JP2024156631A - Walking training device - Google Patents

Abstract

To provide a gait training device capable of supporting standing up when performing gait rehabilitation.SOLUTION: A gait training device comprises pedestal means 2 and supporter means 3. The pedestal means 2 includes a mounting base 222 having a first pivot joint at an upper end of a vertical column structure 22 extending in a vertical direction, and a second pivot joint on a rear side of the first pivot joint. The supporter means 3 pivotally supported by the first pivot joint in a swingable manner, includes a swing linkage 31 having a third pivot joint at an upper end, and a driving member 303 pivotally supported between the second pivot joint of the vertical column structure 22 and the third pivot joint in a swingable manner and driving swing of a swing frame 301 relative to the pedestal means by telescopic movement.SELECTED DRAWING: Figure 2

Description

The present invention relates to a walking training device that supports rehabilitation.

Patients with spinal cord injuries or cerebral anesthesia often have difficulty in muscle coordination and sensory transmission, resulting in reduced postural stability and poor control of limb movement. Therefore, highly repetitive training is required to stimulate the nerves and muscles of the legs, improve trunk stability, and practice dynamic center of gravity shifts to help patients regain their original walking ability.

For this reason, for example, the rehabilitation support device of Cited Document 1 shown in Figure 1 is configured to have a base 11 to which caster members 12 for mobility are attached, a central pillar 13 extending upward from the base 11, two holding rods 14 arranged at the upper end of the central pillar 13, and supporters 15 attached so as to be suspended from each of the two holding rods 14, so that the weight of a user wearing the supporter 15 is supported by the supporter 15, allowing the user to practice walking in a partial weight-bearing state in which the load on the user's weight is partially relieved, or in a completely unloaded state in which the load on the user's weight is completely relieved.

Taiwan Utility Model Publication No. 485817U

When using the above-mentioned conventional rehabilitation support devices, the user must wear the supporter while standing. However, users who require rehabilitation often have difficulty standing on their own, and therefore cannot use the device without assistance from others, leaving room for improvement.

Therefore, the present invention aims to provide a walking training device that can support standing up during walking rehabilitation.

In order to achieve the above object, the present invention provides a walking training device comprising a base means and a support means, the base means including a base section that surrounds a walking space in which a user can walk and is configured to be movable to the ground, and a vertical column structure extending upward from the base section, the vertical column structure including a fixed column extending in the vertical direction from a lower end connected to the base section to an upper end above the base section, and a mounting base that is fixed to the upper end of the fixed column and has a first pivot joint and a second pivot joint adjacent to the first pivot joint, the support means being pivotally supported by the vertical column structure while holding the user's body, and being swingably supported by the vertical column structure. The walking training device is configured to have a swinging frame pivoted to the first pivot joint of the vertical column structure, and a drive member that is swingably supported to the second pivot joint of the vertical column structure and drives the swinging of the swinging frame relative to the base means, the swinging frame of the supporter means is configured to have a swinging linkage that is swingably supported to the first pivot joint, and an upper support base that is disposed on the swinging linkage so as to be located above the walking space, the swinging linkage of the supporter means has a third pivot joint, and the drive member is pivoted to the second pivot joint and the third pivot joint.

With the above configuration, the walking training device of the present invention has a drive member pivoted to the second pivot joint of the vertical column structure and the third pivot joint of the swing linkage. When the drive member is used to drive the rotational movement of the swing frame relative to the base means, the swing linkage can swing relatively widely, so that the user's upper body can be tilted forward to support standing up. Therefore, even users with weak legs and hips can stand up by themselves without the assistance of a caregiver and use the walking training device of the present invention to perform walking rehabilitation.

FIG. 1 is a perspective view showing a configuration of a walking training device described in Patent Document 1. 1 is an exploded perspective view showing the configuration of a first embodiment of a walking training device of the present invention; FIG. 2 is a front view of the first embodiment with the seat portion omitted. FIG. 2 is a top view of the first embodiment. FIG. 4 is a side view showing an initial state in which the support means stands upright relative to the base means in the first embodiment. FIG. 6 is an explanatory view similar to FIG. 5, showing the state in which a swing linkage of the support means is extended. FIG. 6 is a partially enlarged view of FIG. 5 . 13 is an explanatory diagram showing a state in which the support means swings relative to the base means; FIG. FIG. 6 is a side view similar to FIG. 5, showing a state in which the support means is tilted toward the walking space side due to the swinging of the support means relative to the base means. FIG. 2 is an explanatory diagram showing a state in which a user uses the first embodiment. 11 is an explanatory diagram showing how the position of the handrail rod of the walking training device according to the second embodiment of the present invention can be adjusted. FIG. 13 is an explanatory diagram showing how the position of a shock absorbing pad in the second embodiment can be adjusted; FIG. FIG. 11 is an explanatory diagram showing how the position of the leg supporter of the second embodiment can be adjusted. 13 is a top view illustrating how the positions of the left and right pedestal arms of the pedestal portion in the second embodiment can be adjusted. FIG. 13 is a front explanatory diagram showing how the positions of the left and right pedestal arms of the pedestal portion in the second embodiment can be adjusted. FIG.

Hereinafter, each embodiment of the walking training device of the present invention will be described in detail with reference to the drawings.
2 to 4 show a first embodiment of the walking training device of the present invention. As shown in the figures, the walking training device of the first embodiment comprises a base means 2, a support means 3 and a power supply unit 4.

As shown in the figure, the pedestal means 2 has a pedestal part 21, a vertical column structure 22 extending upward from the pedestal part 21 along the vertical direction Z, and a leg supporter 23 arranged in the middle part of the vertical column structure 22. The pedestal part 21 has a first pedestal arm 211 extending along the left-right direction X perpendicular to the vertical direction Z, a second pedestal arm 212 connected to both the left and right ends of the first pedestal arm 211 and extending along the front-rear direction Y perpendicular to both the vertical direction Z and the left-right direction X, and caster members 213 rotatably attached to the bottom of each second pedestal arm 212, thereby surrounding a walking space 210 where a user can enter between the first pedestal arm 211 and the two second pedestal arms 212, and the pedestal means 2 and the entire walking training device can be moved relative to the ground, etc., by the caster members 213 rotatably attached to the bottom of each second pedestal arm 212.

As shown in Figures 2, 3 and 5, the vertical column structure 22 has a fixed column 221 extending in the vertical direction Z from a lower end 223 connected to the base portion 21 to an upper end above the base portion 21, a mounting base 222 fixed to the upper end of the fixed column 221 and having a first pivot joint 224 and a second pivot joint 225 located on the walking space 210 side, i.e., the rear side, of the first pivot joint 224 in the fore-aft direction Y, and a pair of first covers 220 attached to both the left and right sides of the mounting base 222. The mounting base 222 is fixed to the upper end of the fixed column 221 so as to extend in the vertical direction Z, and has a vertical extension portion 222A at the top of which the first pivot joint 224 is located, and a protrusion portion 222B that extends from the vertical extension portion 222A toward the walking space 210 and at the extending tip of which the second pivot joint 225 is located, so that the vertical cross section is formed in an approximately Y shape, and the shape of the pair of first covers 220 corresponds to the shape of the mounting base 222.

The leg supporter 23 is placed within the walking space 210, and when the user uses it, they can place both feet against the leg supporter 23 to support them, for example, when standing up from a wheelchair.

The support means 3 is pivotally supported by the vertical column structure 22 so as to be swingable while supporting the user's body. Specifically, the support means 3 has a swinging frame 301 pivotally supported by the first pivot joint 224 of the vertical column structure 22 so as to be swingable, a seat section 302 that is suspended from each holding linkage 322 (described later) of the swinging frame 301 and is used to support the user's body, particularly the pelvis area, and a drive member 303 that is pivotally supported by the second pivot joint 225 of the vertical column structure 22 so as to be swingable and drives the swing of the swinging frame 301 relative to the base means 2.

The swing frame 301 of the support means 3 is configured to have a swing linkage 31 that is swingably supported by the first pivot joint 224, and an upper support base 32 that is disposed on the upper part of the swing linkage 31 so as to be positioned above the walking space 210, and the swing linkage 31 of the support means 3 has a third pivot joint 318, and both ends of the drive member 303 are pivotally supported by the second pivot joint 225 and the third pivot joint 318, respectively.

The swing linkage 31 has a swing column 311 that is swingably supported by the first pivot joint 224 and extends along the vertical direction Z, a fixed arm 312 that is fixed to the swing column 311 and extends along the front-rear direction Y, and a pair of second covers 33 that are attached to both sides of the fixed arm 312 so as to sandwich the fixed arm 312, and the third pivot joint 318 is disposed on the fixed arm 312.

As shown in Figures 3, 5 and 6, the swinging column 311 of the swinging linkage 31 has an outer tube portion 313, an inner tube portion 314 that is extendable and retractable relative to the outer tube portion 313, an upper connection base 319 attached to the upper end of the inner tube portion 314, a retaining sleeve 315 attached to the lower end of the outer tube portion 313 and sandwiched between a pair of mounting plates 226, and an engagement protrusion 316 that passes through the outer tube portion 313 and is used to fix the inner tube portion 314. Also, an engagement slot 310 is formed in the inner tube portion 314 for abutment by the engagement protrusion 316.

The height of the upper support base 32 in the vertical direction Z can be changed according to the relative movement of the inner tube portion 314 with respect to the outer tube portion 313, i.e., the expansion and contraction of the inner tube portion 314. By engaging the engagement protrusion 316 with one of the engagement slots 310 formed on the inner tube portion 314, the height of the upper support base 32 in the vertical direction Z can be temporarily fixed, making it possible to accommodate users of different heights.

In addition, the fixed arm 312 extends from a fixed end 317 fixed to the outer tube portion 313 in the front-rear direction Y toward the walking space 210, and a third pivot joint 318 is disposed at the tip away from the fixed end 317.

As shown in Figures 3, 4, and 6, the upper support base 32 extends along the left-right direction X and includes a connecting rod 321 fixed to the swinging linkage 31, two support linkages 322 that are movably inserted into openings at both the left and right ends of the connecting rod 321 and are used to support the user's body, and a safety belt 324 that is attached to both ends of the two support linkages 322. This allows the connecting rod 321 and the two support linkages 322 to surround the activity space 30 into which the user's upper body can enter, and if the upper body of the user who has entered the activity space 30 falls backwards, it can be received by the safety belt 324.

By adjusting the depth to which the two retaining linkages 322 are inserted into the connecting rod 321, the distance between the two retaining linkages 322, i.e., the width of the activity space 30, can be adjusted according to the user's body shape.

Each holding linkage 322 also has an arm body 323 extending along the front-rear direction Y, a cushioning member 325 arranged to encase the arm body 323, a pair of handrail rods 326 that extend forward from the arm body 323 in the front-rear direction Y and then bend upward so that the user can grasp them with both hands, and a number of annular members 327 that are respectively arranged on each arm body 323.

In this embodiment, the cushioning member 325 is made of a sponge material, which reduces discomfort when the user places their armpit on the arm body 323.

As shown in Figures 2, 5 and 7, the seat 302 is suspended from each annular member 327 fixed to each retaining linkage 322 using a plurality of connecting belts 34, and the seat 302 itself can be made of a soft material such as cloth or leather, so that a user can sit on the seat 302 as if riding a swing.

The driving member 303 is pivotally supported at both ends by the second pivot joint 225 on the vertical column structure 22 and the third pivot joint 318 on the swing linkage 31. Specifically, the driving member 303 has a driving body 35 pivotally supported by the second pivot joint 225 and a telescopic link 36 pivotally supported by the third pivot joint 318, and the telescopic link 36 is configured to output a driving force by movably moving in a telescopic manner relative to the driving body 35. In this embodiment, for example, an electric cylinder can be used as the driving body 35 and the telescopic link 36. In addition, the power supply unit 4 that provides the driving member 303 with power for operation is arranged in the vertical column structure 22, and by providing the driving member 303 with power for operation, the driving body 35 and the telescopic link 36 can perform a relative telescopic movement. As shown in FIG. 5, in the usage state in which the user is performing walking rehabilitation, i.e., in the initial state in which the support means 3 is upright relative to the base means 2, the extension direction of the oscillating column 311 of the oscillating linkage 31 pivoted to the first pivot joint 224 coincides with the vertical direction Z, i.e., the extension direction of the vertical column structure 22.

Here, if the line connecting (passing through) the third pivot joint 318 and the second pivot joint 225 is taken as the baseline BL, and the extension direction of the oscillating column 31 and the vertical column structure 22 in the oscillating linkage 31 is taken as the center line CL, as shown in FIG. 7, when the extension direction of the oscillating column 311 coincides with the vertical direction Z, which is the extension direction of the vertical column structure 22, the angle A between the center line CL and the baseline BL can be configured to be within the range of 3 to 15 degrees.

As shown in Figures 5 and 8, as the overall length of the drive member 303 shortens due to the relative expansion and contraction movement of the drive body 35 and the expansion link 36, the swing linkage 31 and the upper support base 32 arranged on the upper part of the swing linkage 31 swing counterclockwise around the first pivot joint 224 as shown in the figure, and the drive member 303 also swings counterclockwise around the second pivot joint 225, causing the support means 3 to swing relative to the base means 2 and switch from the initial state in which the user is performing walking rehabilitation shown on the left side of Figure 8 to a tilted state in which the support means 3 is inclined toward the walking space 210 to support the user standing up from the wheelchair shown on the right side of Figure 8.

As shown in Fig. 9 and Fig. 10, when the support means 3 is swung relative to the base means 2 to the tilted state shown in Fig. 9, the upper support base 32 moves into the walking space 210 and decreases in height, so that the hands of a user who is in a low position because, for example, he/she is in a wheelchair can grasp each of the holding linkages 322 of the upper support base 32. When the user grasps the holding linkage 322 and places the knee or lower leg against the leg supporter 23, the total length of the driving member 303 increases due to the relative expansion and contraction movement of the driving main body 35 and the expansion link 36, and the support means 3 is switched from the tilted state shown in Fig. 9 to the initial state shown in Fig. 6, and the body of the user who grasps the holding linkage 322 is lifted up, so that the user can switch from the holding linkage 322 to the handrail rod 326 to perform walking rehabilitation.

In this way, the walking training device of the present invention has an extendable driving member 303 pivoted between the second pivot joint 225 on the vertical column structure 22 and the third pivot joint 318 on the swinging linkage 31, so that the swinging linkage 31 can be swung by the extension and contraction drive of the driving member 303. When the extension and contraction drive force of the driving member 303 is transmitted to the swinging linkage 31, the upward component force FZ in the vertical direction Z and the forward component force FY in the front-rear direction Y on the swinging linkage 31 side can be used to support the standing up of a user who is in a low position, for example, because he is in a wheelchair or lying down, so that even a user with weak legs can stand up by himself without an assistant and use the walking training device of the present invention to perform walking rehabilitation. In addition, as shown in FIG. 4, a safety belt 324 is attached so as to be connected between the two holding linkages 322, so that even if the upper body of the user undergoing walking rehabilitation falls backward in the activity space 30 between the two holding linkages 322, the safety belt 324 can catch it.

A second embodiment of the walking training device of the present invention is shown in Figures 11 to 15. As shown in the figures, the differences between the walking training device of this second embodiment and the first embodiment are as follows:

First, in this second embodiment, a hanging swivel button 328 is disposed on the outside of each retaining linkage 322, so that a connecting belt (not shown) connected to the seat can be attached to the hanging swivel button 328.

In addition, each handrail rod 326 is attached to the corresponding arm body 323 so that it can move along the front-to-rear direction Y, and a handrail quick release clip 372 that can switch between blocking and allowing relative movement of each handrail rod 326 with respect to its corresponding arm body 323 in the front-to-rear direction Y is arranged on the arm body 323 and handrail member 371.When the handrail quick release clip 372 is released and relative movement of each handrail rod 326 with respect to its corresponding arm body 323 in the front-to-rear direction Y is allowed, the relative position of the handrail rod 326 with respect to its corresponding arm body 323 becomes adjustable, and when the handrail quick release clip 372 is tightened, the relative position of the handrail rod 326 with respect to its corresponding arm body 323 is temporarily fixed.

In addition, the handrail quick release clip 372 in this embodiment is configured to be released when the handheld portion of each handrail rod 326 swings toward each other with the fore-and-aft direction Y as the axis of rotation, allowing relative movement of each handrail rod 326 in the fore-and-aft direction Y with respect to the corresponding arm body 323, and to be tightened when the handheld portion of each handrail rod 326 stands upright, restricting relative movement of each handrail rod 326 in the fore-and-aft direction Y with respect to the corresponding arm body 323.

Furthermore, as shown in FIG. 12, the position of each buffer member 325 arranged above each arm body 323 can be changed by changing the position at which the screw that fixes the buffer member 325 to the corresponding arm body 323 is screwed into the buffer member 325, so that the position of the buffer member 325 can be changed according to the user's body shape.

Also, as shown in FIG. 13, the driving member 303 can be configured using a pneumatic cylinder.

As shown in FIG. 13, the leg supporter 23 in this embodiment comprises a pair of fixed rods 231 fixed to the vertical column structure 22 so as to extend parallel to each other in the front-rear direction Y, a pair of extendable rods 232 each having one end movably inserted into a corresponding fixed rod 231 along the front-rear direction Y and the other end curved and extending upward, so that the pair of extendable rods 232 can move relative to the fixed rods 231 inserted along the front-rear direction Y, and each extendable rod 232 is attached to each fixed rod 231 and each extendable rod 232, and when pushed, each extendable rod 232 can move relative to the fixed rod 231 inserted therein. The quick release clip 233 has a length direction that can be switched between blocking and allowing relative movement in the front-rear direction Y, a support pad 234 that is movably attached to the other end of each of the pair of telescopic rods 232 that extends upward, and can move in the up-down direction Z along the other end of the pair of telescopic rods 232, and a height direction quick release clip 235 that is attached to each telescopic rod 232 and the support pad 234 and can be switched between blocking and allowing relative movement of the support pad 234 in the up-down direction Z with respect to each telescopic rod 232 by being pushed and moved.

With this configuration, when the lengthwise quick release clip 233 is released and the relative movement of each telescopic rod 232 in the front-rear direction Y with respect to the fixed rod 231 into which it is inserted is permitted, the distance between the vertical column structure 22 of the support pad 234 attached to the other end of the pair of telescopic rods 232, i.e., the base means 2, becomes adjustable, and when the lengthwise quick release clip 233 is tightened, the distance between the support pad 234 and the base means 2 becomes temporarily fixed. Also, when the heightwise quick release clip 235 is released and the relative movement of the support pad 234 in the up-down direction Y with respect to the other end of each telescopic rod 232 is permitted, the distance between the support pad 234 and the ground, i.e., the height, becomes adjustable, and when the heightwise quick release clip 235 is tightened, the distance between the support pad 234 and the ground becomes temporarily fixed.

As shown in Figures 14 and 15, in this embodiment, the pedestal portion 21 has a left pedestal arm 212A pivotally connected to the left end of the first pedestal arm 211, a right pedestal arm 212B pivotally connected to the right end, and an adjustment means 214 is disposed between the first pedestal arm 211, the left pedestal arm 212A, and the right pedestal arm 212B. The adjustment means 214 has an adjustment plate 215 rotatably supported on the first pedestal arm 211, a left interlocking link 216 pivoted between the adjustment plate 215 and the front end of the left pedestal arm 212A, and a right interlocking link 217 pivoted between the adjustment plate 215 and the front end of the right pedestal arm 212B.

The adjustment plate 215 is pivotally supported to the first base arm 211 at a pivot point 215A located in the center thereof, and is pivotally connected to the left interlocking link 216 at a left pivot position 215B located to the left of the pivot point 215A, and is pivotally connected to the right interlocking link 217 at a right pivot position 215C located to the right of the pivot point 215A. It also has a left operating end 215D to the left of the left pivot position 215B and a right operating end 215E to the right of the right pivot position 215C.

As shown in FIG. 15, in the first state on the left side, the pivot part 215A, the left pivot position 215B, and the right pivot position 215C are arranged substantially horizontally, and the right operating end 215E protrudes upward, and corresponds to the pivot part 215A, the left pivot position 215B, and the right pivot position 215C arranged substantially horizontally, and the left pedestal arm 212A and the right pedestal arm 212B are arranged parallel to each other, as shown on the left side of FIG. 14.

In this first state, when the right operating end 215E, which protrudes upward, is pressed downward, the adjustment plate 215 rotates with respect to the first base arm 211 at the pivot part 215A, and the pivot part 215A, the left pivot position 215B, and the right pivot position 215C are arranged diagonally in the upper left-lower right direction as shown on the right side of FIG. 15, and the left operating end 215D protrudes upward, and since the pivot part 215A, the left pivot position 215B, and the right pivot position 215C are arranged diagonally, As the horizontal distance between the pivot position 215B and the right pivot position 215C becomes shorter, as shown in the second state on the right side of FIG. 15, the front end of the left interlocking link 216 to which the left pedestal arm 212A and the right pedestal arm 212B are respectively pivoted and the front end of the right pedestal arm 212B are also drawn closer to each other, as shown on the right side of FIG. 14, resulting in the second state in which the front ends of the left pedestal arm 212A and the right pedestal arm 212B are closer to each other and the rear ends are separated from each other.

In this way, the rear ends of the left pedestal arm 212A and the right pedestal arm 212B are separated from each other, which means that the entrances at the rear of the walking space 210 and the activity space 30 are wider, making it easier for wheelchairs to enter, for example, and easier for users in wide wheelchairs to use.

In this way, the second embodiment of the walking training device of the present invention is configured so that the position and angle of each handrail rod 326, each buffer member 325, and leg supporter 23 or base 21 can be adjusted, so that an easy-to-use walking training device can be provided by adjusting it according to the user's height, body shape, etc.

In summary, the walking training device of the present invention has an expandable driving member 303 disposed between the second pivot joint 225 on the vertical column structure 22 and the third pivot joint 318 on the swinging linkage 31. By using the expansion and contraction drive of the driving member 303, the swinging linkage 31 can be tilted toward the walking space where the user is, or swung back from the walking space to its original position. This makes it possible to support the user's upper body in standing up with a relatively large forward force component FY, and even users with weak legs and hips can stand up by themselves without the assistance of a caregiver and use the walking training device of the present invention to perform walking rehabilitation.

The above describes an embodiment of the present invention, but the present invention is not limited to this, and various modifications are possible without departing from the spirit of the invention.

2 Pedestal means 21 Pedestal portion 210 Walking space 211 First pedestal arm 212 Second pedestal arm 212A Left pedestal arm 212B Right pedestal arm 213 Caster member 214 Adjustment means 215 Adjustment plate 215A Pivot portion 215B Left pivot position 215C Right pivot position 215D Left operation end portion 215E Right operation end portion 216 Left interlocking link 217 Right interlocking link 22 Vertical column structure 220 First cover 221 Fixed column 222 Mounting base 222A Vertical extension portion 222B Protrusion portion 223 Lower end portion 224 First pivot joint 225 Second pivot joint 226 Mounting plate 23 Leg supporter 231 Fixed rod 232 Telescopic rod 233 Lengthwise quick release clip 234 Support pad 235 Heightwise quick release clip 3 Support means 30 Activity space 301 Swing frame 302 Seat part 303 Driving member 31 Swing linkage 310 Engagement slot 311 Swing column 312 Fixed arm 313 Outer tube part 314 Inner tube part 315 Retaining sleeve 316 Engagement protrusion 317 Fixed end part 318 Third pivot joint 319 Upper connection base 32 Upper retaining base 321 Connecting rod 322 Retaining linkage 323 Arm body 324 Safety belt 325 Buffer member 326 Handrail rod 327 Ring member 328 Suspension rotation button 33 Second cover 34 Connection belt 35 Driving body part 36 Telescopic link 371 Handrail member 372 Handrail quick release clip 373 Shock absorbing pad 374 Screw 4 Power supply unit Z Up-down direction X Left-right direction Y Front-rear direction BL Base line CL Center line A Angle FZ Upward force component FY Forward force component

Claims (13)

A walking training device comprising a base means and a support means,
The base means includes a base portion surrounding a walking space where a user can walk and configured to be movable relative to the ground, and a vertical column structure extending upward from the base portion, the vertical column structure including a fixed column extending in a vertical direction from a lower end connected to the base portion to an upper end above the base portion, and a mounting base fixed to the upper end of the fixed column and having a first pivot joint and a second pivot joint adjacent to the first pivot joint;
the support means is pivotally supported by the vertical column structure so as to be swingable while supporting the body of the user, and is configured to include a swing frame pivotally supported by the first pivot joint of the vertical column structure, and a drive member pivotally supported by the second pivot joint of the vertical column structure so as to be swingable and drive the swing of the swing frame relative to the base means,
The swing frame of the support means is configured to have a swing linkage that is swingably supported by the first pivot joint, and an upper support base that is disposed on the swing linkage so as to be positioned above the walking space;
the swing linkage of the support means having a third pivot joint;
The drive member is pivotally supported to the second pivot joint and the third pivot joint. The walking training device according to claim 1, wherein the mounting base is fixed to the upper end of the fixed column so as to extend in the up-down direction, and has a vertical extension part at the top of which the first pivot joint is located, and a protrusion part that extends from the vertical extension part so as to protrude toward the walking space side, and at the tip of which the second pivot joint is located, and has a substantially Y-shaped vertical cross section. The walking training device according to claim 2, wherein the swing linkage has a swing post that is pivoted to the first pivot joint and extends along the vertical direction, and a fixed arm that is fixed to the swing post and extends along a front-rear direction perpendicular to the vertical direction, and the third pivot joint is disposed on the fixed arm. If a line passing through the third pivot joint and the second pivot joint is defined as a baseline, and an extension direction of the swing column in the swing linkage is defined as a center line,
4. The walking training device according to claim 3, wherein when the extension direction of the oscillating column coincides with the vertical direction at the pivot of the first pivot joint, the center line and the baseline form an angle of 3 to 15 degrees. The walking training device according to claim 1, wherein the swing linkage has an outer tube portion and an inner tube portion that is expandable relative to the outer tube portion, and the upper support base can change its position in the vertical direction in response to the expansion and contraction of the inner tube portion. The walking training device according to claim 1, wherein the upper support platform has a connecting rod that extends along a left-right direction perpendicular to the up-down direction and is fixed to the swinging linkage, and two support linkages that are arranged on both the left and right ends of the connecting rod and are used to support the user's body, and each support linkage has an arm body that extends along a front-rear direction perpendicular to the up-down direction and the left-right direction, and a handrail rod that extends from the arm body. The walking training device according to claim 6, wherein each of the holding linkages further includes a cushioning member arranged to encase the arm body. The walking training device of claim 6, wherein the upper support platform further includes a safety belt connected between each of the support linkages. the upper support platform includes a connecting rod extending along a left-right direction perpendicular to the up-down direction and fixed to the swinging linkage, and two support linkages disposed at both ends of the connecting rod in the left-right direction and used to support a user's body;
2. The gait training device according to claim 1, wherein said support means includes a seat portion suspended from each of said support linkages for use in supporting the body of a user. The walking training device according to claim 6, wherein each of the handrail rods has a handrail member disposed on the corresponding arm body so as to be movable along the front-rear direction, and a handrail quick release clip attached to the handrail member and the corresponding arm body and operable by being pushed and moved. The walking training device according to claim 1, wherein the upper support platform has a connecting rod fixed to the swinging linkage so as to extend along a left-right direction perpendicular to the up-down direction, and two support linkages arranged on the left and right ends of the connecting rod and used to support the user's body, and the support means further has a seat section hung from each of the support linkages and used to support the user's body. The pedestal means further includes a leg supporter arranged on the vertical column structure, the leg supporter including a fixed rod fixed to the vertical column structure, a telescopic rod arranged to be movable relative to the fixed rod along a front-rear direction perpendicular to the up-down direction, a lengthwise quick release clip attached to the fixed rod and the telescopic rod and operable by being pushed, and a supporter pad movable relative to each of the telescopic rods. The walking training device according to claim 1. the pedestal portion has a first pedestal arm extending along a left-right direction perpendicular to the up-down direction, a left pedestal arm pivotally connected to a left end of the first pedestal arm, a right pedestal arm pivotally connected to a right end of the first pedestal arm, and an adjustment means disposed between the first pedestal arm, the left pedestal arm, and the right pedestal arm;
The walking training device of claim 1, wherein the adjustment means comprises an adjustment plate rotatably supported on a first base arm, a left interlocking link pivoted between the adjustment plate and the left base arm, and a right interlocking link pivoted between the adjustment plate and the right base arm.