A multi-directional gait rehabilitation training device

Abstract

This invention provides a multi-directional walking rehabilitation training device, including a walking training apparatus and an auxiliary support device disposed above the walking training apparatus. The walking training apparatus includes a shell, a multi-directional drive mechanism, an elastic running belt, and a support body disposed inside the shell. The elastic running belt has a closed, pouch-like structure, and the support body is disposed inside the elastic running belt, which is used to rotate in any direction on the support body. The multi-directional drive mechanism is disposed at the bottom of the shell, and its top contacts the elastic running belt below the support body, driving the elastic running belt to rotate in any direction on the support body. The multi-directional drive mechanism is located below the support body, optimizing the structural design and allowing for reasonable storage and concealment of the multi-directional drive mechanism. There is no obstruction between the elastic running belt and the user, allowing the user to directly lift their leg and step onto the elastic running belt, facilitating the user's access to and from the rehabilitation equipment.

Description

Technical Field

[0001] This invention relates to the field of physiotherapy devices, and more particularly to a multi-directional walking rehabilitation training device. Background Technology

[0002] For rehabilitation training in neurological systems (such as gait reconstruction and balance training for stroke, traumatic brain injury, and spinal cord injury patients), post-orthopedic surgery recovery (such as post-knee replacement, hip replacement, and lower limb fracture recovery training), functional exercises for the elderly (such as fall prevention training and maintaining daily walking ability), and sports injury rehabilitation (such as coordination and strength recovery after ankle and knee sprains in athletes), treadmills and other rehabilitation training equipment can be selected. However, existing treadmills can only perform running training in one direction, failing to meet the needs of multi-directional walking training. Omnidirectional running training devices with a gliding mechanism lack a natural feel similar to actual walking or running, cannot simulate the state of normal human walking, cannot provide real-time feedback and adaptability to running training, and can also cause friction and wear problems, increasing equipment maintenance costs. Current walking rehabilitation training equipment needs continuous innovation and improvement in design and technology to better meet users' needs for an omnidirectional running experience. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a multi-directional walking rehabilitation training device to eliminate or improve one or more defects existing in the prior art.

[0004] This invention provides a multi-directional walking rehabilitation training device, comprising: a walking training device and an auxiliary support device disposed above the walking training device; the walking training device includes a housing, and a multi-directional drive mechanism, an elastic running belt, and a support body disposed inside the housing; the elastic running belt has a closed, pouch-like structure, the support body is disposed inside the elastic running belt, the elastic running belt is used to rotate in any direction on the support body, and the top of the support body has a support surface for supporting the elastic running belt above it to form a training area; the multi-directional drive mechanism is disposed at the bottom of the housing, and the top of the multi-directional drive mechanism contacts the elastic running belt below the support body for driving the elastic running belt to rotate in any direction on the support body; the auxiliary support device is used to support the user's body to assist them in performing walking rehabilitation training in the training area.

[0005] In some embodiments of the present invention, the inner side of the outer shell has two sets of protruding limiting portions arranged side by side, the protruding limiting portions are in contact with the elastic running belt at the circumferential edge of the support body, the protruding limiting portions have projections on the horizontal center plane of the support body, and also have projections on the vertical center plane of the support body.

[0006] In some embodiments of the present invention, the protruding limiting portion includes a plurality of rolling elements arranged circumferentially along the support body. The rolling elements are in point contact or line contact with the elastic running belt. The inner side of the housing has a rolling element mounting groove. The rolling elements are slidably arranged with the rolling element mounting groove. The portion of the rolling element extending beyond the inner surface of the housing occupies 1 / 4 to 1 / 2 of the overall structure of the rolling element.

[0007] In some embodiments of the present invention, the outer shell includes a base and three annular shells arranged sequentially from bottom to top above the base. The three annular shells are coaxially arranged, and two adjacent annular shells are detachably connected. The joint portion of two adjacent annular shells has a partial rolling element mounting groove structure. The partial rolling element mounting groove structures of two adjacent annular shells are positioned correspondingly to form a complete rolling element mounting groove. The base is fixedly connected to the lowermost annular shell.

[0008] In some embodiments of the present invention, the contact surfaces of two adjacent annular shells have prism-shaped or cylindrical insertion grooves arranged circumferentially thereon, and the two adjacent annular shells are fixed by prism pins or cylindrical pins.

[0009] In some embodiments of the present invention, the multi-directional drive mechanism includes four sets of multi-directional drive wheel sets arranged side by side; each multi-directional drive wheel set includes multiple multi-directional drive wheels with parallel axes, a drive motor, and multiple synchronous belt mechanisms. The multi-directional drive wheels in adjacent sets of multi-directional drive wheels rotate in opposite directions. Adjacent multi-directional drive wheels in each set of multi-directional drive wheels are connected by the synchronous belt mechanisms. The output shaft of the drive motor is connected to any one of the multi-directional drive wheels. Each multi-directional drive wheel includes a wheel frame and multiple cylindrical rollers. The wheel frame has connecting shafts on both sides for... Connected to the drive motor or the synchronous belt mechanism, the wheel frame has an annular groove in the middle, the axis of the annular groove coincides with the axis of the wheel frame, and the cylindrical roller is rotatably disposed on the side wall of the annular groove, with the edge of the cylindrical roller extending beyond the edge of the wheel frame; in the same multi-directional drive wheel, the axis of the cylindrical roller and the axis of the wheel frame form the same angle, when the angle is positive 45°, the multi-directional drive wheel is a left-hand drive wheel; when the angle is negative 45°, the multi-directional drive wheel is a right-hand drive wheel.

[0010] In some embodiments of the present invention, the multi-directional walking rehabilitation training device further includes multiple support plates, which are disposed on the inner bottom of the outer shell. The support plates are fixedly connected to the bottom surface and side wall of the outer shell by means of mortise and tenon joints. The multiple support plates are arranged parallel to each other. Each support plate has a bearing mounting hole. The connecting shaft has a polygonal structure. The synchronous belt mechanism includes a synchronous pulley and a synchronous belt. The synchronous pulley and the synchronous belt mesh with each other. The middle part of the synchronous pulley has a polygonal mounting hole that is adapted to the shape of the connecting shaft. The connecting shaft is installed in the polygonal mounting hole. The connecting shaft is installed in the bearing mounting hole by means of a bearing.

[0011] In some embodiments of the present invention, the upper and lower surfaces of the support body and its side surfaces are smoothly connected; the bottom of the support body is provided with four sets of multi-directional driven wheel groups arranged side by side, each multi-directional driven wheel group including multiple multi-directional driven wheels with parallel axes, the multi-directional driven wheels having the same structure as the multi-directional drive wheels, and the connecting shaft of the multi-directional driven wheels being rotatably connected to the support body; the position of the multi-directional driven wheel in each set of multi-directional driven wheel groups corresponds one-to-one with the position of the multi-directional drive wheel in each set of multi-directional drive wheel groups, and the rotation directions of a pair of multi-directional driven wheels and multi-directional drive wheels with corresponding positions are opposite, for clamping the elastic running belt between the multi-directional driven wheel and the multi-directional drive wheel.

[0012] In some embodiments of the present invention, the auxiliary support device includes a support frame, an annular guide rail, an annular slide, ropes, and a hanging chair; the top of the housing has an annular top cover, the support frame is fixedly mounted on the annular top cover, the top of the support frame is fixedly connected to the annular guide rail, the annular guide rail is located directly above the training area, the annular slide is slidably connected to the annular guide rail so that the annular slide can rotate around the central axis of the annular guide rail, and the hanging chair is connected to the bottom of the annular slide via the ropes, the hanging chair being used to support the user's buttocks to assist them in standing.

[0013] In some embodiments of the present invention, the support frame includes a ring beam, a ring handrail, and multiple connecting beams; the ring beam and the ring handrail are coaxially arranged, the ring handrail is located above the ring beam, and the ring beam is fixedly connected to the ring top cover, the ring beam and the ring handrail, and the ring beam and the ring guide rail through the connecting beams; the cross-section of the ring slide is a 3 / 4 circle, and multiple lugs are provided on the inner side of the ring slide for connection with the rope; the hanging chair includes a ring-shaped support part and a flexible seat part fixedly connected thereto, the ring-shaped support part is connected to the rope, the flexible seat part has two leg openings, and the flexible seat part includes a support layer and a breathable cushioning layer; the multi-directional walking rehabilitation training device The device also includes a controller and pressure sensors. The controller is used to control the multi-directional drive mechanism to drive the elastic running belt to move according to a predetermined direction and speed. The controller is also used to control the power cut-off of the multi-directional drive mechanism. The pressure sensors are set on the top surface of the support body at a position corresponding to the training area. Multiple pressure sensors are set in a matrix arrangement, and the multiple pressure sensors are used to collect the pressure of the user's feet. The controller is also used to determine whether the user is in an accelerating walking state, a decelerating walking state, or a changing walking direction state by the magnitude of the pressure and the order and position of the pressure signals collected by the pressure sensors. The controller is used to control the elastic running belt to accelerate, decelerate, or change the rotation direction according to the different states of the user.

[0014] In this invention, the multi-directional walking rehabilitation training device combines a multi-directional drive mechanism with an elastic running belt, enabling rotation in any direction during walking training. This provides users with comprehensive, multi-directional walking rehabilitation training, helping to simulate real-life walking scenarios and improving the effectiveness of rehabilitation training. The multi-directional drive mechanism is located below the support structure, with an optimized structural design that allows for efficient storage and concealment, reducing the overall footprint. There is no obstruction between the elastic running belt and the user, allowing for direct stepping onto the belt and facilitating easy access to and from the rehabilitation equipment. Users can perform flexible and diverse walking training within the training area according to their rehabilitation needs and training goals.

[0015] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the description, or may be learned by practice of the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures specifically pointed out in the description and drawings.

[0016] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, are not intended to limit the scope of the invention. The components in the drawings are not drawn to scale but are merely illustrative of the principles of the invention. For ease of illustration and description of certain parts of the invention, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to the invention.

[0018] Figure 1 This is a three-dimensional structural diagram of a multi-directional walking rehabilitation training device according to an embodiment of the present invention.

[0019] Figure 2 This is a front view of a multi-directional walking rehabilitation training device according to an embodiment of the present invention.

[0020] Figure 3 For the present invention Figure 2 DD section view.

[0021] Figure 4 For the present invention Figure 3 Enlarged view of a portion of point A in the middle.

[0022] Figure 5 For the present invention Figure 3 Sectional view of GG.

[0023] Figure 6 This is a top view of the annular shell in one embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the structure of the multi-directional drive wheel and the multi-directional driven wheel in one embodiment of the present invention.

[0025] Reference numerals: 101, elastic running belt; 102, support body; 103, rolling element; 201, base; 202, annular shell; 203, rolling element mounting groove; 204, insertion groove; 205, support plate; 206, annular top cover; 301, multi-directional drive wheel; 302, drive motor; 303, synchronous belt; 304, motor bracket; 3011, wheel frame; 3012, cylindrical roller; 3013, connecting shaft; 401, multi-directional driven wheel; 501, annular beam; 502, annular handrail; 503, connecting beam; 504, annular guide rail; 505, annular slide; 506, rope; 507, hanging chair. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0027] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0028] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0029] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0030] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0031] Reference Figure 1 and Figure 2 This invention provides a multi-directional walking rehabilitation training device, including: a walking training device and an auxiliary support device disposed above the walking training device; the walking training device and the auxiliary support device work together, and the user can use the auxiliary support device to support the body, improve body stability and prevent falls. Under the premise that the user's upper body is stable, the user can carry out training and rehabilitation by walking on the walking training device with his / her legs.

[0032] Reference Figure 3 The walking training device includes a housing, a multi-directional drive mechanism, an elastic running belt 101, and a support body 102 disposed inside the housing. The elastic running belt 101 has a closed, pouch-like structure, and the support body 102 is disposed inside the elastic running belt 101. The elastic running belt 101 is used to rotate in any direction on the support body 102. The top of the support body 102 has a support surface to support the elastic running belt 101 above it to form a training area. The multi-directional drive mechanism combined with the elastic running belt 101 enables rotation in any direction during walking training, thereby providing users with comprehensive, multi-directional walking rehabilitation training, which helps to simulate walking scenarios in real life and improve the effectiveness of rehabilitation training. The elastic running belt 101 can better simulate the contact state between a person and the ground. The elastic running belt 101 is made of elastic material, and the surface of the support body 102 is smooth, which can reduce friction and maintain the shape of the elastic running belt 101, allowing the elastic running belt 101 to move in all directions. The support 102, combined with the elastic running belt 101 on the outside, provides sufficient support while maintaining elasticity, simulating a more natural running feel. This design helps reduce the impact on joints and muscles, improving running comfort.

[0033] A multi-directional drive mechanism is located at the bottom of the outer casing, with its top contacting the elastic running belt 101 below the support body 102. This mechanism drives the elastic running belt 101 to rotate in any direction on the support body 102. Compared to drive mechanisms located at the edge or side of the running belt, this embodiment's multi-directional drive mechanism is located below the support body 102, optimizing the structural design and allowing for efficient storage and concealment. This reduces the overall footprint, and there is no obstruction between the elastic running belt 101 and the user, allowing for easy stepping onto the belt and facilitating easy access to and from the rehabilitation equipment. The multi-directional drive mechanism, in conjunction with the support body 102 and the elastic running belt 101, enables an unprecedented omnidirectional movement experience, allowing users to freely perform diverse movement modes, including forward, backward, left-right, and rotational movements.

[0034] Users can perform flexible and diverse walking training within the training area according to their rehabilitation needs and training goals. For example, the training device can switch between follow-up training mode, non-powered training mode, and assisted training mode. In follow-up training mode, the device executes preset actions by controlling the walking direction and speed, with the user standing in the training area and walking in the opposite direction to the elastic running belt 101. In non-powered training mode, the power is cut off between the multi-directional drive mechanism and the elastic running belt 101, allowing for active force training such as walking and lateral movement on the elastic running belt 101. The direction and speed of walking can be completely controlled autonomously, making training more flexible. In assisted training mode, multiple matrix-arranged pressure sensors are installed on the support body 102 at the location of the training area to collect the pressure of the user's push-off and the position of the feet landing successively. The pressure and position information are sent to the controller to determine whether the user is accelerating or decelerating and whether there is a change in walking direction. This determines whether the multi-directional drive mechanism drives the elastic running belt to perform corresponding movements, assisting the user in accelerating, decelerating, and switching walking directions. Specifically, when the pressure value collected by the pressure sensor is greater than the preset acceleration value, the user is determined to be walking at an accelerated pace; when the pressure value collected by the pressure sensor is less than the preset deceleration value, the user is determined to be walking at a deceleration pace. The line connecting the pressure sensors that the user steps on with both feet sequentially indicates the user's walking direction. These three modes can be switched as needed, increasing the fun of training and better adapting to the personalized training needs of different users.

[0035] The assistive support device is used to support the user's body to assist in walking rehabilitation training in the training area. The device provides additional support, helping the user maintain correct posture and balance during training. This not only improves training comfort but also effectively reduces the user's physical burden and promotes the rehabilitation process.

[0036] In some embodiments, the inner side of the housing has two sets of protruding limiting portions arranged side by side. These protruding limiting portions contact the elastic running belt 101 at the circumferential edge of the support body 102. The protruding limiting portions have projections on both the horizontal and vertical center planes of the support body 102. The protruding limiting portions provide guidance and limiting functions, ensuring that the support body 102 does not sway during training, guaranteeing the stability of its supporting surface, thereby enhancing the stability and safety of the entire training device. This design helps users maintain balance during training and reduces the risk of accidents caused by the swaying of the support body 102. The contact between the protruding limiting portions and the elastic running belt 101 reduces unnecessary friction and resistance during the rotation of the running belt, thereby improving rotational efficiency.

[0037] In some embodiments, the protruding limiting portion includes a plurality of rolling elements 103 arranged circumferentially along the support body 102, and the rolling elements 103 make point contact or line contact with the elastic running belt 101. Specifically, the rolling elements 103 may be spherical balls or cylindrical rollers, thereby reducing the friction and wear of the elastic running belt 101, which not only extends the service life of the elastic running belt 101 and the rolling elements 103, but also improves the durability and reliability of the entire training device.

[0038] The inner side of the housing has a rolling element mounting groove 203, and the rolling element 103 is slidably mounted in the rolling element mounting groove 203. This arrangement allows the rolling element 103 and the rolling element mounting groove 203 to undergo rolling friction during the operation of the elastic running belt 101, thereby reducing the friction and wear between the rolling element 103 and the rolling element mounting groove 203. The portion of the rolling element 103 extending beyond the inner surface of the housing accounts for 1 / 4 to 1 / 2 of the overall structure of the rolling element 103, for example, 1 / 3. This proportional design ensures sufficient contact between the rolling element 103 and the elastic running belt 101 while avoiding the safety hazard of the rolling element 103 becoming excessively exposed and falling off. This balanced design ensures that the equipment provides effective limiting and guidance while maintaining good safety and stability.

[0039] In some embodiments, the housing includes a base 201 and three annular housings 202 arranged sequentially from bottom to top above the base 201. The base 201 has threaded holes for fixed connection with the lowest annular housing 202, and a fixing hole in the upper center of the base 201 for connection with a motor bracket 304. The three annular housings 202 are coaxially arranged, and adjacent annular housings 202 are detachably connected. This modular design allows users to easily replace or repair specific components as needed, reducing maintenance costs and time. Because the annular housings 202 are detachably connected, users can adjust the height or structure of the housing according to actual needs. For example, in some training scenarios, a taller housing may be needed to provide better support and stability; while in other scenarios, a lower housing may be more suitable. The appropriate housing height can also be selected according to the user's different heights. This flexibility allows the device to adapt to more diverse training needs.

[0040] The joint of two adjacent annular shells 202 each has a partial rolling element mounting groove 203 structure. The partial rolling element mounting grooves 203 of the two adjacent annular shells 202 are positioned correspondingly to form a complete rolling element mounting groove 203. This setting simplifies the installation process of the rolling element 103. The installation and positioning of the rolling element 103 can be completed simply by fastening the two adjacent annular shells 202 together. The base 201 is fixedly connected to the bottommost annular shell 202. Specifically, screws can be used for connection, providing a solid foundation for the entire device and ensuring safety and reliability during training.

[0041] In some embodiments, the contact surfaces of two adjacent annular housings 202 have prism-shaped or cylindrical insertion grooves 204 arranged circumferentially thereon, and the two adjacent annular housings 202 are fixed by prism-shaped or cylindrical pins. The mating design of the insertion grooves 204 and the pins simplifies the assembly process between the annular housings 202. The user only needs to insert the pin into the corresponding insertion groove 204 to complete the connection, without the need for additional fasteners or tools, thereby improving assembly efficiency and convenience. The mating of the prism-shaped or cylindrical insertion grooves 204 and the pins has high positioning accuracy, which can ensure that adjacent annular housings 202 maintain the correct relative position when connected. This helps to optimize the structure of the rolling element mounting groove 203 and improve the contact accuracy and stability between the rolling element 103 and the elastic running belt 101. (Refer to...) Figure 6 The annular housing 202 has a hexagonal insertion groove 204 that can mate with a hexagonal prism pin. The depth of the hexagonal insertion groove can be selected as half the length of the hexagonal prism pin. During installation, first insert all the hexagonal prism pins into the hexagonal insertion groove, and then cover the lower annular housing with the upper annular housing, so that the hexagonal insertion groove of the upper annular housing is inserted by the hexagonal prism pin, thus completing the installation of the annular housing. It is simple and quick.

[0042] In some embodiments, refer to Figure 4 and Figure 5 The multi-directional drive mechanism includes four sets of multi-directional drive wheel groups arranged side by side. Each multi-directional drive wheel group includes multiple multi-directional drive wheels 301 with parallel axes, a drive motor 302, and multiple synchronous belt mechanisms. The multi-directional drive wheels 301 in adjacent multi-directional drive wheel groups have opposite rotation directions. Here, the rotation direction refers to the direction of the angle formed by the axis of the cylindrical roller 3012 and the axis of the wheel frame 3011. Based on the rotation direction, they are divided into left-hand drive wheels and right-hand drive wheels. The four sets of multi-directional drive wheel groups arranged side by side are controlled by the drive motors 302 within them. By changing the speed and direction of each drive motor 302, the elastic running belt 101 can be controlled to move forward, backward, left and right, and rotate.

[0043] Adjacent multi-directional drive wheels 301 in each multi-directional drive wheel group are connected by a synchronous belt mechanism to ensure synchronous operation between the multi-directional drive wheels 301, avoid speed differences between drive wheels, and ensure smooth rotation of the elastic running belt 101. The output shaft of the drive motor 302 is connected to any multi-directional drive wheel 301 through a coupling to output power. The drive motor 302 is mounted on the base 201 through a motor bracket 304.

[0044] The multi-directional drive wheel 301 includes a wheel frame 3011 and multiple cylindrical rollers 3012. The cylindrical rollers 3012 can be made of elastic or non-elastic materials, such as rubber or hard engineering plastics. The wheel frame 3011 has connecting shafts 3013 on both sides for connecting to the drive motor 302 or a synchronous belt mechanism. The wheel frame 3011 has an annular groove in the middle, and the axis of the annular groove coincides with the axis of the wheel frame 3011. The cylindrical rollers 3012 are rotatably mounted on the sidewall of the annular groove. The edges of the cylindrical rollers 3012 extend beyond the edges of the wheel frame 3011. This arrangement increases the contact area with the elastic running belt 101 and improves the driving force. Since the elastic running belt 101 is elastic, the part of the cylindrical rollers 3012 that extends beyond the edges of the wheel frame 3011 can fit against the elastic running belt to increase the contact area and improve the friction, making it easier for the cylindrical rollers 3012 to drive the elastic running belt 101.

[0045] In the same multi-directional drive wheel 301, the axis of the cylindrical roller 3012 forms the same angle with the axis of the wheel frame 3011. When the angle is positive 45°, the multi-directional drive wheel 301 is a left-hand drive wheel; when the angle is negative 45°, the multi-directional drive wheel 301 is a right-hand drive wheel. It should be noted that the speed and direction of each left-hand drive wheel are the same, and the speed and direction of each right-hand drive wheel are the same. When the cylindrical roller 3012 rotates, the frictional force will generate a counter-thrust force at a 45-degree angle to the wheel axle. This oblique thrust can be divided into two vectors: longitudinal and transverse. By adjusting the direction and speed of each multi-directional drive wheel group through motor drive, the elastic running belt 101 can achieve forward, lateral, oblique, and rotational movements, as well as combinations thereof.

[0046] In some embodiments, the multi-directional walking rehabilitation training device further includes multiple support plates 205. The support plates 205 are disposed on the inner bottom of the housing. The support plates 205 are fixedly connected to the bottom surface and side wall of the housing by tenon and mortise connection, which has the advantages of simple structure, firm connection and easy disassembly. The multiple support plates 205 are arranged in parallel to each other, and the support plates 205 have bearing mounting holes. The support plates 205 greatly enhance the structural stability of the entire device. The support plates 205 provide solid support for the drive mechanism and other key components, ensuring the smooth operation of the device during training.

[0047] The connecting shaft 3013 has a polygonal structure. The synchronous belt mechanism includes a synchronous pulley and a synchronous belt 303, which mesh with each other. The synchronous pulley has a polygonal mounting hole in its center that matches the shape of the connecting shaft 3013. The connecting shaft 3013 is installed in the polygonal mounting hole. This design ensures a tight connection and synchronous operation between the connecting shaft 3013 and the synchronous pulley. The connecting shaft 3013 is installed in a bearing mounting hole via a bearing, allowing the bearing to rotate within the bearing mounting hole. The cross-sectional shape of the connecting shaft 3013 can be a regular hexagon, which matches the regular hexagonal mounting hole in the center of the synchronous pulley. This configuration allows the torque of the connecting shaft 3013 to be transmitted to the synchronous pulley without the need for a keyway, facilitating installation. The section of the connecting shaft 3013 corresponding to the bearing is circular and is tightly connected to the inner ring of the bearing. The connecting shaft 3013 is installed in the bearing mounting hole of the support plate 205 via a bearing, reducing friction and resistance during rotation and improving drive efficiency.

[0048] In some embodiments, the upper and lower surfaces of the support 102 are smoothly connected to its sides. The support 102 may be a disc-shaped structure with semi-circular, semi-elliptical, or approximately semi-circular polygonal structures on both sides of its vertical central cross-section; alternatively, the vertical central cross-section of the support 102 may be a rounded rectangle. This configuration not only enhances the structural strength of the support 102 but also ensures good contact between it and the elastic running belt 101. The stability of the support 102 provides a solid foundation for the entire training device, guaranteeing safety and reliability during training.

[0049] Reference Figure 7 The bottom of the support body 102 is provided with four sets of multi-directional driven wheel sets arranged side by side. The multi-directional driven wheel sets include multiple multi-directional driven wheels 401 with parallel axes. The multi-directional driven wheels 401 have the same structure as the multi-directional drive wheels 301, which helps to reduce manufacturing and maintenance costs. The connecting shaft 3013 of the multi-directional driven wheels 401 is rotatably connected to the support body 102.

[0050] The positions of the multi-directional driven wheels 401 in each set of multi-directional driven wheels correspond one-to-one with the positions of the multi-directional driven wheels 301 in each set of multi-directional driven wheels. The corresponding pairs of multi-directional driven wheels 401 and multi-directional driven wheels 301 rotate in opposite directions, clamping the elastic running belt 101 between the multi-directional driven wheels 401 and the multi-directional driven wheels 301. The multi-directional driven wheels 401 can closely cooperate with the multi-directional driven wheels 301 to jointly clamp the elastic running belt 101, thereby achieving efficient drive and transmission.

[0051] In some embodiments, the auxiliary support device includes a support frame, an annular guide rail 504, an annular slide 505, a rope 506, and a hanging chair 507. The auxiliary support device, through the combination of the annular guide rail 504 and the annular slide 505, enables the hanging chair 507 to rotate omnidirectionally directly above the training area. The cooperation of the annular guide rail 504 and the annular slide 505 ensures that the human body can move in all directions, enabling functional training that more closely resembles a real environment, eliminating the need for constant assistance and improving training efficiency. This design provides continuous and stable support for users during multi-directional walking rehabilitation training, helping to maintain body balance and reducing training risks.

[0052] The top of the outer casing has an annular top cover 206 with threaded holes for connection to the uppermost annular shell. The annular top cover 206 prevents foreign objects from falling onto the edge of the elastic running belt 101. A support frame is fixedly mounted on the annular top cover 206, and its top is fixedly connected to an annular guide rail 504, which is located directly above the training area. An annular slide 505 is slidably connected to the annular guide rail 504, allowing it to rotate around the central axis of the annular guide rail 504. A hanging chair 507 is connected to the underside of the annular slide 505 via ropes 506. The hanging chair 507 supports the user's hips to assist in standing. The hanging chair 507 not only provides additional support but also helps distribute the user's body weight, reducing strain on the lower limbs.

[0053] In some embodiments, the support frame includes a ring beam 501, a ring handrail 502, and multiple connecting beams 503. The ring beam 501 and the ring handrail 502 are coaxially arranged, with the ring handrail 502 positioned above the ring beam 501. The ring beam 501 is fixedly connected to the ring top cover 206, the ring beam 501 to the ring handrail 502, and the ring beam 501 to the ring guide rail 504 via the connecting beams 503. The ring handrail 502 provides users with additional support points, allowing them to hold on and lean against it, preventing excessive forward or backward leaning in the event of a fall and helping them maintain balance during training. This arrangement not only enhances the stability of the support frame itself but also helps ensure the stable operation of the ring guide rail 504 and the ring slide 505. The ring handrail 502 and the hanging chair 507 provide dual protection against falls and pulling injuries.

[0054] The annular slide 505 has a cross-section of 3 / 4 circle. Multiple lifting lugs are provided on the inner side of the annular slide 505 for connecting with the rope 506. This arrangement simplifies the connection between the chair 507 and the annular slide 505 and also helps to ensure the stability and safety of the chair 507 during operation.

[0055] The hanging chair 507 includes a ring-shaped support section and a flexible seat section fixedly connected to it. The ring-shaped support section is connected to a rope 506. The flexible seat section has two leg openings and includes a support layer and a breathable cushioning layer, combining durability and breathable comfort. Specifically, the rope 506 is made of high-strength nylon rope, and the hanging chair 507 is made of high-strength nylon webbing, with breathable sponge padding inside, ensuring sufficient load-bearing capacity while providing comfortable cushioning. The hanging chair 507 primarily wraps around the user's buttocks, ensuring that the center of gravity is supported more closely to the natural standing posture of the human body, reducing the stress on the body. The upper side of the hanging chair 507 has fixing holes for connecting the rope to the lower side, allowing the rope to be secured. The height of the hanging chair 507 can be adjusted by changing the rope length, thus providing auxiliary training functions for people of different heights. Adjusting the rope length can also reduce lower limb pressure, lower the risk of secondary injury, and facilitate early intervention training.

[0056] The usage process of the multi-directional walking rehabilitation training device in the above embodiments is as follows: First, adjust the rope length according to the user's height so that the chair is positioned appropriately at the hips, and the user's hands can be naturally placed on the circular handrails. Activate the multi-directional drive mechanism, set a low speed to begin warm-up, and experience the support force of multi-directional movement. As the user's adaptability improves, gradually increase the speed to achieve walking or jogging in any direction. After training, reduce the speed of the elastic running belt to zero. Once the elastic running belt is stable, the user releases the chair. The therapist can assess the user's gait, balance, joint mobility, etc., and record the data to adjust the next training plan. The multi-directional walking rehabilitation training device in the above embodiments not only provides a safe and effective walking training environment for people with various mobility impairments, but also significantly improves rehabilitation efficiency and quality.

[0057] This rehabilitation device can be widely used in neurological rehabilitation (such as gait reconstruction and balance training for stroke, traumatic brain injury, and spinal cord injury patients), postoperative recovery after orthopedic surgery (postoperative recovery training after knee replacement, hip replacement, and lower limb fracture), functional exercise for the elderly (fall prevention training and maintaining daily walking ability), and sports injury rehabilitation (coordination and strength recovery for athletes after ankle and knee sprains).

[0058] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0059] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations of the embodiments of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-directional walking rehabilitation training device, characterized in that, include: A walking training device and an auxiliary support device disposed above the walking training device; The walking training device includes a housing, a multi-directional drive mechanism, an elastic running belt (101), and a support (102) disposed inside the housing. The multi-directional drive mechanism includes four sets of multi-directional drive wheel sets arranged side by side; each multi-directional drive wheel set includes multiple multi-directional drive wheels (301) with parallel axes, and the multi-directional drive wheels (301) in adjacent multi-directional drive wheel sets have opposite rotation directions; The bottom of the support body (102) is provided with four sets of multi-directional driven wheel groups arranged side by side. Each multi-directional driven wheel group includes multiple multi-directional driven wheels (401) with parallel axes. The multi-directional driven wheels (401) have the same structure as the multi-directional drive wheels (301). The connecting shaft (3013) of the multi-directional driven wheels (401) is rotatably connected to the support body (102). The position of the multi-directional driven wheel (401) in each set of multi-directional driven wheel groups corresponds one-to-one with the position of the multi-directional drive wheel (301) in each set of multi-directional drive wheel groups. The rotation directions of a pair of multi-directional driven wheels (401) and multi-directional drive wheels (301) with corresponding positions are opposite, which are used to clamp the elastic running belt (101) between the multi-directional driven wheels (401) and the multi-directional drive wheels (301). The elastic running belt (101) is a closed bag-like structure. The support body (102) is located inside the elastic running belt (101). The elastic running belt (101) is used to rotate in any direction on the support body (102). The top of the support body (102) has a support surface for supporting the elastic running belt (101) above it to form a training area. The multi-directional drive mechanism is located at the bottom of the housing, and the top of the multi-directional drive mechanism is in contact with the elastic running belt (101) below the support (102), which is used to drive the elastic running belt (101) to rotate in any direction on the support (102). The auxiliary support device is used to support the user's body to assist them in performing walking rehabilitation training in the training area.

2. The multi-directional walking rehabilitation training device according to claim 1, characterized in that, The inner side of the outer shell has two sets of protruding limiting parts arranged side by side. The protruding limiting parts are in contact with the elastic running belt (101) at the circumferential edge of the support body (102). The protruding limiting parts have projections on the horizontal center plane of the support body (102) and on the vertical center plane of the support body (102).

3. The multi-directional walking rehabilitation training device according to claim 2, characterized in that, The protruding limiting part includes a plurality of rolling elements (103) arranged circumferentially along the support body (102). The rolling elements (103) and the elastic running belt (101) are in point contact or line contact form. The inner side of the outer shell has a rolling element mounting groove (203). The rolling elements (103) and the rolling element mounting groove (203) are slidably arranged. The part of the rolling element (103) that extends beyond the inner surface of the outer shell accounts for 1 / 4 to 1 / 2 of the overall structure of the rolling element (103).

4. The multi-directional walking rehabilitation training device according to claim 3, characterized in that, The outer casing includes a base (201) and three annular shells (202) arranged sequentially from bottom to top above the base (201). The three annular shells (202) are coaxially arranged, and two adjacent annular shells (202) are detachably connected. The joint of two adjacent annular shells (202) has a partial rolling element mounting groove (203) structure. The partial rolling element mounting groove (203) structures of two adjacent annular shells (202) are positioned correspondingly to form a complete rolling element mounting groove (203). The base (201) is fixedly connected to the lowest annular shell (202).

5. The multi-directional walking rehabilitation training device according to claim 4, characterized in that, The contact surfaces of two adjacent annular shells (202) have prismatic or cylindrical insertion grooves (204) arranged circumferentially thereon, and the two adjacent annular shells (202) are fixed by prismatic pins or cylindrical pins.

6. The multi-directional walking rehabilitation training device according to claim 4, characterized in that, The multi-directional drive wheel set also includes a drive motor (302) and multiple synchronous belt mechanisms. Adjacent multi-directional drive wheels (301) in each multi-directional drive wheel set are connected by the synchronous belt mechanism. The output shaft of the drive motor (302) is connected to any of the multi-directional drive wheels (301). The multi-directional drive wheel (301) includes a wheel frame (3011) and a plurality of cylindrical rollers (3012). The wheel frame (3011) has connecting shafts (3013) on both sides for connection to the drive motor (302) or the synchronous belt mechanism. The wheel frame (3011) has an annular groove in its center, the axis of which coincides with the axis of the wheel frame (3011). The cylindrical rollers (3012) are rotatably disposed within the annular groove. On the side wall, the edge of the cylindrical roller (3012) extends beyond the edge of the wheel frame (3011); in the same multi-directional drive wheel (301), the axis of the cylindrical roller (3012) and the axis of the wheel frame (3011) form the same angle. When the angle is positive 45°, the multi-directional drive wheel (301) is a left-hand drive wheel; when the angle is negative 45°, the multi-directional drive wheel (301) is a right-hand drive wheel.

7. The multi-directional walking rehabilitation training device according to claim 6, characterized in that, The multi-directional walking rehabilitation training device also includes multiple support plates (205), which are disposed on the inner bottom of the outer shell. The support plates (205) are fixedly connected to the bottom surface and side wall of the outer shell by means of tenon and mortise connection. The multiple support plates (205) are arranged parallel to each other, and the support plates (205) have bearing mounting holes. The connecting shaft (3013) has a polygonal structure. The synchronous belt mechanism includes a synchronous pulley and a synchronous belt (303). The synchronous pulley and the synchronous belt (303) mesh with each other. The synchronous pulley has a polygonal mounting hole in the middle and is adapted to the shape of the connecting shaft (3013). The connecting shaft (3013) is installed in the polygonal mounting hole. The connecting shaft (3013) is installed in the bearing mounting hole through a bearing.

8. The multi-directional walking rehabilitation training device according to claim 6, characterized in that, The upper and lower surfaces of the support (102) and its side surfaces are connected in a smooth transition form.

9. The multi-directional walking rehabilitation training device according to claim 1, characterized in that, The auxiliary support device includes a support frame, an annular guide rail (504), an annular slide (505), a rope (506), and a hanging chair (507). The top of the outer shell has an annular top cover (206), and the support frame is fixedly mounted on the annular top cover (206). The top of the support frame is fixedly connected to the annular guide rail (504), which is located directly above the training area. The annular slide (505) is slidably connected to the annular guide rail (504) so ​​that the annular slide (505) can rotate around the central axis of the annular guide rail (504). The hanging chair (507) is connected to the bottom of the annular slide (505) via the rope (506), and the hanging chair (507) is used to support the user's buttocks to assist them in standing.

10. The multi-directional walking rehabilitation training device according to claim 9, characterized in that, The support frame includes a ring beam (501), a ring handrail (502), and multiple connecting beams (503). The annular beam (501) and the annular handrail (502) are coaxially arranged, the annular handrail (502) is located above the annular beam (501), and the annular beam (501) is fixedly connected to the annular top cover (206), the annular beam (501) is fixedly connected to the annular handrail (502), and the annular beam (501) is fixedly connected to the annular guide rail (504) through the connecting beam (503). The annular slide (505) has a cross-section of 3 / 4 circle, and the inner side of the annular slide (505) is provided with multiple lifting lugs for connecting with the rope (506); The hanging chair (507) includes an annular support part and a flexible seat part fixedly connected thereto. The annular support part is connected to the rope (506). The flexible seat part has two leg openings. The flexible seat part includes a support layer and a breathable cushioning layer. The multi-directional walking rehabilitation training device also includes a controller and a pressure sensor. The controller is used to control the multi-directional drive mechanism to drive the elastic running belt (101) to move according to a predetermined direction and speed. The controller is also used to control the power cut-off of the multi-directional drive mechanism; The pressure sensor is located on the top surface of the support (102) at a position corresponding to the training area. Multiple pressure sensors are arranged in a matrix. The multiple pressure sensors are used to collect the pressure of the user's feet. The controller is also used to determine whether the user is in an accelerated walking state, a decelerated walking state, or a walking direction change state by the magnitude of the pressure and the order and position of the pressure signals collected by the pressure sensors. The controller is used to control the elastic running belt (101) to accelerate, decelerate, or change its rotation direction according to the different states of the user.

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