the patient during the walking training process.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the structural representation of the support weight reduction unit in the utility model;

3 is a schematic structural diagram of a walking elliptical trajectory simulation unit in the utility model;

Fig. 4 is the structural representation of the pedal unit in the utility model;

5 is a schematic structural diagram of the middle and lower foot pedals of the present utility model;

Fig. 6 is the structural representation of the upper foot pedal in the utility model;

FIG. 7 is a schematic structural diagram of a wearable step-pulling mechanism in the present invention;

Description of the marks in the figure:

1—Front wheel, 2—Front wheel fixing bracket, 3—Installation base plate, 4—Motor mounting seat, 5—Lifting drive motor, 6—Electric cylinder, 7—Rear wheel hub motor support seat, 8—Handrail, 9—Main Control computer monitor, 10—fixed shaft with strap, 11—backrest guide rod, 12—backrest bracket buckle, 13—backrest bracket, 14—backrest, 15—vertical linear guide rail, 16—belt, 17—table slider , 18—electric cylinder lift button, 19—mobile pallet, 20—cover plate, 21—support beam, 22—side plate, 23—rear wheel, 24—screw drive motor, 25—pedal bracket, 26—support shaft , 27—elliptical track board, 28—coupling, 29—slider guide rail, 30—screw nut, 31—guide slider, 32—screw nut fixing block, 33—screw, 34—oval 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 tilt Face, 43—spring, 44—backward slope of angle control block, 45—angle control block installation through hole, 46—through hole in the middle of upper pedal, 47—sensor installation through hole, 48—stepping pants, 49—span Step belt, 50-ring fixing belt, 51-strap, 52-belt loop, 53-shaft fixing belt, 54-connecting plate.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

Example 1:

As shown in FIG. 1 , the walking aid training device based on elliptical motion includes a support weight reduction unit, a walking elliptical trajectory simulation unit, and a foot pedal unit. Both the walking elliptical trajectory simulation unit and the foot pedal unit are mounted on the mounting base plate 3 supporting the weight reduction unit.

As shown in FIG. 2 , the support weight reduction unit includes a mounting base plate 3 , a front wheel fixing bracket 2 , an electric cylinder 6 , a side plate 22 , a rear wheel hub motor support seat 7 , and a support beam 21 fixed on the mounting base plate 3 . The upper end of the front wheel fixing bracket 2 has an inner threaded hole, which is connected to it through the outer thread of the upper end of the front wheel 1; the side plate 22 is fixedly installed on the left and right sides of the rear end of the installation bottom plate 3, and the lower part of the side plate 22 has a circular hole for matching The installation of the rear wheel 23; the rear wheel 23 is installed on the rear wheel hub motor support seat 7, and the rear wheel hub motor support seat 7 is fixedly installed on the installation base plate 3 supporting the weight reduction unit; the support beam 21 is installed at the rear end of the installation base plate 3 On the left and right sides, the outer sides thereof are provided with vertical linear guide rails 15 , and the vertical linear guide rails 15 are connected with the pallet slide block 17 on the moving pallet 19 . The lift drive motor 5 and the electric cylinder 6 are both fixed on the motor mount 4, the electric cylinder 6 is driven by the lift drive motor 5, and the lower end of the mobile pallet 19 is connected to the electric cylinder 6, which can drive the pallet slider 17 and the movable pallet 19. Moving on vertical linear guides 15 , the patient's upper limbs are supported on a mobile cradle 19 . The mobile pallet 19 is provided with a stainless steel cover plate 20, the interior of the stainless steel cover plate 20 is provided with a main control computer installation space, and the inner side of the stainless steel cover plate 20 is provided with a strap fixing shaft 10, which is used for fixing the belt in the wearable step-pulling mechanism 16. There is an electric cylinder lifting button 18 on the outside, which can adjust the height of the mobile pallet 19 and the handrail 8. A handrail 8 is connected to the front end of the mobile platform 19 to provide support for the upper limbs of the patient. The mobile platform 19 is connected to the handrail 8, and a main control computer display 9 is installed in the middle of the handrail 8 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.

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

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

As shown in Figure 4, Figure 5, Figure 6, the lower foot pedal 37 of the foot pedal unit is fixedly installed on the screw nut fixing block 32 of the walking elliptical trajectory simulation unit, and two lower foot pedals 37 are installed at the front and rear ends of the top. Spring 43, the sensor 39 is connected to the spring 43, there is an angle control block 40 in the middle of the lower pedal 37, and the through hole 41 of the angle control block is connected with the through hole 46 in the middle of the upper pedal 38 through a hinge, so that the The upper foot pedal 38 can change the inclination angle under the adjustment of the angle control block 40, so as to adjust the angle of the patient's ankle joint.

A sensor mounting through hole 47 is left at the bottom of the upper pedal 38, and an angle control block mounting through hole 45 is set in the middle. The angle control block 40 has a forward inclined surface 42 and a backward inclined surface 44 of the angle control block. The angle control block mounting through hole 45 of the upper foot pedal 38 and the angle control block through hole 41 of the lower foot pedal 37 are connected by hinges. When the foot pedal unit moves to the upper front, the upper foot pedal 38 and the angle control block tilt backward. When the foot pedal unit moves to the front lower part, the upper foot pedal 38 contacts with the forward inclined surface 42 of the angle control block, adjusts the angle of the patient's ankle joint, and makes the simulated walking rehabilitation training closer to the real walking movement.

As shown in FIG. 7 , the shaft fixing belt 53 of the wearable striding and pulling mechanism is connected to the strap fixing shaft 10 supporting the weight reduction unit. The fixing belt 50, the binding belt 51, the belt loop 52, and the shaft fixing belt 53 are used by the patient. When the patient wears the stepping pants 48, the stepping belt 49 and the stepping pants 48 protect the patient's crotch together. One end of the strap 51 is connected to the loop. The fixing belt 50 is connected, and the other end is connected with the shaft fixing belt 53 and fixed on the strap fixing shaft 10 supporting the weight reduction unit, which can assist the patient to stand together with the supporting weight reduction unit and the armrest 8, and protect the patient during the training process, Avoid secondary injury to the patient due to loss of balance.

The process of using this device is as follows:

When the patient uses the device, the patient's wheelchair is pushed to the back of the device with the assistance of medical staff. It is a step pulling mechanism, and it is necessary to connect the shaft fixing strap 53 of the strap 51 to the strap fixing shaft 10 supporting the weight reduction unit. The patient can place the foot on the upper foot pedal 38 of the walking elliptical trajectory simulation unit independently or with the assistance of medical staff, and can also place the upper limb on the mobile platform 19 autonomously. 6 During operation, the patient can be pulled up from the wheelchair under the combined action of the wearable striding and pulling mechanism and the mobile platform 19. At this time, the mobile platform 19 supporting the weight reduction unit will carry most of the patient's body weight. , and then start the walking elliptical trajectory simulation unit, and the foot pedal unit will start to drive the patient's footsteps to start the rehabilitation training exercise according to the footsteps set by the main control computer. The patient and medical staff use the computer to control the movement direction and speed of the support weight reduction unit to control the movement state of the entire support weight reduction unit, so that the patient can change the advancing direction of the support weight reduction unit according to the travel needs during the rehabilitation training process. The rear wheel hub motor cooperates with the hub motor bearing and other accessories to complete the forward and backward movements of the entire device, helping the patient to walk in a certain range of activities and complete the lower limb rehabilitation training at the same time.

Example 2:

As shown in Figure 1, a walking aid training device based on elliptical motion includes a support weight reduction unit, a walking elliptical trajectory simulation unit arranged on the support weight reduction unit, and a foot pedal unit arranged on the walking elliptical trajectory simulation unit . As shown in Figure 2, the supporting weight reduction unit includes a mounting base 3, a traveling mechanism, a lifting platform mechanism, a wearable step-pulling mechanism and a backrest mechanism, a traveling mechanism, a lifting platform mechanism, a backrest mechanism and a walking elliptical trajectory The simulation units are all arranged on the installation base plate 3, and the wearable striding and pulling mechanism is arranged on the elevating platform mechanism.

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

A pair of supporting beams 21 are arranged in parallel on the installation base plate 3, and the lift-type pallet mechanism includes a pair of mobile pallet assemblies arranged in parallel on the installation base plate 3 and a handrail 8 arranged between the two movable pallet assemblies. It includes a vertical linear guide rail 15 arranged on the corresponding side support beam 21, a pallet slider 17 arranged on the vertical linear guide rail 15, a moving pallet 19 arranged on the pallet slider 17, and a moving pallet 19 along the vertical direction. For the electric cylinder 6 arranged on the installation base plate 3 , a cover plate 20 is provided on the side of the moving pallet 19 , and the bottom of the moving pallet 19 is connected with the electric cylinder 6 in a driving manner.

The electric cylinder 6 and its elevating driving motor 5 are both arranged on the motor mounting base 4 on the mounting base 3 . The cover plate 20 is made of stainless steel. The cover plate 20 is provided with a main control computer installation space. The outer side of the cover plate 20 is provided with an electric cylinder lift button 18 , which can adjust the height of the movable pallet 19 and the handrail 8 . The handrail 8 is connected to the front end of the mobile platform 19 to provide support for the upper limbs of the patient. A main control computer display 9 is installed in the middle of the armrest 8, which is used to provide a visual page, realize human-computer interaction, and facilitate the user to control the device to realize the appropriate walking assistance function according to his own needs.

As shown in FIG. 7 , the wearable step-pulling mechanism includes step-pants 48, a step-belt 49 arranged on the step-pants 48, a waistband 16 arranged on the top of the step-pants 48, and a pair of waistband connecting components, the waistbands The connecting assembly includes a belt loop 52 sleeved on the waist belt 16, a strap 51 provided on the belt loop 52 with one end of the loop fixing belt 50 connected to the loop fixing belt 50, and a shaft fixing belt 53 arranged on the other end of the strap 51, The inner side of the cover plate 20 is provided with a strap fixing shaft 10 connected with the shaft fixing strap 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. The backrest support 13 is provided on the backrest 14, and the backrest guide rod 11 is provided with There is a backrest bracket buckle 12 matched with the backrest bracket 13 .

As shown in FIG. 3 , the walking elliptical trajectory simulation unit includes a pair of elliptical trajectory simulation mechanisms arranged on the installation base plate 3 in parallel, and the elliptical trajectory simulation mechanism includes a pair of pedal brackets 25 arranged on the installation base plate 3 in parallel, and arranged on the two pedals. The motor mounting plate 36 between the brackets 25 and hinged with the pedal bracket 25, the screw driving assembly arranged at the bottom of the motor mounting plate 36, and the screw nut fixing block 32 arranged on the screw driving assembly, the two parts of the motor mounting plate 36. Each side is provided with an elliptical track plate 27 that is fixedly connected to the mounting base plate 3 , and an elliptical track guide assembly is arranged between the elliptical track plate 27 and the screw nut fixing block 32 . A bracket shaft 26 is provided 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 . The side surface of the elliptical track board 27 is provided with an elliptical groove 34 . The elliptical track 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. The pedal bearings are matched with 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 rod 33 arranged between the two screw bearing seats 35, and a screw nut 30 sleeved on the screw rod 33, The bottom of the motor mounting plate 36 is provided with a coupling 28, one end of the coupling 28 is provided with a screw driving motor 24, the other end is connected with the end of the screw 33, and the screw nut fixing block 32 is arranged on the screw nut 30. superior. The bottom of the motor mounting plate 36 is also provided with at least one slider guide 29 . The slider guide 29 is sleeved with a guide slider 31 , and the guide slider 31 is fixedly connected to the top of the screw nut fixing block 32 .

As shown in FIG. 4 , the foot pedal unit includes a lower foot pedal 37 and an upper foot pedal 38 that are respectively arranged above the motor mounting plate 36 , and connecting plates 54 are provided on both sides of the lower foot pedal 37 , and the connecting plates pass through the connecting plates. 54 is fixedly connected with the screw nut fixing block 32 . A foot pad is provided on the upper footboard 38 .

As shown in FIG. 5 , a pair of springs 43 are respectively provided on the lower foot pedal 37 in front and behind. The spring 43 is provided with a sensor 39 , and an angle control block 40 fixedly connected to the lower foot pedal 37 is arranged between the two sensors 39 . The block 40 is provided with an angle control block through hole 41 .

As shown in FIG. 6 , the upper pedal 38 is provided with a sensor installation through hole 47 adapted to the sensor 39 and an angle control block installation through hole 45 adapted to the angle control block 40 . There is also a through hole 46 in the middle of the upper footboard which is matched with the through hole 41 of the angle control block.

The above description of the embodiments is for the convenience of those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications to these embodiments can be readily made, and the generic principles described herein can be applied to other embodiments without inventive step. Therefore, the present invention is not limited to the above-mentioned embodiments, and improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should all fall within the protection scope of the present invention.

Claims (10)

1. a walking aid training device based on elliptical motion, is characterized in that, this device comprises support weight reduction unit, the walking elliptical trajectory simulation unit that is arranged on the support weight reduction unit and the foot pedal that is arranged on the walking elliptical trajectory simulation unit Plate unit, the supporting weight-reducing unit includes an installation bottom plate (3), a travel mechanism, a lift-type pallet mechanism, a wearable step-and-pull mechanism and a backrest mechanism, the travel mechanism, the lift-type pallet mechanism, the backrest mechanism Both the mechanism and the walking elliptical trajectory simulation unit are arranged on the installation bottom plate (3), and the wearable striding and pulling mechanism is arranged on the lifting platform mechanism. 2. A walking aid training device based on elliptical motion according to claim 1, wherein the traveling mechanism comprises a pair of front wheel assemblies arranged in parallel on the mounting base plate (3) and a pair of side-by-side arrangements The rear wheel assembly on the installation base plate (3), the front wheel assembly comprises a front wheel fixing bracket (2) arranged on the installation base plate (3) and located at the front of the installation base plate (3), and a front wheel fixing bracket (2) arranged on the front wheel fixing bracket (3) The front wheel (1) in the bracket (2), the rear wheel assembly includes a rear wheel hub motor support seat (7) arranged on the installation base plate (3) and located at the rear of the installation base plate (3), and a rear wheel hub motor support seat (7) arranged in the rear The rear wheel (23) on the wheel hub motor support seat (7) is provided with a rear wheel hub motor matched with the rear wheel hub motor support seat (7). 3. A walking aid training device based on elliptical motion according to claim 1, characterized in that a pair of supporting beams (21) are arranged on the mounting base plate (3) side by side, and the lifting platform The mechanism includes a pair of movable pallet assemblies arranged on the installation base plate (3) in parallel and an armrest (8) arranged between the two movable pallet assemblies, and the movable pallet assemblies include support beams ( 21) on the vertical linear guide rail (15), the pallet slider (17) arranged on the vertical linear guide rail (15), the moving pallet (19) arranged on the pallet slider (17), and along the The electric cylinder (6) is vertically arranged on the mounting base plate (3), the side of the movable pallet (19) is provided with a cover plate (20), and the bottom of the movable pallet (19) is connected to the electric Cylinder (6) drive connection. 4. A walking aid training device based on elliptical motion according to claim 3, characterized in that, the wearable striding and pulling mechanism comprises striding trousers (48), which are arranged on the striding trousers (48) A step belt (49) on the upper part of the belt, a waist belt (16) arranged on the top of the step pants (48), and a pair of waist belt connecting components, the waist belt connecting components include a waist belt loop (52) sleeved on the waist belt (16) ), a strap (51) with one end of the ring fixing belt (50) arranged on the belt loop (52) being connected with 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 with the shaft fixing strap (53). 5. A walking aid training device based on elliptical motion according to claim 3, wherein the backrest mechanism comprises a pair of backrest guide rods (11) respectively arranged on the corresponding side support beams (21). ), and the backrest (14) arranged between the two backrest guide rods (11), the backrest support (13) is provided on the backrest (14), and the backrest guide rod (11) is provided with a backrest support (13). The bracket (13) is adapted to the bracket (12) of the backrest. 6. A kind of walking aid training device based on elliptical motion according to claim 1, is characterized in that, described walking elliptical trajectory simulation unit comprises a pair of elliptical trajectory simulation mechanisms arranged side by side on the installation base plate (3), The elliptical trajectory simulation mechanism comprises a pair of pedal brackets (25) arranged in parallel on the mounting base plate (3), and a motor mounting plate (36) arranged between the two pedal brackets (25) and hinged with the pedal brackets (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 track board (27) fixedly connected to the base plate (3) is installed, and an elliptical track guide assembly is arranged between the elliptical track board (27) and the screw nut fixing block (32). 7. A walking aid training device based on elliptical motion according to claim 6, characterized in that, the screw drive assembly comprises a pair of screw bearing seats ( 35), a lead screw (33) arranged between the two lead screw bearing seats (35), and a lead screw nut (30) sleeved on the lead screw (33), the bottom of the motor mounting plate (36) A coupling (28) is provided, one end of the coupling (28) is provided with a screw drive motor (24), the other end is connected with the end of the screw (33), and the screw nut is fixed The block (32) is arranged on the lead screw nut (30). 8. A walking aid training device based on elliptical motion according to claim 7, characterized in that, the bottom of the motor mounting plate (36) is further provided with at least one slider guide rail (29), the A guide slider (31) is sleeved on the slider guide rail (29), and the guide slider (31) is fixedly connected with the top of the screw nut fixing block (32). 9 . A walking aid training device based on elliptical motion according to claim 6 , wherein the foot pedal unit comprises lower foot pedals ( 37 ) respectively arranged above the motor mounting plate ( 36 ) one by one. 10 . ) and an upper foot pedal (38), both sides of the lower foot pedal (37) are provided with connecting plates (54), which are fixedly connected to the screw nut fixing block (32) through the connecting plates (54). 10. A kind of walking aid training device based on elliptical motion according to claim 9, is characterized in that, The lower pedal (37) is provided with a pair of springs (43) on the front and rear respectively, a sensor (39) is arranged on the spring (43), and a connection with the lower pedal (39) is arranged between the two sensors (39). 37) A fixedly connected angle control block (40), wherein the angle control block (40) is provided with an angle control block through hole (41); The upper pedal (38) is provided with a sensor installation through hole (47) adapted to the sensor (39) and an angle control block installation through hole (45) adapted to the angle control block (40). The upper pedal (38) is also provided with a through hole (46) in the middle of the upper pedal which is adapted to the through hole (41) of the angle control block.

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