Anti-fall walking training device

Abstract

The present invention belongs to the technical field of medical devices, and specifically relates to an anti-fall walking training device, which is mainly used to assist patients with limb movement disorders caused by various diseases such as spinal cord injury and stroke to perform rehabilitation training; it mainly includes: a frame, having a first connecting arm and a second connecting arm; a first moving part connected to the first connecting arm; a second moving part connected to the second connecting arm; a driving mechanism, including a shell located between the first moving part and the second moving part and connected to the first moving part and the second moving part; a driving part arranged in the shell; a transmission part connected to the driving part, and the transmission part rotates in the shell under the drive of the driving part; the transmission part can partially move in the direction of the first moving part and the second moving part to form a coupling relationship with the first moving part and the second moving part; when the coupling relationship is formed, the driving part drives the first moving part and the second moving part to move synchronously through the transmission part.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an anti-fall walking training device. Background Art

[0002] As my country's aging population deepens, the health issues associated with lower limbs are becoming increasingly prominent. The decline in lower limb flexibility in older adults, caused by declining physiological functions, is also leading to a significant increase in the number of patients with limb movement disorders caused by various conditions, such as spinal cord injury and stroke. Consequently, people are paying more and more attention to the field of lower limb rehabilitation.

[0003] Patients with limb motor disorders caused by various conditions, such as spinal cord injury and stroke, often experience muscle atrophy in the affected lower limb due to long-term lack of exercise. To prevent further muscle atrophy during recovery, rehabilitation training is typically provided. A walker is a walking device that assists these patients or those with walking difficulties in rehabilitation training during the recovery period. Using a walker ensures balance, reduces weight on the lower limbs, relieves pain, and improves gait through training.

[0004] At present, walkers at home and abroad can be divided into three categories according to their structure and function: non-powered walkers, functional electrical stimulation walkers and powered walkers. The first category is mainly used to assist the human body in supporting weight and maintaining balance, and cannot perform passive rehabilitation of the lower limbs in the true sense. The second category mainly uses electrical stimulation for rehabilitation training. The third category of powered walkers is powered exoskeleton lower limb rehabilitation training devices. Exoskeleton walkers can effectively compensate for the patient's lower limb function to a certain extent, helping them to stand and walk. However, the current exoskeleton walkers are restricted by the driving force and cannot guarantee the standing and walking training of patients with complete lower limb paralysis. In addition, the above-mentioned devices can only assist patients with some simple walking training for paraplegic patients, and cannot implement targeted active and passive combined rehabilitation training according to the different stages of the patient's condition.

[0005] In view of the above problems, the present invention provides a fall-prevention walking training device. Summary of the Invention

[0006] In order to overcome the problems raised in the background technology, the present invention adopts the following technical solutions:

[0007] A fall prevention walking training device, comprising:

[0008] The frame has a first connecting arm and a second connecting arm;

[0009] a first moving portion connected to the first connecting arm;

[0010] a second moving portion connected to the second connecting arm;

[0011] The driving mechanism includes a housing located between the first moving portion and the second moving portion and connected to the first moving portion and the second moving portion; a driving portion disposed within the housing; and a transmission portion connected to the driving portion, wherein the transmission portion rotates within the housing under the driving portion.

[0012] In which, the transmission part can partially move in the direction of the first moving part and the second moving part to form a bonding relationship with the first moving part and the second moving part; when the bonding relationship is formed, the driving part drives the first moving part and the second moving part to move synchronously through the transmission part.

[0013] In some embodiments of the present application, the transmission part includes:

[0014] a transmission shaft rotatably disposed in the housing, wherein, driven by the driving unit, the transmission shaft rotates with its own axis as a reference;

[0015] Two first engaging members; the two first engaging members are respectively arranged at both ends of the transmission shaft and rotate synchronously with the transmission shaft; wherein the two first engaging members are both capable of sliding toward the first movable portion and the second movable portion in the longitudinal extension direction of the transmission shaft;

[0016] Two second engaging members; the two second engaging members are respectively connected to the first moving portion and the second moving portion; wherein each second engaging member corresponds to one first engaging member, and there is a distance between the first engaging member and the second engaging member;

[0017] A pushing structure is connected to the shell and extends into the shell to connect with the two first coupling members, wherein the pushing structure is constructed to drive the first coupling member to slide relative to the transmission shaft and abut against the second coupling member so that the second coupling member moves synchronously with the first coupling member.

[0018] Preferably, the two first engaging members are arranged in mirror images of each other.

[0019] Preferably, the two second engaging members are arranged in mirror images of each other.

[0020] Preferably, the driving unit is a stepping motor.

[0021] Furthermore, the first joint member includes:

[0022] a first engaging portion and a force receiving portion; and

[0023] a first connecting portion, disposed between the first joining portion and the force-bearing portion, for connecting the first joining portion and the force-bearing portion;

[0024] Wherein, a channel is opened from the force-bearing portion toward the first joint portion, and the transmission shaft is at least partially inserted into the channel.

[0025] Furthermore, the first engaging portion has a first friction surface, and the second engaging portion has a second friction surface, wherein after the first engaging portion and the second engaging portion abut against each other, the first friction surface and the second friction surface are in contact with each other.

[0026] Preferably, the first friction surface and the second friction surface have the same structure.

[0027] Preferably, the first friction surface is a frosted surface.

[0028] Furthermore, the pushing structure includes:

[0029] a first pushing member and a second pushing member arranged in mirror images of each other, wherein the first pushing member and the second pushing member are both rotatably connected to the housing;

[0030] In which, the first pushing member and the second pushing member are respectively connected to the two first coupling members. When the first pushing member and the second pushing member rotate, the first pushing member and the second pushing member can drive the two first coupling members to slide on the transmission shaft toward the first moving part and the second moving part respectively, so that the first coupling member and the second coupling member abut against each other.

[0031] Preferably, the first pushing member and the second pushing member are configured to keep the first engaging member away from the second engaging member at all times.

[0032] Furthermore, the first pushing member has:

[0033] a threaded section, wherein the first pushing member is threadably engaged with the housing through the threaded section;

[0034] a bending section, disposed at one end of the threaded section, wherein the bending section and the threaded section are in a perpendicular relationship;

[0035] In which, the force-bearing part also has a groove, and the bent section extends into the groove. When the first pushing member rotates, one end of the bent section abuts against the inner wall of the groove, and drives the first coupling member to approach the second coupling member or separates the abutting first coupling member from the second coupling member.

[0036] Preferably, one end of the bending section is configured as a ball head.

[0037] In some embodiments of the present application, the first moving part and the second moving part are arranged in a mirror image with each other.

[0038] Furthermore, the first moving part includes:

[0039] a supporting portion connected to the first connecting arm;

[0040] a plurality of pulleys rotatably disposed on one side of the support portion;

[0041] a crawler belt meshed with the plurality of pulleys, wherein the crawler belt is tensioned by the plurality of pulleys;

[0042] Wherein, one of the plurality of pulleys is connected to the second coupling member, and when the second coupling member rotates with the first coupling member, the pulley rotates with the second coupling member.

[0043] Furthermore, the plurality of pulleys include: a first pulley, a second pulley and a third pulley, wherein the first pulley is connected to the second coupling member, and when the first pulley rotates, the track drives the second pulley and the third pulley to rotate.

[0044] In this embodiment, a linkage mechanism is further included, and the linkage mechanism includes:

[0045] a cam connected to the second pulley and rotating along with the second pulley;

[0046] a fixed plate slidably connected to the cam and rotating with the cam when the cam rotates, wherein the fixed plate is configured to be further rotatable relative to the cam;

[0047] A plurality of binding straps are arranged on one side of the fixing plate.

[0048] Beneficial effects of the present invention:

[0049] 1. By setting up a driving structure, the active gait training mode and the passive gait training mode can be switched according to the patient's physical condition during use to assist the patient in gait training. In addition, the active gait training mode can be used to assist the patient in passive gait training, thereby promoting the training effect.

[0050] 2. By setting the first moving part and the second moving part in the form of tracks, the contact area with the ground is increased during use, so that when the patient performs walking training, the frame can move more smoothly, thereby avoiding the problem of patients falling during training. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0052] Figure 2 Schematic diagram of the linkage mechanism of the present invention;

[0053] Figure 3 For the present invention Figure 2 A partial enlarged schematic diagram of the linkage mechanism at point D;

[0054] Figure 4 Schematic diagram of the structure of the second moving part of the present invention;

[0055] Figure 5 Schematic diagram of the transmission structure of the present invention;

[0056] Figure 6 This is a schematic diagram of the abutment between the first joint member and the second joint member of the present invention;

[0057] Figure 7 This is a schematic diagram of the separation of the first joining member and the second joining member of the present invention;

[0058] Figure 8 This is a schematic structural diagram of the first joint member of the present invention;

[0059] Figure 9 Schematic diagram of the structure of the first joint member and the second joint member of the present invention;

[0060] Figure 10 This is a structural schematic diagram of the first moving part of the present invention;

[0061] In the figure, 1. frame; 2. first moving part; 21. supporting part; 22. first pulley; 23. second pulley; 24. third pulley; 25. track; 3. second moving part; 4. driving mechanism; 41. housing; 42. transmission shaft; 43. first coupling member; 431. first coupling part; 432. first connecting part; 433. force-bearing part; 4331. groove; 44. second coupling member; 441. second coupling part; 442. second connecting part; 443. plug-in part; 45. stepping motor; 46. first pushing member; 461. threaded section; 462. bending section; 47. second pushing member; 5. linkage mechanism; 51. cam; 52. fixing plate; 53. binding belt. DETAILED DESCRIPTION

[0062] The following is a clear and complete description of the technical solutions in the embodiments of the present invention through specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation methods. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0063] Figure 1 —5 shows the main technical content of this embodiment. This specific embodiment provides an anti-fall walking training device, which includes: an anti-fall walking training device, which includes:

[0064] The frame 1 has a first connecting arm and a second connecting arm;

[0065] a first moving portion 2 connected to the first connecting arm;

[0066] a second moving portion 3 connected to the second connecting arm;

[0067] The driving mechanism 4 includes a housing 41 located between the first moving portion 2 and the second moving portion 3 and connected to the first moving portion 2 and the second moving portion 3; a driving portion disposed within the housing 41; and a transmission portion connected to the driving portion, wherein the transmission portion rotates within the housing 41 under the drive of the driving portion.

[0068] Among them, the transmission part can partially move in the direction of the first moving part 2 and the second moving part 3 to form a bonding relationship with the first moving part 2 and the second moving part 3; when the bonding relationship is formed, the driving part drives the first moving part 2 and the second moving part 3 to move synchronously through the transmission part.

[0069] During use, the patient supports the frame 1 and applies force to the frame 1. At this time, the frame 1 moves forward through the first moving part 2 and the second moving part 3. During the movement, the patient supports the frame 1 to maintain the stability of walking, thereby assisting the patient in active walking training; furthermore, when the patient needs to perform passive walking training, the transmission part of the driving mechanism 4 is combined with the first moving part 2 and the second moving part 3, so that the driving part can drive the first moving part 2 and the second moving part 3 through the transmission part, and then drive the frame 1 forward through the first moving part 2 and the second moving part 3. At this time, the patient supports the frame 1 and moves with the frame 1, thereby performing passive walking training.

[0070] refer to Figure 1 —2 and Figure 4In this embodiment, the transmission part includes: a transmission shaft 42, two first coupling members 43, two second coupling members 44 and a pushing structure. The transmission shaft 42 is rotatably arranged in the housing 41, wherein, under the drive of the driving part, the transmission shaft 42 rotates with its own axis as a reference; the two first coupling members 43 are respectively arranged at both ends of the transmission shaft 42 and rotate synchronously with the transmission shaft 42; wherein, both coupling members can slide toward the first movable part 2 and the second movable part 3 in the length extension direction of the transmission shaft 42; the two second coupling members 44 are respectively connected to the first movable part 2 and the second movable part 3; wherein, each second coupling member 44 corresponds to a first coupling member 43, and there is a gap between the first coupling member 43 and the second coupling member 44. Under this setting, the first coupling member 43 and the second coupling member 44 are always kept in a separated state, so that when the patient performs active training, the driving part and the transmission shaft 42 will not cause resistance to the first movable part 2 and the second movable part 3, so that the patient can perform active walking training.

[0071] refer to Figure 1 —2 and Figure 4 The pushing structure is connected to the shell 41 and extends into the shell 41 to be connected to the two first coupling members 43, wherein the pushing structure is constructed to drive the first coupling member 43 to slide relative to the transmission shaft 42 and abut against the second coupling member 44, so that the second coupling member 44 moves synchronously with the first coupling member 43; when in use, the two first coupling members 43 are respectively moved on the transmission shaft 42 toward the corresponding second coupling member 44 through the pushing structure, and form an abutment relationship with it. At this time, under the drive of the driving part, the transmission shaft 42 rotates, and the transmission shaft 42 drives the first moving part 2 and the second moving part 3 to move synchronously through the engaged first transmission part and the second transmission part, so that the first moving part 2 and the second moving part 3 drive the frame 1 to move, so as to provide power for the frame 1 when the patient performs passive walking training, so that the patient can walk with the frame 1.

[0072] refer to Figure 1 —2 and Figure 8 In this embodiment, the driving part is preferably a small stepper motor 45, wherein the stepper motor 45 and the transmission shaft 42 are transmitted by setting gears; specifically, the output shaft of the stepper motor 45 is configured with a first gear, and the transmission shaft 42 is configured with a second gear, wherein the first gear and the second gear are engaged with each other; when the stepper motor 45 is running, the transmission shaft 42 moves synchronously with the stepper motor 45 under the engagement of the first gear and the second gear, thereby driving the first movable part 2 and the second movable part 3 to operate, thereby providing power to the first movable part 2 and the second movable part 3 when the patient performs passive training.

[0073] More specifically, the two first engaging members 43 are arranged in mirror images of each other, and the two second engaging members 44 are arranged in mirror images of each other.

[0074] refer to Figure 1 —2 and Figure 4 —6. In this embodiment, the first coupling member 43 includes: a first coupling portion 431, a first connecting portion 432 and a force-bearing portion 433. The first connecting portion 432 is located between the first coupling portion 431 and the force-bearing portion 433, wherein a channel is opened from the force-bearing portion 433 to the first coupling portion 431, and the transmission shaft 42 is at least partially inserted into the channel. Specifically, a keyway is opened on the outer wall of the transmission shaft 42, and a keyway is also opened on the inner wall of the channel. When in use, flat keys are placed in the two keyways, so that the first coupling member 43 can rotate synchronously with the transmission shaft 42, and the first coupling member 43 can also slide relative to the transmission shaft 42.

[0075] refer to Figure 1 —2 and Figure 7 —9, the second coupling member 44 includes: a second coupling portion 441, a second connecting portion 442 and a plug-in portion 443, wherein the second connecting portion 442 is located between the second coupling portion 441 and the plug-in portion 443, wherein the plug-in portion 443 is connected to the first movable portion 2, and the second coupling portion 441 abuts against the first coupling portion 431; when in use, the first coupling member 43 moves toward the second coupling member 44, so that the first coupling portion 431 and the second coupling portion 441 form an abutting relationship, and under this setting, the first coupling portion 431 and the second coupling portion 441 achieve synchronous movement through the friction force generated after the abutment, so that the first movable portion 2 can operate under the action of the transmission shaft 42.

[0076] More specifically, the first joining portion 431 has a first friction surface, and the second joining portion 441 has a second friction surface, wherein after the first joining portion 431 and the second joining portion 441 abut against each other, the first friction surface and the second friction surface fit together; preferably, the first friction surface and the second friction surface have the same structure, wherein the first friction surface and the second friction surface are frosted surfaces.

[0077] refer to Figure 8 —9. In this embodiment, the first engaging portion 431 has a first friction surface, and the second engaging portion 441 has a second friction surface, wherein after the first engaging member 43 and the second engaging member 44 are in contact with each other, the first friction surface and the second friction surface are in contact with each other; specifically, the first friction surface and the second friction surface are roughened. The purpose of this setting is to further enhance the friction coefficient between the first engaging portion 431 and the second engaging portion 441 after they are in contact with each other, so as to avoid the first engaging portion 431 from idling with the transmission shaft 42 when the transmission shaft 42 rotates.

[0078] Alternatively (not shown), the first coupling portion 431 is configured as a rectangular shape, and the second coupling portion is provided with a rectangular groove, into which the first coupling portion 431 can be inserted, so that the first coupling portion 431 and the second coupling portion 441 form a connection relationship, and then when the transmission shaft 42 rotates, the second coupling member 44 can rotate with the transmission shaft 42.

[0079] refer to Figure 1 —2 and Figure 5 —9. In the present embodiment, the pushing structure includes: a first pushing member 46 and a second pushing member 47 which are mirror-imaged to each other, wherein the first pushing member 46 and the second pushing member 47 are both rotatably connected to the shell 41; wherein the first pushing member 46 and the second pushing member 47 are respectively connected to the two first coupling members 43, and when the first pushing member 46 and the second pushing member 47 rotate, the first pushing member 46 and the second pushing member 47 can drive the two first coupling members 43 to slide on the transmission shaft 42 toward the first movable part 2 and the second movable part 3, respectively, so that the first coupling member 43 and the second coupling member 44 abut against each other; when in use, the first pushing member 46 and the second pushing member 47 make the two first coupling members 43 respectively connected to the corresponding second coupling members 44, and at this time, the first movable part 2 and the second movable part 3 rotate synchronously with the transmission shaft 42, and then when the patient performs passive walking training, the frame 1 moves forward smoothly driven by the first movable part 2 and the second movable part 3, thereby assisting the patient in rehabilitation training.

[0080] Preferably, the first pushing member 46 and the second pushing member 47 are configured to keep the first engaging member 43 away from the second engaging member 44 at all times.

[0081] More specifically, the first pushing member 46 has: a threaded section 461 and a bent section 462. The first pushing member 46 is threadedly engaged with the shell 41 through the threaded section 461; the bent section 462 is arranged at one end of the threaded section 461, wherein the bent section 462 and the threaded section 461 are in a vertical relationship; wherein, the first coupling member 43 also has a groove 4331, and the bent section 462 extends into the groove 4331. When the first pushing member 46 rotates, one end of the bent section 462 abuts against the inner wall of the groove 4331, and drives the first coupling member 43 to approach the second coupling member 44 or separates the abutting first coupling member 43 and the second coupling member 44 during rotation.

[0082] Specifically, a threaded hole is provided on the outer wall of the shell 41, and the threaded section 461 is screwed into the threaded hole. When the threaded section 461 is rotated clockwise, one end of the bent section 462 gradually fits against the groove wall of the groove 4331 and forms an abutting relationship, thereby gradually pushing the first coupling member 43 toward the second coupling member 44 until the two form an abutting relationship. When the threaded section 461 is rotated counterclockwise, one end of the bent section 462 gradually fits against the groove wall on the other side of the groove 4331 and forms an abutting relationship, thereby driving the first coupling member 43 gradually away from the second coupling member 44, thereby separating the abutting first coupling member 43 and the second coupling member 44; under this setting, doctors, patients' families, and patients can combine or separate the first coupling member 43 and the second coupling member 44 according to the patient's current movement status to assist the patient in active or passive walking training, so as to improve the patient's walking gait through this training.

[0083] Specifically, one end of the bending section 462 is configured as a ball head.

[0084] refer to Figure 1 —2. Figure 5 、 Figure 10 In this embodiment, the first movable part 2 and the second movable part 3 are arranged in a mirror image with each other; wherein, the first movable part 2 and the second movable part 3 both include: a supporting part 21, a plurality of pulleys and a track 25, the supporting part 21 is connected to the first connecting arm, and the plurality of pulleys are rotatably arranged on one side of the supporting part 21; the track 25 is engaged with the plurality of pulleys, wherein the track 25 is tensioned by the plurality of pulleys; wherein, one of the plurality of pulleys is connected to the second connecting part 44, and when the second connecting part 44 rotates with the first connecting part 43, the pulley drives the other pulleys to rotate through the track 25; thereby, the first movable part 2 and the second movable part 3 drive the frame 1 to move, and under this setting, the track 25 can increase the contact area with the ground, so that when the patient performs walking training, the frame 1 can be more stable during the movement process, so as to avoid the problem of falling during the patient's training.

[0085] refer to Figure 1 —2 and Figure 10 More specifically, the pulleys include: a first pulley 22, a second pulley 23 and a third pulley 24, wherein the first pulley 22 is connected to the second coupling member 44. When the first pulley 22 rotates, the track 25 drives the second pulley 23 and the third pulley 24 to rotate, thereby achieving the purpose of synchronous advancement of the first movable part 2 and the second movable part 3.

[0086] refer to Figure 1 —3 and Figure 10In this embodiment, a linkage mechanism 5 is further included, wherein the linkage mechanism 5 includes: a cam 51, a fixing plate 52 and a strap 53; the cam 51 has a first surface and a second surface opposite to each other, wherein the first surface is provided with a linkage shaft, and the second surface is provided with a connecting shaft, wherein the cam 51 is connected to the second pulley 23 through the linkage shaft, and the fixing plate 52 is slidably connected to the second surface of the cam 51 and rotates with the cam 51 when the cam 51 rotates, wherein the fixing plate 52 is constructed to be able to rotate relative to the cam 51; a plurality of straps 53 are provided, wherein the plurality of straps 53 are all provided on one side of the fixing plate 52, and when the second pulley 23 rotates, the cam 51 rotates with the second belt pulley The wheel 23 rotates, and at this time, the fixed plate 52 rotates circumferentially around the axis of the linkage shaft. During specific use, the strap 53 is used to tie the patient's affected calf to the fixed plate 52, and the patient's healthy leg steps forward and pushes the frame 1 to move forward. The cam 51 rotates under the drive of the second pulley 23. At this time, the patient's affected calf steps forward under the drive of the cam 51. When the patient's affected foot touches the ground, the frame 1 is pushed again. At this time, the patient's affected calf is lifted under the rotation of the cam 51 and steps forward again. Under this setting, when the patient performs gait training, the cam 51 can assist the patient's affected leg to be lifted, thereby assisting the affected lower limb and improving training efficiency.

[0087] More specifically, a connecting post is provided to connect the cam 51 and the fixing plate 52, wherein the cam 51 is provided with a first slide groove extending from the first surface to the second surface, and the fixing plate 52 is provided with a second slide groove, and one end of the connecting post passes through the first slide groove and extends into the second slide groove, wherein the connecting post slides in the first slide groove and the second slide groove. More specifically, the first slide groove is arc-shaped. When in use, after the sole of the patient's affected side foot touches the ground, the frame 1 is pushed forward. At this time, the cam 51 continues to rotate, and the connecting post slides in the first slide groove, and the position of the patient's affected side calf does not change. When the connecting post slides to the end of the first slide groove, the patient's affected side calf continues to be driven by the cam 51. Under this setting, the fixing plate 52 has a high degree of freedom, and when in use, it can avoid rigidly driving the patient's calf to move, and can keep the patient's center of gravity stable, avoiding the patient from falling when assisting the patient's affected side lower limb.

[0088] In this embodiment, the frame 1 further has a support plate for the patient to support when stopping gait training.

[0089] refer to Figure 1 —2 and Figure 5 、 Figure 10In this embodiment, it also includes: a control module, which includes: a control mainboard, a button and a power module; wherein the control mainboard and the power module are both arranged in the shell 41, the button is arranged on one side of the support plate, and the power module and the button are electrically connected to the control mainboard; when in use, an electrical signal is sent to the control mainboard through the button to control the start and stop of the drive unit. Specifically, the shell 41 is divided into a first chamber, a second chamber and a third chamber, and the second chamber is located between the first chamber and the third chamber, wherein the transmission shaft 42 passes through the first chamber, the second chamber and the third chamber, the control mainboard is arranged in the first chamber, the drive unit is arranged in the second chamber, and the power module is arranged in the third chamber; wherein the control module is electrically connected to the drive unit; after the two first joints 43 and the two second joints 44 are respectively formed into abutment relationship through the pushing structure, the drive unit is powered on and operated through the button, at this time, the tracks 25 of the first movable part 2 and the second movable part 3 are operated to provide assistance to the patient.

[0090] More specifically, the buttons include: a start / stop button and a speed adjustment button, both of which are electrically connected to the control main board; wherein the start / stop button is used to control the opening and closing of the drive unit, and the speed adjustment button is used to adjust the output power of the drive unit.

[0091] More specifically, the power module includes: a battery and a charging interface; wherein, the battery is fixedly arranged in the third chamber, and the charging interface is formed on the outer wall of the shell 41, and the battery can be charged through the charging interface when in use.

[0092] How to use the device:

[0093] 1. When the patient actively trains, the patient supports the frame and applies force to the frame. At this time, the tracks of the first moving part and the second moving part are forced to operate, thereby enabling the patient to push the frame to move;

[0094] 2. When used by hemiplegic patients, the calf of the patient's affected leg can be fixed to the fixed plate with a strap. When the first moving part and the second moving part are in operation, the cam rotates driven by the second pulley. At this time, the patient's affected calf moves forward under the drive of the cam. When the patient's affected foot touches the ground, the frame is pushed again. At this time, the patient's affected calf is lifted up under the rotation of the cam and moves forward again. In this way, when assisting the patient in gait training, the patient's affected lower limb is assisted, thereby improving training efficiency.

[0095] 3. When the patient needs assistance, the first pushing member and the second pushing member are used to switch the device between the assisted mode and the unassisted mode. By rotating the first pushing member and the second pushing member, the two first coupling members are connected to the corresponding second coupling members. At this time, the first movable part and the second movable part rotate synchronously with the transmission shaft. When the patient performs passive walking training, the frame moves forward smoothly driven by the first movable part and the second movable part, so that when the patient supports the frame, it can move with the frame, thereby enhancing the training intensity and improving the training efficiency.

[0096] 4. The above embodiments are only for understanding the present invention. It should be noted that those skilled in the art can make several improvements to the present invention without departing from the principles of the present invention, and these improvements will also fall within the scope of protection of the claims of the present invention.

Claims

1. A fall prevention walking training device, characterized in that: It includes: The frame has a first connecting arm and a second connecting arm; a first moving portion connected to the first connecting arm; a second moving portion connected to the second connecting arm; The driving mechanism includes a housing located between the first moving portion and the second moving portion and connected to the first moving portion and the second moving portion; a driving portion disposed within the housing; and a transmission portion connected to the driving portion, wherein the transmission portion rotates within the housing under the driving portion. The transmission part is capable of partially moving in the direction of the first moving part and the second moving part to form an engagement relationship with the first moving part and the second moving part; when the engagement relationship is formed, the driving part drives the first moving part and the second moving part to move synchronously through the transmission part; The transmission part includes: a transmission shaft rotatably disposed in the housing, wherein, driven by the driving unit, the transmission shaft rotates with its own axis as a reference; Two first engaging members; the two first engaging members are respectively arranged at both ends of the transmission shaft and rotate synchronously with the transmission shaft; wherein the two first engaging members are both capable of sliding toward the first movable portion and the second movable portion in the longitudinal extension direction of the transmission shaft; Two second engaging members; the two second engaging members are respectively connected to the first moving portion and the second moving portion; wherein each second engaging member corresponds to one first engaging member, and there is a distance between the first engaging member and the second engaging member; a pushing structure connected to the housing and extending into the housing to connect with the two first engaging members, wherein the pushing structure is configured to drive the first engaging members to slide relative to the transmission shaft and abut against the second engaging members, so that the second engaging members move synchronously with the first engaging members; The first moving part includes: a supporting portion connected to the first connecting arm; a plurality of pulleys rotatably disposed on one side of the support portion; a crawler belt meshed with the plurality of pulleys, wherein the crawler belt is tensioned by the plurality of pulleys; wherein one of the plurality of pulleys is connected to a second engaging member, and when the second engaging member rotates with the first engaging member, the pulley rotates with the second engaging member; The plurality of pulleys include: a first pulley, a second pulley and a third pulley, wherein the first pulley is connected to the second joint member, and when the first pulley rotates, the crawler belt drives the second pulley and the third pulley to rotate; Also included is a linkage mechanism, the linkage mechanism comprising: a cam connected to the second pulley and rotating along with the second pulley; The fixed plate is slidably connected to the cam and rotates with the cam when the cam rotates. wherein the fixing plate is configured to be further rotatable relative to the cam; A plurality of straps, wherein the plurality of straps are all provided on one side of the fixing plate; A connecting post is provided to connect the cam and the fixing plate, wherein the cam is provided with a first slide groove extending from the first surface to the second surface, and the fixing plate is provided with a second slide groove, and one end of the connecting post passes through the first slide groove and extends into the second slide groove, wherein the connecting post slides in the first slide groove and the second slide groove; when the sole of the patient's affected side foot touches the ground, the frame is pushed forward. At this time, the cam continues to rotate, and the connecting post slides in the first slide groove, and the position of the patient's affected side calf does not change. When the connecting post slides to the end of the first slide groove, the patient's affected side calf continues to be driven by the cam.

2. The anti-fall walking training device according to claim 1, characterized in that: The two first engaging members are arranged in mirror images of each other; The two second engaging members are arranged in mirror images of each other; The driving part is a stepping motor.

3. The anti-fall walking training device according to claim 2, characterized in that: The first engaging member comprises: a first joint portion; force-bearing part; a first connecting portion, disposed between the first joining portion and the force-bearing portion, for connecting the first joining portion and the force-bearing portion; Wherein, a channel is opened from the force-bearing portion toward the first joint portion, and the transmission shaft is at least partially inserted into the channel.

4. The anti-fall walking training device according to claim 3, characterized in that: The second engaging member includes: a second engaging portion, a second connecting portion, and an inserting portion, wherein the second connecting portion is located between the second engaging portion and the inserting portion, wherein the inserting portion is connected to the first moving portion, and the second engaging portion abuts against the first engaging portion; when in use, the first engaging member moves toward the second engaging member, so that the first engaging portion and the second engaging portion form an abutting relationship; The first engaging portion has a first friction surface, and the second engaging portion has a second friction surface, wherein after the first engaging portion and the second engaging portion abut against each other, the first friction surface and the second friction surface are in contact with each other; The first friction surface and the second friction surface have the same structure; The first friction surface is a frosted surface.

5. The anti-fall walking training device according to any one of claims 3 to 4, characterized in that: The propulsion structure comprises: a first pushing member and a second pushing member arranged in mirror images of each other, wherein the first pushing member and the second pushing member are both rotatably connected to the housing; The first pushing member and the second pushing member are connected to the two first engaging members respectively. When the first pushing member and the second pushing member rotate, the first pushing member and the second pushing member can drive the two first engaging members to slide on the transmission shaft toward the first moving portion and the second moving portion respectively, so that the first engaging member and the second engaging member abut against each other. The first pushing member and the second pushing member are configured to keep the first engaging member away from the second engaging member at all times.

6. The anti-fall walking training device according to claim 5, characterized in that: The first pushing member has: a threaded section, wherein the first pushing member is threadably engaged with the housing through the threaded section; a bending section, disposed at one end of the threaded section, wherein the bending section and the threaded section are in a perpendicular relationship; The force-bearing portion further has a groove, and the bent section extends into the groove. When the first pushing member rotates, one end of the bent section abuts against the inner wall of the groove, and drives the first engaging member to approach the second engaging member or separates the abutting first engaging member from the second engaging member. One end of the bending section is configured as a ball head.

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